def _rqt_shutdown(self):
'''
Shutdown handler coming from the rqt subprocess shutting down. This needs
to be handled differently depending on whether it's us shutting it down
because a ros master shut down (in which case we need to stay alive)
or otherwise.
'''
if not self._rqt_subprocess_shutdown_by_us:
self._ros_master_monitor.shutdown()
QCoreApplication.instance().quit()
else:
self._rqt_subprocess_shutdown_by_us = False
def shutdown(self):
'''
Shutdowns from external signals or the abort button while waiting for a master.
'''
print("Shutting down the ros master monitor")
self._ros_master_monitor.shutdown()
if self._rqt_subprocess is not None:
print("Terminating subprocess")
self._rqt_subprocess.send_signal(signal.SIGINT)
# self._rqt_subprocess.terminate() # this is SIGTERM
self._rqt_subprocess = None
QCoreApplication.instance().quit()
def timerEvent(self, event):
if rospy.is_shutdown():
QCoreApplication.instance().quit()
# needed to move qt calls out of the ros callback, otherwise qt crashes because of inter-thread communication
if self._set_window_visibility:
self._set_window_visibility = False
if not self.isVisible() and self._last_window_control_data == self._window:
self.show()
self.setGeometry(self._geometry)
elif self.isVisible() and (not self._last_window_control_data or self._last_window_control_data == -self._window):
self._geometry = self.geometry()
self.hide()
def timerEvent(self, event):
if rospy.is_shutdown():
QCoreApplication.instance().quit()
# needed to move qt calls out of the ros callback, otherwise qt crashes because of inter-thread communication
if self._set_window_visibility:
self._set_window_visibility = False
if not self.isVisible(
) and self._last_window_control_data == self._window:
self.show()
self.setGeometry(self._geometry)
elif self.isVisible() and (not self._last_window_control_data
or self._last_window_control_data
== -self._window):
self._geometry = self.geometry()
self.hide()
