def _update_nodetree(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:
rospy.logerr("Reconfigure GUI cannot connect to master.")
raise e #TODO Make sure 'raise' here returns or finalizes this func.
if not nodes == self._nodes_previous:
paramname_prev = ''
paramitem_top_prev = None
i_debug = 0
for node_name_grn in nodes:
p = ParameterItem(node_name_grn)
p.set_param_name(node_name_grn)
names = p.get_param_names()
i_debug += 1
rospy.logdebug('_update_nodetree i=%d names=%s',
i_debug, names)
self._add_tree_node(p, self._rootitem, names)
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:
rospy.logerr("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:
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()
try:
treenodeitem_toplevel.connect_param_server()
except rospy.exceptions.ROSException as e:
rospy.logerr(e.message)
#Skip item that fails to connect to its node.
continue
#TODO: Needs to show err msg on GUI too.
# 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.
rospy.logdebug(_str_progress)
i_node_curr += 1
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:
rospy.logerr("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:
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()
try:
treenodeitem_toplevel.connect_param_server()
except rospy.exceptions.ROSException as e:
rospy.logerr(e.message)
#Skip item that fails to connect to its node.
continue
#TODO: Needs to show err msg on GUI too.
# 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.
rospy.logdebug(_str_progress)
i_node_curr += 1
def _prune_nodetree_pernode(self):
try:
nodes = dyn_reconf.find_reconfigure_services()
except rosservice.ROSServiceIOException as e:
rospy.logerr("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 not candidate_for_removal in nodes:
rospy.logdebug('Removing {} because the server is no longer available.'.format(
candidate_for_removal))
self._nodeitems[candidate_for_removal].disconnect_param_server()
self._rootitem.removeRow(i)
self._nodeitems.pop(candidate_for_removal)
def _prune_nodetree_pernode(self):
try:
nodes = dyn_reconf.find_reconfigure_services()
except rosservice.ROSServiceIOException as e:
rospy.logerr("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 not candidate_for_removal in nodes:
rospy.logdebug('Removing {} because the server is no longer available.'.format(
candidate_for_removal))
self._nodeitems[candidate_for_removal].disconnect_param_server()
self._rootitem.removeRow(i)
self._nodeitems.pop(candidate_for_removal)
def refresh_servers(self):
self.dynamic_reconfigure_servers = find_reconfigure_services()
rospy.loginfo("Found dynamic reconfigure servers:\n" +
str(self.dynamic_reconfigure_servers))
self.dropdown = gui.DropDown()
choose_ddi = gui.DropDownItem("Choose server...")
self.dropdown.add_child(0, choose_ddi)
for idx, server_name in enumerate(self.dynamic_reconfigure_servers):
ddi = gui.DropDownItem(server_name)
self.dropdown.add_child(idx + 1, ddi)
self.dropdown.set_on_change_listener(self.on_dropdown_change)
# using ID 2 to update the dropdown
self.hor_servers.add_child(2, self.dropdown)
# This makes the dropdown not be left
self.dropdown.style['display'] = 'block'
self.dropdown.style['margin'] = '10px auto'
self.dropdown.style['float'] = 'none'
self.wid.add_child(1, self.hor_servers)
def refresh_servers(self):
self.dynamic_reconfigure_servers = find_reconfigure_services()
rospy.loginfo("Found dynamic reconfigure servers:\n" +
str(self.dynamic_reconfigure_servers))
#self.dropdown = gui.DropDown(200, 20)
self.dropdown = gui.DropDown(-1, -1)
#choose_ddi = gui.DropDownItem(200, 20, "Choose server...")
choose_ddi = gui.DropDownItem(-1, -1, "Choose server...")
self.dropdown.append(0, choose_ddi)
for idx, server_name in enumerate(self.dynamic_reconfigure_servers):
#ddi = gui.DropDownItem(200, 20, server_name)
ddi = gui.DropDownItem(-1, -1, server_name)
self.dropdown.append(idx+1, ddi)
self.dropdown.set_on_change_listener(self, 'on_dropdown_change')
# using ID 2 to update the dropdown
self.hor_servers.append(2, self.dropdown)
# This makes the dropdown not be left
self.dropdown.style['display'] = 'block'
self.dropdown.style['margin'] = '10px auto'
self.dropdown.style['float'] = 'none'
self.wid.append(1, self.hor_servers)
def refresh_topics(self):
"""
refresh tree view items
"""
nodes = dynamic_reconfigure.find_reconfigure_services()
# dparams = []
dparams = {}
for node in nodes:
client = dynamic_reconfigure.client.Client(node, timeout=3)
gdesc = client.get_group_descriptions()
for pdesc in gdesc["parameters"]:
param = node + "/" + pdesc["name"]
dparams[param] = pdesc
for param, desc in self._current_params.items():
if param not in dparams:
del self._current_params[param]
# TODO: delete the tree widget item
for param, desc in dparams.items():
if param not in self._current_params:
self._current_params[param] = desc
self.insert_param(param, desc)
#
# Author: Isaac Saito
import time
import dynamic_reconfigure as dyn_reconf
import dynamic_reconfigure.client
import rosservice
import rospy
from rqt_reconfigure.treenode_qstditem import TreenodeQstdItem
if __name__ == '__main__':
try:
nodes = dyn_reconf.find_reconfigure_services()
except rosservice.ROSServiceIOException as e:
rospy.logerr("Reconfigure GUI cannot connect to master.")
raise e # TODO Make sure 'raise' here returns or finalizes func.
i_node_curr = 1
num_nodes = len(nodes)
elapsedtime_overall = 0.00
for node_name_grn in nodes:
time_siglenode_loop = time.time()
try:
_dynreconf_client = dynamic_reconfigure.client.Client(
str(node_name_grn), timeout=5.0)
except rospy.exceptions.ROSException:
rospy.logerr("TreenodeQstdItem. Couldn't connect to {}".format(
def refresh_topics(self):
"""
refresh tree view items
"""
# print "is refreshing"
nodes = dynamic_reconfigure.find_reconfigure_services()
# dparams = []
dparams = {}
for node in nodes:
client = dynamic_reconfigure.client.Client(node, timeout=3)
gdesc = client.get_group_descriptions()
for pdesc in gdesc["parameters"]:
param = node + "/" + pdesc["name"]
dparams[param] = pdesc
# dparams = dparams.items()
for param, desc in self._current_params.items():
if param not in dparams:
del self._current_params[param]
# TODO: delete the tree widget item
for param, desc in dparams.items():
if param not in self._current_params:
self._current_params[param] = desc
self.insert_param(param, desc)
# print self._current_params
# print self._tree_items
# dparams = rospy.get_published_topics()
# print self._items_param
# selected_dict = { self._selected_items[index] : index for index in range(len(self._selected_items)) }
# print selected_dict
# print self._selected_items
# print self.get_selected()
return
try:
if self._selected_topics is None:
topic_list = dparams
if topic_list is None:
rospy.logerr('Not even a single published topic found. Check network configuration')
return
except IOError as e:
rospy.logerr("Communication with rosmaster failed: {0}".format(e.strerror))
return
if self._current_topic_list != topic_list:
self._current_topic_list = topic_list
print "is updating"
# start new topic dict
new_topics = {}
for topic_name, topic_type in topic_list:
# if topic is new or has changed its type
if topic_name not in self._topics or \
self._topics[topic_name]['type'] != topic_type:
# create new TopicInfo
topic_info = TopicInfo(topic_name, topic_type)
message_instance = None
if topic_info.message_class is not None:
message_instance = topic_info.message_class()
# add it to the dict and tree view
topic_item = self._recursive_create_widget_items(self.topics_tree_widget, topic_name, topic_type, message_instance)
new_topics[topic_name] = {
'item': topic_item,
'info': topic_info,
'type': topic_type,
}
else:
# if topic has been seen before, copy it to new dict and
# remove it from the old one
new_topics[topic_name] = self._topics[topic_name]
del self._topics[topic_name]
# clean up old topics
for topic_name in self._topics.keys():
self._topics[topic_name]['info'].stop_monitoring()
index = self.topics_tree_widget.indexOfTopLevelItem(
self._topics[topic_name]['item'])
self.topics_tree_widget.takeTopLevelItem(index)
del self._topics[topic_name]
# switch to new topic dict
self._topics = new_topics
