def __init__(self, parent=None):
QtGui.QSyntaxHighlighter.__init__(self, parent)
self.rules = []
self.commentStart = QtCore.QRegExp("#")
self.commentEnd = QtCore.QRegExp("\n")
self.commentFormat = QtGui.QTextCharFormat()
self.commentFormat.setFontItalic(True)
self.commentFormat.setForeground(QtCore.Qt.darkGray)
f = QtGui.QTextCharFormat()
r = QtCore.QRegExp()
r.setMinimal(True)
f.setFontWeight(QtGui.QFont.Normal)
f.setForeground(QtCore.Qt.darkBlue)
tagList = [
"\\bignore_hosts\\b", "\\bsync_hosts\\b", "\\bignore_nodes\\b",
"\\bsync_nodes\\b", "\\bignore_topics\\b", "\\bsync_topics\\b",
"\\bignore_services\\b", "\\bsync_services\\b",
"\\bsync_topics_on_demand\\b", "\\bsync_remote_nodes\\b"
]
for tag in tagList:
r.setPattern(tag)
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkGreen)
f.setFontWeight(QtGui.QFont.Bold)
attrList = ["\\b\\*|\\*\\B|\\/\\*"]
for attr in attrList:
r.setPattern(attr)
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
def getIncludedFiles(cls,
inc_file,
regexp_list=[
QtCore.QRegExp("\\binclude\\b"),
QtCore.QRegExp("\\btextfile\\b"),
QtCore.QRegExp("\\bfile\\b")
]):
'''
Reads the configuration file and searches for included files. This files
will be returned in a list.
@param inc_file: path of the ROS launch file
@param regexp_list: pattern of
@return: the list with all files needed for the configuration
@rtype: C{[str,...]}
'''
result = set()
with open(inc_file, 'r') as f:
content = f.read()
# remove the comments
comment_pattern = QtCore.QRegExp("<!--.*?-->")
pos = comment_pattern.indexIn(content)
while pos != -1:
content = content[:pos] + content[pos + comment_pattern.
matchedLength():]
pos = comment_pattern.indexIn(content)
lines = content.splitlines()
for line in lines:
index = cls._index(line, regexp_list)
if index > -1:
startIndex = line.find('"', index)
if startIndex > -1:
endIndex = line.find('"', startIndex + 1)
fileName = line[startIndex + 1:endIndex]
if len(fileName) > 0:
try:
path = cls.interpretPath(fileName,
os.path.dirname(inc_file))
if os.path.isfile(path):
result.add(path)
if path.endswith('.launch'):
result.update(
cls.getIncludedFiles(
path, regexp_list))
except:
pass
return list(result)
def __init__(self, parent=None):
QtGui.QSyntaxHighlighter.__init__(self, parent)
self.rules = []
self.commentStart = QtCore.QRegExp("<!--")
self.commentEnd = QtCore.QRegExp("-->")
self.default_format = QtGui.QTextCharFormat()
self.default_format.setForeground(QtGui.QColor(24, 24, 24))
self.mark_background = QtGui.QBrush(QtGui.QColor(251, 247, 222))
self.commentFormat = QtGui.QTextCharFormat()
f = QtGui.QTextCharFormat()
r = QtCore.QRegExp()
r.setMinimal(True)
f.setFontWeight(QtGui.QFont.Normal)
f.setForeground(QtCore.Qt.darkBlue)
# create patterns for TAG
tagList = ["\\b%s\\b" % t for t in self.LAUNCH_CHILDS.keys()]
for tag in tagList:
r.setPattern(tag)
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
# create patterns for ATTRIBUTES
f.setForeground(QtCore.Qt.darkGreen)
attrList = set([
"\\b%s" % attr for v in self.LAUNCH_ATTR.values()
for attr in v.keys()
])
for attr in attrList:
r.setPattern(attr)
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
# create patterns for strings
f.setForeground(QtCore.Qt.magenta)
r.setPattern("\".*\"")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
# create patterns for substitutions
f.setForeground(QtGui.QColor(127, 64, 127))
r.setPattern("\\$\\(.*\\)")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
# create patterns for DOCTYPE
f.setForeground(QtCore.Qt.lightGray)
r.setPattern("<!DOCTYPE.*>")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
r.setPattern("<\\?xml.*\\?>")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
self.commentFormat.setFontItalic(True)
self.commentFormat.setForeground(QtCore.Qt.darkGray)
# part to select an XML block
self._current_mark_range = (-1, -1) # absolute (start, end) positions
def __init__(self, filename, parent=None):
self.parent = parent
QtGui.QTextEdit.__init__(self, parent)
self.setObjectName(' - '.join(['Editor', filename]))
font = QtGui.QFont()
font.setFamily("Fixed".decode("utf-8"))
font.setPointSize(12)
self.setFont(font)
self.setLineWrapMode(QtGui.QTextEdit.NoWrap)
self.setTabStopWidth(25)
self.setAcceptRichText(False)
self.setCursorWidth(2)
self.setFontFamily("courier new")
self.setProperty("backgroundVisible", True)
self.regexp_list = [QtCore.QRegExp("\\binclude\\b"), QtCore.QRegExp("\\btextfile\\b"),
QtCore.QRegExp("\\bfile\\b"), QtCore.QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QtCore.QRegExp("\\bvalue=.*package:\/\/\\b"),
QtCore.QRegExp("\\bvalue=.*\$\(find\\b")]
self.filename = filename
self.file_info = None
if self.filename:
f = QtCore.QFile(filename);
if f.open(QtCore.QIODevice.ReadOnly | QtCore.QIODevice.Text):
self.file_info = QtCore.QFileInfo(filename)
self.setText(unicode(f.readAll(), "utf-8"))
self.path = '.'
# enables drop events
self.setAcceptDrops(True)
def load(self, argv):
'''
@param argv: the list with argv parameter needed to load the launch file.
The name and value are separated by C{:=}
@type argv: C{[str]}
@return True, if the launch file was loaded
@rtype boolean
@raise LaunchConfigException: on load errors
'''
try:
roscfg = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
self.argv = self.resolveArgs(argv)
loader.load(self.Filename, roscfg, verbose=False, argv=self.argv)
self.__roscfg = roscfg
nm.file_watcher().add_launch(self.__masteruri, self.__launchFile,
self.__launch_id,
self.getIncludedFiles(self.Filename))
if not nm.is_local(nm.nameres().getHostname(self.__masteruri)):
files = self.getIncludedFiles(
self.Filename,
regexp_list=[
QtCore.QRegExp("\\bdefault\\b"),
QtCore.QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QtCore.QRegExp("\\bvalue=.*package:\/\/\\b"),
QtCore.QRegExp("\\bvalue=.*\$\(find\\b")
])
nm.file_watcher_param().add_launch(self.__masteruri,
self.__launchFile,
self.__launch_id, files)
except roslaunch.XmlParseException, e:
test = list(
re.finditer(r"environment variable '\w+' is not set", str(e)))
message = str(e)
if test:
message = ''.join([
message, '\n',
'environment substitution is not supported, use "arg" instead!'
])
raise LaunchConfigException(message)
def __init__(self, parent=None):
QtGui.QSyntaxHighlighter.__init__(self, parent)
self.rules = []
self.commentStart = QtCore.QRegExp("#")
self.commentEnd = QtCore.QRegExp("\n|\r")
self.default_format = QtGui.QTextCharFormat()
self.default_format.setForeground(QtGui.QColor(24, 24, 24))
self.commentFormat = QtGui.QTextCharFormat()
self.commentFormat.setFontItalic(True)
self.commentFormat.setForeground(QtCore.Qt.darkGray)
f = QtGui.QTextCharFormat()
r = QtCore.QRegExp()
r.setMinimal(True)
f.setFontWeight(QtGui.QFont.Normal)
f.setForeground(QtCore.Qt.blue)
tagList = ["\\btrue\\b", "\\bfalse\\b"]
for tag in tagList:
r.setPattern(tag)
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtGui.QColor(127, 64, 127))
r.setPattern("\\d+")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkBlue)
r.setPattern("^\s*[_.\w]*\s*:")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkBlue)
r.setPattern(":\s*:[_\.\w]*$|:\s*\@[_\.\w]*$")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setFontWeight(QtGui.QFont.Bold)
f.setForeground(QtCore.Qt.darkRed)
r.setPattern("^\s*-")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkRed)
r.setPattern("^---$")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkGreen)
r.setPattern("[\[\]\{\}\,]")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setFontWeight(QtGui.QFont.Normal)
f.setForeground(QtCore.Qt.magenta)
r.setPattern("\".*\"|\'.*\'")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtGui.QColor(127, 64, 127))
r.setPattern("\\$\\(.*\\)")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.lightGray)
r.setPattern("<!DOCTYPE.*>")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
r.setPattern("<\\?xml.*\\?>")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
def __init__(self, input_id):
super(InputWidget, self).__init__()
self._id = input_id
self.setLayout(QtWidgets.QHBoxLayout())
self._id_label = QtWidgets.QLabel("Input " + str(self._id))
self.layout().addWidget(self._id_label)
# ---- Input port input ----
self._input_port_input = QtWidgets.QLineEdit()
self.port_validator = QtGui.QRegExpValidator(QtCore.QRegExp("[a-z]+[0-9]+"))
self._input_port_input.setValidator(self.port_validator)
self.layout().addWidget(self._input_port_input)
self._input_port_input.setText(str(rospy.get_param(self.get_param_base() + "input", "js" + str(self._id))))
self._input_port_input.textChanged.connect(self.change_input_port)
# ---- /Input selector ----
# ---- Type selector ----
self._type_selector = QtWidgets.QComboBox()
self.layout().addWidget(self._type_selector)
self._type_selector.insertItem(0, "xbox ewoud")
self._type_selector.insertItem(0, "xbox vision")
self._type_selector.insertItem(0, "playstation")
self._type_selector.insertItem(0, "gioteck")
currentJoyType = rospy.get_param(self.get_param_base() + "joyType", "gioteck");
self._type_selector.setCurrentIndex(self._type_selector.findText(currentJoyType))
self._type_selector.currentIndexChanged.connect(self.change_input_type)
# ---- /Type selector ----
self._robot_id_label = QtWidgets.QLabel("Robot id")
self.layout().addWidget(self._robot_id_label)
# --- Robot id input ----
self._robot_id_input = QtWidgets.QLineEdit()
self.int_validator = QtGui.QRegExpValidator(QtCore.QRegExp("[0-9]+"))
self._robot_id_input.setValidator(self.int_validator)
self.layout().addWidget(self._robot_id_input)
self._robot_id_input.setText(str(rospy.get_param(self.get_param_base() + "robot", int(self._id))))
self._robot_id_input.textChanged.connect(self.change_bot_id)
# --- /Robot id input ----
# --- Mode selector ----
self._mode_selector = QtWidgets.QComboBox()
self.layout().addWidget(self._mode_selector)
self._mode_selector.insertItem(0, "our keeper")
self._mode_selector.insertItem(0, "normal")
currentMode = rospy.get_param(self.get_param_base() + "mode", "normal");
self._mode_selector.setCurrentIndex(self._mode_selector.findText(currentMode))
self._mode_selector.currentIndexChanged.connect(self.change_input_mode)
def set_package_filter(self, text):
self.launchlist_proxyModel.setFilterRegExp(
QtCore.QRegExp(text, QtCore.Qt.CaseInsensitive,
QtCore.QRegExp.Wildcard))