def get_ylim(self):
"""get Y limits"""
if self._data_plot_widget:
return self._data_plot_widget.get_ylim()
else:
qWarning("No plot widget; returning default Y limits")
return [0.0, 10.0]
def _evaluate_expression(self, expression, slot_type):
successful_eval = True
try:
# try to evaluate expression
value = eval(expression, {}, self._eval_locals)
except Exception:
successful_eval = False
if slot_type is str:
if successful_eval:
value = str(value)
else:
# for string slots just convert the expression to str, if it did not evaluate successfully
value = str(expression)
successful_eval = True
elif successful_eval:
type_set = set((slot_type, type(value)))
# check if value's type and slot_type belong to the same type group, i.e. array types, numeric types
# and if they do, make sure values's type is converted to the exact slot_type
if type_set <= set((list, tuple)) or type_set <= set((int, float)):
# convert to the right type
value = slot_type(value)
if successful_eval and isinstance(value, slot_type):
return True, value
else:
qWarning('Publisher._evaluate_expression(): failed to evaluate expression: "%s" as Python type "%s"' % (expression, slot_type.__name__))
return False, None
def load_bag(self, filename):
qWarning("Loading %s" % filename)
# 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)
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.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)
qWarning("Done loading %s" % filename )
# put the progress bar back the way it was
self.set_status_text.emit("")
def _message_recorded(self, topic, msg, t):
if self._timeline_frame._start_stamp is None:
self._timeline_frame._start_stamp = t
self._timeline_frame._end_stamp = t
self._timeline_frame._playhead = t
elif self._timeline_frame._end_stamp is None or t > self._timeline_frame._end_stamp:
self._timeline_frame._end_stamp = t
if not self._timeline_frame.topics or topic not in self._timeline_frame.topics:
self._timeline_frame.topics = self._get_topics()
self._timeline_frame._topics_by_datatype = self._get_topics_by_datatype()
self._playhead_positions_cvs[topic] = threading.Condition()
self._messages_cvs[topic] = threading.Condition()
self._message_loaders[topic] = MessageLoaderThread(self, topic)
if self._timeline_frame._stamp_left is None:
self.reset_zoom()
# Notify the index caching thread that it has work to do
with self._timeline_frame.index_cache_cv:
self._timeline_frame.invalidated_caches.add(topic)
self._timeline_frame.index_cache_cv.notify()
if topic in self._listeners:
for listener in self._listeners[topic]:
try:
listener.timeline_changed()
except Exception as ex:
qWarning('Error calling timeline_changed on %s: %s' % (type(listener), str(ex)))
def add_widget(self, widget):
if widget in self._embed_widgets:
qWarning('PluginHandlerXEmbedClient.add_widget() widget "%s" already added' % widget.objectName())
return
embed_widget = QX11EmbedWidget()
layout = QVBoxLayout()
layout.setContentsMargins(0, 0, 0, 0)
layout.addWidget(widget)
embed_widget.setLayout(layout)
# close embed widget when container is closed
# TODO necessary?
#embed_widget.containerClosed.connect(embed_widget.close)
embed_container_window_id = self._remote_container.embed_widget(os.getpid(), widget.objectName())
embed_widget.embedInto(embed_container_window_id)
signaler = WindowChangedSignaler(widget, widget)
signaler.window_icon_changed_signal.connect(self._on_embed_widget_icon_changed)
signaler.window_title_changed_signal.connect(self._on_embed_widget_title_changed)
self._embed_widgets[widget] = embed_widget, signaler
# trigger to update initial window icon and title
signaler.window_icon_changed_signal.emit(widget)
signaler.window_title_changed_signal.emit(widget)
embed_widget.show()
def dragEnterEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
if len(topic_name) == 0:
qWarning('PoseViewWidget.dragEnterEvent(): event.mimeData() text is empty')
return
else:
if not hasattr(event.source(), 'selectedItems') or len(event.source().selectedItems()) == 0:
qWarning('PoseViewWidget.dragEnterEvent(): event.source() has no attribute selectedItems or length of selectedItems is 0')
return
item = event.source().selectedItems()[0]
topic_name = item.data(0, Qt.UserRole)
if topic_name is None:
qWarning('PoseViewWidget.dragEnterEvent(): selectedItem has no UserRole data with a topic name')
return
# check for valid topic
msg_class, self._topic_name, _ = get_topic_class(topic_name)
if msg_class is None:
qWarning('PoseViewWidget.dragEnterEvent(): No message class was found for topic "%s".' % topic_name)
return
# check for valid message class
quaternion_slot_path, point_slot_path = self._get_slot_paths(msg_class)
if quaternion_slot_path is None and point_slot_path is None:
qWarning('PoseViewWidget.dragEnterEvent(): No Pose, Quaternion or Point data was found outside of arrays in "%s" on topic "%s".'
% (msg_class._type, topic_name))
return
event.acceptProposedAction()
def _evaluate_expression(self, expression, slot_type):
successful_eval = True
successful_conversion = True
try:
# try to evaluate expression
value = eval(expression, {}, self._eval_locals)
except Exception:
# just use expression-string as value
value = expression
successful_eval = False
try:
# try to convert value to right type
value = slot_type(value)
except Exception:
successful_conversion = False
if successful_conversion:
return value
elif successful_eval:
qWarning('ServiceCaller.fill_message_slots(): can not convert expression to slot type: %s -> %s' % (type(value), slot_type))
else:
qWarning('ServiceCaller.fill_message_slots(): failed to evaluate expression: %s' % (expression))
return None
def _add_dock_widget_to_main_window(self, dock_widget):
if self._main_window is not None:
# warn about dock_widget with same object name
old_dock_widget = self._main_window.findChild(DockWidget, dock_widget.objectName())
if old_dock_widget is not None:
qWarning('PluginHandler._add_dock_widget_to_main_window() duplicate object name "%s", assign unique object names before adding widgets!' % dock_widget.objectName())
self._main_window.addDockWidget(Qt.BottomDockWidgetArea, dock_widget)
def send_logger_change_message(self, node, logger, level):
"""
Sends a logger level change request to 'node'.
:param node: name of the node to chaange, ''str''
:param logger: name of the logger to change, ''str''
:param level: name of the level to change, ''str''
:returns: True if the response is valid, ''bool''
:returns: False if the request raises an exception or would not change the cached state, ''bool''
"""
servicename = node + '/set_logger_level'
if self._current_levels[logger].lower() == level.lower():
return False
service = rosservice.get_service_class_by_name(servicename)
request = service._request_class()
setattr(request, 'logger', logger)
setattr(request, 'level', level)
proxy = rospy.ServiceProxy(str(servicename), service)
try:
proxy(request)
self._current_levels[logger] = level.upper()
except rospy.ServiceException as e:
qWarning('SetupDialog.level_changed(): request:\n%r' % (request))
qWarning('SetupDialog.level_changed() "%s":\n%s' % (servicename, e))
return False
return True
def _handle_save_clicked(self, checked):
filename = QFileDialog.getSaveFileName(self, 'Save to File', '.', self.tr('rqt_console msg file {.csv} (*.csv)'))
if filename[0] != '':
filename = filename[0]
if filename[-4:] != '.csv':
filename += '.csv'
try:
handle = open(filename, 'w')
except IOError as e:
qWarning(str(e))
return
try:
handle.write(';'.join(MessageDataModel.columns) + '\n')
for index in range(self._proxy_model.rowCount()):
row = self._proxy_model.mapToSource(self._proxy_model.index(index, 0)).row()
msg = self._model._messages[row]
data = {}
data['message'] = msg.message.replace('"', '\\"')
data['severity'] = str(msg.severity)
data['node'] = msg.node
data['stamp'] = str(msg.stamp[0]) + '.' + str(msg.stamp[1]).zfill(9)
data['topics'] = ','.join(msg.topics)
data['location'] = msg.location
line = []
for column in MessageDataModel.columns:
line.append('"%s"' % data[column])
handle.write(';'.join(line) + '\n')
except Exception as e:
qWarning('File save failed: %s' % str(e))
return False
finally:
handle.close()
return True
def gripper_click(self, button_name):
grip_side = ''
grip_side_text = ''
if ('Left' in button_name):
grip_side = 'l'
grip_side_text = 'left'
else:
grip_side = 'r'
grip_side_text = 'right'
if ('Open' in button_name):
grip_action = 20.0
grip_action_text = 'close'
qWarning('Robot opened %s gripper' % (grip_side_text))
else:
grip_action = 0.0
grip_action_text = 'open'
qWarning('Robot closed %s gripper' % (grip_side_text))
self.show_text_in_rviz("%sing %s Gripper" % (grip_action_text.capitalize(), grip_side_text.capitalize()))
self.gripper_action(grip_side, grip_action)
self._widget.sender().setText('%s %s Gripper' % (grip_action_text.capitalize(), grip_side_text.capitalize()))
def on_pushButton_calibrate_clicked(self):
self._widget.pushButton_calibrate.setEnabled(False)
status_icon = QIcon.fromTheme('stock_no')
# Fill request information
request = self._selected_service['service_class']._request_class()
request.target_hue.data = self._widget.spinBox_hue.value()
request.mult_diffs.data = self._widget.spinBox_diff.value()
request.mult_sat.data = self._widget.spinBox_sat.value()
try:
# Call service
response = self._selected_service['service_proxy'](request)
except rospy.ServiceException as e:
qWarning('on_pushButton_calibrate_clicked(): error calling service "%s":\n%s' % (self._selected_service['service_name'], e))
else:
# Get debug image and show
img = response.image_debug
qImage = QImage(img.data, img.width, img.height, img.step, QImage.Format_RGB888)
qPixmap = QPixmap()
qPixmap.convertFromImage(qImage)
pixmapItem = QGraphicsPixmapItem(qPixmap)
self._qGraphicsScene.clear()
self._qGraphicsScene.addItem(pixmapItem)
self._widget.graphicsView.fitInView(QRectF(qPixmap.rect()), Qt.KeepAspectRatio)
if response.success.data == True:
status_icon = QIcon.fromTheme('stock_yes')
self._widget.label_status.setPixmap(status_icon.pixmap(status_icon.actualSize(QSize(24, 24))))
self._widget.pushButton_calibrate.setEnabled(True)
def command_cb(self):
clickedButtonName = self._widget.sender().text()
for key in self.commands.keys():
if (self.commands[key] == clickedButtonName):
qWarning('Sending speech command: '+ key)
command = Command()
command.command = key
self.speech_cmd_publisher.publish(command)
def _create_player(self):
if not self._player:
try:
self._player = Player(self)
if self._publish_clock:
self._player.start_clock_publishing()
except Exception as ex:
qWarning('Error starting player; aborting publish: %s' % str(ex))
return False
return True
def update_topics(self):
self.model().clear()
topic_list = rospy.get_published_topics()
for topic_path, topic_type in topic_list:
topic_name = topic_path.strip('/')
message_class = roslib.message.get_message_class(topic_type)
if message_class is None:
qWarning('TopicCompleter.update_topics(): could not get message class for topic type "%s" on topic "%s"' % (topic_type, topic_path))
continue
message_instance = message_class()
self.model().add_message(message_instance, topic_name, topic_type, topic_path)
def rotate_head(self, button_name):
if('Left' in button_name):
#qWarning('x: %s, y: %s' % (self.head_x, self.head_y))
if (self.head_x < -0.8 and self.head_y > 0.0):
self.show_warning('Can\'t rotate anymore')
elif (self.head_y < 0.0):
self.head_x += 0.1
self.head_y = -((1.0 - self.head_x ** 2.0) ** 0.5)
self.show_text_in_rviz("Turning Head Left")
else:
self.head_x -= 0.1
self.head_y = (1.0 - self.head_x ** 2.0) ** 0.5
self.show_text_in_rviz("Turning Head Left")
qWarning('x: %s, y: %s' % (self.head_x, self.head_y))
self.head_action(self.head_x, self.head_y, self.head_z)
elif('Up' in button_name):
if (self.head_z <= 1.6):
self.head_z += 0.1
self.show_text_in_rviz("Moving Head Up")
self.head_action(self.head_x, self.head_y, self.head_z)
else:
self.show_warning('Can\'t look up anymore')
elif('Down' in button_name):
if (self.head_z >= -2.2):
self.head_z -= 0.1
self.show_text_in_rviz("Moving Head Down")
self.head_action(self.head_x, self.head_y, self.head_z)
else:
self.show_warning('Can\'t look down anymore')
else:
#qWarning('x: %s, y: %s' % (self.head_x, self.head_y))
if (self.head_x < -0.8 and self.head_y < 0.0):
self.show_warning('Can\'t rotate anymore')
elif (self.head_y > 0.0):
self.head_x += 0.1
self.head_y = (1.0 - self.head_x ** 2.0) ** 0.5
self.show_text_in_rviz("Turning Head Right")
else:
self.head_x -= 0.1
self.head_y = -((1.0 - self.head_x ** 2.0) ** 0.5)
self.show_text_in_rviz("Turning Head Right")
#qWarning('x: %s, y: %s' % (self.head_x, self.head_y))
self.head_action(self.head_x, self.head_y, self.head_z)
def level_changed(self, row):
"""
Handles the rowchanged event for the level_list widget
Makes a service call to change the logger level for the indicated node/logger to the selected value
:param row: the selected row in level_list, ''int''
"""
if row == -1:
return
if row < 0 or row >= self.level_list.count():
qWarning('Level row %s out of bounds. Current count: %s' % (row, self.level_list.count()))
return
self._caller.send_logger_change_message(self.node_list.currentItem().text(), self.logger_list.currentItem().text(), self.level_list.item(row).text())
def dragEnterEvent(self, event):
if not event.mimeData().hasText():
if not hasattr(event.source(), 'selectedItems') or len(event.source().selectedItems()) == 0:
qWarning('Plot.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0')
return
item = event.source().selectedItems()[0]
ros_topic_name = item.data(0, Qt.UserRole)
if ros_topic_name is None:
qWarning('Plot.dragEnterEvent(): not hasattr(item, ros_topic_name_)')
return
# TODO: do some checks for valid topic here
event.acceptProposedAction()
def on_refresh_services_button_clicked(self):
service_names = rosservice.get_service_list()
self._services = {}
for service_name in service_names:
try:
self._services[service_name] = rosservice.get_service_class_by_name(service_name)
#qDebug('ServiceCaller.on_refresh_services_button_clicked(): found service %s using class %s' % (service_name, self._services[service_name]))
except (rosservice.ROSServiceException, rosservice.ROSServiceIOException) as e:
qWarning('ServiceCaller.on_refresh_services_button_clicked(): could not get class of service %s:\n%s' % (service_name, e))
self.service_combo_box.clear()
self.service_combo_box.addItems(sorted(service_names))
def update_plot(self):
if self.data_plot is not None:
needs_redraw = False
for topic_name, rosdata in self._rosdata.items():
try:
data_x, data_y = rosdata.next()
if data_x or data_y:
self.data_plot.update_values(topic_name, data_x, data_y)
needs_redraw = True
except RosPlotException as e:
qWarning('PlotWidget.update_plot(): error in rosplot: %s' % e)
if needs_redraw:
self.data_plot.redraw()
def _change_publisher_rate(self, publisher_info, topic_name, new_value):
try:
rate = float(new_value)
except Exception:
qWarning('Publisher._change_publisher_rate(): could not parse rate value: %s' % (new_value))
else:
publisher_info['rate'] = rate
#qDebug('Publisher._change_publisher_rate(): %s rate changed: %fHz' % (publisher_info['topic_name'], publisher_info['rate']))
publisher_info['timer'].stop()
if publisher_info['enabled'] and publisher_info['rate'] > 0:
publisher_info['timer'].start(int(1000.0 / publisher_info['rate']))
# make sure the column value reflects the actual rate
return '%.2f' % publisher_info['rate']
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
self._subscribed_topics_changed()
def _refresh_loggers(self, node):
"""
Stores a list of loggers available for passed in node
:param node: name of the node to query, ''str''
"""
self._current_loggers = []
self._current_levels = {}
servicename = node + '/get_loggers'
try:
service = rosservice.get_service_class_by_name(servicename)
except rosservice.ROSServiceIOException as e:
qWarning('During get_service_class_by_name "%s":\n%s' % (servicename, e))
return False
request = service._request_class()
proxy = rospy.ServiceProxy(str(servicename), service)
try:
response = proxy(request)
except rospy.ServiceException as e:
qWarning('SetupDialog.get_loggers(): request:\n%s' % (type(request)))
qWarning('SetupDialog.get_loggers() "%s":\n%s' % (servicename, e))
return False
if response._slot_types[0] == 'roscpp/Logger[]':
for logger in getattr(response, response.__slots__[0]):
self._current_loggers.append(getattr(logger, 'name'))
self._current_levels[getattr(logger, 'name')] = getattr(logger, 'level')
else:
qWarning(repr(response))
return False
return True
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)
def _run_export_region(self, export_bag, topics, start_stamp, end_stamp,
bag_entries):
"""
Threaded function that saves the current selection to a new bag file
:param export_bag: bagfile to write to, ''rosbag.bag''
:param topics: topics to write to the file, ''list(str)''
:param start_stamp: start of area to save, ''rospy.Time''
:param end_stamp: end of area to save, ''rospy.Time''
"""
total_messages = len(bag_entries)
update_step = max(1, total_messages / 100)
message_num = 1
progress = 0
# Write out the messages
for bag, entry in bag_entries:
if self.background_task_cancel:
break
try:
topic, msg, t = self.read_message(bag, entry.position)
export_bag.write(topic, msg, t)
except Exception as ex:
qWarning('Error exporting message at position %s: %s' %
(str(entry.position), str(ex)))
export_bag.close()
self.stop_background_task()
return
if message_num % update_step == 0 or message_num == total_messages:
new_progress = int(100.0 *
(float(message_num) / total_messages))
if new_progress != progress:
progress = new_progress
if not self.background_task_cancel:
self.background_progress = progress
self.status_bar_changed_signal.emit()
message_num += 1
# Close the bag
try:
self.background_progress = 0
self.status_bar_changed_signal.emit()
export_bag.close()
except Exception as ex:
QMessageBox(
QMessageBox.Warning, 'rqt_bag',
'Error closing bag file [%s]: %s' %
(export_bag.filename, str(ex)), QMessageBox.Ok).exec_()
self.stop_background_task()
def on_pushButton_refresh_clicked(self):
self._services = {}
# Select calibration services
service_names = rosservice.get_service_list()
for service_name in service_names:
try:
current_service = rosservice.get_service_class_by_name(service_name)
if current_service.__name__ == CALIBRATION_SERVICE_TYPE_NAME:
self._services[service_name] = current_service
except (rosservice.ROSServiceException, rosservice.ROSServiceIOException) as e:
qWarning('on_pushButton_refresh_clicked(): could not get class of service %s:\n%s' % (service_name, e))
self._widget.comboBox_services.clear()
self._widget.comboBox_services.addItems(sorted(self._services.keys()))
def add_publisher(self, topic_name, type_name, rate, enabled):
topic_name = str(topic_name)
try:
self._node._validate_topic_or_service_name(topic_name)
except InvalidTopicNameException as e:
qWarning(str(e))
return
publisher_info = {
'topic_name': topic_name,
'type_name': str(type_name),
'rate': float(rate),
'enabled': bool(enabled),
}
self._add_publisher(publisher_info)
def load_plugins(self):
for plugin in [ImagePlugin(), SandtrayPlugin()]:
view = plugin.get_view_class()
timeline_renderer = plugin.get_renderer_class()
msg_types = plugin.get_message_types()
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)
qWarning('Loaded plugin %s' % view.name)
def _handle_load_clicked(self, checked):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('rqt_console message file {.csv} (*.csv)'))
if filename[0] != '':
try:
handle = open(filename[0])
except IOError as e:
qWarning(str(e))
return
self.pause_button.setChecked(True)
self._handle_pause_clicked(True)
self._datamodel.load_from_file(handle)
handle.close()
self.update_status()
def update_plot(self):
if self.data_plot is not None:
needs_redraw = False
for topic_name, rosdata in self._rosdata.items():
try:
data_x, data_y = rosdata.next()
if data_x or data_y:
self.data_plot.update_values(topic_name, data_x,
data_y)
needs_redraw = True
except RosPlotException as e:
qWarning('PlotWidget.update_plot(): error in rosplot: %s' %
e)
if needs_redraw:
self.data_plot.redraw()
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' %
topic_name) # NOQA
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
self._subscribed_topics_changed()
def update_topics(self):
self.model().clear()
topic_list = rospy.get_published_topics()
for topic_path, topic_type in topic_list:
topic_name = topic_path.strip('/')
message_class = roslib.message.get_message_class(topic_type)
if message_class is None:
qWarning(
'TopicCompleter.update_topics(): '
'could not get message class for topic type "%s" on topic "%s"'
% (topic_type, topic_path))
continue
message_instance = message_class()
self.model().add_message(message_instance, topic_name, topic_type,
topic_path)
def _find_plugins(self, export_tag, discovery_data):
crawl = True
if discovery_data:
data = discovery_data.get_settings('rqt_gui.RospkgPluginProvider')
export_data = data.get_settings(export_tag)
crawl = export_tag not in data.child_groups()
plugins = []
if crawl:
qDebug("RospkgPluginProvider._find_plugins() crawling for plugins of type '%s'" %
export_tag)
for package_name, package_path in get_packages_with_prefixes().items():
package_share_path = os.path.join(package_path, 'share', package_name)
package_file_path = os.path.join(
package_share_path, PACKAGE_MANIFEST_FILENAME)
if os.path.isfile(package_file_path):
# only try to import catkin if a PACKAGE_FILE is found
try:
package = parse_package(package_file_path)
except InvalidPackage as e:
qWarning('Could not parse package file "%s":\n%s' % (package_file_path, e))
continue
for export in package.exports:
if export.tagname != export_tag or 'plugin' not in export.attributes:
continue
plugin_xml_path = export.attributes['plugin']
plugin_xml_path = plugin_xml_path.replace('${prefix}', package_share_path)
plugins.append([package_name, plugin_xml_path])
continue
# write crawling information to cache
if discovery_data:
plugins_by_package = {}
for (package_name, export) in plugins:
if package_name not in plugins_by_package:
plugins_by_package[package_name] = []
plugins_by_package[package_name].append(export)
for package_name, exports in plugins_by_package.items():
export_data.set_value(package_name, os.pathsep.join([str(e) for e in exports]))
else:
# use cached information
for package_name in export_data.all_keys():
exports = export_data.value(package_name)
if exports:
for export in exports.split(os.pathsep):
plugins.append([package_name, export])
return plugins
def _load_plugin_load(self, instance_id, callback, argv=None):
# if the requested instance is already running, do nothing
if str(instance_id) in self._running_plugins:
raise Exception(
'PluginManager._load_plugin(%s) instance already loaded' %
str(instance_id))
# containers are pseudo-plugins and handled by a special handler
if self._container_manager is not None and instance_id.plugin_id == self._container_manager.get_container_descriptor(
).plugin_id():
handler = PluginHandlerContainer(self, self._main_window,
instance_id,
self._application_context,
self._container_manager)
# use platform specific handler for multiprocess-mode if available
elif self._application_context.options.multi_process or self._application_context.options.embed_plugin:
try:
from .plugin_handler_xembed import PluginHandlerXEmbed
handler = PluginHandlerXEmbed(self, self._main_window,
instance_id,
self._application_context,
self._container_manager, argv)
except ImportError:
qCritical(
'PluginManager._load_plugin() could not load plugin in a separate process'
)
return
# use direct handler for in-process plugins
else:
handler = PluginHandlerDirect(self, self._main_window, instance_id,
self._application_context,
self._container_manager, argv)
handler.set_minimized_dock_widgets_toolbar(
self._minimized_dock_widgets_toolbar)
if instance_id.plugin_id not in self._plugin_descriptors.keys():
qWarning(
'PluginManager._load_plugin() could not load plugin "%s": plugin not available'
% (instance_id.plugin_id))
return
plugin_descriptor = self._plugin_descriptors[instance_id.plugin_id]
handler.set_plugin_descriptor(plugin_descriptor)
self._add_running_plugin(instance_id, handler)
handler.load(self._plugin_provider, callback)
def level_changed(self, row):
"""
Handles the rowchanged event for the level_list widget
Makes a service call to change the logger level for the indicated node/logger to the selected value
:param row: the selected row in level_list, ''int''
"""
if row == -1:
return
if row < 0 or row >= self.level_list.count():
qWarning('Level row %s out of bounds. Current count: %s' %
(row, self.level_list.count()))
return
self._caller.send_logger_change_message(
self.node_list.currentItem().text(),
self.logger_list.currentItem().text(),
self.level_list.item(row).text())
def save_to_file(self, filehandle):
"""
Saves to an already open filehandle.
:return: True if file write is successful, ''bool''
OR
:return: False if file write fails, ''bool''
"""
try:
filehandle.write(self.sourceModel()._messages.header_print())
for index in range(self.rowCount()):
row = self.mapToSource(self.index(index, 0)).row()
filehandle.write(self.sourceModel()._messages.get_message_list()[row].file_print())
except Exception as e:
qWarning('File save failed: %s' % str(e))
return False
return True
def _handle_save_clicked(self, checked):
filename = QFileDialog.getSaveFileName(
self, 'Save to File', '.',
self.tr('rqt_console msg file {.csv} (*.csv)'))
if filename[0] != '':
filename = filename[0]
if filename[-4:] != '.csv':
filename += '.csv'
try:
handle = open(filename, 'w')
except IOError as e:
qWarning(str(e))
return
self._proxymodel.save_to_file(handle)
handle.close()
self.update_status()
def __init__(self, topic_name, topic_type):
super(TopicInfo, self).__init__(100)
self._subscriber = None
self.monitoring = False
self._reset_data()
self.message_class = None
self._topic_name = None
try:
self.message_class = roslib.message.get_message_class(topic_type)
self._topic_name = topic_name
except Exception as e:
self.message_class = None
self._topic_name = None
qWarning(
'TopicInfo.__init__(): can not get message class info for "%s":\n%s'
% (topic_name, e))
def _change_publisher_rate(self, publisher_info, topic_name, new_value):
try:
rate = float(new_value)
except Exception:
qWarning(
'Publisher._change_publisher_rate(): could not parse rate value: %s'
% (new_value))
else:
publisher_info['rate'] = rate
#qDebug('Publisher._change_publisher_rate(): %s rate changed: %fHz' % (publisher_info['topic_name'], publisher_info['rate']))
publisher_info['timer'].stop()
if publisher_info['enabled'] and publisher_info['rate'] > 0:
publisher_info['timer'].start(
int(1000.0 / publisher_info['rate']))
# make sure the column value reflects the actual rate
return '%.2f' % publisher_info['rate']
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)
def _process_msg_expression(self, expression):
"""
Checks if expression matches the format <package_name>.msg.<str2>
If expression matches that format then we attempt to import <package_name>
and store it in self._eval_locals[<package_name>] for use with eval.
"""
tokens = expression.lstrip('[').split('.', 2)
if len(tokens) == 3 and tokens[1] == 'msg':
try:
module = importlib.import_module(tokens[0])
self._eval_locals[tokens[0]] = module
except ModuleNotFoundError:
qWarning(
'ServiceCallerWidget._process_msg_expression failed to import: {}.'
.format(tokens[0] + '.msg'))
def startDrag(self, supportedActions):
index = self.currentIndex()
if not index.isValid():
return
item = self.model().itemFromIndex(index)
path = getattr(item, '_path', None)
if path is None:
qWarning('MessageTreeWidget.startDrag(): no _path set on item %s' % item)
return
data = QMimeData()
data.setText(item._path)
drag = QDrag(self)
drag.setMimeData(data)
drag.exec_()
def dragEnterEvent(self, event):
if not event.mimeData().hasText():
if not hasattr(event.source(), 'selectedItems') or len(
event.source().selectedItems()) == 0:
qWarning(
'Plot.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0'
)
return
item = event.source().selectedItems()[0]
ros_topic_name = item.data(0, Qt.UserRole)
if ros_topic_name is None:
qWarning(
'Plot.dragEnterEvent(): not hasattr(item, ros_topic_name_)'
)
return
# TODO: do some checks for valid topic here
event.acceptProposedAction()
def __init__(self, topic_name, topic_type):
super(TopicInfo, self).__init__(100)
self._topic_name = topic_name
self.error = None
self._subscriber = None
self.monitoring = False
self._reset_data()
self.message_class = None
try:
self.message_class = roslib.message.get_message_class(topic_type)
except Exception as e:
self.message_class = None
qWarning('TopicInfo.__init__(): %s' % (e))
if self.message_class is None:
self.error = 'can not get message class for type "%s"' % topic_type
qWarning('TopicInfo.__init__(): topic "%s": %s' % (topic_name, self.error))
def on_refresh_services_button_clicked(self):
service_names = rosservice.get_service_list()
self._services = {}
for service_name in service_names:
try:
self._services[
service_name] = rosservice.get_service_class_by_name(
service_name)
#qDebug('ServiceCaller.on_refresh_services_button_clicked(): found service %s using class %s' % (service_name, self._services[service_name]))
except (rosservice.ROSServiceException,
rosservice.ROSServiceIOException) as e:
qWarning(
'ServiceCaller.on_refresh_services_button_clicked(): could not get class of service %s:\n%s'
% (service_name, e))
self.service_combo_box.clear()
self.service_combo_box.addItems(sorted(service_names))
def dragEnterEvent(self, e):
if not e.mimeData().hasText():
if not hasattr(e.source(), 'selectedItems') or len(e.source().selectedItems()) == 0:
qWarning('NavView.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0')
return
item = e.source().selectedItems()[0]
topic_name = item.data(0, Qt.UserRole)
if topic_name == None:
qWarning('NavView.dragEnterEvent(): not hasattr(item, ros_topic_name_)')
return
else:
topic_name = str(e.mimeData().text())
if accepted_topic(topic_name):
e.accept()
e.acceptProposedAction()
def __init__(self, topic_name, topic_type):
super(TopicInfo, self).__init__(100)
self._topic_name = topic_name
self.error = None
self._subscriber = None
self.monitoring = False
self._reset_data()
self.message_class = None
try:
self.message_class = roslib.message.get_message_class(topic_type)
except Exception as e:
self.message_class = None
qWarning('TopicInfo.__init__(): %s' % (e))
if self.message_class is None:
self.error = 'can not get message class for type "%s"' % topic_type
qWarning('TopicInfo.__init__(): topic "%s": %s' % (topic_name, self.error))
def __init__(self):
self.player = None
try:
import ossaudiodev
self.device = ossaudiodev.open('w')
self.device.setfmt(ossaudiodev.AFMT_S16_LE)
self.player = 'oss'
except Exception, e:
qWarning('Could not open dsp device :%s'%e)
try:
import alsaaudio
self.device = alsaaudio.PCM()
self.device.setformat(alsaaudio.PCM_FORMAT_S16_LE)
self.player = 'alsa'
qWarning('Using alsaaudio. If sound quality is not good enough, consider installing osspd')
except Exception, e:
raise e
def add_topic(self, topic_name):
topics_changed = False
for topic_name in get_plot_fields(topic_name)[0]:
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
continue
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
topics_changed = True
if topics_changed:
self._subscribed_topics_changed()
def startDrag(self, supportedActions):
index = self.currentIndex()
if not index.isValid():
return
item = self.model().itemFromIndex(index)
path = getattr(item, '_path', None)
if path is None:
qWarning('MessageTreeWidget.startDrag(): no _path set on item %s' % item)
return
data = QMimeData()
data.setText(item._path)
drag = QDrag(self)
drag.setMimeData(data)
drag.exec_()
def logger_changed(self, row):
"""
Handles the rowchanged event for the logger_list widget
Populates level_list with the levels for the logger selected
:param row: the selected row in logger_list, ''int''
"""
if row == -1:
return
if row < 0 or row >= self.logger_list.count():
qWarning('Logger row %s out of bounds. Current count: %s' % (row, self.logger_list.count()))
return
if self.level_list.count() == 0:
for level in self._caller.get_levels():
self.level_list.addItem(level)
for index in range(self.level_list.count()):
if self.level_list.item(index).text().lower() == self._caller._current_levels[self.logger_list.currentItem().text()].lower():
self.level_list.setCurrentRow(index)
def add_topic(self, topic_name):
topics_changed = False
for topic_name in get_plot_fields(topic_name)[0]:
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
continue
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
topics_changed = True
if topics_changed:
self._subscribed_topics_changed()
def _evaluate_expression(self, expression, slot_type=None, is_array=False):
successful_eval = True
successful_conversion = True
self._process_msg_expression(expression)
try:
# try to evaluate expression
value = eval(expression, {}, self._eval_locals)
except Exception:
# just use expression-string as value
value = expression
successful_eval = False
if is_array:
if not type(value) is list:
value = list(value)
if slot_type and len(value) > 0 and type(
value[0]) is not slot_type:
for i, v in enumerate(value):
try:
# try to convert value to right type
value[i] = slot_type(v)
except Exception:
successful_conversion = False
else:
if slot_type and type(value) != slot_type:
try:
# try to convert value to right type
value = slot_type(value)
except Exception:
successful_conversion = False
if successful_conversion:
return value
elif successful_eval:
qWarning('ServiceCaller._evaluate_expression(): '
'can not convert expression to slot type: %s -> %s' %
(type(value), slot_type))
else:
qWarning(
'ServiceCaller._evaluate_expression(): failed to evaluate expression: %s'
% (expression))
return None
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)
def save_pose(self):
# Add to database
name = self.name_textbox.text()
pose = self.gui.get_joint_state(self.side)
qWarning('Saving pose as: ' + name)
isAdded = self.gui.arm_db.savePos(self.side, name, pose)
if not isAdded:
# name already exists...
self.reject()
return
# Update GUI
if self.side == PoseSaver.LEFT:
self.gui.combo_box_left.addItem(name, pose)
else: # self.side == PoseSaver.RIGHT:
self.gui.combo_box_right.addItem(name, pose)
self.accept()
def record_bag(self, filename, all=True, topics=[], regex=False, limit=0):
try:
self._recorder = Recorder(
filename, bag_lock=self._bag_lock, all=all, topics=topics, regex=regex, limit=limit)
except Exception as ex:
qWarning('Error opening bag for recording [%s]: %s' % (filename, str(ex)))
return
self._recorder.add_listener(self._message_recorded)
self.add_bag(self._recorder.bag)
self._recorder.start()
self.wrap = False
self._timeline_frame._index_cache_thread.period = 0.1
self.update()
def _add_toolbar(self, toolbar):
# every toolbar needs a unique name for save/restore geometry/state to work
toolbar_object_name = toolbar.objectName()
prefix = self._instance_id.tidy_str() + '__'
# when added, removed and readded the prefix should not be prepended multiple times
if not toolbar_object_name.startswith(prefix):
toolbar_object_name = prefix + toolbar_object_name
toolbar.setObjectName(toolbar_object_name)
if self._application_context.options.freeze_layout:
toolbar.setMovable(False)
self._toolbars.append(toolbar)
if self._main_window is not None:
# warn about toolbar with same object name
old_toolbar = self._main_window.findChild(QToolBar, toolbar.objectName())
if old_toolbar is not None:
qWarning('PluginHandler._add_toolbar() duplicate object name "%s", assign unique object names before adding toolbars!' % toolbar.objectName())
self._main_window.addToolBar(Qt.TopToolBarArea, toolbar)
def logger_changed(self, row):
"""
Handles the rowchanged event for the logger_list widget
Populates level_list with the levels for the logger selected
:param row: the selected row in logger_list, ''int''
"""
if row == -1:
return
if row < 0 or row >= self.logger_list.count():
qWarning('Logger row %s out of bounds. Current count: %s' %
(row, self.logger_list.count()))
return
if self.level_list.count() == 0:
for level in self._caller.get_levels():
self.level_list.addItem(level)
for index in range(self.level_list.count()):
if self.level_list.item(index).text().lower() == \
self._caller._current_levels[self.logger_list.currentItem().text()].lower():
self.level_list.setCurrentRow(index)
def add_topic(self, topic_code, topic_item):
topics_changed = False
topic_name = topic_code + '/' + topic_item
#for topic_name in get_plot_fields(topic_name)[0]: # <<<<<<<< this is what allows for multiple topics
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
#continue
return
self._rosdata[topic_name] = ROSData(topic_code, topic_item, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = next(self._rosdata[topic_name])
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
#print self._rosdata.items() # ------------------------------------------
topics_changed = True
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())