def __init__(self, parent):
"""
@type parent: LaunchMain
"""
super(LaunchWidget, self).__init__()
self._parent = parent
self._config = None
self._settings = QSettings('ros', 'rqt_launch')
self._settings.sync()
self._package_update = False
self._launchfile_update = False
# TODO: should be configurable from gui
self._port_roscore = 11311
self._run_id = None
self._rospack = rospkg.RosPack()
ui_file = os.path.join(
self._rospack.get_path('rqt_launch'), 'resource', 'launch_widget.ui'
)
loadUi(ui_file, self)
# row=0 allows any number of rows to be added.
self._datamodel = QStandardItemModel(0, 1)
master_uri = rosenv.get_master_uri()
rospy.loginfo('LaunchWidget master_uri={}'.format(master_uri))
self._delegate = NodeDelegate(master_uri, self._rospack)
self._treeview.setModel(self._datamodel)
self._treeview.setItemDelegate(self._delegate)
# NodeController used in controller class for launch operation.
self._node_controllers = []
self._pushbutton_load_params.clicked.connect(self._parent.load_params)
self._pushbutton_start_all.clicked.connect(self._parent.start_all)
self._pushbutton_stop_all.clicked.connect(self._parent.stop_all)
self._pushbutton_refresh.clicked.connect(
self._update_pkgs_contain_launchfiles
)
# Bind package selection with .launch file selection.
self._combobox_pkg.currentIndexChanged[str].connect(
self._refresh_launchfiles
)
# Bind a launch file selection with launch GUI generation.
self._combobox_launchfile_name.currentIndexChanged[str].connect(
self._load_launchfile_slot
)
self._update_pkgs_contain_launchfiles()
def __init__(self, parent):
'''
@type parent: LaunchMain
'''
super(LaunchWidget, self).__init__()
self._parent = parent
print 'FROM WIDGET'
self._config = None
#TODO: should be configurable from gui
self._port_roscore = 11311
self._run_id = None
self._rospack = rospkg.RosPack()
ui_file = os.path.join(self._rospack.get_path('rqt_launch'),
'resource', 'launch_widget.ui')
loadUi(ui_file, self)
# row=0 allows any number of rows to be added.
self._datamodel = QStandardItemModel(0, 1)
master_uri = rosenv.get_master_uri()
rospy.loginfo('LaunchWidget master_uri={}'.format(master_uri))
self._delegate = NodeDelegate(master_uri,
self._rospack)
self._treeview.setModel(self._datamodel)
self._treeview.setItemDelegate(self._delegate)
# NodeController used in controller class for launch operation.
self._node_controllers = []
self._pushbutton_start_all.clicked.connect(self._parent.start_all)
self._pushbutton_stop_all.clicked.connect(self._parent.stop_all)
# Bind package selection with .launch file selection.
self._combobox_pkg.currentIndexChanged[str].connect(
self._refresh_launchfiles)
# Bind a launch file selection with launch GUI generation.
self._combobox_launchfile_name.currentIndexChanged[str].connect(
self._load_launchfile_slot)
self._update_pkgs_contain_launchfiles()
# Used for removing previous nodes
self._num_nodes_previous = 0
class LaunchWidget(QDialog):
'''#TODO: comment
'''
# To be connected to PluginContainerWidget
sig_sysmsg = Signal(str)
def __init__(self, parent):
'''
@type parent: LaunchMain
'''
super(LaunchWidget, self).__init__()
self._parent = parent
self._config = None
#TODO: should be configurable from gui
self._port_roscore = 11311
self._run_id = None
self._rospack = rospkg.RosPack()
ui_file = os.path.join(self._rospack.get_path('rqt_launch'),
'resource', 'launch_widget.ui')
loadUi(ui_file, self)
# row=0 allows any number of rows to be added.
self._datamodel = QStandardItemModel(0, 1)
master_uri = rosenv.get_master_uri()
rospy.loginfo('LaunchWidget master_uri={}'.format(master_uri))
self._delegate = NodeDelegate(master_uri,
self._rospack)
self._treeview.setModel(self._datamodel)
self._treeview.setItemDelegate(self._delegate)
# NodeController used in controller class for launch operation.
self._node_controllers = []
self._pushbutton_start_all.clicked.connect(self._parent.start_all)
self._pushbutton_stop_all.clicked.connect(self._parent.stop_all)
# Bind package selection with .launch file selection.
self._combobox_pkg.currentIndexChanged[str].connect(
self._refresh_launchfiles)
# Bind a launch file selection with launch GUI generation.
self._combobox_launchfile_name.currentIndexChanged[str].connect(
self._load_launchfile_slot)
self._update_pkgs_contain_launchfiles()
# Used for removing previous nodes
self._num_nodes_previous = 0
def _load_launchfile_slot(self, launchfile_name):
# Not yet sure why, but everytime combobox.currentIndexChanged occurs,
# this method gets called twice with launchfile_name=='' in 1st call.
if launchfile_name == None or launchfile_name == '':
return
_config = None
rospy.logdebug('_load_launchfile_slot launchfile_name={}'.format(
launchfile_name))
try:
_config = self._create_launchconfig(launchfile_name,
self._port_roscore)
#TODO: folder_name_launchfile should be able to specify arbitrarily
# _create_launchconfig takes 3rd arg for it.
except IndexError as e:
msg = 'IndexError={} launchfile={}'.format(e.message,
launchfile_name)
rospy.logerr(msg)
self.sig_sysmsg.emit(msg)
return
except RLException as e:
msg = 'RLException={} launchfile={}'.format(e.message,
launchfile_name)
rospy.logerr(msg)
self.sig_sysmsg.emit(msg)
return
self._create_widgets_for_launchfile(_config)
def _create_launchconfig(self, launchfile_name, port_roscore=11311,
folder_name_launchfile='launch'):
'''
@rtype: ROSLaunchConfig
@raises RLException: raised by roslaunch.config.load_config_default.
'''
pkg_name = self._combobox_pkg.currentText()
try:
launchfile = os.path.join(self._rospack.get_path(pkg_name),
folder_name_launchfile, launchfile_name)
except IndexError as e:
raise RLException('IndexError: {}'.format(e.message))
try:
launch_config = roslaunch.config.load_config_default([launchfile],
port_roscore)
except rospkg.common.ResourceNotFound as e:
raise RLException('ResourceNotFound: {}'.format(e.message))
except RLException as e:
raise e
return launch_config
def _create_widgets_for_launchfile(self, config):
self._config = config
# Delete old nodes' GUIs.
self._node_controllers = []
# These lines seem to remove indexWidgets previously set on treeview.
# Per suggestion in API doc, we are not using reset(). Instead,
# using 2 methods below without any operation in between, which
# I suspect might be inproper.
# http://qt-project.org/doc/qt-4.8/qabstractitemmodel.html#reset
self._datamodel.beginResetModel()
self._datamodel.endResetModel()
# Need to store the num of nodes outside of the loop -- this will
# be used for removing excessive previous node rows.
order_xmlelement = 0
# Loop per xml element
for order_xmlelement, node in enumerate(self._config.nodes):
proxy = NodeProxy(self._run_id, self._config.master.uri, node)
# TODO: consider using QIcon.fromTheme()
status_label = StatusIndicator()
qindex_nodewidget = self._datamodel.index(order_xmlelement,
0, QModelIndex())
node_widget = self._delegate.create_node_widget(qindex_nodewidget,
proxy.config,
status_label)
#TODO: Ideally find a way so that we don't need this block.
#BEGIN If these lines are missing, widget won't be shown either.
std_item = QStandardItem(
#node_widget.get_node_name()
)
self._datamodel.setItem(order_xmlelement, 0, std_item)
#END If these lines are missing, widget won't be shown either.
self._treeview.setIndexWidget(qindex_nodewidget, node_widget)
node_controller = NodeController(proxy, node_widget)
self._node_controllers.append(node_controller)
node_widget.connect_start_stop_button( \
node_controller.start_stop_slot)
rospy.logdebug('loop #%d proxy.config.namespace=%s ' +
'proxy.config.name=%s',
order_xmlelement, proxy.config.namespace,
proxy.config.name)
self._num_nodes_previous = order_xmlelement
self._parent.set_node_controllers(self._node_controllers)
def _update_pkgs_contain_launchfiles(self):
'''
Inspired by rqt_msg.MessageWidget._update_pkgs_contain_launchfiles
'''
packages = sorted([pkg_tuple[0]
for pkg_tuple
in RqtRoscommUtil.iterate_packages('launch')])
self._package_list = packages
rospy.logdebug('pkgs={}'.format(self._package_list))
self._combobox_pkg.clear()
self._combobox_pkg.addItems(self._package_list)
self._combobox_pkg.setCurrentIndex(0)
def _refresh_launchfiles(self, package=None):
'''
Inspired by rqt_msg.MessageWidget._refresh_msgs
'''
if package is None or len(package) == 0:
return
self._launchfile_instances = [] # Launch[]
#TODO: RqtRoscommUtil.list_files's 2nd arg 'subdir' should NOT be
# hardcoded later.
_launch_instance_list = RqtRoscommUtil.list_files(package,
'launch')
rospy.logdebug('_refresh_launches package={} instance_list={}'.format(
package,
_launch_instance_list))
self._launchfile_instances = [x.split('/')[1]
for x in _launch_instance_list]
self._combobox_launchfile_name.clear()
self._combobox_launchfile_name.addItems(self._launchfile_instances)
def save_settings(self, plugin_settings, instance_settings):
# instance_settings.set_value('splitter', self._splitter.saveState())
pass
def restore_settings(self, plugin_settings, instance_settings):
# if instance_settings.contains('splitter'):
# self._splitter.restoreState(instance_settings.value('splitter'))
# else:
# self._splitter.setSizes([100, 100, 200])
pass
class LaunchWidget(QDialog):
'''#TODO: comment
'''
# To be connected to PluginContainerWidget
sig_sysmsg = Signal(str)
def __init__(self, parent):
'''
@type parent: LaunchMain
'''
super(LaunchWidget, self).__init__()
self._parent = parent
self._config = None
#TODO: should be configurable from gui
self._port_roscore = 11311
self._run_id = None
self._rospack = rospkg.RosPack()
ui_file = os.path.join(self._rospack.get_path('rqt_launch'),
'resource', 'launch_widget.ui')
loadUi(ui_file, self)
# row=0 allows any number of rows to be added.
self._datamodel = QStandardItemModel(0, 1)
master_uri = rosenv.get_master_uri()
rospy.loginfo('LaunchWidget master_uri={}'.format(master_uri))
self._delegate = NodeDelegate(master_uri, self._rospack)
self._treeview.setModel(self._datamodel)
self._treeview.setItemDelegate(self._delegate)
# NodeController used in controller class for launch operation.
self._node_controllers = []
self._pushbutton_start_all.clicked.connect(self._parent.start_all)
self._pushbutton_stop_all.clicked.connect(self._parent.stop_all)
# Bind package selection with .launch file selection.
self._combobox_pkg.currentIndexChanged[str].connect(
self._refresh_launchfiles)
# Bind a launch file selection with launch GUI generation.
self._combobox_launchfile_name.currentIndexChanged[str].connect(
self._load_launchfile_slot)
self._update_pkgs_contain_launchfiles()
# Used for removing previous nodes
self._num_nodes_previous = 0
def _load_launchfile_slot(self, launchfile_name):
# Not yet sure why, but everytime combobox.currentIndexChanged occurs,
# this method gets called twice with launchfile_name=='' in 1st call.
if launchfile_name == None or launchfile_name == '':
return
_config = None
rospy.logdebug(
'_load_launchfile_slot launchfile_name={}'.format(launchfile_name))
try:
_config = self._create_launchconfig(launchfile_name,
self._port_roscore)
#TODO: folder_name_launchfile should be able to specify arbitrarily
# _create_launchconfig takes 3rd arg for it.
except IndexError as e:
msg = 'IndexError={} launchfile={}'.format(e.message,
launchfile_name)
rospy.logerr(msg)
self.sig_sysmsg.emit(msg)
return
except RLException as e:
msg = 'RLException={} launchfile={}'.format(
e.message, launchfile_name)
rospy.logerr(msg)
self.sig_sysmsg.emit(msg)
return
self._create_widgets_for_launchfile(_config)
def _create_launchconfig(self,
launchfile_name,
port_roscore=11311,
folder_name_launchfile='launch'):
'''
@rtype: ROSLaunchConfig
@raises RLException: raised by roslaunch.config.load_config_default.
'''
pkg_name = self._combobox_pkg.currentText()
try:
launchfile = os.path.join(self._rospack.get_path(pkg_name),
folder_name_launchfile, launchfile_name)
except IndexError as e:
raise RLException('IndexError: {}'.format(e.message))
try:
launch_config = roslaunch.config.load_config_default([launchfile],
port_roscore)
except rospkg.common.ResourceNotFound as e:
raise RLException('ResourceNotFound: {}'.format(e.message))
except RLException as e:
raise e
return launch_config
def _create_widgets_for_launchfile(self, config):
self._config = config
# Delete old nodes' GUIs.
self._node_controllers = []
# These lines seem to remove indexWidgets previously set on treeview.
# Per suggestion in API doc, we are not using reset(). Instead,
# using 2 methods below without any operation in between, which
# I suspect might be inproper.
# http://qt-project.org/doc/qt-4.8/qabstractitemmodel.html#reset
self._datamodel.beginResetModel()
self._datamodel.endResetModel()
# Need to store the num of nodes outside of the loop -- this will
# be used for removing excessive previous node rows.
order_xmlelement = 0
# Loop per xml element
for order_xmlelement, node in enumerate(self._config.nodes):
proxy = NodeProxy(self._run_id, self._config.master.uri, node)
# TODO: consider using QIcon.fromTheme()
status_label = StatusIndicator()
qindex_nodewidget = self._datamodel.index(order_xmlelement, 0,
QModelIndex())
node_widget = self._delegate.create_node_widget(
qindex_nodewidget, proxy.config, status_label)
#TODO: Ideally find a way so that we don't need this block.
#BEGIN If these lines are missing, widget won't be shown either.
std_item = QStandardItem(
#node_widget.get_node_name()
)
self._datamodel.setItem(order_xmlelement, 0, std_item)
#END If these lines are missing, widget won't be shown either.
self._treeview.setIndexWidget(qindex_nodewidget, node_widget)
node_controller = NodeController(proxy, node_widget)
self._node_controllers.append(node_controller)
node_widget.connect_start_stop_button( \
node_controller.start_stop_slot)
rospy.logdebug(
'loop #%d proxy.config.namespace=%s ' + 'proxy.config.name=%s',
order_xmlelement, proxy.config.namespace, proxy.config.name)
self._num_nodes_previous = order_xmlelement
self._parent.set_node_controllers(self._node_controllers)
def _update_pkgs_contain_launchfiles(self):
'''
Inspired by rqt_msg.MessageWidget._update_pkgs_contain_launchfiles
'''
packages = sorted([
pkg_tuple[0]
for pkg_tuple in RqtRoscommUtil.iterate_packages('launch')
])
self._package_list = packages
rospy.logdebug('pkgs={}'.format(self._package_list))
self._combobox_pkg.clear()
self._combobox_pkg.addItems(self._package_list)
self._combobox_pkg.setCurrentIndex(0)
def _refresh_launchfiles(self, package=None):
'''
Inspired by rqt_msg.MessageWidget._refresh_msgs
'''
if package is None or len(package) == 0:
return
self._launchfile_instances = [] # Launch[]
#TODO: RqtRoscommUtil.list_files's 2nd arg 'subdir' should NOT be
# hardcoded later.
_launch_instance_list = RqtRoscommUtil.list_files(package, 'launch')
rospy.logdebug('_refresh_launches package={} instance_list={}'.format(
package, _launch_instance_list))
self._launchfile_instances = [
x.split('/')[1] for x in _launch_instance_list
]
self._combobox_launchfile_name.clear()
self._combobox_launchfile_name.addItems(self._launchfile_instances)
def save_settings(self, plugin_settings, instance_settings):
# instance_settings.set_value('splitter', self._splitter.saveState())
pass
def restore_settings(self, plugin_settings, instance_settings):
# if instance_settings.contains('splitter'):
# self._splitter.restoreState(instance_settings.value('splitter'))
# else:
# self._splitter.setSizes([100, 100, 200])
pass
class LaunchWidget(QDialog):
# To be connected to PluginContainerWidget
sig_sysmsg = Signal(str)
def __init__(self, parent):
"""
@type parent: LaunchMain
"""
super(LaunchWidget, self).__init__()
self._parent = parent
self._config = None
self._settings = QSettings('ros', 'rqt_launch')
self._settings.sync()
self._package_update = False
self._launchfile_update = False
# TODO: should be configurable from gui
self._port_roscore = 11311
self._run_id = None
self._rospack = rospkg.RosPack()
ui_file = os.path.join(
self._rospack.get_path('rqt_launch'), 'resource', 'launch_widget.ui'
)
loadUi(ui_file, self)
# row=0 allows any number of rows to be added.
self._datamodel = QStandardItemModel(0, 1)
master_uri = rosenv.get_master_uri()
rospy.loginfo('LaunchWidget master_uri={}'.format(master_uri))
self._delegate = NodeDelegate(master_uri, self._rospack)
self._treeview.setModel(self._datamodel)
self._treeview.setItemDelegate(self._delegate)
# NodeController used in controller class for launch operation.
self._node_controllers = []
self._pushbutton_load_params.clicked.connect(self._parent.load_params)
self._pushbutton_start_all.clicked.connect(self._parent.start_all)
self._pushbutton_stop_all.clicked.connect(self._parent.stop_all)
self._pushbutton_refresh.clicked.connect(
self._update_pkgs_contain_launchfiles
)
# Bind package selection with .launch file selection.
self._combobox_pkg.currentIndexChanged[str].connect(
self._refresh_launchfiles
)
# Bind a launch file selection with launch GUI generation.
self._combobox_launchfile_name.currentIndexChanged[str].connect(
self._load_launchfile_slot
)
self._update_pkgs_contain_launchfiles()
def _load_launchfile_slot(self, launchfile_name):
# Not yet sure why, but everytime combobox.currentIndexChanged occurs,
# this method gets called twice with launchfile_name=='' in 1st call.
if (
launchfile_name is None
or launchfile_name == ''
or self._launchfile_update
):
return
self._settings.setValue('launchfile_name', launchfile_name)
self._settings.sync()
_config = None
rospy.logdebug(
'_load_launchfile_slot launchfile_name={}'.format(launchfile_name)
)
try:
_config = self._create_launchconfig(
launchfile_name, self._port_roscore
)
# TODO: folder_name_launchfile should be able to specify arbitrarily
# _create_launchconfig takes 3rd arg for it.
except IndexError as e:
msg = 'IndexError={} launchfile={}'.format(e, launchfile_name)
rospy.logerr(msg)
self.sig_sysmsg.emit(msg)
return
except RLException as e:
msg = 'RLException={} launchfile={}'.format(e, launchfile_name)
rospy.logerr(msg)
self.sig_sysmsg.emit(msg)
return
self._create_widgets_for_launchfile(_config)
def _create_launchconfig(
self, launchfile_name, port_roscore, folder_name_launchfile='launch'
):
"""
@rtype: ROSLaunchConfig
@raises RLException: raised by roslaunch.config.load_config_default.
"""
pkg_name = self._combobox_pkg.currentText()
try:
launchfile = os.path.join(
self._rospack.get_path(pkg_name),
folder_name_launchfile,
launchfile_name,
)
except IndexError as e:
raise RLException('IndexError: {}'.format(e))
try:
launch_config = roslaunch.config.load_config_default(
[launchfile], port_roscore
)
except rospkg.common.ResourceNotFound as e:
raise RLException('ResourceNotFound: {}'.format(e))
except RLException as e:
raise e
return launch_config
def _create_widgets_for_launchfile(self, config):
self._config = config
# Delete old nodes' GUIs.
del self._node_controllers[:]
self._delegate.clear_node_widgets()
# reset the data model
self._datamodel.clear()
self._datamodel.setColumnCount(1)
self._datamodel.setRowCount(len(self._config.nodes))
# Loop per xml element
for i, node in enumerate(self._config.nodes):
proxy = NodeProxy(self._run_id, self._config.master.uri, node)
nodewidget_index = self._datamodel.index(i, 0, QModelIndex())
node_widget = self._delegate.create_node_widget(
nodewidget_index, proxy.config, StatusIndicator()
)
# TODO: use tree view delegates correctly instead of
# empty QStandardItemModel
self._datamodel.setItem(i, QStandardItem())
self._treeview.setIndexWidget(nodewidget_index, node_widget)
node_controller = NodeController(proxy, node_widget)
self._node_controllers.append(node_controller)
rospy.logdebug(
'loop #%d proxy.config.namespace=%s ' + 'proxy.config.name=%s',
i,
proxy.config.namespace,
proxy.config.name,
)
self._parent.set_node_controllers(self._node_controllers)
def _update_pkgs_contain_launchfiles(self):
"""
Inspired by rqt_msg.MessageWidget._update_pkgs_contain_launchfiles
"""
self._package_update = True
packages = sorted(
[
pkg_tuple[0]
for pkg_tuple in RqtRoscommUtil.iterate_packages('launch')
]
)
self._package_list = packages
rospy.logdebug('pkgs={}'.format(self._package_list))
previous_package = self._settings.value('package', '')
self._combobox_pkg.clear()
self._combobox_pkg.addItems(self._package_list)
if previous_package in self._package_list:
index = self._package_list.index(previous_package)
else:
index = 0
self._package_update = False
self._combobox_pkg.setCurrentIndex(index)
def _refresh_launchfiles(self, package=None):
"""
Inspired by rqt_msg.MessageWidget._refresh_msgs
"""
if package is None or len(package) == 0 or self._package_update:
return
self._launchfile_update = True
previous_launchfile = self._settings.value('launchfile_name', '')
self._settings.setValue('package', package)
self._settings.sync()
self._launchfile_instances = [] # Launch[]
# TODO: RqtRoscommUtil.list_files's 2nd arg 'subdir' should NOT be
# hardcoded later.
_launch_instance_list = RqtRoscommUtil.list_files(package, 'launch')
rospy.logdebug(
'_refresh_launches package={} instance_list={}'.format(
package, _launch_instance_list
)
)
self._launchfile_instances = [
x.split('/')[1] for x in _launch_instance_list
]
self._combobox_launchfile_name.clear()
self._combobox_launchfile_name.addItems(self._launchfile_instances)
if previous_launchfile in self._launchfile_instances:
index = self._launchfile_instances.index(previous_launchfile)
else:
index = 0
self._launchfile_update = False
self._combobox_launchfile_name.setCurrentIndex(index)
def load_parameters(self):
"""
Loads all global parameters into roscore.
"""
run_id = (
self._run_id
if self._run_id is not None
else roslaunch.rlutil.get_or_generate_uuid(None, True)
)
runner = roslaunch.ROSLaunchRunner(run_id, self._config)
runner._load_parameters()
msg = 'Loaded %d parameters to parameter server.' % len(
self._config.params
)
self.sig_sysmsg.emit(msg)
rospy.logdebug(msg)
def save_settings(self, plugin_settings, instance_settings):
# instance_settings.set_value('splitter', self._splitter.saveState())
pass
def restore_settings(self, plugin_settings, instance_settings):
# if instance_settings.contains('splitter'):
# self._splitter.restoreState(instance_settings.value('splitter'))
# else:
# self._splitter.setSizes([100, 100, 200])
pass
