def data(self, index, role):
# FIXME hardcoded column number
if (index.column() == 3 and
index.model().data(index.model().index(index.row(), index.column() - 2, index.parent()), Qt.DisplayRole) == "bool"):
if (role == Qt.CheckStateRole):
value = index.model().data(index.model().index(index.row(), index.column(), index.parent()), Qt.DisplayRole)
if (value == "True"):
return Qt.Checked
else:
return Qt.Unchecked
return QStandardItemModel.data(self, index, role)
class VinoGraph(Plugin):
def __init__(self, context):
super(VinoGraph, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('VinoGraph')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_vino_plugin'),
'resource', 'rqt_vino_plugin.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
# Give QObjects reasonable names
self._widget.setObjectName('VinoGraphUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple QListView
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
#A dict which stores pipeline name and dotgraph pair
self._dotgraphs = dict()
#which dotgraph currently drawing on the scence
self._current_dotcode = None
self._current_pipeline_name = ''
#Pydot
self.dotcode_factory = VinoPydotFactory()
self.dot_to_qt = DotToQtGenerator()
self.param_manager = ParamManagerWrapper()
#Binding scene canvas
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.graphics_view.setClickNodeCallback(self._edit_node)
#QListview of pipelines
self._listmodel = QStandardItemModel()
self._widget.pipeline_name_listview.clicked.connect(
self._display_choosed_pipeline)
#self._widget.pipeline_name_listview.itemRenamed.connect(self._rename_pipeline)
#Load pipelines from yaml file
self._widget.load_pipeline_push_button.clicked.connect(
self._load_pipeline)
#Create a pipeline
self._widget.create_pipeline_push_button.clicked.connect(
self._create_pipeline)
#Add input to pipeline graph
self._widget.add_input_push_button.clicked.connect(self._add_input)
#Add infer
self._widget.add_inference_push_button.clicked.connect(self._add_infer)
self._widget.add_output_push_button.clicked.connect(self._add_output)
self._widget.save_pipeline_push_button.clicked.connect(
self._save_pipeline)
self.models_desc_file_path = os.path.join(
rospkg.RosPack().get_path('vino_param_lib'), 'param',
'models.yaml')
# Add widget to the user interface
context.add_widget(self._widget)
def shutdown_plugin(self):
# TODO unregister all publishers here
pass
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
def _refresh_rosgraph(self):
self._widget.pipeline_name_listview.setModel(self._listmodel)
self._widget.pipeline_name_listview.show()
self._redraw_graph_view()
# if not self.initialized:
# return
# self._update_graph_view(self._generate_dotcode())
def _rename_pipeline(self, item, col):
pass
def _display_choosed_pipeline(self, index):
pipeline_name = self._listmodel.data(index)
if pipeline_name in self._dotgraphs.iterkeys():
self._current_pipeline_name = pipeline_name
self._refresh_rosgraph()
def _load_pipeline(self):
self._dotgraphs.clear()
self._listmodel.clear()
file_path, _ = QFileDialog.getOpenFileName(
self._widget, "QFileDialog.getOpenFileName()", "", "*.yaml")
self._dotgraphs = generate_dotcode_from_yaml_file(
self.dotcode_factory, self.param_manager, str(file_path))
for pipeline_name, pipeline_dotgraph in self._dotgraphs.items():
pipeline_item = QStandardItem()
pipeline_item.setText(pipeline_name)
self._listmodel.appendRow(pipeline_item)
self._current_pipeline_name = self._dotgraphs.iterkeys().next()
self._refresh_rosgraph()
#self._display_choosed_pipeline(pipeline_item)
def _redraw_graph_view(self):
self._scene.clear()
if self._dotgraphs == None:
return
self._current_dotcode = self.dotcode_factory.create_dot(
self._dotgraphs[self._current_pipeline_name])
highlight_level = 2
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(
self._current_dotcode,
highlight_level=highlight_level,
same_label_siblings=False,
scene=self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
#if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _add_input(self):
dlg = InputDialog('add',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _add_infer(self):
if self._current_pipeline_name == '':
return
dlg = InferenceDialog('add',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
self.models_desc_file_path,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _edit_node(self, nodename=''):
if self._current_pipeline_name == '':
return
selected_node = self._dotgraphs[self._current_pipeline_name].get_node(
nodename.encode('utf-8'))[0]
selected_node_type = selected_node.get('nodetype')
if selected_node_type == 'input':
self._edit_input(nodename)
elif selected_node_type == 'infer':
self._edit_infer(nodename)
elif selected_node_type == 'output':
self._edit_output(nodename)
def _edit_infer(self, nodename=''):
dlg = InferenceDialog('edit',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
self.models_desc_file_path,
nodename=nodename,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _edit_input(self, nodename=''):
dlg = InputDialog('edit',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
nodename=nodename,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _edit_output(self, nodename=''):
dlg = OutputDialog('edit',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
models_desc_file_path=self.models_desc_file_path,
nodename=nodename,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _add_output(self):
dlg = OutputDialog('add',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
models_desc_file_path=self.models_desc_file_path,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _create_pipeline(self):
pipeline_name, okPressed = QInputDialog.getText(
self._widget, "Create a new pipeline", "new pipeline name:",
QLineEdit.Normal, "")
if okPressed != True or pipeline_name == '':
#Empty name
return
pipeline_item = QStandardItem()
pipeline_item.setText(pipeline_name)
self._listmodel.appendRow(pipeline_item)
new_dotgraph = dotparser.generate_dotcode_from_empty(
self.dotcode_factory, pipeline_name)
self._dotgraphs.update(new_dotgraph)
self._current_pipeline_name = pipeline_name
self._refresh_rosgraph()
def _save_pipeline(self):
# print(self._dotgraphs )
self.dotcode_factory.parse_nodes(
self._dotgraphs[self._current_pipeline_name])
