class ConsoleDashWidget(IconToolButton):
"""
A widget which brings up the ROS console.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
def __init__(self, context, icon_paths=None, minimal=True):
ok_icon = ['bg-green.svg', 'ic-console.svg']
warn_icon = ['bg-yellow.svg', 'ic-console.svg', 'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-console.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-console.svg', 'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(ConsoleDashWidget, self).__init__('Console Widget',
icons,
icon_paths=icon_paths)
self.minimal = minimal
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._datamodel = MessageDataModel()
self._proxymodel = MessageProxyModel()
self._proxymodel.setSourceModel(self._datamodel)
self._console = None
self._rospack = rospkg.RosPack()
if self._console is None:
self._console = ConsoleWidget(self._proxymodel,
self._rospack,
minimal=self.minimal)
self._console.destroyed.connect(self._console_destroyed)
self._message_queue = []
self._mutex = QMutex()
self._subscriber = rospy.Subscriber('/rosout_agg', Log,
self._message_cb)
self.context = context
self.clicked.connect(self._show_console)
self.context.add_widget(self._console)
self.update_state(0)
self._timer = QTimer()
self._timer.timeout.connect(self._insert_messages)
self._timer.start(100)
self._console_shown = False
self.setToolTip("Rosout")
def _show_console(self):
if self._console is None:
self._console = ConsoleWidget(self._proxymodel,
self._rospack,
minimal=self.minimal)
self._console.destroyed.connect(self._console_destroyed)
try:
if self._console_shown:
self.context.remove_widget(self._console)
self._console_shown = not self._console_shown
else:
self.context.add_widget(self._console)
self._console_shown = not self._console_shown
except Exception:
self._console_shown = not self._console_shown
self._show_console()
def _insert_messages(self):
with QMutexLocker(self._mutex):
msgs = self._message_queue
self._message_queue = []
if msgs:
self._datamodel.insert_rows(msgs)
# The console may not yet be initialized or may have been closed
# So fail silently
try:
self.update_rosout()
except:
pass
def _message_cb(self, log_msg):
if not self._console._paused:
msg = Console.convert_rosgraph_log_message(log_msg)
with QMutexLocker(self._mutex):
self._message_queue.append(msg)
def update_rosout(self):
summary_dur = 30.0
if (rospy.get_time() < 30.0):
summary_dur = rospy.get_time() - 1.0
if (summary_dur < 0):
summary_dur = 0.0
summary = self._console.get_message_summary(summary_dur)
if (summary.fatal or summary.error):
self.update_state(2)
elif (summary.warn):
self.update_state(1)
else:
self.update_state(0)
tooltip = ""
if (summary.fatal):
tooltip += "\nFatal: %s" % (summary.fatal)
if (summary.error):
tooltip += "\nError: %s" % (summary.error)
if (summary.warn):
tooltip += "\nWarn: %s" % (summary.warn)
if (summary.info):
tooltip += "\nInfo: %s" % (summary.info)
if (summary.debug):
tooltip += "\nDebug: %s" % (summary.debug)
if (len(tooltip) == 0):
tooltip = "Rosout: no recent activity"
else:
tooltip = "Rosout: recent activity:" + tooltip
if tooltip != self.toolTip():
self.setToolTip(tooltip)
def _console_destroyed(self):
if self._console:
self._console.cleanup_browsers_on_close()
self._console = None
def shutdown_widget(self):
if self._console:
self._console.cleanup_browsers_on_close()
if self._subscriber:
self._subscriber.unregister()
self._timer.stop()
def save_settings(self, plugin_settings, instance_settings):
self._console.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._console.restore_settings(plugin_settings, instance_settings)
class ConsoleDashWidget(IconToolButton):
"""
A widget which brings up the ROS console.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
def __init__(self, context, icon_paths=None, minimal=True):
ok_icon = ['bg-green.svg', 'ic-console.svg']
warn_icon = ['bg-yellow.svg', 'ic-console.svg', 'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-console.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-console.svg', 'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(ConsoleDashWidget, self).__init__('Console Widget', icons, icon_paths=icon_paths)
self.minimal = minimal
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._datamodel = MessageDataModel()
self._proxymodel = MessageProxyModel()
self._proxymodel.setSourceModel(self._datamodel)
self._message_queue = []
self._mutex = QMutex()
self._subscriber = rospy.Subscriber('/rosout_agg', Log, self._message_cb)
self._console = None
self.context = context
self.clicked.connect(self._show_console)
self.update_state(0)
self._timer = QTimer()
self._timer.timeout.connect(self._insert_messages)
self._timer.start(100)
self._rospack = rospkg.RosPack()
if self._console is None:
self._console = ConsoleWidget(self._proxymodel, self._rospack, minimal=self.minimal)
self._console.destroyed.connect(self._console_destroyed)
self._console_shown = False
self.setToolTip("Rosout")
def _show_console(self):
if self._console is None:
self._console = ConsoleWidget(self._proxymodel, self._rospack, minimal=self.minimal)
self._console.destroyed.connect(self._console_destroyed)
try:
if self._console_shown:
self.context.remove_widget(self._console)
self._console_shown = not self._console_shown
else:
self.context.add_widget(self._console)
self._console_shown = not self._console_shown
except Exception:
self._console_shown = not self._console_shown
self._show_console()
def _insert_messages(self):
with QMutexLocker(self._mutex):
msgs = self._message_queue
self._message_queue = []
if msgs:
self._datamodel.insert_rows(msgs)
# The console may not yet be initialized or may have been closed
# So fail silently
try:
self.update_rosout()
except:
pass
def _message_cb(self, log_msg):
if not self._console._paused:
msg = Console.convert_rosgraph_log_message(log_msg)
with QMutexLocker(self._mutex):
self._message_queue.append(msg)
def update_rosout(self):
summary_dur = 30.0
if (rospy.get_time() < 30.0):
summary_dur = rospy.get_time() - 1.0
if (summary_dur < 0):
summary_dur = 0.0
summary = self._console.get_message_summary(summary_dur)
if (summary.fatal or summary.error):
self.update_state(2)
elif (summary.warn):
self.update_state(1)
else:
self.update_state(0)
tooltip = ""
if (summary.fatal):
tooltip += "\nFatal: %s" % (summary.fatal)
if (summary.error):
tooltip += "\nError: %s" % (summary.error)
if (summary.warn):
tooltip += "\nWarn: %s" % (summary.warn)
if (summary.info):
tooltip += "\nInfo: %s" % (summary.info)
if (summary.debug):
tooltip += "\nDebug: %s" % (summary.debug)
if (len(tooltip) == 0):
tooltip = "Rosout: no recent activity"
else:
tooltip = "Rosout: recent activity:" + tooltip
if tooltip != self.toolTip():
self.setToolTip(tooltip)
def _console_destroyed(self):
if self._console:
self._console.cleanup_browsers_on_close()
self._console = None
def shutdown_widget(self):
if self._console:
self._console.cleanup_browsers_on_close()
if self._subscriber:
self._subscriber.unregister()
self._timer.stop()
def save_settings(self, plugin_settings, instance_settings):
self._console.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._console.restore_settings(plugin_settings, instance_settings)
