def _refill_tree(self, tree, create_tree=True):
deep = 0
file_dsrc = self._root_path
try:
file_dsrc = os.path.basename(self._root_path)
except Exception:
pass
self.setWindowTitle("Include Graph - %s" % file_dsrc)
if not self._created_tree and create_tree:
has_none_packages = False
self.graphTreeView.model().clear()
pkg, _ = package_name(os.path.dirname(self._root_path))
if pkg is None:
has_none_packages = True
itemstr = '%s [%s]' % (os.path.basename(self._root_path), pkg)
inc_item = QStandardItem('%s' % itemstr)
inc_item.setData(self.ITEM_TYPE_INC_FILE, self.ITEM_TYPE)
inc_item.setData(self._root_path, self.DATA_FILE)
inc_item.setData(-1, self.DATA_LINE)
inc_item.setData(self._root_path, self.DATA_INC_FILE)
inc_item.setData(deep, self.DATA_LEVEL)
# add included arguments for root file
launch_args = nm.nmd().launch.launch_args(self._root_path)
if launch_args:
arg_item = QStandardItem('arguments')
arg_item.setData(self.ITEM_TYPE_INC_GROUP_ARG, self.ITEM_TYPE)
for da_name, da_value in launch_args.items():
da_item = QStandardItem('<arg>%s: %s' % (da_name, da_value))
da_item.setData(self.ITEM_TYPE_INC_ARG, self.ITEM_TYPE)
da_item.setData(self._root_path, self.DATA_FILE)
da_item.setData(da_name, self.DATA_ARG_NAME)
arg_item.appendRow(da_item)
inc_item.appendRow(arg_item)
self._append_items(inc_item, deep, tree)
self.graphTreeView.model().appendRow(inc_item)
# self.graphTreeView.expand(self.graphTreeView.model().indexFromItem(inc_item))
self._created_tree = True
self.has_none_packages = has_none_packages
items = self.graphTreeView.model().match(self.graphTreeView.model().index(0, 0), self.DATA_INC_FILE, self._current_path, 10, Qt.MatchRecursive)
first = True
self.graphTreeView.selectionModel().clear()
for item in items:
if first:
self._current_deep = item.data(self.DATA_LEVEL)
first = False
self.graphTreeView.selectionModel().select(item, QItemSelectionModel.Select)
self.graphTreeView.expandAll()
# collapse argument nodes
proxy = self.graphTreeView.model()
for row in range(proxy.rowCount()):
index = proxy.index(row, 0)
item = proxy.itemFromIndex(index)
self._collapse_args(item)
self.finished_signal.emit()
def take_snapshot(self):
# >>> Take the snapshot
self.textedit.append('Taking snapshot ...')
# Get the transform from `tool0` to `base_link`
T = self.get_tf_transform(self.base_frame.text(),
self.endeffector_frame.text())
bTe = np.zeros((4, 4))
q = [
T.transform.rotation.w, T.transform.rotation.x,
T.transform.rotation.y, T.transform.rotation.z
]
bTe = br.quaternion.to_transform(q)
bTe[:3, 3] = np.array([
T.transform.translation.x, T.transform.translation.y,
T.transform.translation.z
])
self.textedit.append('Lookup transform: from `{}` to `{}`.'.format(
self.base_frame.text(), self.endeffector_frame.text()))
self.node.get_logger().info(bcolors.OKGREEN + 'bTe:' + bcolors.ENDC +
'\n{}'.format(bTe))
# Get the transform from `calib_board` to `camera_link`
T = self.get_tf_transform(self.camera_frame.text(),
self.object_frame.text())
cTo = np.zeros((4, 4))
q = [
T.transform.rotation.w, T.transform.rotation.x,
T.transform.rotation.y, T.transform.rotation.z
]
cTo = br.quaternion.to_transform(q)
cTo[:3, 3] = np.array([
T.transform.translation.x, T.transform.translation.y,
T.transform.translation.z
])
self.textedit.append('Lookup transform: from `{}` to `{}`.'.format(
self.camera_frame.text(), self.object_frame.text()))
self.node.get_logger().info(bcolors.OKGREEN + 'cTo:' + bcolors.ENDC +
'\n{}'.format(cTo))
parent = QStandardItem('Snapshot {}'.format(len(self.Tsamples)))
child_1 = QStandardItem('bTe:\n{}\n{}\n{}\n{}'.format(
bTe[0, :], bTe[1, :], bTe[2, :], bTe[3, :]))
child_2 = QStandardItem('cTo:\n{}\n{}\n{}\n{}'.format(
cTo[0, :], cTo[1, :], cTo[2, :], cTo[3, :]))
parent.appendRow(child_1)
parent.appendRow(child_2)
self.model.appendRow(parent)
self.Tsamples.append((bTe, cTo))
self.le5.setText(str(len(self.Tsamples)))
class TestRqtRosGraph(unittest.TestCase):
"""
:author: Isaac Saito
"""
def setUp(self):
unittest.TestCase.setUp(self)
self._model = QStandardItemModel()
node1 = QStandardItem('node1')
self._node1_1 = QStandardItem('node1_1')
self._node1_1_1 = QStandardItem('node1_1_1')
node1_1_2 = QStandardItem('node1_1_2')
node1_2 = QStandardItem('node1_2')
node1.appendRow(self._node1_1)
self._node1_1.appendRow(self._node1_1_1)
self._node1_1.appendRow(node1_1_2)
node1.appendRow(node1_2)
self._model.appendRow(node1)
#node_list = [node1, node1_1, self._node1_1_1, node1_1_2, node1_2]
#self._model.appendRow(node_list)
self._grn_node1_1_1 = '/node1/node1_1/node1_1_1'
self._len_lower_grn_node1_1 = 2
def tearDown(self):
unittest.TestCase.tearDown(self)
del self._model
def test_get_upper_grn(self):
self.assertEqual(RqtRosGraph.get_upper_grn(self._node1_1_1.index(), ''),
self._grn_node1_1_1)
def test_get_lower_grn_dfs(self):
self.assertEqual(len(RqtRosGraph.get_lower_grn_dfs(
self._node1_1.index(),
'')),
self._len_lower_grn_node1_1)
def test_get_full_grn(self):
self.assertEqual(RqtRosGraph.get_full_grn(self._node1_1_1.index()),
self._grn_node1_1_1)
class TestRqtRosGraph(unittest.TestCase):
"""
:author: Isaac Saito
"""
def setUp(self):
unittest.TestCase.setUp(self)
self._model = QStandardItemModel()
node1 = QStandardItem('node1')
self._node1_1 = QStandardItem('node1_1')
self._node1_1_1 = QStandardItem('node1_1_1')
node1_1_2 = QStandardItem('node1_1_2')
node1_2 = QStandardItem('node1_2')
node1.appendRow(self._node1_1)
self._node1_1.appendRow(self._node1_1_1)
self._node1_1.appendRow(node1_1_2)
node1.appendRow(node1_2)
self._model.appendRow(node1)
# node_list = [node1, node1_1, self._node1_1_1, node1_1_2, node1_2]
# self._model.appendRow(node_list)
self._grn_node1_1_1 = '/node1/node1_1/node1_1_1'
self._len_lower_grn_node1_1 = 2
def tearDown(self):
unittest.TestCase.tearDown(self)
del self._model
def test_get_upper_grn(self):
self.assertEqual(
RqtRosGraph.get_upper_grn(self._node1_1_1.index(), ''),
self._grn_node1_1_1)
def test_get_lower_grn_dfs(self):
self.assertEqual(
len(RqtRosGraph.get_lower_grn_dfs(self._node1_1.index(), '')),
self._len_lower_grn_node1_1)
def test_get_full_grn(self):
self.assertEqual(RqtRosGraph.get_full_grn(self._node1_1_1.index()),
self._grn_node1_1_1)
def _on_ctrl_info(self, index):
popup = self._popup_widget
ctrl = self._controllers[index.row()]
popup.ctrl_name.setText(ctrl.name)
popup.ctrl_type.setText(ctrl.type)
res_model = QStandardItemModel()
model_root = QStandardItem('Claimed Resources')
res_model.appendRow(model_root)
for hw_res in ctrl.claimed_resources:
hw_iface_item = QStandardItem(hw_res.hardware_interface)
model_root.appendRow(hw_iface_item)
for res in hw_res.resources:
res_item = QStandardItem(res)
hw_iface_item.appendRow(res_item)
popup.resource_tree.setModel(res_model)
popup.resource_tree.setItemDelegate(FontDelegate(popup.resource_tree))
popup.resource_tree.expandAll()
popup.move(QCursor.pos())
popup.show()
def setUp(self):
unittest.TestCase.setUp(self)
self._model = QStandardItemModel()
node1 = QStandardItem('node1')
self._node1_1 = QStandardItem('node1_1')
self._node1_1_1 = QStandardItem('node1_1_1')
node1_1_2 = QStandardItem('node1_1_2')
node1_2 = QStandardItem('node1_2')
node1.appendRow(self._node1_1)
self._node1_1.appendRow(self._node1_1_1)
self._node1_1.appendRow(node1_1_2)
node1.appendRow(node1_2)
self._model.appendRow(node1)
# node_list = [node1, node1_1, self._node1_1_1, node1_1_2, node1_2]
# self._model.appendRow(node_list)
self._grn_node1_1_1 = '/node1/node1_1/node1_1_1'
self._len_lower_grn_node1_1 = 2
def _on_ctrl_info(self, index):
popup = self._popup_widget
ctrl = self._controllers[index.row()]
popup.ctrl_name.setText(ctrl.name)
popup.ctrl_type.setText(ctrl.type)
res_model = QStandardItemModel()
model_root = QStandardItem('Claimed Resources')
res_model.appendRow(model_root)
for hw_res in ctrl.claimed_resources:
hw_iface_item = QStandardItem(hw_res.hardware_interface)
model_root.appendRow(hw_iface_item)
for res in hw_res.resources:
res_item = QStandardItem(res)
hw_iface_item.appendRow(res_item)
popup.resource_tree.setModel(res_model)
popup.resource_tree.setItemDelegate(FontDelegate(popup.resource_tree))
popup.resource_tree.expandAll()
popup.move(QCursor.pos())
popup.show()
def _append_items(self, item, deep, items=[]):
sub_items = []
inc_item = None
for inc_file in items:
if inc_file.rec_depth == deep:
if inc_item is not None:
if sub_items:
self._append_items(inc_item, deep + 1, sub_items)
sub_items = []
item.appendRow(inc_item)
inc_item = None
if inc_item is None:
pkg, _ = package_name(os.path.dirname(inc_file.inc_path))
size_color = 'gray'
if inc_file.size == 0 or inc_file.size > 1000000:
size_color = 'orange'
itemstr = '%s <span style="color:%s;"><em>%s</em></span> [%s]' % (os.path.basename(inc_file.inc_path), size_color, sizeof_fmt(inc_file.size), pkg)
inc_item = QStandardItem('%d: %s' % (inc_file.line_number, itemstr))
inc_item.setData(self.ITEM_TYPE_INC_FILE, self.ITEM_TYPE)
inc_item.setData(inc_file.path_or_str, self.DATA_FILE)
inc_item.setData(inc_file.line_number, self.DATA_LINE)
inc_item.setData(inc_file.inc_path, self.DATA_INC_FILE)
inc_item.setData(inc_file.rec_depth + 1, self.DATA_LEVEL)
inc_item.setData(inc_file.size, self.DATA_SIZE)
inc_item.setData(inc_file.raw_inc_path, self.DATA_RAW)
inc_item.setData(inc_file.args, self.DATA_ARGS)
inc_item.setData(inc_file.unset_default_args, self.DATA_DEF_ARGS_NOT_SET)
# add included arguments
if inc_file.unset_default_args or inc_file.args:
arg_item = QStandardItem('arguments')
arg_item.setData(self.ITEM_TYPE_INC_GROUP_ARG, self.ITEM_TYPE)
if inc_file.unset_default_args:
self.has_warnings = True
arg_item.setIcon(self._info_icon)
for da_name, da_value in inc_file.unset_default_args.items():
da_item = QStandardItem('<arg_not_set>%s: %s' % (da_name, da_value))
da_item.setData(self.ITEM_TYPE_INC_ARG, self.ITEM_TYPE)
da_item.setData(inc_file.path_or_str, self.DATA_FILE)
da_item.setData(inc_file.inc_path, self.DATA_INC_FILE)
da_item.setData(da_name, self.DATA_ARG_NAME)
da_item.setToolTip("This argument is definded as default, but no set while include.")
arg_item.appendRow(da_item)
if inc_file.args:
for da_name, da_value in inc_file.args.items():
da_item = QStandardItem('<arg>%s: %s' % (da_name, da_value))
da_item.setData(self.ITEM_TYPE_INC_ARG, self.ITEM_TYPE)
da_item.setData(inc_file.path_or_str, self.DATA_FILE)
da_item.setData(inc_file.inc_path, self.DATA_INC_FILE)
da_item.setData(da_name, self.DATA_ARG_NAME)
arg_item.appendRow(da_item)
inc_item.appendRow(arg_item)
elif inc_file.rec_depth > deep:
sub_items.append(inc_file)
if inc_item is not None:
if sub_items:
self._append_items(inc_item, deep + 1, sub_items)
sub_items = []
item.appendRow(inc_item)
inc_item = None
def setUp(self):
unittest.TestCase.setUp(self)
self._model = QStandardItemModel()
node1 = QStandardItem('node1')
self._node1_1 = QStandardItem('node1_1')
self._node1_1_1 = QStandardItem('node1_1_1')
node1_1_2 = QStandardItem('node1_1_2')
node1_2 = QStandardItem('node1_2')
node1.appendRow(self._node1_1)
self._node1_1.appendRow(self._node1_1_1)
self._node1_1.appendRow(node1_1_2)
node1.appendRow(node1_2)
self._model.appendRow(node1)
#node_list = [node1, node1_1, self._node1_1_1, node1_1_2, node1_2]
#self._model.appendRow(node_list)
self._grn_node1_1_1 = '/node1/node1_1/node1_1_1'
self._len_lower_grn_node1_1 = 2
