Esempio n. 1
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    def _switch_perspective(self, name, settings_changed, save_before, without_plugin_changes=False):
        # convert from unicode
        name = str(name.replace('/', '__'))

        qDebug('PerspectiveManager.switch_perspective() switching to perspective "%s"' % name)
        if self._current_perspective is not None and self._menu_manager is not None:
            self._menu_manager.set_item_checked(self._current_perspective, False)
            self._menu_manager.set_item_disabled(self._current_perspective, False)

        # create perspective if necessary
        if name not in self.perspectives:
            self._create_perspective(name, clone_perspective=False)

        # update current perspective
        self._current_perspective = name
        if self._menu_manager is not None:
            self._menu_manager.set_item_checked(self._current_perspective, True)
            self._menu_manager.set_item_disabled(self._current_perspective, True)
        if not self._current_perspective.startswith(self.HIDDEN_PREFIX):
            self._settings_proxy.set_value('', 'current-perspective', self._current_perspective)
        self._perspective_settings = self._get_perspective_settings(self._current_perspective)

        # emit signals
        self.perspective_changed_signal.emit(self._current_perspective.lstrip(self.HIDDEN_PREFIX))
        if settings_changed:
            if not without_plugin_changes:
                self.restore_settings_signal.emit(self._global_settings, self._perspective_settings)
            else:
                self.restore_settings_without_plugin_changes_signal.emit(self._global_settings, self._perspective_settings)
Esempio n. 2
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 def _init_node(self):
     # initialize node once
     if not self._node_initialized:
         name = 'rqt_gui_py_node_%d' % os.getpid()
         qDebug('RosPyPluginProvider._init_node() initialize ROS node "%s"' % name)
         rospy.init_node(name, disable_signals=True)
         self._node_initialized = True
Esempio n. 3
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 def restore_settings_without_plugins(self, global_settings,
                                      perspective_settings):
     qDebug('PluginManager.restore_settings_without_plugins()')
     self._global_settings = global_settings.get_settings('pluginmanager')
     self._perspective_settings = perspective_settings.get_settings(
         'pluginmanager')
     self._restore_settings_restore()
    def _on_remove_perspective(self):
        # input dialog to choose perspective to be removed
        names = list(self.perspectives)
        names.remove(self._current_perspective)
        name, return_value = QInputDialog.getItem(
            self._menu_manager.menu,
            self._menu_manager.tr('Remove perspective'),
            self._menu_manager.tr('Select the perspective'), names, 0, False)
        # convert from unicode
        name = str(name)
        if return_value == QInputDialog.Rejected:
            return
        if name not in self.perspectives:
            raise UserWarning('unknown perspective: %s' % name)
        qDebug('PerspectiveManager._on_remove_perspective(%s)' % str(name))

        # remove from list of perspectives
        self.perspectives.remove(name)
        self._settings_proxy.set_value('', 'perspectives', self.perspectives)

        # remove settings
        settings = self._get_perspective_settings(name)
        settings.remove('')

        # remove from menu
        self._menu_manager.remove_item(name)

        # disable remove-action
        if self._menu_manager.count_items() < 2:
            self._remove_action.setEnabled(False)
Esempio n. 5
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 def shutdown(self):
     qDebug('Shutting down RosPyPluginProvider')
     if self._spinner:
         self._spinner.quit()
     if self._node:
         self._destroy_node()
     super().shutdown()
Esempio n. 6
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 def _reload_plugin_restore(self, handler, exception):
     qDebug('PluginManager._reload_plugin_restore()')
     self._load_plugin_completed(handler, exception)
     if exception is None:
         # restore settings after load
         self._restore_plugin_settings(handler.instance_id(),
                                       self._emit_load_plugin_completed)
Esempio n. 7
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 def _close_application_shutdown_callback(self, instance_id=None):
     if instance_id is not None:
         self._number_of_ongoing_calls = self._number_of_ongoing_calls - 1
     if self._number_of_ongoing_calls == 0:
         qDebug('PluginManager.close_application() completed')
         self._number_of_ongoing_calls = None
         self.close_application_signal.emit()
Esempio n. 8
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    def load_bag(self, filename):
        qDebug("Loading '%s'..." % filename)

        self.set_status_text.emit("Loading '%s'..." % filename)

        try:
            bag = rosbag.Bag(filename)
            self.capture_button.setEnabled(True)

            self.play_button.setEnabled(True)
            self.thumbs_button.setEnabled(True)
            self.zoom_in_button.setEnabled(True)
            self.zoom_out_button.setEnabled(True)
            self.zoom_all_button.setEnabled(True)
            self.next_button.setEnabled(True)
            self.previous_button.setEnabled(True)
            self.faster_button.setEnabled(True)
            self.slower_button.setEnabled(True)
            self.begin_button.setEnabled(True)
            self.end_button.setEnabled(True)
            self.save_button.setEnabled(True)
            self.record_button.setEnabled(False)

            self._timeline.add_bag(bag)
            qDebug("Done loading '%s'" % filename)
            # put the progress bar back the way it was
            self.set_status_text.emit("")

        except rosbag.ROSBagException as e:
            qWarning("Loading '%s' failed due to: %s" % (filename, e))
            self.set_status_text.emit("Loading '%s' failed due to: %s" %
                                      (filename, e))
Esempio n. 9
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    def _discover(self):
        discovery_data = self._settings.get_settings('discovery_data')
        # check timestamp of the cached discovery data
        cache_stamp = self._settings.value('discovery_timestamp',
                                           default_value=None)
        if cache_stamp:
            cache_stamp = float(cache_stamp)

        # wipe cached data when forcing discovery or when cache is to old (or from the future)
        now = time.time()
        if self._application_context.options.force_discover or not cache_stamp or cache_stamp > now or cache_stamp + PluginManager.discovery_cache_max_age < now:
            qDebug('PluginManager._discover() force discovery of plugins')
            cache_stamp = None
            for k in discovery_data.all_keys():
                discovery_data.remove(k)
        else:
            qDebug(
                'PluginManager._discover() using cached plugin discovery information'
            )

        plugin_descriptors = self._plugin_provider.discover(discovery_data)

        # store timestamp and newly discovered data
        if not cache_stamp:
            self._settings.set_value('discovery_timestamp', now)

        return plugin_descriptors
Esempio n. 10
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 def _save_settings_callback(self, instance_id=None):
     if instance_id is not None:
         self._number_of_ongoing_calls = self._number_of_ongoing_calls - 1
     if self._number_of_ongoing_calls == 0:
         qDebug('PluginManager.save_settings() completed')
         self._number_of_ongoing_calls = None
         self.save_settings_completed_signal.emit()
Esempio n. 11
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 def _save_settings_callback(self, instance_id=None):
     if instance_id is not None:
         self._number_of_ongoing_calls = self._number_of_ongoing_calls - 1
     if self._number_of_ongoing_calls == 0:
         qDebug('PluginManager.save_settings() completed')
         self._number_of_ongoing_calls = None
         self.save_settings_completed_signal.emit()
Esempio n. 12
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 def _close_application_shutdown_callback(self, instance_id=None):
     if instance_id is not None:
         self._number_of_ongoing_calls = self._number_of_ongoing_calls - 1
     if self._number_of_ongoing_calls == 0:
         qDebug('PluginManager.close_application() completed')
         self._number_of_ongoing_calls = None
         self._close_application_signal()
 def _init_node(self):
     # initialize node once
     if not self._node_initialized:
         name = 'rqt_gui_py_node_%d' % os.getpid()
         qDebug('RosPyPluginProvider._init_node() initialize ROS node "%s"' % name)
         rospy.init_node(name, disable_signals=True)
         self._node_initialized = True
    def load_bag(self, filename):
        qDebug("Loading '%s'..." % filename.encode(errors='replace'))

        # QProgressBar can EITHER: show text or show a bouncing loading bar,
        #  but apparently the text is hidden when the bounding loading bar is
        #  shown
        # self.progress_bar.setRange(0, 0)
        self.set_status_text.emit("Loading '%s'..." % filename)
        # progress_format = self.progress_bar.format()
        # progress_text_visible = self.progress_bar.isTextVisible()
        # self.progress_bar.setFormat("Loading %s" % filename)
        # self.progress_bar.setTextVisible(True)

        try:
            bag = rosbag.Bag(filename)
            self.play_button.setEnabled(True)
            self.thumbs_button.setEnabled(True)
            self.zoom_in_button.setEnabled(True)
            self.zoom_out_button.setEnabled(True)
            self.zoom_all_button.setEnabled(True)
            self.next_button.setEnabled(True)
            self.previous_button.setEnabled(True)
            self.faster_button.setEnabled(True)
            self.slower_button.setEnabled(True)
            self.begin_button.setEnabled(True)
            self.end_button.setEnabled(True)
            self.save_button.setEnabled(True)
            self.record_button.setEnabled(False)
            self._timeline.add_bag(bag)
            qDebug("Done loading '%s'" % filename.encode(errors='replace'))
            # put the progress bar back the way it was
            self.set_status_text.emit("")
        except rosbag.ROSBagException as e:
            qWarning("Loading '%s' failed due to: %s" % (filename.encode(errors='replace'), e))
            self.set_status_text.emit("Loading '%s' failed due to: %s" % (filename, e))
Esempio n. 15
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 def save_settings(self, global_settings, perspective_settings):
     qDebug('MainWindow.save_settings()')
     self._global_settings = global_settings
     self._perspective_settings = perspective_settings
     self._settings = self._perspective_settings.get_settings('mainwindow')
     # store current setup to current _settings
     self._save_geometry_to_perspective()
     self._save_state_to_perspective()
Esempio n. 16
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 def load_plugin(self, plugin_id, serial_number=None, argv=None):
     qDebug('PluginManager.load_plugin(%s, %s)' % (str(plugin_id), str(serial_number) if serial_number is not None else ''))
     # save state of top-level widgets
     self.plugins_about_to_change_signal.emit()
     if serial_number is None:
         serial_number = self._next_serial_number(plugin_id)
     instance_id = PluginInstanceId(plugin_id, serial_number)
     self._load_plugin_load(instance_id, self._load_plugin_restore, argv)
Esempio n. 17
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 def restore_settings(self, global_settings, perspective_settings):
     qDebug('MainWindow.restore_settings()')
     # remember new _settings
     self._global_settings = global_settings
     self._perspective_settings = perspective_settings
     self._settings = self._perspective_settings.get_settings('mainwindow')
     # only restore geometry, restoring state is triggered after PluginManager has been updated
     self._restore_geometry_from_perspective()
Esempio n. 18
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 def emit_save_settings_completed(self):
     qDebug('PluginHandler.emit_save_settings_completed()')
     self._call_method_on_all_dock_widgets('save_settings', self.__instance_settings)
     self.__instance_settings = None
     if self.__callback is not None:
         callback = self.__callback
         self.__callback = None
         callback(self._instance_id)
Esempio n. 19
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 def emit_save_settings_completed(self):
     qDebug('PluginHandler.emit_save_settings_completed()')
     self._call_method_on_all_dock_widgets('save_settings', self.__instance_settings)
     self.__instance_settings = None
     if self.__callback is not None:
         callback = self.__callback
         self.__callback = None
         callback(self._instance_id)
Esempio n. 20
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 def run(self):
     qDebug('Start called on RclpySpinner, spinning ros2 node')
     executor = MultiThreadedExecutor()
     executor.add_node(self._node)
     while rclpy.ok() and not self._abort:
         executor.spin_once(timeout_sec=1.0)
     if not self._abort:
         qWarning('rclpy.shutdown() was called before QThread.quit()')
Esempio n. 21
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 def save_settings(self, global_settings, perspective_settings):
     qDebug('MainWindow.save_settings()')
     self._global_settings = global_settings
     self._perspective_settings = perspective_settings
     self._settings = self._perspective_settings.get_settings('mainwindow')
     # store current setup to current _settings
     self._save_geometry_to_perspective()
     self._save_state_to_perspective()
Esempio n. 22
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 def restore_settings(self, global_settings, perspective_settings):
     qDebug('MainWindow.restore_settings()')
     # remember new _settings
     self._global_settings = global_settings
     self._perspective_settings = perspective_settings
     self._settings = self._perspective_settings.get_settings('mainwindow')
     # only restore geometry, restoring state is triggered after PluginManager has been updated
     self._restore_geometry_from_perspective()
Esempio n. 23
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 def emit_restore_settings_completed(self):
     qDebug('PluginHandler.emit_restore_settings_completed()')
     # call after plugin has restored settings as it may spawn additional dock widgets
     self._call_method_on_all_dock_widgets('restore_settings', self.__instance_settings)
     self.__instance_settings = None
     if self.__callback is not None:
         callback = self.__callback
         self.__callback = None
         callback(self._instance_id)
Esempio n. 24
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 def _restore_settings_restore_callback(self, instance_id=None):
     if instance_id is not None:
         self._number_of_ongoing_calls = self._number_of_ongoing_calls - 1
     if self._number_of_ongoing_calls == 0:
         if instance_id is not None:
             qDebug('PluginManager.restore_settings() all plugin settings restored')
         self._number_of_ongoing_calls = None
         # restore state of top-level widgets
         self.plugins_changed_signal.emit()
Esempio n. 25
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 def emit_restore_settings_completed(self):
     qDebug('PluginHandler.emit_restore_settings_completed()')
     # call after plugin has restored settings as it may spawn additional dock widgets
     self._call_method_on_all_dock_widgets('restore_settings', self.__instance_settings)
     self.__instance_settings = None
     if self.__callback is not None:
         callback = self.__callback
         self.__callback = None
         callback(self._instance_id)
 def _save_settings_from_remote(self):
     qDebug('PluginHandlerXEmbedClient._save_settings_from_remote()')
     try:
         plugin_settings = Settings(self._remote_plugin_settings, '')
         instance_settings = Settings(self._remote_instance_settings, '')
         self._save_settings(plugin_settings, instance_settings)
     except Exception:
         qCritical('PluginHandlerXEmbedClient._save_settings_from_remote() plugin "%s" raised an exception:\n%s' % (str(self._instance_id), traceback.format_exc()))
         self.emit_save_settings_completed()
Esempio n. 27
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 def _restore_settings_unload_obsolete_callback(self, instance_id=None):
     if instance_id is not None:
         self._number_of_ongoing_calls = self._number_of_ongoing_calls - 1
         self._remove_running_plugin(instance_id)
     if self._number_of_ongoing_calls == 0:
         if instance_id is not None:
             qDebug('PluginManager.restore_settings() all obsolete plugins unloaded')
         self._number_of_ongoing_calls = None
         self._restore_settings_load_missing()
Esempio n. 28
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    def load_bag(self, filename):
        qDebug("Loading '%s'..." % filename)
        self.set_status_text.emit("Loading '%s'..." % filename)

        try:
            bag = rosbag.Bag(filename)
            self.capture_button.setEnabled(True)
        except:
            print("Error.")
Esempio n. 29
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 def _restore_settings_load_missing_callback(self, handler=None, exception=None):
     if handler is not None:
         self._number_of_ongoing_calls = self._number_of_ongoing_calls - 1
         self._load_plugin_completed(handler, exception)
     if self._number_of_ongoing_calls == 0:
         if handler is not None:
             qDebug('PluginManager.restore_settings() all missing plugins loaded')
         self._number_of_ongoing_calls = None
         self._restore_settings_restore()
 def _save_settings_from_remote(self):
     qDebug('PluginHandlerXEmbedClient._save_settings_from_remote()')
     try:
         plugin_settings = Settings(self._remote_plugin_settings, '')
         instance_settings = Settings(self._remote_instance_settings, '')
         self._save_settings(plugin_settings, instance_settings)
     except Exception:
         qCritical('PluginHandlerXEmbedClient._save_settings_from_remote() plugin "%s" raised an exception:\n%s' % (str(self._instance_id), traceback.format_exc()))
         self.emit_save_settings_completed()
Esempio n. 31
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 def closeEvent(self, event):
     qDebug('MainWindow.closeEvent()')
     if not self._save_on_close_signaled:
         self._save_geometry_to_perspective()
         self._save_state_to_perspective()
         self._save_on_close_signaled = True
         self.save_settings_before_close_signal.emit(self._global_settings, self._perspective_settings)
         event.ignore()
     else:
         event.accept()
Esempio n. 32
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 def _init_node(self):
     # initialize node once
     if not self._node_initialized:
         name = 'rqt_gui_py_node_%d' % os.getpid()
         qDebug('RosPyPluginProvider._init_node() initialize ROS node "%s"' % name)
         if not rclpy.ok():
             rclpy.init()
         self._node = rclpy.create_node(name)
         self._spinner = RclpySpinner(self._node)
         self._spinner.start()
         self._node_initialized = True
Esempio n. 33
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 def unload_plugin(self, instance_id_str):
     # unloading a plugin with locked perspective or running standalone triggers close of application
     if self._application_context.options.lock_perspective or self._application_context.options.standalone_plugin:
         self.close_application_signal.emit()
         return
     instance_id = PluginInstanceId(instance_id=instance_id_str)
     qDebug('PluginManager.unload_plugin(%s)' % str(instance_id))
     # save state of top-level widgets
     self.plugins_about_to_change_signal.emit()
     # save settings before shutdown and unloading
     self._save_plugin_settings(instance_id, self._unload_plugin_shutdown)
Esempio n. 34
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 def unload_plugin(self, instance_id_str):
     # unloading a plugin with locked perspective or running standalone triggers close of application
     if self._application_context.options.lock_perspective or self._application_context.options.standalone_plugin:
         self._close_application_signal()
         return
     instance_id = PluginInstanceId(instance_id=instance_id_str)
     qDebug('PluginManager.unload_plugin(%s)' % str(instance_id))
     # save state of top-level widgets
     self.plugins_about_to_change_signal.emit()
     # save settings before shutdown and unloading
     self._save_plugin_settings(instance_id, self._unload_plugin_shutdown)
Esempio n. 35
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 def _save_settings(self, global_settings, perspective_settings, callback):
     qDebug('PluginManager.save_settings()')
     self._global_settings = global_settings.get_settings('pluginmanager')
     self._perspective_settings = perspective_settings.get_settings('pluginmanager')
     self._store_running_plugins()
     # trigger async call on all running plugins
     self._number_of_ongoing_calls = len(self._running_plugins)
     if self._number_of_ongoing_calls > 0:
         for info in self._running_plugins.values():
             self._save_plugin_settings(info['instance_id'], callback)
     else:
         callback()
Esempio n. 36
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    def update(self):
        """
        Update all the stats. This method may take awhile to complete as it will
        communicate with all nodes + master.
        """

        last_node_refresh = self.last_node_refresh

        # nodes left to check
        update_queue = None
        # True if there are still more stats to fetch this cycle
        work_to_do = True
        # return value. True if new data differs from old
        updated = False
        # number of nodes we checked
        num_nodes = 0

        start_time = time.time()
        while work_to_do:

            # each time through the loop try to talk to either the master
            # or a node. stop when we have talked to everybody.

            # get a new node list from the master
            if time.time() > (self.last_graph_refresh + self.graph_stale):
                updated = self._graph_refresh()
                self.last_graph_refresh = time.time()
            # contact the nodes for stats
            else:
                # initialize update_queue based on most current nodes list
                if update_queue is None:
                    update_queue = list(self.nn_nodes)
                # no nodes left to contact
                elif not update_queue:
                    work_to_do = False
                # contact next node
                else:
                    # figure out the next node to contact
                    next = update_queue.pop()
                    # rate limit talking to any particular node
                    if time.time() > (last_node_refresh.get(next, 0.0) + self.node_stale):
                        updated = self._node_refresh(next) or updated
                        # include in random offset (max 1/5th normal update interval)
                        # to help spread out updates
                        last_node_refresh[next] = \
                            time.time() + (random.random() * self.node_stale / 5.0)
                        num_nodes += 1

            # small yield to keep from torquing the processor
            time.sleep(0.01)
        end_time = time.time()
        qDebug("ROS stats update took %ss" % (end_time - start_time))
        return updated
Esempio n. 37
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 def event(self, e):
     if e.type() == ReparentEvent.reparent_event_type:
         qDebug('ContainerManager.event() reparent event: new parent=%s' %
                e.new_parent.objectName())
         floating = e.dock_widget.isFloating()
         pos = e.dock_widget.pos()
         e.new_parent.addDockWidget(Qt.BottomDockWidgetArea, e.dock_widget)
         if floating:
             e.dock_widget.setFloating(floating)
             e.dock_widget.move(pos)
         e.accept()
         return True
     return super(ContainerManager, self).event(e)
Esempio n. 38
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 def restore_settings(self, plugin_settings, instance_settings, callback=None):
     """
     Restore settings of the plugin (`Plugin.restore_settings()`) and all dock widget title bars.
     Completion is signaled asynchronously if a callback is passed.
     """
     qDebug('PluginHandler.restore_settings()')
     self.__instance_settings = instance_settings
     self.__callback = callback
     try:
         self._restore_settings(plugin_settings, instance_settings)
     except Exception:
         qCritical('PluginHandler.restore_settings() plugin "%s" raised an exception:\n%s' % (str(self._instance_id), traceback.format_exc()))
         self.emit_restore_settings_completed()
Esempio n. 39
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 def restore_settings(self, plugin_settings, instance_settings, callback=None):
     """
     Restore settings of the plugin (`Plugin.restore_settings()`) and all dock widget title bars.
     Completion is signaled asynchronously if a callback is passed.
     """
     qDebug('PluginHandler.restore_settings()')
     self.__instance_settings = instance_settings
     self.__callback = callback
     try:
         self._restore_settings(plugin_settings, instance_settings)
     except Exception:
         qCritical('PluginHandler.restore_settings() plugin "%s" raised an exception:\n%s' % (str(self._instance_id), traceback.format_exc()))
         self.emit_restore_settings_completed()
    def _load(self):
        if not Main.main_filename:
            raise RuntimeError(
                'PluginHandlerXEmbedContainer._load() filename of initially started script is unknown'
            )

        self._dbus_server = Server('tcp:bind=*')
        self._dbus_server.on_connection_added.append(self._add_dbus_connection)
        self._dbus_container_service = PluginHandlerDBusService(
            self, self._dbus_object_path)
        self._dbus_plugin_settings_service = SettingsProxyDBusService(
            self._dbus_object_path + '/plugin')
        self._dbus_instance_settings_service = SettingsProxyDBusService(
            self._dbus_object_path + '/instance')

        self._process = QProcess(self)
        self._process.setProcessChannelMode(QProcess.SeparateChannels)
        self._process.readyReadStandardOutput.connect(
            self._print_process_output)
        self._process.readyReadStandardError.connect(self._print_process_error)
        self._process.finished.connect(self._emit_close_plugin)
        # start python with unbuffered stdout/stderr so that the order of the output is retained
        cmd = sys.executable + ' -u'
        cmd += ' %s' % Main.main_filename
        cmd += ' --qt-binding=%s' % QT_BINDING
        cmd += ' --embed-plugin=%s --embed-plugin-serial=%s --embed-plugin-address=%s' % (
            self.instance_id().plugin_id, self.instance_id().serial_number,
            self._dbus_server.address)
        if self.argv():
            cmd += ' --args %s' % ' '.join(self.argv())
        #qDebug('PluginHandlerXEmbedContainer._load() starting command: %s' % cmd)
        self._process.start(cmd)
        started = self._process.waitForStarted(3000)
        if not started:
            self._dbus_container_service.remove_from_connection()
            self._dbus_plugin_settings_service.remove_from_connection()
            self._dbus_instance_settings_service.remove_from_connection()
            raise RuntimeError(
                'PluginHandlerXEmbedContainer._load() could not start subprocess in reasonable time'
            )
        # QProcess.pid() has been added to PySide in 1.0.5
        if hasattr(self._process, 'pid'):
            self._pid = self._process.pid()
        else:
            # use serial number as a replacement for pid if not available
            self.__class__._serial_number = self._serial_number + 1
            self._pid = self._serial_number

        qDebug(
            'PluginHandlerXEmbedContainer._load() started subprocess (#%s) for plugin "%s"'
            % (self._pid, str(self._instance_id)))
 def start_plugin(self, plugin_name, argv):
     qDebug('PluginManagerDBusInterface.start_plugin(%s)' % plugin_name)
     plugins = self._plugin_manager.find_plugins_by_name(plugin_name)
     if len(plugins) == 0:
         msg = 'PluginManagerDBusInterface.start_plugin() found no plugin matching "%s"' % plugin_name
         qWarning(msg)
         return (1, msg)
     elif len(plugins) > 1:
         msg = 'PluginManagerDBusInterface.start_plugin() found multiple plugins matching "%s"\n%s' % (plugin_name, '\n'.join(plugins.values()))
         qWarning(msg)
         return (1, msg)
     plugin_id = plugins.keys()[0]
     self._plugin_manager.load_plugin(plugin_id, argv=argv.split(' ') if argv else [])
     return (0, plugin_id)
Esempio n. 42
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 def _restore_settings_save_obsolete(self):
     # trigger shutdown of obsolete plugins
     plugins = self._restore_running_plugins_get_plugins()
     obsolete = []
     for instance_id in self._running_plugins.keys():
         if instance_id not in plugins.keys():
             obsolete.append(PluginInstanceId(instance_id=instance_id))
     self._number_of_ongoing_calls = len(obsolete)
     if self._number_of_ongoing_calls > 0:
         qDebug('PluginManager.restore_settings() unloading %d obsolete plugins' % self._number_of_ongoing_calls)
         for instance_id in obsolete:
             self._shutdown_plugin(instance_id, self._restore_settings_unload_obsolete)
     else:
         self._restore_settings_unload_obsolete_callback()
Esempio n. 43
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 def _restore_settings_load_missing(self):
     # trigger_load of not yet loaded plugins
     plugins = self._restore_running_plugins_get_plugins()
     loading = []
     for instance_id_str, instance_id in plugins.items():
         if instance_id_str not in self._running_plugins.keys():
             loading.append(instance_id)
     self._number_of_ongoing_calls = len(loading)
     if self._number_of_ongoing_calls > 0:
         qDebug('PluginManager.restore_settings() loading %d plugins' % self._number_of_ongoing_calls)
         for instance_id in loading:
             self._load_plugin_load(instance_id, self._restore_settings_load_missing_callback)
     else:
         self._restore_settings_load_missing_callback()
Esempio n. 44
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    def _load_plugin_completed(self, handler, exception):
        instance_id = handler.instance_id()
        if exception is not None:
            if isinstance(exception, PluginLoadError):
                qWarning('PluginManager._load_plugin() could not load plugin "%s": %s' % (instance_id.plugin_id, exception))
            else:
                qCritical('PluginManager._load_plugin() could not load plugin "%s"%s' % (instance_id.plugin_id, (':\n%s' % traceback.format_exc() if exception != True else '')))
            self._remove_running_plugin(instance_id)
            # quit embed application
            if self._application_context.options.embed_plugin:
                exit(-1)
            return

        qDebug('PluginManager._load_plugin(%s) successful' % str(instance_id))

        handler.close_signal.connect(self.unload_plugin)
        handler.reload_signal.connect(self.reload_plugin)
        handler.help_signal.connect(self._emit_plugin_help_signal)
Esempio n. 45
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    def _create_perspective(self, name, clone_perspective=True):
        # convert from unicode
        name = str(name)
        if name.find('/') != -1:
            raise RuntimeError('PerspectiveManager._create_perspective() name must not contain forward slashs (/)')

        qDebug('PerspectiveManager._create_perspective(%s, %s)' % (name, clone_perspective))
        # add to list of perspectives
        self.perspectives.append(name)
        self._settings_proxy.set_value('', 'perspectives', self.perspectives)

        # save current settings
        if self._global_settings is not None and self._perspective_settings is not None:
            self._callback = self._create_perspective_continued
            self._callback_args = [name, clone_perspective]
            self.save_settings_signal.emit(self._global_settings, self._perspective_settings)
        else:
            self._create_perspective_continued(name, clone_perspective)
Esempio n. 46
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    def _remove_perspective(self, name):
        if name not in self.perspectives:
            raise UserWarning('unknown perspective: %s' % name)
        qDebug('PerspectiveManager._remove_perspective(%s)' % str(name))

        # remove from list of perspectives
        self.perspectives.remove(name)
        self._settings_proxy.set_value('', 'perspectives', self.perspectives)

        # remove settings
        settings = self._get_perspective_settings(name)
        settings.remove('')

        # remove from menu
        self._menu_manager.remove_item(name)

        # disable remove-action
        if self._menu_manager.count_items() < 2:
            self._remove_action.setEnabled(False)
Esempio n. 47
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    def load_plugins(self):
        from rqt_gui.rospkg_plugin_provider import RospkgPluginProvider
        self.plugin_provider = RospkgPluginProvider('rqt_bag', 'rqt_bag::Plugin')

        plugin_descriptors = self.plugin_provider.discover(None)
        for plugin_descriptor in plugin_descriptors:
            try:
                plugin = self.plugin_provider.load(plugin_descriptor.plugin_id(), plugin_context=None)
            except Exception as e:
                qWarning('rqt_bag.TimelineFrame.load_plugins() failed to load plugin "%s":\n%s' % (plugin_descriptor.plugin_id(), e))
                continue
            try:
                view = plugin.get_view_class()
            except Exception as e:
                qWarning('rqt_bag.TimelineFrame.load_plugins() failed to get view from plugin "%s":\n%s' % (plugin_descriptor.plugin_id(), e))
                continue

            timeline_renderer = None
            try:
                timeline_renderer = plugin.get_renderer_class()
            except AttributeError:
                pass
            except Exception as e:
                qWarning('rqt_bag.TimelineFrame.load_plugins() failed to get renderer from plugin "%s":\n%s' % (plugin_descriptor.plugin_id(), e))

            msg_types = []
            try:
                msg_types = plugin.get_message_types()
            except AttributeError:
                pass
            except Exception as e:
                qWarning('rqt_bag.TimelineFrame.load_plugins() failed to get message types from plugin "%s":\n%s' % (plugin_descriptor.plugin_id(), e))
            finally:
                if not msg_types:
                    qWarning('rqt_bag.TimelineFrame.load_plugins() plugin "%s" declares no message types:\n%s' % (plugin_descriptor.plugin_id(), e))

            for msg_type in msg_types:
                self._viewer_types.setdefault(msg_type, []).append(view)
                if timeline_renderer:
                    self._timeline_renderers[msg_type] = timeline_renderer(self)

            qDebug('rqt_bag.TimelineFrame.load_plugins() loaded plugin "%s"' % plugin_descriptor.plugin_id())
    def _load(self):
        if not Main.main_filename:
            raise RuntimeError('PluginHandlerXEmbedContainer._load() filename of initially started script is unknown')

        self._dbus_server = Server('tcp:bind=*')
        self._dbus_server.on_connection_added.append(self._add_dbus_connection)
        self._dbus_container_service = PluginHandlerDBusService(self, self._dbus_object_path)
        self._dbus_plugin_settings_service = SettingsProxyDBusService(self._dbus_object_path + '/plugin')
        self._dbus_instance_settings_service = SettingsProxyDBusService(self._dbus_object_path + '/instance')

        self._process = QProcess(self)
        self._process.setProcessChannelMode(QProcess.SeparateChannels)
        self._process.readyReadStandardOutput.connect(self._print_process_output)
        self._process.readyReadStandardError.connect(self._print_process_error)
        self._process.finished.connect(self._emit_close_plugin)
        # start python with unbuffered stdout/stderr so that the order of the output is retained
        cmd = sys.executable + ' -u'
        cmd += ' %s' % Main.main_filename
        cmd += ' --qt-binding=%s' % QT_BINDING
        cmd += ' --embed-plugin=%s --embed-plugin-serial=%s --embed-plugin-address=%s' % (self.instance_id().plugin_id, self.instance_id().serial_number, self._dbus_server.address)
        if self.argv():
            cmd += ' --args %s' % ' '.join(self.argv())
        #qDebug('PluginHandlerXEmbedContainer._load() starting command: %s' % cmd)
        self._process.start(cmd)
        started = self._process.waitForStarted(3000)
        if not started:
            self._dbus_container_service.remove_from_connection()
            self._dbus_plugin_settings_service.remove_from_connection()
            self._dbus_instance_settings_service.remove_from_connection()
            raise RuntimeError('PluginHandlerXEmbedContainer._load() could not start subprocess in reasonable time')
        # QProcess.pid() has been added to PySide in 1.0.5
        if hasattr(self._process, 'pid'):
            self._pid = self._process.pid()
        else:
            # use serial number as a replacement for pid if not available
            self.__class__._serial_number = self._serial_number + 1
            self._pid = self._serial_number

        qDebug('PluginHandlerXEmbedContainer._load() started subprocess (#%s) for plugin "%s"' % (self._pid, str(self._instance_id)))
Esempio n. 49
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def get_field_type(topic_name):
    """
    Get the Python type of a specific field in the given registered topic.
    If the field is an array, the type of the array's values are returned and the is_array flag is set to True.
    This is a static type check, so it works for unpublished topics and with empty arrays.

    :param topic_name: name of field of a registered topic, ``str``, i.e. '/rosout/file'
    :returns: field_type, is_array
    """
    # get topic_type and message_evaluator
    topic_type, real_topic_name, _ = get_topic_type(topic_name)
    if topic_type is None:
        #qDebug('topic_helpers.get_field_type(%s): get_topic_type failed' % (topic_name))
        return None, False

    message_class = roslib.message.get_message_class(topic_type)
    if message_class is None:
        qDebug('topic_helpers.get_field_type(%s): get_message_class(%s) failed' % (topic_name, topic_type))
        return None, False

    slot_path = topic_name[len(real_topic_name):]
    return get_slot_type(message_class, slot_path)
Esempio n. 50
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    def _discover(self):
        discovery_data = self._settings.get_settings('discovery_data')
        # check timestamp of the cached discovery data
        cache_stamp = self._settings.value('discovery_timestamp', default_value=None)
        if cache_stamp:
            cache_stamp = float(cache_stamp)

        # wipe cached data when forcing discovery or when cache is to old (or from the future)
        now = time.time()
        if self._application_context.options.force_discover or not cache_stamp or cache_stamp > now or cache_stamp + PluginManager.discovery_cache_max_age < now:
            qDebug('PluginManager._discover() force discovery of plugins')
            cache_stamp = None
            for k in discovery_data.all_keys():
                discovery_data.remove(k)
        else:
            qDebug('PluginManager._discover() using cached plugin discovery information')

        plugin_descriptors = self._plugin_provider.discover(discovery_data)

        # store timestamp and newly discovered data
        if not cache_stamp:
            self._settings.set_value('discovery_timestamp', now)

        return plugin_descriptors
Esempio n. 51
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 def sigint_handler(*args):
     qDebug('\nsigint_handler()')
     main_window.close()
Esempio n. 52
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    def main(self, argv=None, standalone=None, plugin_argument_provider=None, plugin_manager_settings_prefix=''):
        if argv is None:
            argv = sys.argv

        # extract --args and everything behind manually since argparse can not handle that
        arguments = argv[1:]

        # extract plugin specific args when not being invoked in standalone mode programmatically
        if not standalone:
            plugin_args = []
            if '--args' in arguments:
                index = arguments.index('--args')
                plugin_args = arguments[index + 1:]
                arguments = arguments[0:index + 1]

        parser = ArgumentParser(os.path.basename(Main.main_filename), add_help=False)
        self.add_arguments(parser, standalone=bool(standalone), plugin_argument_provider=plugin_argument_provider)
        self._options = parser.parse_args(arguments)

        if standalone:
            # rerun parsing to separate common arguments from plugin specific arguments
            parser = ArgumentParser(os.path.basename(Main.main_filename), add_help=False)
            self.add_arguments(parser, standalone=bool(standalone))
            self._options, plugin_args = parser.parse_known_args(arguments)
        self._options.plugin_args = plugin_args

        # set default values for options not available in standalone mode
        if standalone:
            self._options.freeze_layout = False
            self._options.lock_perspective = False
            self._options.multi_process = False
            self._options.perspective = None
            self._options.perspective_file = None
            self._options.standalone_plugin = standalone
            self._options.list_perspectives = False
            self._options.list_plugins = False
            self._options.command_pid = None
            self._options.command_start_plugin = None
            self._options.command_switch_perspective = None
            self._options.embed_plugin = None
            self._options.embed_plugin_serial = None
            self._options.embed_plugin_address = None

        # check option dependencies
        try:
            if self._options.plugin_args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
                raise RuntimeError('Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option')

            if self._options.freeze_layout and not self._options.lock_perspective:
                raise RuntimeError('Option --freeze_layout can only be used together with the --lock_perspective option')

            list_options = (self._options.list_perspectives, self._options.list_plugins)
            list_options_set = [opt for opt in list_options if opt is not False]
            if len(list_options_set) > 1:
                raise RuntimeError('Only one --list-* option can be used at a time')

            command_options = (self._options.command_start_plugin, self._options.command_switch_perspective)
            command_options_set = [opt for opt in command_options if opt is not None]
            if len(command_options_set) > 0 and not self._dbus_available:
                raise RuntimeError('Without DBus support the --command-* options are not available')
            if len(command_options_set) > 1:
                raise RuntimeError('Only one --command-* option can be used at a time (except --command-pid which is optional)')
            if len(command_options_set) == 0 and self._options.command_pid is not None:
                raise RuntimeError('Option --command_pid can only be used together with an other --command-* option')

            embed_options = (self._options.embed_plugin, self._options.embed_plugin_serial, self._options.embed_plugin_address)
            embed_options_set = [opt for opt in embed_options if opt is not None]
            if len(command_options_set) > 0 and not self._dbus_available:
                raise RuntimeError('Without DBus support the --embed-* options are not available')
            if len(embed_options_set) > 0 and len(embed_options_set) < len(embed_options):
                raise RuntimeError('Missing option(s) - all \'--embed-*\' options must be set')

            if len(embed_options_set) > 0 and self._options.clear_config:
                raise RuntimeError('Option --clear-config can only be used without any --embed-* option')

            groups = (list_options_set, command_options_set, embed_options_set)
            groups_set = [opt for opt in groups if len(opt) > 0]
            if len(groups_set) > 1:
                raise RuntimeError('Options from different groups (--list, --command, --embed) can not be used together')

            perspective_options = (self._options.perspective, self._options.perspective_file)
            perspective_options_set = [opt for opt in perspective_options if opt is not None]
            if len(perspective_options_set) > 1:
                raise RuntimeError('Only one --perspective-* option can be used at a time')

            if self._options.perspective_file is not None and not os.path.isfile(self._options.perspective_file):
                raise RuntimeError('Option --perspective-file must reference existing file')

        except RuntimeError as e:
            print(str(e))
            #parser.parse_args(['--help'])
            # calling --help will exit
            return 1

        # set implicit option dependencies
        if self._options.standalone_plugin is not None:
            self._options.lock_perspective = True

        # create application context containing various relevant information
        from .application_context import ApplicationContext
        context = ApplicationContext()
        context.qtgui_path = self._qtgui_path
        context.options = self._options

        if self._dbus_available:
            from dbus import DBusException, Interface, SessionBus

        # non-special applications provide various dbus interfaces
        if self._dbus_available:
            context.provide_app_dbus_interfaces = len(groups_set) == 0
            context.dbus_base_bus_name = 'org.ros.qt_gui'
            if context.provide_app_dbus_interfaces:
                context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid()

                # provide pid of application via dbus
                from .application_dbus_interface import ApplicationDBusInterface
                _dbus_server = ApplicationDBusInterface(context.dbus_base_bus_name)

        # determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
        if len(command_options_set) > 0 or len(embed_options_set) > 0:
            host_pid = None
            if self._options.command_pid is not None:
                host_pid = self._options.command_pid
            else:
                try:
                    remote_object = SessionBus().get_object(context.dbus_base_bus_name, '/Application')
                except DBusException:
                    pass
                else:
                    remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.Application')
                    host_pid = remote_interface.get_pid()
            if host_pid is not None:
                context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid

        # execute command on host application instance
        if len(command_options_set) > 0:
            if self._options.command_start_plugin is not None:
                try:
                    remote_object = SessionBus().get_object(context.dbus_host_bus_name, '/PluginManager')
                except DBusException:
                    (rc, msg) = (1, 'unable to communicate with GUI instance "%s"' % context.dbus_host_bus_name)
                else:
                    remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.PluginManager')
                    (rc, msg) = remote_interface.start_plugin(self._options.command_start_plugin, ' '.join(self._options.plugin_args))
                if rc == 0:
                    print('qt_gui_main() started plugin "%s" in GUI "%s"' % (msg, context.dbus_host_bus_name))
                else:
                    print('qt_gui_main() could not start plugin "%s" in GUI "%s": %s' % (self._options.command_start_plugin, context.dbus_host_bus_name, msg))
                return rc
            elif self._options.command_switch_perspective is not None:
                remote_object = SessionBus().get_object(context.dbus_host_bus_name, '/PerspectiveManager')
                remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.PerspectiveManager')
                remote_interface.switch_perspective(self._options.command_switch_perspective)
                print('qt_gui_main() switched to perspective "%s" in GUI "%s"' % (self._options.command_switch_perspective, context.dbus_host_bus_name))
                return 0
            raise RuntimeError('Unknown command not handled')

        # choose selected or default qt binding
        setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
        from python_qt_binding import QT_BINDING

        from python_qt_binding.QtCore import qDebug, qInstallMsgHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
        from python_qt_binding.QtGui import QAction, QIcon, QMenuBar

        from .about_handler import AboutHandler
        from .composite_plugin_provider import CompositePluginProvider
        from .container_manager import ContainerManager
        from .help_provider import HelpProvider
        from .icon_loader import get_icon
        from .main_window import MainWindow
        from .minimized_dock_widgets_toolbar import MinimizedDockWidgetsToolbar
        from .perspective_manager import PerspectiveManager
        from .plugin_manager import PluginManager

        def message_handler(type_, msg):
            colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
            cyan_color = '\033[36m' if colored_output else ''
            red_color = '\033[31m' if colored_output else ''
            reset_color = '\033[0m' if colored_output else ''
            if type_ == QtDebugMsg and self._options.verbose:
                print(msg, file=sys.stderr)
            elif type_ == QtWarningMsg:
                print(cyan_color + msg + reset_color, file=sys.stderr)
            elif type_ == QtCriticalMsg:
                print(red_color + msg + reset_color, file=sys.stderr)
            elif type_ == QtFatalMsg:
                print(red_color + msg + reset_color, file=sys.stderr)
                sys.exit(1)
        qInstallMsgHandler(message_handler)

        app = self.create_application(argv)

        self._check_icon_theme_compliance()

        settings = QSettings(QSettings.IniFormat, QSettings.UserScope, 'ros.org', self._settings_filename)
        if len(embed_options_set) == 0:
            if self._options.clear_config:
                settings.clear()

            main_window = MainWindow()
            if self._options.on_top:
                main_window.setWindowFlags(Qt.WindowStaysOnTopHint)

            main_window.statusBar()

            def sigint_handler(*args):
                qDebug('\nsigint_handler()')
                main_window.close()
            signal.signal(signal.SIGINT, sigint_handler)
            # the timer enables triggering the sigint_handler
            timer = QTimer()
            timer.start(500)
            timer.timeout.connect(lambda: None)

            # create own menu bar to share one menu bar on Mac
            menu_bar = QMenuBar()
            if 'darwin' in platform.platform().lower():
                menu_bar.setNativeMenuBar(True)
            else:
                menu_bar.setNativeMenuBar(False)
            if not self._options.lock_perspective:
                main_window.setMenuBar(menu_bar)

            file_menu = menu_bar.addMenu(menu_bar.tr('&File'))
            action = QAction(file_menu.tr('&Quit'), file_menu)
            action.setIcon(QIcon.fromTheme('application-exit'))
            action.triggered.connect(main_window.close)
            file_menu.addAction(action)

        else:
            app.setQuitOnLastWindowClosed(False)

            main_window = None
            menu_bar = None

        self._add_plugin_providers()

        # setup plugin manager
        plugin_provider = CompositePluginProvider(self.plugin_providers)
        plugin_manager = PluginManager(plugin_provider, settings, context, settings_prefix=plugin_manager_settings_prefix)

        if self._options.list_plugins:
            # output available plugins
            print('\n'.join(sorted(plugin_manager.get_plugins().values())))
            return 0

        help_provider = HelpProvider()
        plugin_manager.plugin_help_signal.connect(help_provider.plugin_help_request)

        # setup perspective manager
        if main_window is not None:
            perspective_manager = PerspectiveManager(settings, context)

            if self._options.list_perspectives:
                # output available perspectives
                print('\n'.join(sorted(perspective_manager.perspectives)))
                return 0
        else:
            perspective_manager = None

        if main_window is not None:
            container_manager = ContainerManager(main_window, plugin_manager)
            plugin_manager.set_main_window(main_window, menu_bar, container_manager)

            if not self._options.freeze_layout:
                minimized_dock_widgets_toolbar = MinimizedDockWidgetsToolbar(container_manager, main_window)
                main_window.addToolBar(Qt.BottomToolBarArea, minimized_dock_widgets_toolbar)
                plugin_manager.set_minimized_dock_widgets_toolbar(minimized_dock_widgets_toolbar)

        if menu_bar is not None:
            perspective_menu = menu_bar.addMenu(menu_bar.tr('P&erspectives'))
            perspective_manager.set_menu(perspective_menu)

        # connect various signals and slots
        if perspective_manager is not None and main_window is not None:
            # signal changed perspective to update window title
            perspective_manager.perspective_changed_signal.connect(main_window.perspective_changed)
            # signal new settings due to changed perspective
            perspective_manager.save_settings_signal.connect(main_window.save_settings)
            perspective_manager.restore_settings_signal.connect(main_window.restore_settings)
            perspective_manager.restore_settings_without_plugin_changes_signal.connect(main_window.restore_settings)

        if perspective_manager is not None and plugin_manager is not None:
            perspective_manager.save_settings_signal.connect(plugin_manager.save_settings)
            plugin_manager.save_settings_completed_signal.connect(perspective_manager.save_settings_completed)
            perspective_manager.restore_settings_signal.connect(plugin_manager.restore_settings)
            perspective_manager.restore_settings_without_plugin_changes_signal.connect(plugin_manager.restore_settings_without_plugins)

        if plugin_manager is not None and main_window is not None:
            # signal before changing plugins to save window state
            plugin_manager.plugins_about_to_change_signal.connect(main_window.save_setup)
            # signal changed plugins to restore window state
            plugin_manager.plugins_changed_signal.connect(main_window.restore_state)
            # signal save settings to store plugin setup on close
            main_window.save_settings_before_close_signal.connect(plugin_manager.close_application)
            # signal save and shutdown called for all plugins, trigger closing main window again
            plugin_manager.close_application_signal.connect(main_window.close, type=Qt.QueuedConnection)

        if main_window is not None and menu_bar is not None:
            about_handler = AboutHandler(context.qtgui_path, main_window)
            help_menu = menu_bar.addMenu(menu_bar.tr('&Help'))
            action = QAction(file_menu.tr('&About'), help_menu)
            action.setIcon(QIcon.fromTheme('help-about'))
            action.triggered.connect(about_handler.show)
            help_menu.addAction(action)

        # set initial size - only used without saved configuration
        if main_window is not None:
            main_window.resize(600, 450)
            main_window.move(100, 100)

        # ensure that qt_gui/src is in sys.path
        src_path = os.path.realpath(os.path.join(os.path.dirname(__file__), '..'))
        if src_path not in sys.path:
            sys.path.append(src_path)

        # load specific plugin
        plugin = None
        plugin_serial = None
        if self._options.embed_plugin is not None:
            plugin = self._options.embed_plugin
            plugin_serial = self._options.embed_plugin_serial
        elif self._options.standalone_plugin is not None:
            plugin = self._options.standalone_plugin
            plugin_serial = 0
        if plugin is not None:
            plugins = plugin_manager.find_plugins_by_name(plugin)
            if len(plugins) == 0:
                print('qt_gui_main() found no plugin matching "%s"' % plugin)
                return 1
            elif len(plugins) > 1:
                print('qt_gui_main() found multiple plugins matching "%s"\n%s' % (plugin, '\n'.join(plugins.values())))
                return 1
            plugin = plugins.keys()[0]

        qDebug('QtBindingHelper using %s' % QT_BINDING)

        plugin_manager.discover()

        if self._options.reload_import:
            qDebug('ReloadImporter() automatically reload all subsequent imports')
            from .reload_importer import ReloadImporter
            _reload_importer = ReloadImporter()
            self._add_reload_paths(_reload_importer)
            _reload_importer.enable()

        # switch perspective
        if perspective_manager is not None:
            if plugin:
                perspective_manager.set_perspective(plugin, hide_and_without_plugin_changes=True)
            elif self._options.perspective_file:
                perspective_manager.import_perspective_from_file(self._options.perspective_file, perspective_manager.HIDDEN_PREFIX + '__cli_perspective_from_file')
            else:
                perspective_manager.set_perspective(self._options.perspective)

        # load specific plugin
        if plugin:
            plugin_manager.load_plugin(plugin, plugin_serial, self._options.plugin_args)
            running = plugin_manager.is_plugin_running(plugin, plugin_serial)
            if not running:
                return 1
            if self._options.standalone_plugin:
                # use icon of standalone plugin (if available) for application
                plugin_descriptor = plugin_manager.get_plugin_descriptor(plugin)
                action_attributes = plugin_descriptor.action_attributes()
                if 'icon' in action_attributes and action_attributes['icon'] is not None:
                    base_path = plugin_descriptor.attributes().get('plugin_path')
                    try:
                        icon = get_icon(action_attributes['icon'], action_attributes.get('icontype', None), base_path)
                    except UserWarning:
                        pass
                    else:
                        app.setWindowIcon(icon)

        if main_window is not None:
            main_window.show()
            if sys.platform == 'darwin':
                main_window.raise_()

        return app.exec_()
Esempio n. 53
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

import numpy

from qt_gui_py_common.simple_settings_dialog import SimpleSettingsDialog
from python_qt_binding.QtCore import Qt, qDebug, qWarning, Signal
from python_qt_binding.QtGui import QColor, QWidget, QHBoxLayout

try:
    from pyqtgraph_data_plot import PyQtGraphDataPlot
except ImportError:
    qDebug('[DEBUG] rqt_plot.plot: import of PyQtGraphDataPlot failed (trying other backends)')
    PyQtGraphDataPlot = None

try:
    from mat_data_plot import MatDataPlot
except ImportError:
    qDebug('[DEBUG] rqt_plot.plot: import of MatDataPlot failed (trying other backends)')
    MatDataPlot = None

try:
    from qwt_data_plot import QwtDataPlot
except ImportError:
    qDebug('[DEBUG] rqt_plot.plot: import of QwtDataPlot failed (trying other backends)')
    QwtDataPlot = None

# separate class for DataPlot exceptions, just so that users can differentiate