def __init__(self, parent=None, logger=Logger()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add combo box
self.parameter_set_names_combo_box = QComboBox()
self.parameter_set_names_combo_box.currentIndexChanged[str].connect(
self.param_changed)
hbox.addWidget(self.parameter_set_names_combo_box)
# add refresh button
self.get_all_parameter_set_names_button = QPushButton()
self.get_all_parameter_set_names_button.clicked.connect(
self._get_all_parameter_set_names)
self.get_all_parameter_set_names_button.setIcon(icon)
self.get_all_parameter_set_names_button.setFixedSize(
size.width() + 2,
size.height() + 2)
hbox.addWidget(self.get_all_parameter_set_names_button)
# end widget
self.setLayout(hbox)
# init widget
self.reset_parameter_set_selection()
def create_button(self):
# self.data is a dictionary name-->array[positions]
if self.side == PoseLoader.LEFT:
self.data = self.arm_db.getAllLeftPos()
else: # self.side == PoseLoader.RIGHT:
self.data = self.arm_db.getAllRightPos()
combo_box = QComboBox()
for key in self.data.keys():
combo_box.addItem(key, self.data.get(key))
return combo_box
def create_button(self):
# self.data is a dictionary name-->array[positions]
if self.side == PoseLoader.LEFT:
self.data = self.arm_db.getAllLeftPos()
else: # self.side == PoseLoader.RIGHT:
self.data = self.arm_db.getAllRightPos()
combo_box = QComboBox()
for key in self.data.keys():
combo_box.addItem(key, self.data.get(key))
return combo_box
def __init__(self, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QWidget()
self.contentLayout = QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
package_label = QLabel("Package:", self.content)
self.package_field = QComboBox(self.content)
self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QLabel("Binary:", self.content)
self.binary_field = QComboBox(self.content)
# self.binary_field.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self.binary_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(Qt.TabFocusReason)
self.package = ''
self.binary = ''
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
self._fill_packages_thread = PackagesThread()
self._fill_packages_thread.packages.connect(self._fill_packages)
self._fill_packages_thread.start()
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.textChanged.connect(self.on_binary_selected)
else:
self.package_field.editTextChanged.connect(self.on_package_selected)
self.binary_field.editTextChanged.connect(self.on_binary_selected)
def __init__(self, host, masteruri=None, parent=None):
PackageDialog.__init__(self, parent)
self.host = host
self.setWindowTitle('Run')
ns_name_label = QLabel("NS/Name:", self.content)
self.ns_field = QComboBox(self.content)
self.ns_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.ns_field.setEditable(True)
ns_history = nm.history().cachedParamValues('run_dialog/NS')
ns_history.insert(0, '/')
self.ns_field.addItems(ns_history)
self.name_field = QLineEdit(self.content)
self.name_field.setEnabled(False)
horizontalLayout = QHBoxLayout()
horizontalLayout.addWidget(self.ns_field)
horizontalLayout.addWidget(self.name_field)
self.contentLayout.addRow(ns_name_label, horizontalLayout)
args_label = QLabel("Args:", self.content)
self.args_field = QComboBox(self.content)
self.args_field.setSizeAdjustPolicy(QComboBox.AdjustToMinimumContentsLength)
self.args_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.args_field.setEditable(True)
self.contentLayout.addRow(args_label, self.args_field)
args_history = nm.history().cachedParamValues('run_dialog/Args')
args_history.insert(0, '')
self.args_field.addItems(args_history)
host_label = QLabel("Host:", self.content)
self.host_field = QComboBox(self.content)
# self.host_field.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self.host_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.host_field.setEditable(True)
host_label.setBuddy(self.host_field)
self.contentLayout.addRow(host_label, self.host_field)
self.host_history = host_history = nm.history().cachedParamValues('/Host')
if self.host in host_history:
host_history.remove(self.host)
host_history.insert(0, self.host)
self.host_field.addItems(host_history)
master_label = QLabel("ROS Master URI:", self.content)
self.master_field = QComboBox(self.content)
self.master_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.master_field.setEditable(True)
master_label.setBuddy(self.host_field)
self.contentLayout.addRow(master_label, self.master_field)
self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI')
self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
if self.masteruri in master_history:
master_history.remove(self.masteruri)
master_history.insert(0, self.masteruri)
self.master_field.addItems(master_history)
# self.package_field.setFocus(QtCore.Qt.TabFocusReason)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
else:
self.package_field.editTextChanged.connect(self.on_package_selected)
self.binary_field.activated[str].connect(self.on_binary_selected)
def _handle_operator_name_change(self, operatorName, combo):
self.operatorView.clear()
root = self.operatorView.invisibleRootItem()
for i in range(len(self._parameter_label_list[operatorName])):
# fetch types for combo box
cmb = QComboBox()
instance_client = rospy.ServiceProxy('/kcl_rosplan/get_current_instances', GetInstanceService)
resp = instance_client(self._parameter_type_list[operatorName][i])
for instancename in resp.instances:
cmb.addItem(instancename,instancename)
# create row
item = QTreeWidgetItem(self.operatorView)
item.setText(0, self._parameter_label_list[operatorName][i])
item.setText(1, self._parameter_type_list[operatorName][i])
self.operatorView.setItemWidget(item, 2, cmb)
def _handle_operator_name_change(self, operatorName, combo):
self.operatorView.clear()
root = self.operatorView.invisibleRootItem()
for i in range(len(self._parameter_label_list[operatorName])):
# fetch types for combo box
cmb = QComboBox()
instance_client = rospy.ServiceProxy('/kcl_rosplan/get_current_instances', GetInstanceService)
resp = instance_client(self._parameter_type_list[operatorName][i])
for instancename in resp.instances:
cmb.addItem(instancename,instancename)
# create row
item = QTreeWidgetItem(self.operatorView)
item.setText(0, self._parameter_label_list[operatorName][i])
item.setText(1, self._parameter_type_list[operatorName][i])
self.operatorView.setItemWidget(item, 2, cmb)
def createEditor(self, parent, option, index):
'''
Creates a editor in the TreeView depending on type of the settings data.
'''
item = self._itemFromIndex(index)
if item.edit_type() == SettingsValueItem.EDIT_TYPE_AUTODETECT:
if isinstance(item.value(), bool):
box = QCheckBox(parent)
box.setFocusPolicy(Qt.StrongFocus)
box.setAutoFillBackground(True)
box.stateChanged.connect(self.edit_finished)
return box
elif isinstance(item.value(), int):
box = QSpinBox(parent)
box.setValue(item.value())
if not item.value_min() is None:
box.setMinimum(item.value_min())
if not item.value_max() is None:
box.setMaximum(item.value_max())
return box
elif item.edit_type() == SettingsValueItem.EDIT_TYPE_FOLDER:
editor = PathEditor(item.value(), parent)
editor.editing_finished_signal.connect(self.edit_finished)
return editor
elif item.edit_type() == SettingsValueItem.EDIT_TYPE_LIST:
box = QComboBox(parent)
box.addItems(item.value_list())
index = box.findText(item.value())
if index >= 0:
box.setCurrentIndex(index)
box.setEditable(False)
return box
return QStyledItemDelegate.createEditor(self, parent, option, index)
def __init__(self, parent = None, logger = Logger()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add combo box
self.parameter_set_names_combo_box = QComboBox()
self.parameter_set_names_combo_box.currentIndexChanged[str].connect(self.param_changed)
hbox.addWidget(self.parameter_set_names_combo_box)
# add refresh button
self.get_all_parameter_set_names_button = QPushButton()
self.get_all_parameter_set_names_button.clicked.connect(self._get_all_parameter_set_names)
self.get_all_parameter_set_names_button.setIcon(icon)
self.get_all_parameter_set_names_button.setFixedSize(size.width()+2, size.height()+2)
hbox.addWidget(self.get_all_parameter_set_names_button)
# end widget
self.setLayout(hbox)
# init widget
self.reset_parameter_set_selection()
def __init__(self, context):
super(RoomDialogPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('RoomDialogPlugin')
font_size = rospy.get_param("~font_size", 30)
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", font_size, QFont.Bold))
self._layout = QVBoxLayout(self._widget)
self._text_browser = QTextBrowser(self._widget)
self._layout.addWidget(self._text_browser)
self._button_layout = QGridLayout()
self._layout.addLayout(self._button_layout)
# rospy.loginfo("Hello world")
# Add combobox
self._cb_layout = QHBoxLayout()
self._cb = QComboBox()
self._layout.addLayout(self._cb_layout)
#layout = QVBoxLayout(self._widget)
#layout.addWidget(self._button)
self._widget.setObjectName('RoomDialogPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Setup service provider
self.service = rospy.Service('room_dialog', RoomDialog,
self.service_callback)
self.response_ready = False
self.response = None
self.buttons = []
self.text_label = None
self.text_input = None
# Add combo options
self.connect(self._widget, SIGNAL("update"), self.update)
self.connect(self._widget, SIGNAL("timeout"), self.timeout)
def __init__(self, parent=None):
super(ComboBoxDialog, self).__init__()
self.number = 0
vbox = QtGui.QVBoxLayout(self)
self.combo_box = QComboBox(self)
self.combo_box.activated.connect(self.onActivated)
vbox.addWidget(self.combo_box)
button = QPushButton()
button.setText("Done")
button.clicked.connect(self.buttonCallback)
vbox.addWidget(button)
self.setLayout(vbox)
def __init__(self, parent=None, topic_type=str(), is_action_topic=False):
QWidget.__init__(self, parent)
if is_action_topic:
self.topic_type = topic_type + "Goal"
else:
self.topic_type = topic_type
self.is_action_topic = is_action_topic
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# topic combo box
self.topic_combo_box = QComboBox()
self.topic_combo_box.setEnabled(False)
self.topic_combo_box.blockSignals(True)
self.topic_combo_box.setValidator(
QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self))
self.topic_combo_box.currentIndexChanged[str].connect(
self.topic_changed)
hbox.addWidget(self.topic_combo_box)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add refresh button
refresh_topics_button = QPushButton()
refresh_topics_button.clicked.connect(self.update_topic_list)
refresh_topics_button.setIcon(icon)
refresh_topics_button.setFixedSize(size.width() + 2, size.height() + 2)
hbox.addWidget(refresh_topics_button)
# end widget
self.setLayout(hbox)
# init widget
self.update_topic_list()
def setup(self, context):
self.name = 'NAO Dashboard (%s)'%rosenv.get_master_uri()
self.max_icon_size = QSize(50, 30)
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._raw_byte = None
self.digital_outs = [0, 0, 0]
icons_path = path.join(roslib.packages.get_pkg_dir('nao_dashboard'), "icons/")
self._robot_combobox = QComboBox()
self._robot_combobox.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self._robot_combobox.setInsertPolicy(QComboBox.InsertAlphabetically)
self._robot_combobox.setEditable(True)
gobject.threads_init()
dbus.glib.threads_init()
self.robots = []
self.sys_bus = dbus.SystemBus()
self.avahi_server = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, '/'), avahi.DBUS_INTERFACE_SERVER)
self.sbrowser = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, self.avahi_server.ServiceBrowserNew(avahi.IF_UNSPEC,
avahi.PROTO_INET, '_naoqi._tcp', 'local', dbus.UInt32(0))), avahi.DBUS_INTERFACE_SERVICE_BROWSER)
self.sbrowser.connect_to_signal("ItemNew", self.avahiNewItem)
self.sbrowser.connect_to_signal("ItemRemove", self.avahiItemRemove)
# Diagnostics
self._monitor = MonitorDashWidget(self.context)
# Rosout
self._console = ConsoleDashWidget(self.context, minimal=False)
## Joint temperature
self._temp_joint_button = StatusControl('Joint temperature', 'temperature_joints')
## CPU temperature
self._temp_head_button = StatusControl('CPU temperature', 'temperature_head')
## Motors
self._motors_button = Motors(self.context)
## Battery State
self._power_state_ctrl = PowerStateControl('NAO Battery')
self._agg_sub = rospy.Subscriber('diagnostics_agg', DiagnosticArray, self.new_diagnostic_message)
self._last_dashboard_message_time = 0.0
def _update_item(self):
widget_layout = self.arg_ver_layout
item_list = self.params_list
widget_list = widget_layout.parentWidget().children()
while len(widget_list) > 2:
added_arg_widget = widget_list.pop()
widget_layout.removeWidget(added_arg_widget)
added_arg_widget.setParent(None)
added_arg_widget.deleteLater()
#resize
dialog_widget = widget_layout.parentWidget().parentWidget()
dialog_widget.resize(dialog_widget.minimumSize())
for l in item_list:
params_hor_sub_widget = QWidget()
params_hor_layout = QHBoxLayout(params_hor_sub_widget)
for k in l:
param_name = k[0]
param_type = k[2]
name_widget = QLabel(param_name + ": ")
if param_type == 'string' or param_type == 'int':
k[1] = QTextEdit()
k[1].setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
k[1].setMinimumSize(0, 30)
k[1].append("")
elif param_type == 'bool':
k[1] = QTextEdit()
k[1] = QComboBox()
k[1].setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
k[1].setMinimumSize(0, 30)
k[1].addItem("True", True)
k[1].addItem("False", False)
params_hor_layout.addWidget(name_widget)
params_hor_layout.addWidget(k[1])
widget_layout.addWidget(params_hor_sub_widget)
def __init__(self, parent = None, topic_type = str(), is_action_topic = False):
QWidget.__init__(self, parent)
if is_action_topic:
self.topic_type = topic_type + "Goal"
else:
self.topic_type = topic_type
self.is_action_topic = is_action_topic
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# topic combo box
self.topic_combo_box = QComboBox()
self.topic_combo_box.setEnabled(False)
self.topic_combo_box.blockSignals(True)
self.topic_combo_box.setValidator(QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self))
self.topic_combo_box.currentIndexChanged[str].connect(self.topic_changed)
hbox.addWidget(self.topic_combo_box)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add refresh button
refresh_topics_button = QPushButton()
refresh_topics_button.clicked.connect(self.update_topic_list)
refresh_topics_button.setIcon(icon)
refresh_topics_button.setFixedSize(size.width()+2, size.height()+2)
hbox.addWidget(refresh_topics_button)
# end widget
self.setLayout(hbox)
# init widget
self.update_topic_list()
class RoomDialogPlugin(Plugin):
def __init__(self, context):
super(RoomDialogPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('RoomDialogPlugin')
font_size = rospy.get_param("~font_size", 30)
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", font_size, QFont.Bold))
self._layout = QVBoxLayout(self._widget)
self._text_browser = QTextBrowser(self._widget)
self._layout.addWidget(self._text_browser)
self._button_layout = QGridLayout()
self._layout.addLayout(self._button_layout)
# rospy.loginfo("Hello world")
# Add combobox
self._cb_layout = QHBoxLayout()
self._cb = QComboBox()
self._layout.addLayout(self._cb_layout)
#layout = QVBoxLayout(self._widget)
#layout.addWidget(self._button)
self._widget.setObjectName('RoomDialogPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Setup service provider
self.service = rospy.Service('room_dialog', RoomDialog,
self.service_callback)
self.response_ready = False
self.response = None
self.buttons = []
self.text_label = None
self.text_input = None
# Add combo options
self.connect(self._widget, SIGNAL("update"), self.update)
self.connect(self._widget, SIGNAL("timeout"), self.timeout)
def shutdown_plugin(self):
self.service.shutdown()
def service_callback(self, req):
self.response_ready = False
self.request = req
self._widget.emit(SIGNAL("update"))
# Start timer against wall clock here instead of the ros clock.
start_time = time.time()
while not self.response_ready:
if self.request != req:
# The request got preempted by a new request.
return RoomDialogResponse(RoomDialogRequest.PREEMPTED, "")
if req.timeout != RoomDialogRequest.NO_TIMEOUT:
current_time = time.time()
if current_time - start_time > req.timeout:
self._widget.emit(SIGNAL("timeout"))
return RoomDialogResponse(RoomDialogRequest.TIMED_OUT, "")
time.sleep(0.2)
return self.response
def update(self):
self.clean()
req = self.request
self._text_browser.setText(req.message)
if req.type == RoomDialogRequest.DISPLAY:
# All done, nothing more too see here.
self.response = RoomDialogResponse(RoomDialogRequest.NO_RESPONSE,
"")
self.response_ready = True
elif req.type == RoomDialogRequest.CHOICE_QUESTION:
for index, options in enumerate(req.options):
button = QPushButton(options, self._widget)
button.clicked.connect(partial(self.handle_button, index))
row = index / 3
col = index % 3
self._button_layout.addWidget(button, row, col)
self.buttons.append(button)
elif req.type == RoomDialogRequest.TEXT_QUESTION:
self.text_label = QLabel("Enter here: ", self._widget)
self._button_layout.addWidget(self.text_label, 0, 0)
self.text_input = QLineEdit(self._widget)
self.text_input.editingFinished.connect(self.handle_text)
self._button_layout.addWidget(self.text_input, 0, 1)
# add handling of combobox
elif req.type == RoomDialogRequest.COMBOBOX_QUESTION:
# self.clean()
rospy.loginfo("Combobox selected")
#self._cb.duplicatesEnabled = False
if self._cb.count() == 0:
for index, options in enumerate(req.options):
self._cb.addItem(options)
rospy.loginfo(options)
#self.buttons.append(options)
# NOTE COULD INTRODUCE BUG
self._cb.currentIndexChanged.connect(self.handle_cb)
self._cb_layout.addWidget(self._cb)
def timeout(self):
self._text_browser.setText("Oh no! The request timed out.")
self.clean()
def clean(self):
while self._button_layout.count():
item = self._button_layout.takeAt(0)
item.widget().deleteLater()
# while self._cb_layout.count():
# item = self._cb_layout.takeAt(0)
# item.widget().deleteLater()
self.buttons = []
self.text_input = None
self.text_label = None
def handle_button(self, index):
self.response = RoomDialogResponse(index, "")
self.clean()
self.response_ready = True
def handle_text(self):
self.response = RoomDialogResponse(RoomDialogRequest.TEXT_RESPONSE,
self.text_input.text())
self.clean()
self.response_ready = True
def handle_cb(self, index):
# This will be the sign format seen around building ex: 3.404
rospy.loginfo("handling cb")
roomHuman = self._cb.currentText()
# modify string into robot format ex: d3_404
splitHuman = roomHuman.split('.', 1)
roomRobot = 'd' + splitHuman[0] + '_' + splitHuman[1]
roomRobot = str(roomRobot)
self.response = RoomDialogResponse(RoomDialogRequest.CB_RESPONSE,
roomRobot)
self.clean()
self.response_ready = True
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
if __name__ == '__main__':
import sys
from python_qt_binding.QtGui import QApplication, QComboBox, QLineEdit, QMainWindow, QTreeView, QVBoxLayout, QWidget
app = QApplication(sys.argv)
mw = QMainWindow()
widget = QWidget(mw)
layout = QVBoxLayout(widget)
edit = QLineEdit()
edit_completer = TopicCompleter(edit)
#edit_completer.setCompletionMode(QCompleter.InlineCompletion)
edit.setCompleter(edit_completer)
combo = QComboBox()
combo.setEditable(True)
combo_completer = TopicCompleter(combo)
#combo_completer.setCompletionMode(QCompleter.InlineCompletion)
combo.lineEdit().setCompleter(combo_completer)
model_tree = QTreeView()
model_tree.setModel(combo_completer.model())
model_tree.expandAll()
for column in range(combo_completer.model().columnCount()):
model_tree.resizeColumnToContents(column)
completion_tree = QTreeView()
completion_tree.setModel(combo_completer.completionModel())
completion_tree.expandAll()
for column in range(combo_completer.completionModel().columnCount()):
def __init__(self, masteruri, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QWidget()
self.contentLayout = QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
package_label = QLabel("Package:", self.content)
self.package_field = QComboBox(self.content)
self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QLabel("Binary:", self.content)
self.binary_field = QComboBox(self.content)
self.binary_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok
| QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(Qt.TabFocusReason)
self.package = ''
self.binary = ''
self._request_bin_thread = None
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
# fill the input fields
self.packages = {
name: path
for path, name in nm.nmd().file.get_packages(
nmdurl.nmduri(masteruri)).items()
}
packages = self.packages.keys()
packages.sort()
self.package_field.clear()
self.package_field.clearEditText()
self.package_field.addItems(packages)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.textChanged.connect(self.on_binary_selected)
else:
self.package_field.editTextChanged.connect(
self.on_package_selected)
self.binary_field.editTextChanged.connect(self.on_binary_selected)
class PackageDialog(QDialog):
def __init__(self, masteruri, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QWidget()
self.contentLayout = QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
package_label = QLabel("Package:", self.content)
self.package_field = QComboBox(self.content)
self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QLabel("Binary:", self.content)
self.binary_field = QComboBox(self.content)
self.binary_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok
| QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(Qt.TabFocusReason)
self.package = ''
self.binary = ''
self._request_bin_thread = None
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
# fill the input fields
self.packages = {
name: path
for path, name in nm.nmd().file.get_packages(
nmdurl.nmduri(masteruri)).items()
}
packages = self.packages.keys()
packages.sort()
self.package_field.clear()
self.package_field.clearEditText()
self.package_field.addItems(packages)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.textChanged.connect(self.on_binary_selected)
else:
self.package_field.editTextChanged.connect(
self.on_package_selected)
self.binary_field.editTextChanged.connect(self.on_binary_selected)
def on_package_selected(self, package):
getnew = False
if self._request_bin_thread is None:
getnew = True
else:
if self._request_bin_thread.pkgname != package:
self._request_bin_thread.cancel()
getnew = True
if self._request_bin_thread is not None and self._request_bin_thread.pkgname == package:
# use already got data
self._request_bin_thread.reemit()
elif getnew:
self.binary_field.clear()
if self.packages and package in self.packages:
self.binary_field.setEnabled(True)
self._request_bin_thread = RequestBinariesThread(
package, nmdurl.nmduri(self.masteruri))
self._request_bin_thread.binaries_signal.connect(
self._on_new_binaries)
self._request_bin_thread.start()
def _on_new_binaries(self, pkgname, binaries):
# update the binaries
binaries = [os.path.basename(item) for item in binaries.keys()]
binaries = list(set(binaries))
binaries.sort()
self.binary_field.addItems(binaries)
self.package = pkgname
self.binary = self.binary_field.currentText()
def on_binary_selected(self, binary):
self.binary = binary
class RunDialog(PackageDialog):
'''
A dialog to run a ROS node without configuration
'''
def __init__(self, host, masteruri=None, parent=None):
PackageDialog.__init__(self, masteruri, parent)
self.host = host
self.setWindowTitle('Run')
ns_name_label = QLabel("NS/Name:", self.content)
self.ns_field = QComboBox(self.content)
self.ns_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.ns_field.setEditable(True)
ns_history = nm.history().cachedParamValues('run_dialog/NS')
ns_history.insert(0, '/')
self.ns_field.addItems(ns_history)
self.name_field = QLineEdit(self.content)
self.name_field.setEnabled(False)
horizontalLayout = QHBoxLayout()
horizontalLayout.addWidget(self.ns_field)
horizontalLayout.addWidget(self.name_field)
self.contentLayout.addRow(ns_name_label, horizontalLayout)
args_label = QLabel("Args:", self.content)
self.args_field = QComboBox(self.content)
self.args_field.setSizeAdjustPolicy(
QComboBox.AdjustToMinimumContentsLength)
self.args_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.args_field.setEditable(True)
self.contentLayout.addRow(args_label, self.args_field)
args_history = nm.history().cachedParamValues('run_dialog/Args')
args_history.insert(0, '')
self.args_field.addItems(args_history)
host_label = QLabel("Host:", self.content)
self.host_field = QComboBox(self.content)
self.host_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.host_field.setEditable(True)
host_label.setBuddy(self.host_field)
self.contentLayout.addRow(host_label, self.host_field)
self.host_history = host_history = nm.history().cachedParamValues(
'/Host')
if self.host in host_history:
host_history.remove(self.host)
host_history.insert(0, self.host)
self.host_field.addItems(host_history)
master_label = QLabel("ROS Master URI:", self.content)
self.master_field = QComboBox(self.content)
self.master_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.master_field.setEditable(True)
master_label.setBuddy(self.host_field)
self.contentLayout.addRow(master_label, self.master_field)
self.master_history = master_history = nm.history().cachedParamValues(
'/Optional Parameter/ROS Master URI')
if self.masteruri in master_history:
master_history.remove(self.masteruri)
master_history.insert(0, self.masteruri)
self.master_field.addItems(master_history)
self.binary_field.activated[str].connect(self.on_binary_selected)
def run_params(self):
'''
Runs the selected node, or do nothing.
:return: a tuple with host, package, binary, name, args, maseruri or empty tuple on errors
'''
self.binary = self.binary_field.currentText()
self.host = self.host_field.currentText(
) if self.host_field.currentText() else self.host
self.masteruri = self.master_field.currentText(
) if self.master_field.currentText() else self.masteruri
if self.host not in self.host_history and self.host != 'localhost' and self.host != '127.0.0.1':
nm.history().add2HostHistory(self.host)
ns = self.ns_field.currentText()
if ns and ns != '/':
nm.history().addParamCache('run_dialog/NS', ns)
args = self.args_field.currentText()
if args:
nm.history().addParamCache('run_dialog/Args', args)
if self.package and self.binary:
nm.history().addParamCache('/Host', self.host)
return (self.host, self.package, self.binary,
self.name_field.text(),
('__ns:=%s %s' % (ns, args)).split(' '), None
if self.masteruri == 'ROS_MASTER_URI' else self.masteruri)
return ()
def on_package_selected(self, package):
PackageDialog.on_package_selected(self, package)
if self.packages and package in self.packages:
self.args_field.setEnabled(True)
self.ns_field.setEnabled(True)
self.name_field.setEnabled(True)
root, _ext = os.path.splitext(
os.path.basename(self.binary_field.currentText()))
self.name_field.setText(root)
def on_binary_selected(self, binary):
root, _ext = os.path.splitext(os.path.basename(binary))
self.name_field.setText(root)
class QTopicWidget(QWidget):
topic_changed_signal = Signal(str)
def __init__(self, parent = None, topic_type = str(), is_action_topic = False):
QWidget.__init__(self, parent)
if is_action_topic:
self.topic_type = topic_type + "Goal"
else:
self.topic_type = topic_type
self.is_action_topic = is_action_topic
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# topic combo box
self.topic_combo_box = QComboBox()
self.topic_combo_box.setEnabled(False)
self.topic_combo_box.blockSignals(True)
self.topic_combo_box.setValidator(QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self))
self.topic_combo_box.currentIndexChanged[str].connect(self.topic_changed)
hbox.addWidget(self.topic_combo_box)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add refresh button
refresh_topics_button = QPushButton()
refresh_topics_button.clicked.connect(self.update_topic_list)
refresh_topics_button.setIcon(icon)
refresh_topics_button.setFixedSize(size.width()+2, size.height()+2)
hbox.addWidget(refresh_topics_button)
# end widget
self.setLayout(hbox)
# init widget
self.update_topic_list()
def emit_topic_name(self):
self.topic_changed_signal.emit(self.current_topic())
def set_editable(self, enable):
self.topic_combo_box.setEditable(enable)
def current_topic(self):
if self.topic_combo_box.isEnabled():
return self.topic_combo_box.currentText()
else:
return ""
@Slot(str)
def topic_changed(self, topic_name):
self.topic_changed_signal.emit(topic_name)
@Slot()
def update_topic_list(self):
self.topic_combo_box.clear()
self.topic_combo_box.setEnabled(False)
self.topic_combo_box.blockSignals(True)
self.topic_combo_box.addItem('Updating...')
# get topic list
_, _, topic_type = rospy.get_master().getTopicTypes()
topic_dict = dict(topic_type)
# filter list
topic_dict_filtered = dict()
for k, v in topic_dict.items():
if (len(topic_type) == 0) or (v == self.topic_type):
if (self.is_action_topic):
topic_dict_filtered[k[:-5]] = v
else:
topic_dict_filtered[k] = v
self.topic_combo_box.clear()
self.topic_combo_box.addItems(sorted(topic_dict_filtered.keys()))
if (self.topic_combo_box.count() > 0):
self.topic_combo_box.setEnabled(True)
self.topic_combo_box.blockSignals(False)
self.topic_changed(self.topic_combo_box.currentText())
else:
self.topic_combo_box.addItem('No topics available!')
class PackageDialog(QDialog):
def __init__(self, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QWidget()
self.contentLayout = QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
package_label = QLabel("Package:", self.content)
self.package_field = QComboBox(self.content)
self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QLabel("Binary:", self.content)
self.binary_field = QComboBox(self.content)
# self.binary_field.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self.binary_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(Qt.TabFocusReason)
self.package = ''
self.binary = ''
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
self._fill_packages_thread = PackagesThread()
self._fill_packages_thread.packages.connect(self._fill_packages)
self._fill_packages_thread.start()
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.textChanged.connect(self.on_binary_selected)
else:
self.package_field.editTextChanged.connect(self.on_package_selected)
self.binary_field.editTextChanged.connect(self.on_binary_selected)
def _fill_packages(self, packages):
# fill the input fields
self.packages = packages
packages = packages.keys()
packages.sort()
self.package_field.clear()
self.package_field.clearEditText()
self.package_field.addItems(packages)
def _getBinaries(self, path):
result = {}
if os.path.isdir(path):
fileList = os.listdir(path)
for f in fileList:
if f and f[0] != '.' and f not in ['build'] and not f.endswith('.cfg') and not f.endswith('.so'):
ret = self._getBinaries(os.path.join(path, f))
result = dict(ret.items() + result.items())
elif os.path.isfile(path) and os.access(path, os.X_OK):
# create a selection for binaries
return {os.path.basename(path): path}
return result
def on_package_selected(self, package):
self.binary_field.clear()
if self.packages and package in self.packages:
self.binary_field.setEnabled(True)
path = self.packages[package]
binaries = self._getBinaries(path).keys()
try:
# find binaries in catkin workspace
from catkin.find_in_workspaces import find_in_workspaces as catkin_find
search_paths = catkin_find(search_dirs=['libexec', 'share'], project=package, first_matching_workspace_only=True)
for p in search_paths:
binaries += self._getBinaries(p).keys()
except:
pass
binaries = list(set(binaries))
binaries.sort()
self.binary_field.addItems(binaries)
self.package = package
self.binary = self.binary_field.currentText()
def on_binary_selected(self, binary):
self.binary = binary
class SyncDialog(QDialog):
'''
A dialog to set the sync options.
'''
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(self._translate("Sync All"))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
# self.toolButton_SyncAllAnyMsg = QToolButton(self)
# sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
# sizePolicy.setHorizontalStretch(0)
# sizePolicy.setVerticalStretch(1)
# sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
# self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
# self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
# self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
# self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)"))
# self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName("toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(self._translate("Sync only topics on demand"))
self.toolButton_SyncTopicOnDemand.clicked.connect(self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName("toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(self._translate("Select an interface"))
self.toolButton_SelectInterface.clicked.connect(self._on_select_interface_clicked)
self.interface_field = QComboBox(self)
self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(self._on_interface_selected)
self.toolButton_EditInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(self._translate("Edit selected interface"))
self.toolButton_EditInterface.clicked.connect(self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName("toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(self._translate("Create an interface"))
self.toolButton_CreateInterface.clicked.connect(self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = TextEdit('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self._new_iface = True
def _translate(self, text):
if hasattr(QApplication, "UnicodeUTF8"):
return QApplication.translate("Form", text, None, QApplication.UnicodeUTF8)
else:
return QApplication.translate("Form", text, None)
@property
def sync_args(self):
return self._sync_args
@property
def interface_filename(self):
return self._interface_filename
def _on_sync_all_clicked(self):
self.setResult(QDialog.Accepted)
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'False']))
self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_publishers:=', '[]']))
self._sync_args.append(''.join(['_ignore_subscribers:=', '[]']))
self._sync_args.append(''.join(['_sync_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_services:=', '[]']))
self._sync_args.append(''.join(['_sync_services:=', '[]']))
self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
self._interface_filename = None
self.accept()
# def _on_sync_all_anymsg_clicked(self):
# self._sync_args = []
# self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
# self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True']))
# self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
# self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
# self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
# self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
# self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
# self._sync_args.append(''.join(['_sync_topics:=', '[/*]']))
# self._sync_args.append(''.join(['_ignore_services:=', '[]']))
# self._sync_args.append(''.join(['_sync_services:=', '[]']))
# self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
# self._interface_filename = None
# self.accept()
def _on_sync_topics_on_demand_clicked(self):
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True']))
self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_publishers:=', '[]']))
self._sync_args.append(''.join(['_ignore_subscribers:=', '[]']))
self._sync_args.append(''.join(['_sync_topics:=', '[/only_on_demand]']))
self._sync_args.append(''.join(['_ignore_services:=', '[/*]']))
self._sync_args.append(''.join(['_sync_services:=', '[]']))
self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
self._interface_filename = None
self.accept()
def _on_select_interface_clicked(self):
self.toolButton_SyncAll.setVisible(False)
# self.toolButton_SyncAllAnyMsg.setVisible(False)
self.toolButton_SyncTopicOnDemand.setVisible(False)
self.toolButton_SelectInterface.setVisible(False)
self.interface_field.setVisible(True)
self.toolButton_CreateInterface.setVisible(True)
self.toolButton_EditInterface.setVisible(True)
self.toolButton_EditInterface.setEnabled(False)
self.textedit.setVisible(False)
# # fill the interfaces
if self._interfaces_files is None:
self.interface_field.addItems(['interface searching...'])
self.interface_field.setCurrentIndex(0)
self._fill_interface_thread = InterfacesThread()
self._fill_interface_thread.interfaces.connect(self._fill_interfaces)
self._fill_interface_thread.start()
else:
self.toolButton_EditInterface.setEnabled(self.interface_field.currentText() in self._interfaces_files)
self.buttonBox.clear()
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
self.interface_field.setFocus(Qt.TabFocusReason)
self.resize(350, 80)
def _fill_interfaces(self, interfaces_files):
self._interfaces_files = interfaces_files
self.interface_field.clear()
self.interface_field.clearEditText()
self.interface_field.addItems(self._interfaces_files.keys())
def _on_interface_selected(self, interface):
if self._interfaces_files and interface in self._interfaces_files:
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', interface]))
self.toolButton_EditInterface.setEnabled(True)
else:
self.toolButton_EditInterface.setEnabled(False)
def accept(self):
if self.textedit.isVisible():
try:
tmp_file = os.path.join(nm.screen().LOG_PATH, 'tmp_sync_interface.sync')
with open(tmp_file, 'w+') as f:
f.write(self.textedit.toPlainText())
from master_discovery_fkie.common import read_interface
read_interface(tmp_file)
if not self._new_iface and self.interface_field.currentText() in self._interfaces_files:
fileName = self._interfaces_files[self.interface_field.currentText()]
else:
fileName, _ = QFileDialog.getSaveFileName(self, 'Save sync interface', '/home', "Sync Files (*.sync)")
if fileName:
with open(fileName, 'w+') as f:
self._interface_filename = fileName
f.write(self.textedit.toPlainText())
if self._new_iface:
self.interface_field.clear()
self._interfaces_files = None
self._on_select_interface_clicked()
# QDialog.accept(self)
# self.resetView()
except Exception as e:
MessageBox.warning(self, "Create sync interface",
"Error while create interface",
utf8(e))
elif self.interface_field.isVisible():
interface = self.interface_field.currentText()
if self._interfaces_files and interface in self._interfaces_files:
self._interface_filename = self._interfaces_files[interface]
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', interface]))
QDialog.accept(self)
self.resetView()
else:
QDialog.accept(self)
self.resetView()
def reject(self):
if self.textedit.isVisible():
self._on_select_interface_clicked()
else:
QDialog.reject(self)
self.resetView()
def _on_create_interface_clicked(self):
self._new_iface = True
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(True)
self.textedit.setText("# The ignore_* lists will be processed first.\n"
"# For ignore/sync nodes, topics or services\n"
"# use follow declaration:\n"
"#{param name}: \n"
"# - {ros name}\n"
"# or for selected hosts:\n"
"# - {host name}:\n"
"# - {ros name}\n\n"
"# you can use follow wildcard: '*', but not as a first character\n"
"ignore_hosts:\n"
"sync_hosts:\n\n"
"ignore_nodes:\n"
"sync_nodes:\n\n"
"ignore_topics:\n"
"ignore_publishers:\n"
"ignore_subscribers:\n"
"sync_topics:\n\n"
"ignore_services:\n"
" - /*get_loggers\n"
" - /*set_logger_level\n"
"sync_services:\n\n"
"# If sync_topics_on_demand is True the local subscribed and published topics\n"
"# are synchronized with remote even if they are not in the sync_* list.\n"
"sync_topics_on_demand: False\n\n"
"# The nodes which are running not at the same host as the ROS master are not\n"
"# synchronized by default. Use sync_remote_nodes to sync these nodes also.\n"
"sync_remote_nodes: False\n\n"
)
self.resize(350, 300)
def _on_edit_interface_clicked(self):
self._new_iface = False
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(True)
if self.interface_field.currentText() in self._interfaces_files:
try:
with open(self._interfaces_files[self.interface_field.currentText()], 'rw') as f:
iface = f.read()
self.textedit.setText(iface)
except Exception as e:
MessageBox.warning(self, "Edit sync interface",
"Error while open interface",
utf8(e))
self.resize(350, 300)
def resetView(self):
self.toolButton_SyncAll.setVisible(True)
# self.toolButton_SyncAllAnyMsg.setVisible(True)
self.toolButton_SyncTopicOnDemand.setVisible(True)
self.toolButton_SelectInterface.setVisible(True)
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(False)
self.buttonBox.clear()
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.resize(350, 160)
class RunDialog(PackageDialog):
'''
A dialog to run a ROS node without configuration
'''
def __init__(self, host, masteruri=None, parent=None):
PackageDialog.__init__(self, parent)
self.host = host
self.setWindowTitle('Run')
ns_name_label = QLabel("NS/Name:", self.content)
self.ns_field = QComboBox(self.content)
self.ns_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.ns_field.setEditable(True)
ns_history = nm.history().cachedParamValues('run_dialog/NS')
ns_history.insert(0, '/')
self.ns_field.addItems(ns_history)
self.name_field = QLineEdit(self.content)
self.name_field.setEnabled(False)
horizontalLayout = QHBoxLayout()
horizontalLayout.addWidget(self.ns_field)
horizontalLayout.addWidget(self.name_field)
self.contentLayout.addRow(ns_name_label, horizontalLayout)
args_label = QLabel("Args:", self.content)
self.args_field = QComboBox(self.content)
self.args_field.setSizeAdjustPolicy(QComboBox.AdjustToMinimumContentsLength)
self.args_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.args_field.setEditable(True)
self.contentLayout.addRow(args_label, self.args_field)
args_history = nm.history().cachedParamValues('run_dialog/Args')
args_history.insert(0, '')
self.args_field.addItems(args_history)
host_label = QLabel("Host:", self.content)
self.host_field = QComboBox(self.content)
# self.host_field.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self.host_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.host_field.setEditable(True)
host_label.setBuddy(self.host_field)
self.contentLayout.addRow(host_label, self.host_field)
self.host_history = host_history = nm.history().cachedParamValues('/Host')
if self.host in host_history:
host_history.remove(self.host)
host_history.insert(0, self.host)
self.host_field.addItems(host_history)
master_label = QLabel("ROS Master URI:", self.content)
self.master_field = QComboBox(self.content)
self.master_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.master_field.setEditable(True)
master_label.setBuddy(self.host_field)
self.contentLayout.addRow(master_label, self.master_field)
self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI')
self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
if self.masteruri in master_history:
master_history.remove(self.masteruri)
master_history.insert(0, self.masteruri)
self.master_field.addItems(master_history)
# self.package_field.setFocus(QtCore.Qt.TabFocusReason)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
else:
self.package_field.editTextChanged.connect(self.on_package_selected)
self.binary_field.activated[str].connect(self.on_binary_selected)
def run_params(self):
'''
Runs the selected node, or do nothing.
:return: a tuple with host, package, binary, name, args, maseruri or empty tuple on errors
'''
self.binary = self.binary_field.currentText()
self.host = self.host_field.currentText() if self.host_field.currentText() else self.host
self.masteruri = self.master_field.currentText() if self.master_field.currentText() else self.masteruri
if self.host not in self.host_history and self.host != 'localhost' and self.host != '127.0.0.1':
nm.history().add2HostHistory(self.host)
ns = self.ns_field.currentText()
if ns and ns != '/':
nm.history().addParamCache('run_dialog/NS', ns)
args = self.args_field.currentText()
if args:
nm.history().addParamCache('run_dialog/Args', args)
if self.package and self.binary:
nm.history().addParamCache('/Host', self.host)
return (self.host, self.package, self.binary, self.name_field.text(), ('__ns:=%s %s' % (ns, args)).split(' '), None if self.masteruri == 'ROS_MASTER_URI' else self.masteruri)
return ()
def on_package_selected(self, package):
PackageDialog.on_package_selected(self, package)
if self.packages and package in self.packages:
self.args_field.setEnabled(True)
self.ns_field.setEnabled(True)
self.name_field.setEnabled(True)
root, _ext = os.path.splitext(os.path.basename(self.binary_field.currentText()))
self.name_field.setText(root)
def on_binary_selected(self, binary):
root, _ext = os.path.splitext(os.path.basename(binary))
self.name_field.setText(root)
def __init__(self, context):
self.control_mode = 0
self.mode_pub = rospy.Publisher('/flor/controller/mode_command', VigirControlModeCommand, queue_size=10)
self._widget = context
self.vbox = QVBoxLayout()
#Add input for setting the spindle speed
list_label = QLabel("Select Control Mode")
self.vbox.addWidget(list_label)
# Indexed list of allowed control modes from feedback
self.allowed_modes = rospy.get_param("/atlas_controller/allowed_control_modes")
self.allowed_modes=rospy.get_param("/atlas_controller/allowed_control_modes")
self.mode_ids={}
self.mode_ids
for ndx,txt in enumerate(self.allowed_modes):
self.mode_ids[txt] = ndx
# API 2.13 ordering
self.bdi_mode_names=['NONE ', 'FREEZE ', 'STAND_PREP ', \
'STAND ', 'WALK ', 'STEP ', 'MANIPULATE ', \
'USER ', 'CALIBRATE ']
self.list_box = QListWidget(None)
self.list_box.addItems(self.allowed_modes)
self.list_box.currentItemChanged.connect(self.handle_selection_change)
self.vbox.addWidget(self.list_box)
self.selection_label = QLabel("Flor Selected: "+self.allowed_modes[0]+"("+str(self.control_mode)+")")
self.vbox.addWidget(self.selection_label)
self.label = QLabel("Flor Command : "+self.allowed_modes[0]+"("+str(self.control_mode)+")")
self.vbox.addWidget(self.label)
self.flor_mode = 0
self.bdi_current_mode = 0
self.bdi_desired_mode = 0
self.flor_mode_label = QLabel("Flor Mode : "+self.allowed_modes[self.flor_mode]+"("+str(self.flor_mode)+")"+" BDI:("+str(self.bdi_current_mode)+", "+str(self.bdi_desired_mode)+")")
self.vbox.addWidget(self.flor_mode_label)
#Add combo box for available settings
self.available_modes = QComboBox();
self.available_modes.addItem("");
self.available_modes.addItem("BDI");
self.available_modes.addItem("Enable Upper Body");
self.available_modes.addItem("Enable Whole Body");
self.available_modes.currentIndexChanged.connect(self.handle_avail_modes_changed)
self.vbox.addWidget(self.available_modes);
self.vbox.addStretch(1)
#Add Button for sending the behavior mode command
self.push_button = QPushButton("Set Mode")
self.push_button.clicked.connect(self.handle_set_mode)
self.vbox.addWidget(self.push_button)
self.vbox.addStretch(1)
hbox = QHBoxLayout()
hbox.addStretch(1)
self.stop_enable= QCheckBox()
self.stop_enable.setChecked(False)
hbox.addWidget(self.stop_enable)
self.stop_enable.clicked.connect(self.handle_stop_enable)
self.stop_button = QPushButton("STOP!")
self.stop_button.clicked.connect(self.handle_stop)
self.stop_button.setStyleSheet('QPushButton {background-color: gray }')
hbox.addWidget(self.stop_button)
hbox.addStretch(1)
self.vbox.addLayout(hbox)
self._widget.setLayout(self.vbox)
#add stretch at end so all GUI elements are at top of dialog
self.vbox.addStretch(1)
self.flor_mode_cmd_sub = rospy.Subscriber("/flor/controller/mode", FlorControlMode, self.florModeCallback)
def __init__(self,
topic,
msg_type,
show_only_rate=False,
masteruri=None,
use_ssh=False,
parent=None):
'''
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
'''
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = '' if masteruri is None else '[%s]' % masteruri
self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('%s %s %s' %
('Echo --- ' if not show_only_rate else 'Hz --- ',
topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox('Hide strings')
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox('Hide arrays')
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems(
[str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024'])
self.combobox_reduce_ch.activated[str].connect(
self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip(
"Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([
str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100',
'1000'
])
self.combobox_displ_hz.activated[str].connect(
self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel('Hz', self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems(
[str(self.MAX_DISPLAY_MSGS), '0', '50', '100'])
self.combobox_msgs_count.activated[str].connect(
self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip(
"Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel('#', self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_stop.png'))
self.topic_control_button.clicked.connect(
self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText('clear')
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ''
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (
msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ''
self._current_errmsg = ''
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg)
self.display.setText('<a href="%s">open using SSH</a>' %
(masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
def __init__(self, context):
#super(FootstepParamControlDialog, self).__init__(context)
#self.setObjectName('FootstepParamControlDialog')
super(FootstepParamControlWidget, self).__init__()
self.name = 'FootstepParamControlWidget'
#self._widget = QWidget()
self._widget = context
vbox = QVBoxLayout()
### STEP_COST_ESTIMATOR ########
self.step_cost_vbox = QVBoxLayout()
self.step_cost_groupbox = QGroupBox( "Step Cost Estimator" )
self.step_cost_groupbox.setCheckable( True )
self.step_cost_groupbox.setChecked(False)
self.step_cost_combobox = QComboBox()
self.step_cost_combobox.addItem( "Euclidean" )
self.step_cost_combobox.addItem( "GPR" )
self.step_cost_combobox.addItem( "Map" )
self.step_cost_combobox.addItem( "Boundary" )
self.step_cost_combobox.addItem( "Dynamics" )
self.step_cost_vbox.addWidget( self.step_cost_combobox )
self.step_cost_groupbox.setLayout( self.step_cost_vbox )
vbox.addWidget( self.step_cost_groupbox )
# #HARD ### FOOTSTEP_SET ########
# # parameters for discret footstep planning mode
# vigir_atlas_control_msgs/VigirBehaviorStepData[] footstep_set # set of footsteps (displacement vectors (in meter / rad))
# float32[] footstep_cost # cost for each footstep given in footstep set
#
# #HARD ### LOAD_GPR_STEP_COST ########
# # map step cost file
# std_msgs/String map_step_cost_file
#
# #HARD ### LOAD_MAP_STEP_COST ########
# # destination of gpr file
# std_msgs/String gpr_step_cost_file
### COLLISION_CHECK_TYPE ########
self.collision_check_groupbox = QGroupBox( "Collision Check Type" )
self.collision_check_groupbox.setCheckable( True )
self.collision_check_groupbox.setChecked( False)
self.collision_check_vbox = QVBoxLayout()
self.collision_check_feet_checkbox = QCheckBox( "Feet" )
self.collision_check_vbox.addWidget( self.collision_check_feet_checkbox )
self.collision_check_ub_checkbox = QCheckBox( "Upper Body" )
self.collision_check_vbox.addWidget( self.collision_check_ub_checkbox )
self.collision_check_fc_checkbox = QCheckBox( "Foot Contact Support" )
self.collision_check_vbox.addWidget( self.collision_check_fc_checkbox )
self.collision_check_groupbox.setLayout( self.collision_check_vbox )
vbox.addWidget( self.collision_check_groupbox )
### FOOT_SIZE ########
self.foot_size_vbox = QVBoxLayout()
self.foot_size_groupbox = QGroupBox( "Foot Size" )
self.foot_size_groupbox.setCheckable( True )
self.foot_size_groupbox.setChecked( False )
self.foot_size_hbox = QHBoxLayout()
self.foot_size_label = QLabel("Foot Size")
self.foot_size_hbox.addWidget( self.foot_size_label )
self.foot_size_x = QDoubleSpinBox()
self.foot_size_x.setSingleStep(.01)
self.foot_size_hbox.addWidget(self.foot_size_x)
self.foot_size_y = QDoubleSpinBox()
self.foot_size_y.setSingleStep(.01)
self.foot_size_hbox.addWidget(self.foot_size_y)
self.foot_size_z = QDoubleSpinBox()
self.foot_size_z.setSingleStep(.01)
self.foot_size_hbox.addWidget(self.foot_size_z)
self.foot_size_vbox.addLayout( self.foot_size_hbox )
self.foot_shift_hbox = QHBoxLayout()
self.foot_shift_label = QLabel("Foot Origin Shift")
self.foot_shift_hbox.addWidget( self.foot_shift_label )
self.foot_shift_x = QDoubleSpinBox()
self.foot_shift_x.setRange(-1.0, 1.0)
self.foot_shift_x.setSingleStep(.01)
self.foot_shift_hbox.addWidget(self.foot_shift_x)
self.foot_shift_y = QDoubleSpinBox()
self.foot_shift_y.setRange(-1.0, 1.0)
self.foot_shift_y.setSingleStep(.01)
self.foot_shift_hbox.addWidget(self.foot_shift_y)
self.foot_shift_z = QDoubleSpinBox()
self.foot_shift_z.setRange(-1.0, 1.0)
self.foot_shift_z.setSingleStep(.01)
self.foot_shift_hbox.addWidget(self.foot_shift_z)
self.foot_size_vbox.addLayout( self.foot_shift_hbox )
self.foot_size_groupbox.setLayout( self.foot_size_vbox )
vbox.addWidget( self.foot_size_groupbox )
### UPPER_BODY_SIZE ########
self.upper_vbox = QVBoxLayout()
self.upper_groupbox = QGroupBox( "Upper Body Size" )
self.upper_groupbox.setCheckable( True )
self.upper_groupbox.setChecked( False )
self.upper_size_hbox = QHBoxLayout()
self.upper_size_label = QLabel("Upper Body Size")
self.upper_size_hbox.addWidget( self.upper_size_label )
self.upper_size_x = QDoubleSpinBox()
self.upper_size_x.setSingleStep(.01)
self.upper_size_hbox.addWidget(self.upper_size_x)
self.upper_size_y = QDoubleSpinBox()
self.upper_size_y.setSingleStep(.01)
self.upper_size_hbox.addWidget(self.upper_size_y)
self.upper_size_z = QDoubleSpinBox()
self.upper_size_z.setSingleStep(.01)
self.upper_size_hbox.addWidget(self.upper_size_z)
self.upper_vbox.addLayout( self.upper_size_hbox )
self.upper_origin_hbox = QHBoxLayout()
self.upper_origin_label = QLabel("Upper Body Origin")
self.upper_origin_hbox.addWidget( self.upper_origin_label )
self.upper_origin_x = QDoubleSpinBox()
self.upper_origin_x.setRange(-1.0, 1.0)
self.upper_origin_x.setSingleStep(.01)
self.upper_origin_hbox.addWidget(self.upper_origin_x)
self.upper_origin_y = QDoubleSpinBox()
self.upper_origin_y.setRange(-1.0, 1.0)
self.upper_origin_y.setSingleStep(.01)
self.upper_origin_hbox.addWidget(self.upper_origin_y)
self.upper_origin_z = QDoubleSpinBox()
self.upper_origin_z.setRange(-1.0, 1.0)
self.upper_origin_z.setSingleStep(.01)
self.upper_origin_hbox.addWidget(self.upper_origin_z)
self.upper_vbox.addLayout( self.upper_origin_hbox )
self.upper_groupbox.setLayout( self.upper_vbox )
vbox.addWidget( self.upper_groupbox )
### TERRAIN_MODEL ########
self.terrain_model_groupbox = QGroupBox( "Terrain Model" )
self.terrain_model_groupbox.setCheckable( True )
self.terrain_model_groupbox.setChecked( False )
self.terrain_model_vbox = QVBoxLayout()
self.terrain_model_checkbox = QCheckBox( "Use Terrain Model" )
self.terrain_model_vbox.addWidget( self.terrain_model_checkbox )
self.terrain_min_ssx_hbox = QHBoxLayout()
self.terrain_min_ssx_label = QLabel("Min Sampling Steps x")
self.terrain_min_ssx_hbox.addWidget( self.terrain_min_ssx_label )
self.terrain_min_ssx_val = QDoubleSpinBox()
self.terrain_min_ssx_val.setSingleStep(1)
self.terrain_min_ssx_val.setRange(0,100)
self.terrain_min_ssx_hbox.addWidget( self.terrain_min_ssx_val )
self.terrain_model_vbox.addLayout( self.terrain_min_ssx_hbox )
self.terrain_min_ssy_hbox = QHBoxLayout()
self.terrain_min_ssy_label = QLabel("Min Sampling Steps y")
self.terrain_min_ssy_hbox.addWidget( self.terrain_min_ssy_label )
self.terrain_min_ssy_val = QDoubleSpinBox()
self.terrain_min_ssy_val.setSingleStep(1)
self.terrain_min_ssy_val.setRange(0,100)
self.terrain_min_ssy_hbox.addWidget( self.terrain_min_ssy_val )
self.terrain_model_vbox.addLayout( self.terrain_min_ssy_hbox )
self.terrain_max_ssx_hbox = QHBoxLayout()
self.terrain_max_ssx_label = QLabel("Max Sampling Steps x")
self.terrain_max_ssx_hbox.addWidget( self.terrain_max_ssx_label )
self.terrain_max_ssx_val = QDoubleSpinBox()
self.terrain_max_ssx_val.setSingleStep(1)
self.terrain_max_ssx_val.setRange(0,100)
self.terrain_max_ssx_hbox.addWidget( self.terrain_max_ssx_val )
self.terrain_model_vbox.addLayout( self.terrain_max_ssx_hbox )
self.terrain_max_ssy_hbox = QHBoxLayout()
self.terrain_max_ssy_label = QLabel("Max Sampling Steps y")
self.terrain_max_ssy_hbox.addWidget( self.terrain_max_ssy_label )
self.terrain_max_ssy_val = QDoubleSpinBox()
self.terrain_max_ssy_val.setSingleStep(1)
self.terrain_max_ssy_val.setRange(0,100)
self.terrain_max_ssy_hbox.addWidget( self.terrain_max_ssy_val )
self.terrain_model_vbox.addLayout( self.terrain_max_ssy_hbox )
self.terrain_max_iz_hbox = QHBoxLayout()
self.terrain_max_iz_label = QLabel("Max Intrusion z")
self.terrain_max_iz_hbox.addWidget( self.terrain_max_iz_label )
self.terrain_max_iz_val = QDoubleSpinBox()
self.terrain_max_iz_val.setDecimals(4)
self.terrain_max_iz_val.setSingleStep(.0001)
self.terrain_max_iz_val.setRange(0,.25)
self.terrain_max_iz_hbox.addWidget( self.terrain_max_iz_val )
self.terrain_model_vbox.addLayout( self.terrain_max_iz_hbox )
self.terrain_max_gc_hbox = QHBoxLayout()
self.terrain_max_gc_label = QLabel("Max Ground Clearance")
self.terrain_max_gc_hbox.addWidget( self.terrain_max_gc_label )
self.terrain_max_gc_val = QDoubleSpinBox()
self.terrain_max_gc_val.setDecimals(4)
self.terrain_max_gc_val.setSingleStep(.0001)
self.terrain_max_gc_val.setRange(0,.25)
self.terrain_max_gc_hbox.addWidget( self.terrain_max_gc_val )
self.terrain_model_vbox.addLayout( self.terrain_max_gc_hbox )
self.terrain_ms_hbox = QHBoxLayout()
self.terrain_ms_label = QLabel("Minimal Support")
self.terrain_ms_hbox.addWidget( self.terrain_ms_label )
self.terrain_ms_val = QDoubleSpinBox()
self.terrain_ms_val.setDecimals(2)
self.terrain_ms_val.setSingleStep(.01)
self.terrain_ms_val.setRange(0,1)
self.terrain_ms_hbox.addWidget( self.terrain_ms_val )
self.terrain_model_vbox.addLayout( self.terrain_ms_hbox )
self.terrain_model_groupbox.setLayout( self.terrain_model_vbox )
vbox.addWidget( self.terrain_model_groupbox )
### STANDARD_STEP_PARAMS ########
self.std_step_vbox = QVBoxLayout()
self.std_step_groupbox = QGroupBox( "Standard Step Parameters" )
self.std_step_groupbox.setCheckable( True )
self.std_step_groupbox.setChecked( False )
self.foot_sep_hbox = QHBoxLayout()
self.foot_sep_label = QLabel("Foot Separation")
self.foot_sep_hbox.addWidget( self.foot_sep_label )
self.foot_sep_val = QDoubleSpinBox()
self.foot_sep_val.setSingleStep(.01)
self.foot_sep_hbox.addWidget(self.foot_sep_val)
self.std_step_vbox.addLayout( self.foot_sep_hbox )
self.std_step_step_duration_hbox = QHBoxLayout()
self.std_step_step_duration_label = QLabel("Step Duration")
self.std_step_step_duration_hbox.addWidget( self.std_step_step_duration_label )
self.std_step_step_duration_val = QDoubleSpinBox()
self.std_step_step_duration_val.setSingleStep(.01)
self.std_step_step_duration_hbox.addWidget( self.std_step_step_duration_val )
self.std_step_vbox.addLayout( self.std_step_step_duration_hbox )
self.std_step_sway_duration_hbox = QHBoxLayout()
self.std_step_sway_duration_label = QLabel("Sway Duration")
self.std_step_sway_duration_hbox.addWidget( self.std_step_sway_duration_label )
self.std_step_sway_duration_val = QDoubleSpinBox()
self.std_step_sway_duration_val.setSingleStep(.01)
self.std_step_sway_duration_hbox.addWidget( self.std_step_sway_duration_val )
self.std_step_vbox.addLayout( self.std_step_sway_duration_hbox )
self.std_step_swing_height_hbox = QHBoxLayout()
self.std_step_swing_height_label = QLabel("Swing Height")
self.std_step_swing_height_hbox.addWidget( self.std_step_swing_height_label )
self.std_step_swing_height_val = QDoubleSpinBox()
self.std_step_swing_height_val.setSingleStep(.01)
self.std_step_swing_height_hbox.addWidget( self.std_step_swing_height_val )
self.std_step_vbox.addLayout( self.std_step_swing_height_hbox )
self.std_step_lift_height_hbox = QHBoxLayout()
self.std_step_lift_height_label = QLabel("Lift Height")
self.std_step_lift_height_hbox.addWidget( self.std_step_lift_height_label )
self.std_step_lift_height_val = QDoubleSpinBox()
self.std_step_lift_height_val.setSingleStep(.01)
self.std_step_lift_height_hbox.addWidget( self.std_step_lift_height_val )
self.std_step_vbox.addLayout( self.std_step_lift_height_hbox )
self.std_step_groupbox.setLayout( self.std_step_vbox )
vbox.addWidget( self.std_step_groupbox )
button_hbox = QHBoxLayout()
button_get = QPushButton("Get Current Values")
button_hbox.addWidget( button_get )
button_submit = QPushButton("Send Values")
button_hbox.addWidget( button_submit)
vbox.addLayout( button_hbox )
vbox.addStretch(1)
self._widget.setLayout(vbox)
#context.add_widget(self._widget)
# publishers and subscribers
self.param_pub = rospy.Publisher('/flor/footstep_planner/set_params', FootstepPlannerParams, queue_size=10)
button_submit.pressed.connect(self.sendParams)
self.param_sub = self.stateSubscriber = rospy.Subscriber('/ros_footstep_planner/params', FootstepPlannerParams, self.getParamCallbackFcn)
button_get.pressed.connect(self.getParams)
class QTopicWidget(QWidget):
topic_changed_signal = Signal(str)
def __init__(self, parent=None, topic_type=str(), is_action_topic=False):
QWidget.__init__(self, parent)
if is_action_topic:
self.topic_type = topic_type + "Goal"
else:
self.topic_type = topic_type
self.is_action_topic = is_action_topic
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# topic combo box
self.topic_combo_box = QComboBox()
self.topic_combo_box.setEnabled(False)
self.topic_combo_box.blockSignals(True)
self.topic_combo_box.setValidator(
QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self))
self.topic_combo_box.currentIndexChanged[str].connect(
self.topic_changed)
hbox.addWidget(self.topic_combo_box)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add refresh button
refresh_topics_button = QPushButton()
refresh_topics_button.clicked.connect(self.update_topic_list)
refresh_topics_button.setIcon(icon)
refresh_topics_button.setFixedSize(size.width() + 2, size.height() + 2)
hbox.addWidget(refresh_topics_button)
# end widget
self.setLayout(hbox)
# init widget
self.update_topic_list()
def emit_topic_name(self):
self.topic_changed_signal.emit(self.current_topic())
def set_editable(self, enable):
self.topic_combo_box.setEditable(enable)
def current_topic(self):
if self.topic_combo_box.isEnabled():
return self.topic_combo_box.currentText()
else:
return str()
@Slot(str)
def topic_changed(self, topic_name):
self.topic_changed_signal.emit(topic_name)
@Slot()
def update_topic_list(self):
self.topic_combo_box.clear()
self.topic_combo_box.setEnabled(False)
self.topic_combo_box.blockSignals(True)
self.topic_combo_box.addItem('Updating...')
# get topic list
_, _, topic_type = rospy.get_master().getTopicTypes()
topic_dict = dict(topic_type)
# filter list
topic_dict_filtered = dict()
for k, v in topic_dict.items():
if (len(topic_type) == 0) or (v == self.topic_type):
if self.is_action_topic:
topic_dict_filtered[k[:-5]] = v
else:
topic_dict_filtered[k] = v
self.topic_combo_box.clear()
self.topic_combo_box.addItems(sorted(topic_dict_filtered.keys()))
if self.topic_combo_box.count() > 0:
self.topic_combo_box.setEnabled(True)
self.topic_combo_box.blockSignals(False)
self.topic_changed(self.topic_combo_box.currentText())
else:
self.topic_combo_box.addItem('No topics available!')
class QParameterSetSelectionWidget(QWidgetWithLogger):
NO_PARAM_SET_TEXT = "No parameters available!"
SELECT_TEXT = "<Select>"
param_cleared_signal = Signal()
param_changed_signal = Signal(str)
def __init__(self, parent = None, logger = Logger()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add combo box
self.parameter_set_names_combo_box = QComboBox()
self.parameter_set_names_combo_box.currentIndexChanged[str].connect(self.param_changed)
hbox.addWidget(self.parameter_set_names_combo_box)
# add refresh button
self.get_all_parameter_set_names_button = QPushButton()
self.get_all_parameter_set_names_button.clicked.connect(self._get_all_parameter_set_names)
self.get_all_parameter_set_names_button.setIcon(icon)
self.get_all_parameter_set_names_button.setFixedSize(size.width()+2, size.height()+2)
hbox.addWidget(self.get_all_parameter_set_names_button)
# end widget
self.setLayout(hbox)
# init widget
self.reset_parameter_set_selection()
def _init_action_client(self, topic_name):
self.get_parameter_set_names_client = actionlib.SimpleActionClient(topic_name, GetParameterSetNamesAction)
print "Parameter set topic changed: " + topic_name
@Slot(str)
def set_topic_name(self, topic_name):
if (len(topic_name) > 0):
self._init_action_client(topic_name)
self._get_all_parameter_set_names()
else:
self.reset_parameter_set_selection()
def reset_parameter_set_selection(self):
self.parameter_set_names_combo_box.setEnabled(False)
self.parameter_set_names_combo_box.blockSignals(True)
self.parameter_set_names_combo_box.clear()
self.parameter_set_names_combo_box.addItem(self.NO_PARAM_SET_TEXT)
self.get_all_parameter_set_names_button.setEnabled(False)
self.param_cleared_signal.emit()
def current_parameter_set_name(self):
if self.parameter_set_names_combo_box.currentText() == self.NO_PARAM_SET_TEXT:
return str()
else:
return self.parameter_set_names_combo_box.currentText()
@Slot(str)
def param_changed(self, name):
self.param_changed_signal.emit(name)
# parameter set names handler
def _get_all_parameter_set_names(self):
if (self.get_parameter_set_names_client.wait_for_server(rospy.Duration(0.5))):
self.logger.log_info("Requesting current list of parameter set names.")
goal = GetParameterSetNamesGoal()
self.get_parameter_set_names_client.send_goal(goal)
# waiting for getting list of parameter set names
if (self.get_parameter_set_names_client.wait_for_result(rospy.Duration(1.0))):
result = self.get_parameter_set_names_client.get_result()
self.logger.log_info("Received " + str(len(result.names)) + " parameter set names.")
self.parameter_set_names_combo_box.blockSignals(True)
self.parameter_set_names_combo_box.clear()
self.parameter_set_names_combo_box.addItem(self.SELECT_TEXT)
self.parameter_set_names_combo_box.setItemData(0, 0, Qt.UserRole-1)
self.param_cleared_signal.emit()
for name in result.names:
self.parameter_set_names_combo_box.addItem(name.data)
self.parameter_set_names_combo_box.setEnabled(True)
self.parameter_set_names_combo_box.blockSignals(False)
self.get_all_parameter_set_names_button.setEnabled(True)
else:
self.logger.log_error("Didn't received any results. Check communcation!")
self.reset_parameter_set_selection()
else:
self.logger.log_error("Can't connect to footstep planner parameter action server!")
self.reset_parameter_set_selection()
def __init__(self, topic, msg_type, show_only_rate=False, masteruri=None, use_ssh=False, parent=None):
"""
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
"""
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = "" if masteruri is None else "[%s]" % masteruri
self.setObjectName(" - ".join(["EchoDialog", topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle("%s %s %s" % ("Echo --- " if not show_only_rate else "Hz --- ", topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.0
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ""
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox("Hide strings")
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox("Hide arrays")
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems([str(self.MESSAGE_LINE_LIMIT), "0", "80", "256", "1024"])
self.combobox_reduce_ch.activated[str].connect(self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip("Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([str(self.MESSAGE_HZ_LIMIT), "0", "0.1", "1", "50", "100", "1000"])
self.combobox_displ_hz.activated[str].connect(self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel("Hz", self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems([str(self.MAX_DISPLAY_MSGS), "0", "50", "100"])
self.combobox_msgs_count.activated[str].connect(self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip("Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel("#", self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText("stop")
self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png"))
self.topic_control_button.clicked.connect(self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText("clear")
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel("0 messages", self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ""
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ""
self._current_errmsg = ""
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg
)
self.display.setText('<a href="%s">open using SSH</a>' % (masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
class NAODashboard(Dashboard):
def setup(self, context):
self.name = 'NAO Dashboard (%s)'%rosenv.get_master_uri()
self.max_icon_size = QSize(50, 30)
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._raw_byte = None
self.digital_outs = [0, 0, 0]
icons_path = path.join(roslib.packages.get_pkg_dir('nao_dashboard'), "icons/")
self._robot_combobox = QComboBox()
self._robot_combobox.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self._robot_combobox.setInsertPolicy(QComboBox.InsertAlphabetically)
self._robot_combobox.setEditable(True)
gobject.threads_init()
dbus.glib.threads_init()
self.robots = []
self.sys_bus = dbus.SystemBus()
self.avahi_server = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, '/'), avahi.DBUS_INTERFACE_SERVER)
self.sbrowser = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, self.avahi_server.ServiceBrowserNew(avahi.IF_UNSPEC,
avahi.PROTO_INET, '_naoqi._tcp', 'local', dbus.UInt32(0))), avahi.DBUS_INTERFACE_SERVICE_BROWSER)
self.sbrowser.connect_to_signal("ItemNew", self.avahiNewItem)
self.sbrowser.connect_to_signal("ItemRemove", self.avahiItemRemove)
# Diagnostics
self._monitor = MonitorDashWidget(self.context)
# Rosout
self._console = ConsoleDashWidget(self.context, minimal=False)
## Joint temperature
self._temp_joint_button = StatusControl('Joint temperature', 'temperature_joints')
## CPU temperature
self._temp_head_button = StatusControl('CPU temperature', 'temperature_head')
## Motors
self._motors_button = Motors(self.context)
## Battery State
self._power_state_ctrl = PowerStateControl('NAO Battery')
self._agg_sub = rospy.Subscriber('diagnostics_agg', DiagnosticArray, self.new_diagnostic_message)
self._last_dashboard_message_time = 0.0
def get_widgets(self):
return [ [self._robot_combobox],
[self._monitor, self._console, self._temp_joint_button, self._temp_head_button,
self._motors_button],
[self._power_state_ctrl]
]
def shutdown_dashboard(self):
self._agg_sub.unregister()
def new_diagnostic_message(self, msg):
"""
callback to process dashboard_agg messages
:param msg: dashboard_agg DashboardState message
:type msg: pr2_msgs.msg.DashboardState
"""
self._dashboard_message = msg
self._last_dashboard_message_time = rospy.get_time()
for status in msg.status:
if status.name == '/Nao/Joints':
highestTemp = ""
lowestStiff = -1.0
highestStiff = -1.0
hotJoints = ""
for kv in status.values:
if kv.key == 'Highest Temperature':
highestTemp = " (" + kv.value + "deg C)"
elif kv.key == 'Highest Stiffness':
highestStiff = float(kv.value)
elif kv.key == 'Lowest Stiffness without Hands':
lowestStiff = float(kv.value)
elif kv.key == 'Hot Joints':
hotJoints = str(kv.value)
self.set_buttonStatus(self._temp_joint_button, status, "Joints: ", "%s %s"%(highestTemp, hotJoints))
#if(lowestStiff < 0.0 or highestStiff < 0.0):
#self._motors_button.set_stale()
#self._motors_button.SetToolTip(wx.ToolTip("Stale"))
#elif(lowestStiff > 0.9):
#self._motors_button.set_error()
#self._motors_button.SetToolTip(wx.ToolTip("Stiffness on"))
#elif(highestStiff < 0.05):
#self._motors_button.set_ok()
#self._motors_button.SetToolTip(wx.ToolTip("Stiffness off"))
#else:
#self._motors_button.set_warn()
#self._motors_button.SetToolTip(wx.ToolTip("Stiffness partially on (between %f and %f)" % (lowestStiff, highestStiff)))
elif status.name == '/Nao/CPU':
self.set_buttonStatus(self._temp_head_button, status, "CPU temperature: ")
elif status.name == '/Nao/Battery/Battery':
if status.level == 3:
self._power_state_ctrl.set_stale()
else:
self._power_state_ctrl.set_power_state(status.values)
def set_buttonStatus(self, button, status, statusPrefix = "", statusSuffix = ""):
statusString = "Unknown"
if status.level == DiagnosticStatus.OK:
button.update_state(0)
statusString = "OK"
elif status.level == DiagnosticStatus.WARN:
button.update_state(1)
statusString = "Warn"
elif status.level == DiagnosticStatus.ERROR:
button.update_state(2)
statusString = "Error"
elif status.level == 3:
button.update_state(3)
statusString = "Stale"
button.setToolTip(statusPrefix + statusString + statusSuffix)
def avahiNewItem(self, interface, protocol, name, stype, domain, flags):
self.avahi_server.ResolveService(interface, protocol, name, stype,
domain, avahi.PROTO_INET, dbus.UInt32(0),
reply_handler=self.service_resolved, error_handler=self.print_error)
pass
def avahiItemRemove(self, interface, protocol, name, stype, domain, flags):
print "Remove"
for robot in self.robots:
if robot['name'] == str(name) and robot['address'] == str(address) and robot['port'] == int(port):
self.robots.remove(robot)
updateRobotCombobox();
def service_resolved(self, interface, protocol, name, type, domain, host, aprotocol, address, port, txt, flags):
self.robots.append({'name': str(name), 'address': str(address), 'port': int(port)})
self.updateRobotCombobox()
def updateRobotCombobox(self):
selected = self._robot_combobox.currentText()
for i in range(self._robot_combobox.count()):
self._robot_combobox.removeItem(i)
id = -1
for robot in self.robots:
text = str(robot)
text = "%s (%s:%d)" % (robot['name'], robot['address'], robot['port'])
self._robot_combobox.addItem(text, '%s:%d' % (robot['address'], robot['port']))
if(text == selected):
id = self._robot_combobox.count()-1;
if(self._robot_combobox.count() == 1):
self._robot_combobox.setCurrentIndex(0)
elif(id > -1):
self._robot_combobox.setCurrentIndex(id)
def print_error(self, *args):
print 'error_handler'
print args
def save_settings(self, plugin_settings, instance_settings):
self._console.save_settings(plugin_settings, instance_settings)
self._monitor.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._console.restore_settings(plugin_settings, instance_settings)
self._monitor.restore_settings(plugin_settings, instance_settings)
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(self._translate("Sync All"))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
# self.toolButton_SyncAllAnyMsg = QToolButton(self)
# sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
# sizePolicy.setHorizontalStretch(0)
# sizePolicy.setVerticalStretch(1)
# sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
# self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
# self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
# self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
# self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)"))
# self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName("toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(self._translate("Sync only topics on demand"))
self.toolButton_SyncTopicOnDemand.clicked.connect(self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName("toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(self._translate("Select an interface"))
self.toolButton_SelectInterface.clicked.connect(self._on_select_interface_clicked)
self.interface_field = QComboBox(self)
self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(self._on_interface_selected)
self.toolButton_EditInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(self._translate("Edit selected interface"))
self.toolButton_EditInterface.clicked.connect(self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName("toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(self._translate("Create an interface"))
self.toolButton_CreateInterface.clicked.connect(self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = TextEdit('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self._new_iface = True
class ControlModeWidget:
def __init__(self, context):
self.control_mode = 0
self.mode_pub = rospy.Publisher('/flor/controller/mode_command', VigirControlModeCommand, queue_size=10)
self._widget = context
self.vbox = QVBoxLayout()
#Add input for setting the spindle speed
list_label = QLabel("Select Control Mode")
self.vbox.addWidget(list_label)
# Indexed list of allowed control modes from feedback
self.allowed_modes = rospy.get_param("/atlas_controller/allowed_control_modes")
self.allowed_modes=rospy.get_param("/atlas_controller/allowed_control_modes")
self.mode_ids={}
self.mode_ids
for ndx,txt in enumerate(self.allowed_modes):
self.mode_ids[txt] = ndx
# API 2.13 ordering
self.bdi_mode_names=['NONE ', 'FREEZE ', 'STAND_PREP ', \
'STAND ', 'WALK ', 'STEP ', 'MANIPULATE ', \
'USER ', 'CALIBRATE ']
self.list_box = QListWidget(None)
self.list_box.addItems(self.allowed_modes)
self.list_box.currentItemChanged.connect(self.handle_selection_change)
self.vbox.addWidget(self.list_box)
self.selection_label = QLabel("Flor Selected: "+self.allowed_modes[0]+"("+str(self.control_mode)+")")
self.vbox.addWidget(self.selection_label)
self.label = QLabel("Flor Command : "+self.allowed_modes[0]+"("+str(self.control_mode)+")")
self.vbox.addWidget(self.label)
self.flor_mode = 0
self.bdi_current_mode = 0
self.bdi_desired_mode = 0
self.flor_mode_label = QLabel("Flor Mode : "+self.allowed_modes[self.flor_mode]+"("+str(self.flor_mode)+")"+" BDI:("+str(self.bdi_current_mode)+", "+str(self.bdi_desired_mode)+")")
self.vbox.addWidget(self.flor_mode_label)
#Add combo box for available settings
self.available_modes = QComboBox();
self.available_modes.addItem("");
self.available_modes.addItem("BDI");
self.available_modes.addItem("Enable Upper Body");
self.available_modes.addItem("Enable Whole Body");
self.available_modes.currentIndexChanged.connect(self.handle_avail_modes_changed)
self.vbox.addWidget(self.available_modes);
self.vbox.addStretch(1)
#Add Button for sending the behavior mode command
self.push_button = QPushButton("Set Mode")
self.push_button.clicked.connect(self.handle_set_mode)
self.vbox.addWidget(self.push_button)
self.vbox.addStretch(1)
hbox = QHBoxLayout()
hbox.addStretch(1)
self.stop_enable= QCheckBox()
self.stop_enable.setChecked(False)
hbox.addWidget(self.stop_enable)
self.stop_enable.clicked.connect(self.handle_stop_enable)
self.stop_button = QPushButton("STOP!")
self.stop_button.clicked.connect(self.handle_stop)
self.stop_button.setStyleSheet('QPushButton {background-color: gray }')
hbox.addWidget(self.stop_button)
hbox.addStretch(1)
self.vbox.addLayout(hbox)
self._widget.setLayout(self.vbox)
#add stretch at end so all GUI elements are at top of dialog
self.vbox.addStretch(1)
self.flor_mode_cmd_sub = rospy.Subscriber("/flor/controller/mode", FlorControlMode, self.florModeCallback)
def shutdown_plugin(self):
print "Shutting down ..."
self.flor_mode_cmd_sub.unregister()
self.mode_pub.unregister()
print "Done!"
# Update BDI state
def simStateCallback(self, state):
if ((self.bdi_current_state != state.current_behavior) or (self.bdi_desired_state != state.desired_behavior) or (self.bdi_error_code != state.error_code) or (self.bdi_behavior_status != state.behavior_feedback.status_flags) ):
self.bdi_current_state = state.current_behavior
self.bdi_desired_state = state.desired_behavior
self.bdi_error_code = state.error_code
self.bdi_behavior_status = state.behavior_feedback.status_flags
if ((self.bdi_current_state < 0) or (self.bdi_current_state >= length(self.bdi_mode_names))):
self.bdi_state_label.setText( " BDI State : "+self.bdi_mode_names[0]+"("+str(self.bdi_current_state)+", " + str(self.bdi_desired_state) + ") EC:("+str(self.bdi_error_code)+", " + str(self.bdi_behavior_status) +")")
else:
self.bdi_state_label.setText( " BDI State : "+self.bdi_mode_names[self.bdi_current_state]+"("+str(self.bdi_current_state)+", " + str(self.bdi_desired_state) + ") EC:("+str(self.bdi_error_code)+", " + str(self.bdi_behavior_status) +")")
def simCommandCallback(self, bdi_cmd):
if (self.bdi_behavior != bdi_cmd.behavior) :
self.bdi_behavior = bdi_cmd.behavior
self.bdi_command_label.setText(" BDI Cmd : "+self.bdi_mode_names[self.bdi_behavior]+"("+str(self.bdi_behavior)+")")
def florModeCallback(self, cmd):
if ( (self.flor_mode != cmd.control_mode) or (self.bdi_current_mode != cmd.bdi_current_behavior) or (self.bdi_desired_mode != cmd.bdi_desired_behavior) ):
if (self.flor_mode != cmd.control_mode) and (self.control_mode != cmd.control_mode):
print "Flor mode changed externally - clear selection"
self.clearSelections()
self.selection_label.setText("Flor Selected : ")
self.label.setText("Flor Command : ")
self.flor_mode = cmd.control_mode
self.bdi_current_mode = cmd.bdi_current_behavior
self.bdi_desired_mode = cmd.bdi_desired_behavior
print "Flor mode: ", self.flor_mode, " BDI: ",self.bdi_current_mode,", ",self.bdi_desired_mode
if (self.flor_mode > 250):
print "Invalid control mode "
self.flor_mode = 0
#print "Allowed modes:"
#print self.allowed_modes
self.flor_mode_label.setText(" Flor Mode : "+self.allowed_modes[self.flor_mode]+"("+str(self.flor_mode)+") BDI:("+str(self.bdi_current_mode)+","+str(self.bdi_desired_mode)+")")
def clearSelections(self):
for i in range(self.list_box.count()):
item = self.list_box.item(i)
self.list_box.setItemSelected(item, False)
self.list_box.setCurrentRow(-1)
#Slot for selecting
def handle_selection_change(self, curr, prev):
if (curr != None):
self.control_mode = self.mode_ids[curr.text()]
self.selection_label.setText("Flor Selected : "+curr.text()+"("+str(self.control_mode)+")")
#else:
# print "NULL selection"
#self.label.setText(self.allowed_modes[selected])
#self.spindle_speed_pub.publish(data=math.radians(degree_per_sec))
@Slot(bool)
def handle_set_mode(self):
print "Selected=",self.allowed_modes[self.control_mode], ' id=', self.control_mode
self.label.setText("Flor Command : "+self.allowed_modes[self.control_mode]+"("+str(self.control_mode)+")")
mode_msg = VigirControlModeCommand()
mode_msg.header.stamp = rospy.Time.now()
mode_msg.requested_control_mode = self.control_mode
print mode_msg
self.mode_pub.publish(mode_msg)
@Slot(bool)
def handle_stop(self):
# FLOR_STOP command
if (self.stop_enable.isChecked()):
self.clearSelections()
self.selection_label.setText("Flor Selected : ")
self.control_mode = self.mode_ids['stop']
print "Selected=",self.allowed_modes[self.control_mode], ' id=', self.control_mode
#self.list_box
self.selection_label.setText("Flor Selected : "+self.allowed_modes[self.control_mode]+"("+str(self.control_mode)+")")
self.label.setText("Flor Command : "+self.allowed_modes[self.control_mode]+"("+str(self.control_mode)+")")
mode_msg = VigirControlModeCommand()
mode_msg.header.stamp = rospy.Time.now()
mode_msg.requested_control_mode = self.control_mode
print mode_msg
self.mode_pub.publish(mode_msg)
else:
print "Stop disabled!"
@Slot(bool)
def handle_stop_enable(self):
if (self.stop_enable.isChecked()):
self.stop_button.setStyleSheet('QPushButton {background-color: red }')
#self.stop_enable.setChecked(False)
else:
self.stop_button.setStyleSheet('QPushButton {background-color: gray }')
#self.stop_enable.setChecked(True)
@Slot(bool)
def handle_avail_modes_changed(self, index):
print 'no longer mapping allowable modes'
return
class EchoDialog(QDialog):
MESSAGE_LINE_LIMIT = 128
MESSAGE_HZ_LIMIT = 10
MAX_DISPLAY_MSGS = 25
STATISTIC_QUEUE_LEN = 5000
'''
This dialog shows the output of a topic.
'''
finished_signal = Signal(str)
'''
finished_signal has as parameter the name of the topic and is emitted, if this
dialog was closed.
'''
msg_signal = Signal(object, bool)
'''
msg_signal is a signal, which is emitted, if a new message was received.
'''
text_hz_signal = Signal(str)
text_signal = Signal(str)
'''
text_signal is a signal, which is emitted, if a new text to display was received.
'''
text_error_signal = Signal(str)
'''
text_error_signal is a signal, which is emitted, if a new error text to display was received.
'''
request_pw = Signal(object)
def __init__(self,
topic,
msg_type,
show_only_rate=False,
masteruri=None,
use_ssh=False,
parent=None):
'''
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
'''
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = '' if masteruri is None else '[%s]' % masteruri
self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('%s %s %s' %
('Echo --- ' if not show_only_rate else 'Hz --- ',
topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox('Hide strings')
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox('Hide arrays')
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems(
[str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024'])
self.combobox_reduce_ch.activated[str].connect(
self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip(
"Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([
str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100',
'1000'
])
self.combobox_displ_hz.activated[str].connect(
self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel('Hz', self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems(
[str(self.MAX_DISPLAY_MSGS), '0', '50', '100'])
self.combobox_msgs_count.activated[str].connect(
self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip(
"Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel('#', self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_stop.png'))
self.topic_control_button.clicked.connect(
self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText('clear')
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ''
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (
msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ''
self._current_errmsg = ''
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg)
self.display.setText('<a href="%s">open using SSH</a>' %
(masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
# print "======== create", self.objectName()
#
# def __del__(self):
# print "******* destroy", self.objectName()
# def hideEvent(self, event):
# self.close()
def closeEvent(self, event):
if self.sub is not None:
self.sub.unregister()
del self.sub
try:
self.ssh_output_file.close()
self.ssh_error_file.close()
# send Ctrl+C to remote process
self.ssh_input_file.write('%s\n' % chr(3))
self.ssh_input_file.close()
except:
pass
self.finished_signal.emit(self.topic)
if self.parent() is None:
QApplication.quit()
# else:
# self.setParent(None)
def create_field_filter(self, echo_nostr, echo_noarr):
def field_filter(val):
try:
# fields = val.__slots__
# field_types = val._slot_types
for f, t in zip(val.__slots__, val._slot_types):
if echo_noarr and '[' in t:
continue
elif echo_nostr and 'string' in t:
continue
yield f
except:
pass
return field_filter
def on_no_str_checkbox_toggled(self, state):
self.field_filter_fn = self.create_field_filter(
state, self.no_arr_checkbox.isChecked())
def on_no_arr_checkbox_toggled(self, state):
self.field_filter_fn = self.create_field_filter(
self.no_str_checkbox.isChecked(), state)
def combobox_reduce_ch_activated(self, ch_txt):
try:
self.line_limit = int(ch_txt)
except ValueError:
try:
self.line_limit = float(ch_txt)
except ValueError:
self.combobox_reduce_ch.setEditText(str(self.line_limit))
def on_combobox_hz_activated(self, hz_txt):
try:
self.receiving_hz = int(hz_txt)
except ValueError:
try:
self.receiving_hz = float(hz_txt)
except ValueError:
self.combobox_displ_hz.setEditText(str(self.receiving_hz))
def on_combobox_count_activated(self, count_txt):
try:
self.max_displayed_msgs = int(count_txt)
self._blocks_in_msg = None
except ValueError:
self.combobox_msgs_count.setEditText(str(self.max_displayed_msgs))
def on_clear_btn_clicked(self):
self.display.clear()
with self.lock:
self.message_count = 0
self._scrapped_msgs = 0
del self.times[:]
def on_topic_control_btn_clicked(self):
try:
if self.sub is None and self.ssh_output_file is None:
if self.__msg_class:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
else:
self._on_display_anchorClicked(QUrl(self._masteruri))
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_stop.png'))
else:
if self.sub is not None:
self.sub.unregister()
self.sub = None
elif self.ssh_output_file is not None:
self.ssh_output_file.close()
self.ssh_error_file.close()
self.ssh_output_file = None
self.topic_control_button.setText('play')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_play.png'))
self.no_str_checkbox.setEnabled(True)
self.no_arr_checkbox.setEnabled(True)
except Exception as e:
rospy.logwarn('Error while stop/play echo for topic %s: %s' %
(self.topic, e))
def _msg_handle(self, data):
self.msg_signal.emit(data,
(data._connection_header['latching'] != '0'))
def _append_message(self, msg, latched):
'''
Adds a label to the dialog's layout and shows the given text.
@param msg: the text to add to the dialog
@type msg: message object
'''
current_time = time.time()
self._count_messages(current_time)
# skip messages, if they are received often then MESSAGE_HZ_LIMIT
if self._last_received_ts != 0 and self.receiving_hz != 0:
if not latched and current_time - self._last_received_ts < 1.0 / self.receiving_hz:
self._scrapped_msgs += 1
self._scrapped_msgs_sl += 1
return
self._last_received_ts = current_time
if not self.show_only_rate:
# convert message to string and reduce line width to current limit
msg = message.strify_message(msg,
field_filter=self.field_filter_fn)
if isinstance(msg, tuple):
msg = msg[0]
msg = self._trim_width(msg)
msg = msg.replace('<', '<').replace('>', '>')
# create a notification about scrapped messages
if self._scrapped_msgs_sl > 0:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">scrapped %s message because of Hz-settings</pre>' % self._scrapped_msgs_sl
self.display.append(txt)
self._scrapped_msgs_sl = 0
txt = '<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % (
datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), msg)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._print_status()
def _count_messages(self, ts=time.time()):
'''
Counts the received messages. Call this method only on receive message.
'''
current_time = ts
with self.lock:
# time reset
if self.msg_t0 < 0 or self.msg_t0 > current_time:
self.msg_t0 = current_time
self.msg_tn = current_time
self.times = []
else:
self.times.append(current_time - self.msg_tn)
self.msg_tn = current_time
# keep only statistics for the last 5000 messages so as not to run out of memory
if len(self.times) > self.STATISTIC_QUEUE_LEN:
self.times.pop(0)
self.message_count += 1
def _trim_width(self, msg):
'''
reduce line width to current limit
:param msg: the message
:type msg: str
:return: trimmed message
'''
result = msg
if self.line_limit != 0:
a = ''
for l in msg.splitlines():
a = a + (l if len(l) <= self.line_limit else
l[0:self.line_limit - 3] + '...') + '\n'
result = a
return result
def _update_max_msg_count(self, txt):
'''
set the count of the displayed messages on receiving the first message
:param txt: text of the message, which will be added to the document
:type txt: str
'''
if self._blocks_in_msg is None:
td = QTextDocument(txt)
self._blocks_in_msg = td.blockCount()
self.display.document().setMaximumBlockCount(
self._blocks_in_msg * self.max_displayed_msgs)
def _on_calc_hz(self):
if rospy.is_shutdown():
self.close()
return
if self.message_count == self.last_printed_count:
return
with self.lock:
# the code from ROS rostopic
n = len(self.times)
if n < 2:
return
mean = sum(self.times) / n
rate = 1. / mean if mean > 0. else 0
# std dev
std_dev = math.sqrt(sum((x - mean)**2 for x in self.times) / n)
# min and max
max_delta = max(self.times)
min_delta = min(self.times)
self.last_printed_count = self.message_count
self._rate_message = "average rate: %.3f\tmin: %.3fs max: %.3fs std dev: %.5fs window: %s" % (
rate, min_delta, max_delta, std_dev, n + 1)
if self._scrapped_msgs > 0:
self._rate_message += " --- scrapped msgs: %s" % self._scrapped_msgs
self._print_status()
if self.show_only_rate:
self.display.append(self._rate_message)
def _print_status(self):
self.status_label.setText('%s messages %s' %
(self.message_count, self._rate_message))
def _append_text(self, text):
'''
Append echo text received through the SSH.
'''
with self.lock:
self._current_msg += text
if self._current_msg.find('---') != -1:
messages = self._current_msg.split('---')
for m in messages[:-1]:
current_time = time.time()
self._count_messages(current_time)
# limit the displayed text width
m = self._trim_width(m)
txt = '<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % (
datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), m)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._current_msg = messages[-1]
self._print_status()
def _append_error_text(self, text):
'''
Append error text received through the SSH.
'''
with self.lock:
self._current_errmsg += text
if self._current_errmsg.find('\n') != -1:
messages = self._current_errmsg.split('\n')
for m in messages[:-1]:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">%s</pre>' % m
self.display.append(txt)
self._current_errmsg = messages[-1]
def _append_text_hz(self, text):
'''
Append text received through the SSH for hz view.
'''
with self.lock:
self._current_msg += text
if self._current_msg.find('\n') != -1:
messages = self._current_msg.split('\n')
for m in messages[:-1]:
txt = '<div style="font-family:Fixedsys,Courier;">%s</div>' % (
m)
self.display.append(txt)
self._current_msg = messages[-1]
def _on_display_anchorClicked(self, url, user=None, pw=None):
try:
ok = False
if self.show_only_rate:
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh(
).ssh_exec(url.host(), ['rostopic hz %s' % (self.topic)],
user,
pw,
auto_pw_request=True,
get_pty=True)
self.status_label.setText('connected to %s over SSH' %
url.host())
else:
self.combobox_displ_hz.setEnabled(False)
nostr = '--nostr' if self.no_str_checkbox.isChecked() else ''
noarr = '--noarr' if self.no_arr_checkbox.isChecked() else ''
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh(
).ssh_exec(
url.host(),
['rostopic echo %s %s %s' % (nostr, noarr, self.topic)],
user,
pw,
auto_pw_request=True,
get_pty=True)
if ok:
self.display.clear()
target = self._read_output_hz if self.show_only_rate else self._read_output
thread = threading.Thread(target=target,
args=((self.ssh_output_file, )))
thread.setDaemon(True)
thread.start()
thread = threading.Thread(target=self._read_error,
args=((self.ssh_error_file, )))
thread.setDaemon(True)
thread.start()
elif self.ssh_output_file:
self.ssh_output_file.close()
self.ssh_error_file.close()
except Exception as e:
self._append_error_text('%s\n' % e)
# import traceback
# print traceback.format_exc()
def _read_output_hz(self, output_file):
try:
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_hz_signal.emit(text)
except:
pass
# import traceback
# print traceback.format_exc()
def _read_output(self, output_file):
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_signal.emit(text)
def _read_error(self, error_file):
try:
while not error_file.closed:
text = error_file.read(1)
if text:
self.text_error_signal.emit(text)
except:
pass
class SyncDialog(QDialog):
'''
A dialog to set the sync options.
'''
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(
self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(self._translate("Sync All"))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
# self.toolButton_SyncAllAnyMsg = QToolButton(self)
# sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
# sizePolicy.setHorizontalStretch(0)
# sizePolicy.setVerticalStretch(1)
# sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
# self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
# self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
# self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
# self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)"))
# self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName(
"toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(
self._translate("Sync only topics on demand"))
self.toolButton_SyncTopicOnDemand.clicked.connect(
self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName(
"toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(
self._translate("Select an interface"))
self.toolButton_SelectInterface.clicked.connect(
self._on_select_interface_clicked)
self.interface_field = QComboBox(self)
self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(
self._on_interface_selected)
self.toolButton_EditInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(
self._translate("Edit selected interface"))
self.toolButton_EditInterface.clicked.connect(
self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName(
"toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(
self._translate("Create an interface"))
self.toolButton_CreateInterface.clicked.connect(
self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = TextEdit('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self._new_iface = True
def _translate(self, text):
if hasattr(QApplication, "UnicodeUTF8"):
return QApplication.translate("Form", text, None,
QApplication.UnicodeUTF8)
else:
return QApplication.translate("Form", text, None)
@property
def sync_args(self):
return self._sync_args
@property
def interface_filename(self):
return self._interface_filename
def _on_sync_all_clicked(self):
self.setResult(QDialog.Accepted)
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'False']))
self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_publishers:=', '[]']))
self._sync_args.append(''.join(['_ignore_subscribers:=', '[]']))
self._sync_args.append(''.join(['_sync_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_services:=', '[]']))
self._sync_args.append(''.join(['_sync_services:=', '[]']))
self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
self._interface_filename = None
self.accept()
# def _on_sync_all_anymsg_clicked(self):
# self._sync_args = []
# self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
# self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True']))
# self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
# self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
# self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
# self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
# self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
# self._sync_args.append(''.join(['_sync_topics:=', '[/*]']))
# self._sync_args.append(''.join(['_ignore_services:=', '[]']))
# self._sync_args.append(''.join(['_sync_services:=', '[]']))
# self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
# self._interface_filename = None
# self.accept()
def _on_sync_topics_on_demand_clicked(self):
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True']))
self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_publishers:=', '[]']))
self._sync_args.append(''.join(['_ignore_subscribers:=', '[]']))
self._sync_args.append(''.join(['_sync_topics:=',
'[/only_on_demand]']))
self._sync_args.append(''.join(['_ignore_services:=', '[/*]']))
self._sync_args.append(''.join(['_sync_services:=', '[]']))
self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
self._interface_filename = None
self.accept()
def _on_select_interface_clicked(self):
self.toolButton_SyncAll.setVisible(False)
# self.toolButton_SyncAllAnyMsg.setVisible(False)
self.toolButton_SyncTopicOnDemand.setVisible(False)
self.toolButton_SelectInterface.setVisible(False)
self.interface_field.setVisible(True)
self.toolButton_CreateInterface.setVisible(True)
self.toolButton_EditInterface.setVisible(True)
self.toolButton_EditInterface.setEnabled(False)
self.textedit.setVisible(False)
# # fill the interfaces
if self._interfaces_files is None:
self.interface_field.addItems(['interface searching...'])
self.interface_field.setCurrentIndex(0)
self._fill_interface_thread = InterfacesThread()
self._fill_interface_thread.interfaces.connect(
self._fill_interfaces)
self._fill_interface_thread.start()
else:
self.toolButton_EditInterface.setEnabled(
self.interface_field.currentText() in self._interfaces_files)
self.buttonBox.clear()
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok
| QDialogButtonBox.Cancel)
self.interface_field.setFocus(Qt.TabFocusReason)
self.resize(350, 80)
def _fill_interfaces(self, interfaces_files):
self._interfaces_files = interfaces_files
self.interface_field.clear()
self.interface_field.clearEditText()
self.interface_field.addItems(self._interfaces_files.keys())
def _on_interface_selected(self, interface):
if self._interfaces_files and interface in self._interfaces_files:
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', interface]))
self.toolButton_EditInterface.setEnabled(True)
else:
self.toolButton_EditInterface.setEnabled(False)
def accept(self):
if self.textedit.isVisible():
try:
tmp_file = os.path.join(screen.LOG_PATH,
'tmp_sync_interface.sync')
with open(tmp_file, 'w+') as f:
f.write(self.textedit.toPlainText())
from fkie_master_discovery.common import read_interface
read_interface(tmp_file)
if not self._new_iface and self.interface_field.currentText(
) in self._interfaces_files:
fileName = self._interfaces_files[
self.interface_field.currentText()]
else:
fileName, _ = QFileDialog.getSaveFileName(
self, 'Save sync interface', '/home',
"Sync Files (*.sync)")
if fileName:
with open(fileName, 'w+') as f:
self._interface_filename = fileName
f.write(self.textedit.toPlainText())
if self._new_iface:
self.interface_field.clear()
self._interfaces_files = None
self._on_select_interface_clicked()
# QDialog.accept(self)
# self.resetView()
except Exception as e:
MessageBox.warning(self, "Create sync interface",
"Error while create interface", utf8(e))
elif self.interface_field.isVisible():
interface = self.interface_field.currentText()
if self._interfaces_files and interface in self._interfaces_files:
self._interface_filename = self._interfaces_files[interface]
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=',
interface]))
QDialog.accept(self)
self.resetView()
else:
QDialog.accept(self)
self.resetView()
def reject(self):
if self.textedit.isVisible():
self._on_select_interface_clicked()
else:
QDialog.reject(self)
self.resetView()
def _on_create_interface_clicked(self):
self._new_iface = True
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(True)
self.textedit.setText(
"# The ignore_* lists will be processed first.\n"
"# For ignore/sync nodes, topics or services\n"
"# use follow declaration:\n"
"#{param name}: \n"
"# - {ros name}\n"
"# or for selected hosts:\n"
"# - {host name}:\n"
"# - {ros name}\n\n"
"# you can use follow wildcard: '*', but not as a first character\n"
"ignore_hosts:\n"
"sync_hosts:\n\n"
"ignore_nodes:\n"
"sync_nodes:\n\n"
"ignore_topics:\n"
"ignore_publishers:\n"
"ignore_subscribers:\n"
"sync_topics:\n\n"
"ignore_services:\n"
" - /*get_loggers\n"
" - /*set_logger_level\n"
"sync_services:\n\n"
"# If sync_topics_on_demand is True the local subscribed and published topics\n"
"# are synchronized with remote even if they are not in the sync_* list.\n"
"sync_topics_on_demand: False\n\n"
"# The nodes which are running not at the same host as the ROS master are not\n"
"# synchronized by default. Use sync_remote_nodes to sync these nodes also.\n"
"sync_remote_nodes: False\n\n")
self.resize(350, 300)
def _on_edit_interface_clicked(self):
self._new_iface = False
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(True)
if self.interface_field.currentText() in self._interfaces_files:
try:
with open(
self._interfaces_files[
self.interface_field.currentText()], 'rw') as f:
iface = f.read()
self.textedit.setText(iface)
except Exception as e:
MessageBox.warning(self, "Edit sync interface",
"Error while open interface", utf8(e))
self.resize(350, 300)
def resetView(self):
self.toolButton_SyncAll.setVisible(True)
# self.toolButton_SyncAllAnyMsg.setVisible(True)
self.toolButton_SyncTopicOnDemand.setVisible(True)
self.toolButton_SelectInterface.setVisible(True)
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(False)
self.buttonBox.clear()
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.resize(350, 160)
class QParameterSetSelectionWidget(QWidgetWithLogger):
NO_PARAM_SET_TEXT = "No parameters available!"
SELECT_TEXT = "<Select>"
param_cleared_signal = Signal()
param_changed_signal = Signal(str)
def __init__(self, parent=None, logger=Logger()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add combo box
self.parameter_set_names_combo_box = QComboBox()
self.parameter_set_names_combo_box.currentIndexChanged[str].connect(
self.param_changed)
hbox.addWidget(self.parameter_set_names_combo_box)
# add refresh button
self.get_all_parameter_set_names_button = QPushButton()
self.get_all_parameter_set_names_button.clicked.connect(
self._get_all_parameter_set_names)
self.get_all_parameter_set_names_button.setIcon(icon)
self.get_all_parameter_set_names_button.setFixedSize(
size.width() + 2,
size.height() + 2)
hbox.addWidget(self.get_all_parameter_set_names_button)
# end widget
self.setLayout(hbox)
# init widget
self.reset_parameter_set_selection()
def _init_action_client(self, topic_name):
self.get_parameter_set_names_client = actionlib.SimpleActionClient(
topic_name, GetParameterSetNamesAction)
print "Parameter set topic changed: " + topic_name
@Slot(str)
def set_topic_name(self, topic_name):
if len(topic_name) > 0:
self._init_action_client(topic_name)
self._get_all_parameter_set_names()
else:
self.reset_parameter_set_selection()
def reset_parameter_set_selection(self):
self.parameter_set_names_combo_box.setEnabled(False)
self.parameter_set_names_combo_box.blockSignals(True)
self.parameter_set_names_combo_box.clear()
self.parameter_set_names_combo_box.addItem(self.NO_PARAM_SET_TEXT)
self.get_all_parameter_set_names_button.setEnabled(False)
self.param_cleared_signal.emit()
def current_parameter_set_name(self):
if self.parameter_set_names_combo_box.currentText(
) == self.NO_PARAM_SET_TEXT:
return str()
else:
return self.parameter_set_names_combo_box.currentText()
@Slot(str)
def param_changed(self, name):
self.param_changed_signal.emit(name)
# parameter set names handler
def _get_all_parameter_set_names(self):
if self.get_parameter_set_names_client.wait_for_server(
rospy.Duration(0.5)):
self.logger.log_info(
"Requesting current list of parameter set names.")
goal = GetParameterSetNamesGoal()
self.get_parameter_set_names_client.send_goal(goal)
# waiting for getting list of parameter set names
if self.get_parameter_set_names_client.wait_for_result(
rospy.Duration(1.0)):
result = self.get_parameter_set_names_client.get_result()
self.logger.log_info("Received " + str(len(result.names)) +
" parameter set names.")
self.parameter_set_names_combo_box.blockSignals(True)
self.parameter_set_names_combo_box.clear()
self.parameter_set_names_combo_box.addItem(self.SELECT_TEXT)
self.parameter_set_names_combo_box.setItemData(
0, 0, Qt.UserRole - 1)
self.param_cleared_signal.emit()
for name in result.names:
self.parameter_set_names_combo_box.addItem(name.data)
self.parameter_set_names_combo_box.setEnabled(True)
self.parameter_set_names_combo_box.blockSignals(False)
self.get_all_parameter_set_names_button.setEnabled(True)
else:
self.logger.log_error(
"Didn't received any results. Check communcation!")
self.reset_parameter_set_selection()
else:
self.logger.log_error(
"Can't connect to footstep planner parameter action server!")
self.reset_parameter_set_selection()
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(
self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(self._translate("Sync All"))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
# self.toolButton_SyncAllAnyMsg = QToolButton(self)
# sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
# sizePolicy.setHorizontalStretch(0)
# sizePolicy.setVerticalStretch(1)
# sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
# self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
# self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
# self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
# self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)"))
# self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName(
"toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(
self._translate("Sync only topics on demand"))
self.toolButton_SyncTopicOnDemand.clicked.connect(
self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName(
"toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(
self._translate("Select an interface"))
self.toolButton_SelectInterface.clicked.connect(
self._on_select_interface_clicked)
self.interface_field = QComboBox(self)
self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(
self._on_interface_selected)
self.toolButton_EditInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(
self._translate("Edit selected interface"))
self.toolButton_EditInterface.clicked.connect(
self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName(
"toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(
self._translate("Create an interface"))
self.toolButton_CreateInterface.clicked.connect(
self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = TextEdit('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self._new_iface = True
if __name__ == '__main__':
import sys
from python_qt_binding.QtGui import QApplication, QComboBox, QLineEdit, QMainWindow, QTreeView, QVBoxLayout, QWidget
app = QApplication(sys.argv)
mw = QMainWindow()
widget = QWidget(mw)
layout = QVBoxLayout(widget)
edit = QLineEdit()
edit_completer = TopicCompleter(edit)
# edit_completer.setCompletionMode(QCompleter.InlineCompletion)
edit.setCompleter(edit_completer)
combo = QComboBox()
combo.setEditable(True)
combo_completer = TopicCompleter(combo)
# combo_completer.setCompletionMode(QCompleter.InlineCompletion)
combo.lineEdit().setCompleter(combo_completer)
model_tree = QTreeView()
model_tree.setModel(combo_completer.model())
model_tree.expandAll()
for column in range(combo_completer.model().columnCount()):
model_tree.resizeColumnToContents(column)
completion_tree = QTreeView()
completion_tree.setModel(combo_completer.completionModel())
completion_tree.expandAll()
for column in range(combo_completer.completionModel().columnCount()):
class EchoDialog(QDialog):
MESSAGE_LINE_LIMIT = 128
MESSAGE_HZ_LIMIT = 10
MAX_DISPLAY_MSGS = 25
STATISTIC_QUEUE_LEN = 5000
"""
This dialog shows the output of a topic.
"""
finished_signal = Signal(str)
"""
finished_signal has as parameter the name of the topic and is emitted, if this
dialog was closed.
"""
msg_signal = Signal(object, bool)
"""
msg_signal is a signal, which is emitted, if a new message was received.
"""
text_hz_signal = Signal(str)
text_signal = Signal(str)
"""
text_signal is a signal, which is emitted, if a new text to display was received.
"""
text_error_signal = Signal(str)
"""
text_error_signal is a signal, which is emitted, if a new error text to display was received.
"""
request_pw = Signal(object)
def __init__(self, topic, msg_type, show_only_rate=False, masteruri=None, use_ssh=False, parent=None):
"""
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
"""
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = "" if masteruri is None else "[%s]" % masteruri
self.setObjectName(" - ".join(["EchoDialog", topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle("%s %s %s" % ("Echo --- " if not show_only_rate else "Hz --- ", topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.0
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ""
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox("Hide strings")
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox("Hide arrays")
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems([str(self.MESSAGE_LINE_LIMIT), "0", "80", "256", "1024"])
self.combobox_reduce_ch.activated[str].connect(self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip("Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([str(self.MESSAGE_HZ_LIMIT), "0", "0.1", "1", "50", "100", "1000"])
self.combobox_displ_hz.activated[str].connect(self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel("Hz", self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems([str(self.MAX_DISPLAY_MSGS), "0", "50", "100"])
self.combobox_msgs_count.activated[str].connect(self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip("Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel("#", self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText("stop")
self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png"))
self.topic_control_button.clicked.connect(self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText("clear")
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel("0 messages", self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ""
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ""
self._current_errmsg = ""
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg
)
self.display.setText('<a href="%s">open using SSH</a>' % (masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
# print "======== create", self.objectName()
#
# def __del__(self):
# print "******* destroy", self.objectName()
# def hideEvent(self, event):
# self.close()
def closeEvent(self, event):
if self.sub is not None:
self.sub.unregister()
del self.sub
try:
self.ssh_output_file.close()
self.ssh_error_file.close()
# send Ctrl+C to remote process
self.ssh_input_file.write("%s\n" % chr(3))
self.ssh_input_file.close()
except:
pass
self.finished_signal.emit(self.topic)
if self.parent() is None:
QApplication.quit()
# else:
# self.setParent(None)
def create_field_filter(self, echo_nostr, echo_noarr):
def field_filter(val):
try:
# fields = val.__slots__
# field_types = val._slot_types
for f, t in zip(val.__slots__, val._slot_types):
if echo_noarr and "[" in t:
continue
elif echo_nostr and "string" in t:
continue
yield f
except:
pass
return field_filter
def on_no_str_checkbox_toggled(self, state):
self.field_filter_fn = self.create_field_filter(state, self.no_arr_checkbox.isChecked())
def on_no_arr_checkbox_toggled(self, state):
self.field_filter_fn = self.create_field_filter(self.no_str_checkbox.isChecked(), state)
def combobox_reduce_ch_activated(self, ch_txt):
try:
self.line_limit = int(ch_txt)
except ValueError:
try:
self.line_limit = float(ch_txt)
except ValueError:
self.combobox_reduce_ch.setEditText(str(self.line_limit))
def on_combobox_hz_activated(self, hz_txt):
try:
self.receiving_hz = int(hz_txt)
except ValueError:
try:
self.receiving_hz = float(hz_txt)
except ValueError:
self.combobox_displ_hz.setEditText(str(self.receiving_hz))
def on_combobox_count_activated(self, count_txt):
try:
self.max_displayed_msgs = int(count_txt)
self._blocks_in_msg = None
except ValueError:
self.combobox_msgs_count.setEditText(str(self.max_displayed_msgs))
def on_clear_btn_clicked(self):
self.display.clear()
with self.lock:
self.message_count = 0
self._scrapped_msgs = 0
del self.times[:]
def on_topic_control_btn_clicked(self):
try:
if self.sub is None and self.ssh_output_file is None:
if self.__msg_class:
self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle)
else:
self._on_display_anchorClicked(QUrl(self._masteruri))
self.topic_control_button.setText("stop")
self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png"))
else:
if self.sub is not None:
self.sub.unregister()
self.sub = None
elif self.ssh_output_file is not None:
self.ssh_output_file.close()
self.ssh_error_file.close()
self.ssh_output_file = None
self.topic_control_button.setText("play")
self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_play.png"))
self.no_str_checkbox.setEnabled(True)
self.no_arr_checkbox.setEnabled(True)
except Exception as e:
rospy.logwarn("Error while stop/play echo for topic %s: %s" % (self.topic, e))
def _msg_handle(self, data):
self.msg_signal.emit(data, (data._connection_header["latching"] != "0"))
def _append_message(self, msg, latched):
"""
Adds a label to the dialog's layout and shows the given text.
@param msg: the text to add to the dialog
@type msg: message object
"""
current_time = time.time()
self._count_messages(current_time)
# skip messages, if they are received often then MESSAGE_HZ_LIMIT
if self._last_received_ts != 0 and self.receiving_hz != 0:
if not latched and current_time - self._last_received_ts < 1.0 / self.receiving_hz:
self._scrapped_msgs += 1
self._scrapped_msgs_sl += 1
return
self._last_received_ts = current_time
if not self.show_only_rate:
# convert message to string and reduce line width to current limit
msg = message.strify_message(msg, field_filter=self.field_filter_fn)
if isinstance(msg, tuple):
msg = msg[0]
msg = self._trim_width(msg)
msg = msg.replace("<", "<").replace(">", ">")
# create a notification about scrapped messages
if self._scrapped_msgs_sl > 0:
txt = (
'<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">scrapped %s message because of Hz-settings</pre>'
% self._scrapped_msgs_sl
)
self.display.append(txt)
self._scrapped_msgs_sl = 0
txt = (
'<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>'
% (datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), msg)
)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._print_status()
def _count_messages(self, ts=time.time()):
"""
Counts the received messages. Call this method only on receive message.
"""
current_time = ts
with self.lock:
# time reset
if self.msg_t0 < 0 or self.msg_t0 > current_time:
self.msg_t0 = current_time
self.msg_tn = current_time
self.times = []
else:
self.times.append(current_time - self.msg_tn)
self.msg_tn = current_time
# keep only statistics for the last 5000 messages so as not to run out of memory
if len(self.times) > self.STATISTIC_QUEUE_LEN:
self.times.pop(0)
self.message_count += 1
def _trim_width(self, msg):
"""
reduce line width to current limit
:param msg: the message
:type msg: str
:return: trimmed message
"""
result = msg
if self.line_limit != 0:
a = ""
for l in msg.splitlines():
a = a + (l if len(l) <= self.line_limit else l[0 : self.line_limit - 3] + "...") + "\n"
result = a
return result
def _update_max_msg_count(self, txt):
"""
set the count of the displayed messages on receiving the first message
:param txt: text of the message, which will be added to the document
:type txt: str
"""
if self._blocks_in_msg is None:
td = QTextDocument(txt)
self._blocks_in_msg = td.blockCount()
self.display.document().setMaximumBlockCount(self._blocks_in_msg * self.max_displayed_msgs)
def _on_calc_hz(self):
if rospy.is_shutdown():
self.close()
return
if self.message_count == self.last_printed_count:
return
with self.lock:
# the code from ROS rostopic
n = len(self.times)
if n < 2:
return
mean = sum(self.times) / n
rate = 1.0 / mean if mean > 0.0 else 0
# std dev
std_dev = math.sqrt(sum((x - mean) ** 2 for x in self.times) / n)
# min and max
max_delta = max(self.times)
min_delta = min(self.times)
self.last_printed_count = self.message_count
self._rate_message = "average rate: %.3f\tmin: %.3fs max: %.3fs std dev: %.5fs window: %s" % (
rate,
min_delta,
max_delta,
std_dev,
n + 1,
)
if self._scrapped_msgs > 0:
self._rate_message += " --- scrapped msgs: %s" % self._scrapped_msgs
self._print_status()
if self.show_only_rate:
self.display.append(self._rate_message)
def _print_status(self):
self.status_label.setText("%s messages %s" % (self.message_count, self._rate_message))
def _append_text(self, text):
"""
Append echo text received through the SSH.
"""
with self.lock:
self._current_msg += text
if self._current_msg.find("---") != -1:
messages = self._current_msg.split("---")
for m in messages[:-1]:
current_time = time.time()
self._count_messages(current_time)
# limit the displayed text width
m = self._trim_width(m)
txt = (
'<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>'
% (datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), m)
)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._current_msg = messages[-1]
self._print_status()
def _append_error_text(self, text):
"""
Append error text received through the SSH.
"""
with self.lock:
self._current_errmsg += text
if self._current_errmsg.find("\n") != -1:
messages = self._current_errmsg.split("\n")
for m in messages[:-1]:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">%s</pre>' % m
self.display.append(txt)
self._current_errmsg = messages[-1]
def _append_text_hz(self, text):
"""
Append text received through the SSH for hz view.
"""
with self.lock:
self._current_msg += text
if self._current_msg.find("\n") != -1:
messages = self._current_msg.split("\n")
for m in messages[:-1]:
txt = '<div style="font-family:Fixedsys,Courier;">%s</div>' % (m)
self.display.append(txt)
self._current_msg = messages[-1]
def _on_display_anchorClicked(self, url, user=None, pw=None):
try:
ok = False
if self.show_only_rate:
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh().ssh_exec(
url.host(), ["rostopic hz %s" % (self.topic)], user, pw, auto_pw_request=True, get_pty=True
)
self.status_label.setText("connected to %s over SSH" % url.host())
else:
self.combobox_displ_hz.setEnabled(False)
nostr = "--nostr" if self.no_str_checkbox.isChecked() else ""
noarr = "--noarr" if self.no_arr_checkbox.isChecked() else ""
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh().ssh_exec(
url.host(),
["rostopic echo %s %s %s" % (nostr, noarr, self.topic)],
user,
pw,
auto_pw_request=True,
get_pty=True,
)
if ok:
self.display.clear()
target = self._read_output_hz if self.show_only_rate else self._read_output
thread = threading.Thread(target=target, args=((self.ssh_output_file,)))
thread.setDaemon(True)
thread.start()
thread = threading.Thread(target=self._read_error, args=((self.ssh_error_file,)))
thread.setDaemon(True)
thread.start()
elif self.ssh_output_file:
self.ssh_output_file.close()
self.ssh_error_file.close()
except Exception as e:
self._append_error_text("%s\n" % e)
# import traceback
# print traceback.format_exc()
def _read_output_hz(self, output_file):
try:
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_hz_signal.emit(text)
except:
pass
# import traceback
# print traceback.format_exc()
def _read_output(self, output_file):
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_signal.emit(text)
def _read_error(self, error_file):
try:
while not error_file.closed:
text = error_file.read(1)
if text:
self.text_error_signal.emit(text)
except:
pass
