def init_model(title, view):
model = QStandardItemModel(view)
model.setColumnCount(1)
model.setHeaderData(0, Qt.Horizontal, title)
return model
class Conman(Plugin):
update_graph_sig = Signal(str)
def __init__(self, context):
super(Conman, self).__init__(context)
self._dotcode_sub = None
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
# Give QObjects reasonable names
self.setObjectName('Conman')
# 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 is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'rqt_conman.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.ns_refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.setObjectName('ConmanPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# 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()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
#self._widget.subscribe_button.setCheckable(True)
self._widget.namespace_input.currentIndexChanged.connect(
self._handle_refresh_clicked)
self._widget.ns_refresh_button.clicked.connect(self.refresh_combo_box)
self._widget.refresh_button.clicked[bool].connect(
self._handle_refresh_clicked)
self._widget.commit_button.clicked[bool].connect(
self._handle_commit_clicked)
#self._widget.xdot_widget.connect(
#self._widget.xdot_widget, SIGNAL('_update_graph'), self._widget.xdot_widget.set_dotcode)
self.update_graph_sig.connect(self._update_graph)
self.blocks = {}
self.groups = {}
self._ns = ""
self._actions_connected = False
self.enable_widgets(False)
self.new_dotcode_data = ''
self.update_timer = QTimer(self)
self.update_timer.setInterval(50)
self.update_timer.timeout.connect(self._update_widgets)
#self.update_timer.start()
self._get_blocks = None
self._set_blocks = None
self._blocks_model = QStandardItemModel(0, 4)
self._blocks_model.setHeaderData(0, Qt.Horizontal, "")
self._blocks_model.setHeaderData(1, Qt.Horizontal, "Action")
self._blocks_model.setHeaderData(2, Qt.Horizontal, "State")
self._blocks_model.setHeaderData(3, Qt.Horizontal, "Block")
self._widget.blocks_table.setModel(self._blocks_model)
self._blocks_delegate = BlocksDelegate(self)
self._widget.blocks_table.setItemDelegate(self._blocks_delegate)
self._blocks_model.itemChanged.connect(self.block_changed)
self._groups_model = QStandardItemModel(0, 4)
self._groups_model.setHeaderData(0, Qt.Horizontal, "")
self._groups_model.setHeaderData(1, Qt.Horizontal, "")
self._groups_model.setHeaderData(2, Qt.Horizontal, "")
self._groups_model.setHeaderData(3, Qt.Horizontal, "Group")
self._widget.groups_table.setModel(self._groups_model)
self._groups_delegate = GroupsDelegate(self)
self._widget.groups_table.setItemDelegate(self._groups_delegate)
self.refresh_combo_box()
def block_changed(self, item):
row = item.row()
name = self._blocks_model.item(row, 3).text()
block = self.blocks[name]
checked = item.checkState() == Qt.Checked
def shutdown_plugin(self):
# TODO unregister all publishers here
self._update_thread.kill()
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 trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget title bar
# Usually used to open a modal configuration dialog
@Slot()
def refresh_combo_box(self):
self._update_thread.kill()
self._widget.namespace_input.setEnabled(False)
self._widget.namespace_input.setEditText('updating...')
self._update_thread.start()
def _update_thread_run(self):
_, _, topic_types = rospy.get_master().getTopicTypes()
self._topic_dict = dict(topic_types)
keys = list(self._topic_dict.keys())
namespaces = list()
for i in keys:
if i.endswith("get_blocks_action/goal"):
namespaces.append(i[0:i.index("get_blocks_action/goal")])
self._widget.namespace_input.setItems.emit(namespaces)
@Slot()
def _update_finished(self):
self._widget.namespace_input.setEnabled(True)
def _get_result_cb(self, status, res):
rospy.loginfo("got result!")
self._blocks_model.setRowCount(0)
self._blocks_model.setRowCount(len(res.blocks))
for (i, block) in zip(range(len(res.blocks)), res.blocks):
# Store in dict
self.blocks[block.name] = block
cb = QStandardItem(True)
cb.setCheckable(True)
cb.setCheckState(Qt.Checked if block.state.value == conman_msgs.
msg.TaskState.RUNNING else Qt.Unchecked)
cb.setTextAlignment(Qt.AlignHCenter)
cb.setTristate(True)
action = QStandardItem(True)
action.setText("")
state = QStandardItem(True)
state.setText(state_map[block.state.value])
name = QStandardItem(True)
name.setText(str(block.name))
self._blocks_model.setItem(i, 0, cb)
self._blocks_model.setItem(i, 1, action)
self._blocks_model.setItem(i, 2, state)
self._blocks_model.setItem(i, 3, name)
for (i, group) in zip(range(len(res.groups)), res.groups):
self.groups[group.name] = group
cb = QStandardItem(True)
cb.setCheckable(True)
cb.setCheckState(Qt.Checked)
cb.setTextAlignment(Qt.AlignHCenter)
cb.setEnabled(False)
name = QStandardItem(True)
name.setText(str(group.name))
self._groups_model.setItem(i, 0, cb)
self._groups_model.setItem(i, 3, name)
self._update_groups()
self._update_blocks()
self._widget.blocks_table.resizeColumnsToContents()
self._widget.blocks_table.horizontalHeader().setStretchLastSection(
True)
self._widget.groups_table.resizeColumnsToContents()
self._widget.groups_table.horizontalHeader().setStretchLastSection(
True)
def _update_blocks(self):
for (name, block) in self.blocks.items():
items = self._blocks_model.findItems(name, column=3)
if len(items) > 0:
item = items[0]
else:
continue
row = item.row()
checked = self._blocks_model.item(row,
0).checkState() == Qt.Checked
if checked and block.state.value != conman_msgs.msg.TaskState.RUNNING:
self._blocks_model.item(row, 1).setText("ENABLE")
elif not checked and block.state.value == conman_msgs.msg.TaskState.RUNNING:
self._blocks_model.item(row, 1).setText("DISABLE")
else:
self._blocks_model.item(row, 1).setText("")
self._update_groups()
def _enable_group(self, index, enable):
name = self._groups_model.item(index, 3).text()
group = self.groups[name]
for member in group.members:
items = self._blocks_model.findItems(member, column=3)
if len(items) > 0:
item = items[0]
else:
continue
row = item.row()
self._blocks_model.item(
row, 0).setCheckState(Qt.Checked if enable else Qt.Unchecked)
self._update_blocks()
def _update_groups(self):
for (name, group) in self.groups.items():
group_items = self._groups_model.findItems(name, column=3)
if len(group_items) > 0:
group_item = group_items[0]
else:
continue
group_row = group_item.row()
members_checked = []
for member in group.members:
items = self._blocks_model.findItems(member, column=3)
if len(items) > 0:
item = items[0]
else:
continue
row = item.row()
members_checked.append(
self._blocks_model.item(row, 0).checkState() == Qt.Checked)
if all(members_checked):
check = Qt.Checked
else:
check = Qt.Unchecked
self._groups_model.item(group_row, 0).setCheckState(check)
def _query_blocks(self):
if self._get_blocks and self._actions_connected:
if self._get_blocks.simple_state == actionlib.SimpleGoalState.DONE:
rospy.loginfo("Getting blocks...")
goal = conman_msgs.msg.GetBlocksGoal()
goal.publish_flow_graph = self._widget.generate_graph_checkbox.isChecked(
)
self._get_blocks.send_goal(goal, done_cb=self._get_result_cb)
def enable_widgets(self, enable):
#self._widget.generate_graph_checkbox.setEnabled(enable)
self._widget.force_enable_checkbox.setEnabled(enable)
#self._widget.disable_unused_button.setEnabled(enable)
self._widget.xdot_widget.setEnabled(enable)
self._widget.blocks_table.setEnabled(enable)
self._widget.groups_table.setEnabled(enable)
self._widget.regenerate_graph_button.setEnabled(enable)
def _handle_refresh_clicked(self, checked):
ns = self._widget.namespace_input.currentText()
if len(ns) > 0:
if self._ns != ns:
self._actions_connected = False
self._ns = ns
self.enable_widgets(False)
self._dotcode_sub = rospy.Subscriber(ns + '/dotcode',
std_msgs.msg.String,
self._dotcode_msg_cb)
self._get_blocks = actionlib.SimpleActionClient(
ns + '/get_blocks_action', conman_msgs.msg.GetBlocksAction)
self._set_blocks = actionlib.SimpleActionClient(
ns + '/set_blocks_action', conman_msgs.msg.SetBlocksAction)
rospy.loginfo("Creating action clients on namespace '%s'..." %
ns)
if not self._get_blocks.wait_for_server(rospy.Duration(2)):
rospy.loginfo("Timed out waiting for %s." %
self._get_blocks.action_client.ns)
return
if not self._set_blocks.wait_for_server(rospy.Duration(2)):
rospy.loginfo("Timed out waiting for %s." %
self._set_blocks.action_client.ns)
return
rospy.loginfo("Action clients created.")
self._actions_connected = True
self.enable_widgets(True)
self._query_blocks()
def _handle_commit_clicked(self, checked):
if self._set_blocks and self._actions_connected:
if self._get_blocks.simple_state == actionlib.SimpleGoalState.DONE:
rospy.loginfo("Setting blocks...")
goal = conman_msgs.msg.SetBlocksGoal()
goal.diff = True
goal.force = True
for i in range(self._blocks_model.rowCount()):
name = self._blocks_model.item(i, 3).text()
action = self._blocks_model.item(i, 1).text()
if action == 'DISABLE':
goal.disable.append(name)
elif action == 'ENABLE':
goal.enable.append(name)
self._set_blocks.send_goal(goal,
done_cb=self._get_set_result_cb)
def _get_set_result_cb(self, status, res):
self._query_blocks()
@Slot(str)
def _update_graph(self, dotcode):
global initialized
if initialized:
self._widget.xdot_widget.set_dotcode(dotcode, center=False)
else:
self._widget.xdot_widget.set_dotcode(dotcode, center=True)
self._widget.xdot_widget.zoom_to_fit()
initialized = 1
def _dotcode_msg_cb(self, msg):
#self.new_dotcode_data = msg.data
self.update_graph_sig.emit(msg.data)
def _update_widgets(self):
self._update_groups()
self._update_blocks()
class Conman(Plugin):
update_graph_sig = Signal(str)
def __init__(self, context):
super(Conman, self).__init__(context)
self._dotcode_sub = None
# Give QObjects reasonable names
self.setObjectName('Conman')
# 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 is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'rqt_conman.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('ConmanPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# 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()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette ()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
#self._widget.subscribe_button.setCheckable(True)
self._widget.refresh_button.clicked[bool].connect(self._handle_refresh_clicked)
self._widget.commit_button.clicked[bool].connect(self._handle_commit_clicked)
#self._widget.xdot_widget.connect(
#self._widget.xdot_widget, SIGNAL('_update_graph'), self._widget.xdot_widget.set_dotcode)
self.update_graph_sig.connect(self._update_graph)
self.blocks = { }
self.groups = { }
self._ns = ""
self._actions_connected = False
self.enable_widgets(False)
self.new_dotcode_data = ''
self.update_timer = QTimer(self)
self.update_timer.setInterval(50)
self.update_timer.timeout.connect(self._update_widgets)
#self.update_timer.start()
self._get_blocks = None
self._set_blocks = None
self._blocks_model = QStandardItemModel(0,4)
self._blocks_model.setHeaderData(0, Qt.Horizontal, "")
self._blocks_model.setHeaderData(1, Qt.Horizontal, "Action")
self._blocks_model.setHeaderData(2, Qt.Horizontal, "State")
self._blocks_model.setHeaderData(3, Qt.Horizontal, "Block")
self._widget.blocks_table.setModel(self._blocks_model)
self._blocks_delegate = BlocksDelegate(self)
self._widget.blocks_table.setItemDelegate(self._blocks_delegate)
self._blocks_model.itemChanged.connect(self.block_changed)
self._groups_model = QStandardItemModel(0,4)
self._groups_model.setHeaderData(0, Qt.Horizontal, "")
self._groups_model.setHeaderData(1, Qt.Horizontal, "")
self._groups_model.setHeaderData(2, Qt.Horizontal, "")
self._groups_model.setHeaderData(3, Qt.Horizontal, "Group")
self._widget.groups_table.setModel(self._groups_model)
self._groups_delegate = GroupsDelegate(self)
self._widget.groups_table.setItemDelegate(self._groups_delegate)
def block_changed(self, item):
row = item.row()
name = self._blocks_model.item(row,3).text()
block = self.blocks[name]
checked = item.checkState() == Qt.Checked
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 trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget title bar
# Usually used to open a modal configuration dialog
def _get_result_cb(self, status, res):
rospy.loginfo("got result!")
self._blocks_model.setRowCount(0)
self._blocks_model.setRowCount(len(res.blocks))
for (i,block) in zip(range(len(res.blocks)),res.blocks):
# Store in dict
self.blocks[block.name] = block
cb = QStandardItem(True)
cb.setCheckable(True)
cb.setCheckState(Qt.Checked if block.state.value == conman_msgs.msg.TaskState.RUNNING else Qt.Unchecked)
cb.setTextAlignment(Qt.AlignHCenter)
cb.setTristate(True)
action = QStandardItem(True)
action.setText("")
state = QStandardItem(True)
state.setText(state_map[block.state.value])
name = QStandardItem(True)
name.setText(str(block.name))
self._blocks_model.setItem(i,0,cb)
self._blocks_model.setItem(i,1,action)
self._blocks_model.setItem(i,2,state)
self._blocks_model.setItem(i,3,name)
for (i,group) in zip(range(len(res.groups)),res.groups):
self.groups[group.name] = group
cb = QStandardItem(True)
cb.setCheckable(True)
cb.setCheckState(Qt.Checked)
cb.setTextAlignment(Qt.AlignHCenter)
cb.setEnabled(False)
name = QStandardItem(True)
name.setText(str(group.name))
self._groups_model.setItem(i,0,cb)
self._groups_model.setItem(i,3,name)
self._update_groups()
self._update_blocks()
self._widget.blocks_table.resizeColumnsToContents()
self._widget.blocks_table.horizontalHeader().setStretchLastSection(True)
self._widget.groups_table.resizeColumnsToContents()
self._widget.groups_table.horizontalHeader().setStretchLastSection(True)
def _update_blocks(self):
for (name, block) in self.blocks.items():
items = self._blocks_model.findItems(name, column=3)
if len(items) > 0:
item = items[0]
else:
continue
row = item.row()
checked = self._blocks_model.item(row,0).checkState() == Qt.Checked
if checked and block.state.value != conman_msgs.msg.TaskState.RUNNING:
self._blocks_model.item(row,1).setText("ENABLE")
elif not checked and block.state.value == conman_msgs.msg.TaskState.RUNNING:
self._blocks_model.item(row,1).setText("DISABLE")
else:
self._blocks_model.item(row,1).setText("")
self._update_groups()
def _enable_group(self, index, enable):
name = self._groups_model.item(index, 3).text()
group = self.groups[name]
for member in group.members:
items = self._blocks_model.findItems(member, column=3)
if len(items) > 0:
item = items[0]
else:
continue
row = item.row()
self._blocks_model.item(row,0).setCheckState(Qt.Checked if enable else Qt.Unchecked)
self._update_blocks()
def _update_groups(self):
for (name, group) in self.groups.items():
group_items = self._groups_model.findItems(name, column=3)
if len(group_items) > 0:
group_item = group_items[0]
else:
continue
group_row = group_item.row()
members_checked = []
for member in group.members:
items = self._blocks_model.findItems(member, column=3)
if len(items) > 0:
item = items[0]
else:
continue
row = item.row()
members_checked.append(self._blocks_model.item(row,0).checkState() == Qt.Checked)
if all(members_checked):
check = Qt.Checked
else:
check = Qt.Unchecked
self._groups_model.item(group_row,0).setCheckState(check)
def _query_blocks(self):
if self._get_blocks and self._actions_connected:
if self._get_blocks.simple_state == actionlib.SimpleGoalState.DONE:
rospy.loginfo("Getting blocks...")
goal = conman_msgs.msg.GetBlocksGoal()
goal.publish_flow_graph = self._widget.generate_graph_checkbox.isChecked()
self._get_blocks.send_goal(goal, done_cb=self._get_result_cb)
def enable_widgets(self, enable):
#self._widget.generate_graph_checkbox.setEnabled(enable)
self._widget.force_enable_checkbox.setEnabled(enable)
#self._widget.disable_unused_button.setEnabled(enable)
self._widget.xdot_widget.setEnabled(enable)
self._widget.blocks_table.setEnabled(enable)
self._widget.groups_table.setEnabled(enable)
self._widget.regenerate_graph_button.setEnabled(enable)
def _handle_refresh_clicked(self, checked):
ns = self._widget.namespace_input.text()
if len(ns) > 0:
if self._ns != ns:
self._actions_connected = False
self._ns = ns
self.enable_widgets(False)
self._dotcode_sub = rospy.Subscriber(
ns+'/dotcode',
std_msgs.msg.String,
self._dotcode_msg_cb)
self._get_blocks = actionlib.SimpleActionClient(
ns+'/get_blocks_action',
conman_msgs.msg.GetBlocksAction)
self._set_blocks = actionlib.SimpleActionClient(
ns+'/set_blocks_action',
conman_msgs.msg.SetBlocksAction)
rospy.loginfo("Creating action clients on namespace '%s'..." % ns)
if not self._get_blocks.wait_for_server(rospy.Duration(2)):
rospy.loginfo("Timed out waiting for %s." % self._get_blocks.action_client.ns)
return
if not self._set_blocks.wait_for_server(rospy.Duration(2)):
rospy.loginfo("Timed out waiting for %s." % self._set_blocks.action_client.ns)
return
rospy.loginfo("Action clients created.")
self._actions_connected = True
self.enable_widgets(True)
self._query_blocks()
def _handle_commit_clicked(self, checked):
if self._set_blocks and self._actions_connected:
if self._get_blocks.simple_state == actionlib.SimpleGoalState.DONE:
rospy.loginfo("Setting blocks...")
goal = conman_msgs.msg.SetBlocksGoal()
goal.diff = True
goal.force = True
for i in range(self._blocks_model.rowCount()):
name = self._blocks_model.item(i,3).text()
action = self._blocks_model.item(i,1).text()
if action == 'DISABLE':
goal.disable.append(name)
elif action == 'ENABLE':
goal.enable.append(name)
self._set_blocks.send_goal(goal, done_cb=self._get_set_result_cb)
def _get_set_result_cb(self, status, res):
self._query_blocks()
@Slot(str)
def _update_graph(self,dotcode):
self._widget.xdot_widget.set_dotcode(dotcode, center=False)
def _dotcode_msg_cb(self, msg):
#self.new_dotcode_data = msg.data
self.update_graph_sig.emit(msg.data)
def _update_widgets(self):
self._update_groups()
self._update_blocks()
