def __init__(self, updater, config):
super(EnumEditor, self).__init__(updater, config)
loadUi(ui_enum, self)
try:
enum = eval(config['edit_method'])['enum']
except: # noqa: E722
logging.error('reconfig EnumEditor) Malformed enum')
return
# Setup the enum items
self.names = [item['name'] for item in enum]
self.values = [item['value'] for item in enum]
items = [
'%s (%s)' % (self.names[i], self.values[i])
for i in range(0, len(self.names))
]
# Add items to the combo box
self._combobox.addItems(items)
# Initialize to the default
self._combobox.setCurrentIndex(self.values.index(config['default']))
# Make selection update the param server
self._combobox.currentIndexChanged['int'].connect(self.selected)
# Make the param server update selection
self._update_signal.connect(self._update_gui)
# Bind the context menu
self._combobox.contextMenuEvent = self.contextMenuEvent
def __init__(self, *args):
"""
:param args[0]: str (will become 1st arg of QStandardItem)
:param args[1]: integer value that indicates whether this class
is node that has GRN (Graph Resource Names, see
http://www.ros.org/wiki/Names). This can be None
"""
grn_current_treenode = args[0]
self._raw_param_name = grn_current_treenode
self._set_param_name(grn_current_treenode)
super(TreenodeQstdItem, self).__init__(grn_current_treenode)
# dynamic_reconfigure.client.Client
self._param_client = None
# ParamClientWidget
self._param_client_widget = None
self._is_rosnode = False
self._lock = threading.Lock()
self._paramserver_connect_thread = None
try:
if args[1]:
self._is_rosnode = True
except IndexError: # tuple index out of range etc.
logging.error('TreenodeQstdItem IndexError')
def selected(self, index):
try:
value = self.values[index]
except IndexError:
logging.error("Invalid selection '{}' for parameter '{}'".format(
self._combobox.itemText(index), self.param_name))
else:
self._update_paramserver(value)
def _update_nodetree_pernode(self):
"""
"""
# TODO(Isaac): 11/25/2012 dynamic_reconfigure only returns params that
# are associated with nodes. In order to handle independent
# params, different approach needs taken.
try:
nodes = dyn_reconf.find_reconfigure_services()
except rosservice.ROSServiceIOException as e:
logging.error('Reconfigure GUI cannot connect to master.')
raise e # TODO Make sure 'raise' here returns or finalizes func.
if not nodes == self._nodes_previous:
i_node_curr = 1
num_nodes = len(nodes)
elapsedtime_overall = 0.0
for node_name_grn in nodes:
# Skip this grn if we already have it
if node_name_grn in self._nodeitems:
i_node_curr += 1
continue
time_siglenode_loop = time.time()
# (Begin) For DEBUG ONLY; skip some dynreconf creation
# if i_node_curr % 2 != 0:
# i_node_curr += 1
# continue
# (End) For DEBUG ONLY. ####
# Instantiate QStandardItem. Inside, dyn_reconf client will
# be generated too.
treenodeitem_toplevel = TreenodeQstdItem(
node_name_grn, TreenodeQstdItem.NODE_FULLPATH)
_treenode_names = treenodeitem_toplevel.get_treenode_names()
# Using OrderedDict here is a workaround for StdItemModel
# not returning corresponding item to index.
self._nodeitems[node_name_grn] = treenodeitem_toplevel
self._add_children_treenode(treenodeitem_toplevel,
self._rootitem, _treenode_names)
time_siglenode_loop = time.time() - time_siglenode_loop
elapsedtime_overall += time_siglenode_loop
_str_progress = 'reconf ' + \
'loading #{}/{} {} / {}sec node={}'.format(
i_node_curr, num_nodes, round(time_siglenode_loop, 2),
round(elapsedtime_overall, 2), node_name_grn
)
# NOT a debug print - please DO NOT remove. This print works
# as progress notification when loading takes long time.
logging.debug(_str_progress)
i_node_curr += 1
def _prune_nodetree_pernode(self):
try:
nodes = find_nodes_with_params(self._context.node)
except Exception as e:
logging.error('Reconfigure GUI cannot connect to master.')
raise e # TODO Make sure 'raise' here returns or finalizes func.
for i in reversed(range(0, self._rootitem.rowCount())):
candidate_for_removal = \
self._rootitem.child(i).get_raw_param_name()
if candidate_for_removal not in nodes:
logging.debug(
'Removing {} because the server is no longer available.'.
format(candidate_for_removal))
self._rootitem.removeRow(i)
self._nodeitems.pop(candidate_for_removal).reset()
def _selection_changed_slot(self, selected, deselected):
"""
Send "open ROS Node box" signal.
ONLY IF the selected treenode is the
terminal treenode.
Receives args from signal QItemSelectionModel.selectionChanged.
:param selected: All indexs where selected (could be multiple)
:type selected: QItemSelection
:type deselected: QItemSelection
"""
# Getting the index where user just selected. Should be single.
if not selected.indexes() and not deselected.indexes():
logging.error('Nothing selected? Not ideal to reach here')
return
index_current = None
if selected.indexes():
index_current = selected.indexes()[0]
elif len(deselected.indexes()) == 1:
# Setting length criteria as 1 is only a workaround, to avoid
# Node boxes on right-hand side disappears when filter key doesn't
# match them.
# Indeed this workaround leaves another issue. Question for
# permanent solution is asked here http://goo.gl/V4DT1
index_current = deselected.indexes()[0]
logging.debug(' - - - index_current={}'.format(index_current))
rosnode_name_selected = RqtRosGraph.get_upper_grn(index_current, '')
# If retrieved node name isn't in the list of all nodes.
if rosnode_name_selected not in self._nodeitems.keys():
# De-select the selected item.
self.selectionModel.select(index_current,
QItemSelectionModel.Deselect)
return
if selected.indexes():
try:
self._selection_selected(index_current, rosnode_name_selected)
except Exception as e:
# TODO: print to sysmsg pane
err_msg = 'Connection to node={} failed:\n{}'.format(
rosnode_name_selected, e)
import traceback
traceback.print_exc()
self._signal_msg.emit(err_msg)
logging.error(err_msg)
elif deselected.indexes():
try:
self._selection_deselected(index_current,
rosnode_name_selected)
except Exception as e:
self._signal_msg.emit(e)
logging.error(e)
def connect_param_server(self):
"""
Connect to parameter server using dynamic_reconfigure client.
Behavior is delegated to a private method _connect_param_server, and
its return value, client, is set to member variable.
@return void
@raise ROSException:
"""
# If the treenode doesn't represent ROS Node, return None.
with self._lock:
if not self._is_rosnode:
logging.error('connect_param_server failed due to missing '
'ROS Node. Return with nothing.')
return
if not self._param_client:
if self._paramserver_connect_thread:
if self._paramserver_connect_thread.is_alive():
self._paramserver_connect_thread.join(1)
self._paramserver_connect_thread = ParamserverConnectThread(
self, self._raw_param_name)
self._paramserver_connect_thread.start()
