def __init__(self):
super(UI, self).__init__(None)
self.lock = threading.RLock()
with self.lock:
self.setWindowTitle("rxui")
self.scene = QGraphicsScene()
self.scene.selectionChanged.connect(self.selection_changed)
self.graphics = QGraphicsView(self.scene)
self.node_edit = NodeEdit()
self.param_edit = ParamEdit()
self.service_edit = ServiceEdit()
self.tab = QTabWidget()
self.tab.addTab(self.node_edit, "Run")
self.tab.addTab(self.param_edit, "Parameters")
self.tab.addTab(self.service_edit, "Services")
self.info_label = QLabel()
self.edit_params_button = QPushButton("&Edit Parameters")
self.edit_params_button.clicked.connect(self.edit_params)
self.exit_button = QPushButton("E&xit")
self.exit_button.clicked.connect(sys.exit)
self.bottom_right_buttons_layout = QHBoxLayout()
self.bottom_right_buttons_layout.addWidget(self.edit_params_button)
self.bottom_right_buttons_layout.addWidget(self.exit_button)
self.right_col_layout = QVBoxLayout()
self.right_col_layout.align = Qt.AlignTop
self.right_col_layout.addWidget(self.tab)
self.right_col_layout.addWidget(self.info_label)
#self.right_col_layout.addWidget(self.edit_params_button)
self.right_col_layout.addLayout(self.bottom_right_buttons_layout)
self.right_col_widget = QWidget()
self.right_col_widget.setLayout(self.right_col_layout)
self.splitter = QSplitter()
self.splitter.setHandleWidth(8)
self.splitter.addWidget(self.graphics)
self.splitter.addWidget(self.right_col_widget)
self.layout = QHBoxLayout()
self.layout.addWidget(self.splitter)
self.setLayout(self.layout)
self.resize(1000, 700)
self.master = rosgraph.Master("rxui")
self.namespace = ""
self.nodes = {}
self.topics = {}
#self.arrows = {}
#self.pubs = {}
#self.subs = {}
#self.services = {}
self.monitor = GraphMonitor(self)
self.monitor.start()
class UI(QDialog):
def __init__(self):
super(UI, self).__init__(None)
self.lock = threading.RLock()
with self.lock:
self.setWindowTitle("rxui")
self.scene = QGraphicsScene()
self.scene.selectionChanged.connect(self.selection_changed)
self.graphics = QGraphicsView(self.scene)
self.node_edit = NodeEdit()
self.param_edit = ParamEdit()
self.service_edit = ServiceEdit()
self.tab = QTabWidget()
self.tab.addTab(self.node_edit, "Run")
self.tab.addTab(self.param_edit, "Parameters")
self.tab.addTab(self.service_edit, "Services")
self.info_label = QLabel()
self.edit_params_button = QPushButton("&Edit Parameters")
self.edit_params_button.clicked.connect(self.edit_params)
self.exit_button = QPushButton("E&xit")
self.exit_button.clicked.connect(sys.exit)
self.bottom_right_buttons_layout = QHBoxLayout()
self.bottom_right_buttons_layout.addWidget(self.edit_params_button)
self.bottom_right_buttons_layout.addWidget(self.exit_button)
self.right_col_layout = QVBoxLayout()
self.right_col_layout.align = Qt.AlignTop
self.right_col_layout.addWidget(self.tab)
self.right_col_layout.addWidget(self.info_label)
#self.right_col_layout.addWidget(self.edit_params_button)
self.right_col_layout.addLayout(self.bottom_right_buttons_layout)
self.right_col_widget = QWidget()
self.right_col_widget.setLayout(self.right_col_layout)
self.splitter = QSplitter()
self.splitter.setHandleWidth(8)
self.splitter.addWidget(self.graphics)
self.splitter.addWidget(self.right_col_widget)
self.layout = QHBoxLayout()
self.layout.addWidget(self.splitter)
self.setLayout(self.layout)
self.resize(1000, 700)
self.master = rosgraph.Master("rxui")
self.namespace = ""
self.nodes = {}
self.topics = {}
#self.arrows = {}
#self.pubs = {}
#self.subs = {}
#self.services = {}
self.monitor = GraphMonitor(self)
self.monitor.start()
def refresh(self, state):
with self.lock:
repaint = False
nodes_remaining = set(self.nodes.keys())
topics_remaining = set(self.topics.keys())
all_nodes = set.union(*([set([nod for nod in lis if nod.startswith(self.namespace)]) for top, lis in (state[0] + state[1])] + [set()]))
all_topics = set([top for top, lis in (state[0] + state[1])])
for n in all_nodes:
nodes_remaining.discard(n)
if not self.nodes.has_key(n):
newnode = Node(self, n)
self.nodes[n] = newnode
repaint |= True
else:
self.nodes[n].update()
for t in all_topics:
topics_remaining.discard(t)
if not self.topics.has_key(t):
newtopic = Topic(self, t)
self.topics[t] = newtopic
repaint |= True
else:
self.topics[t].update()
#self.scene.addItem(newtopic)
for n in nodes_remaining:
self.scene.update(self.nodes[n].rect)
self.scene.removeItem(self.nodes[n])
del self.nodes[n]
for t in topics_remaining:
self.scene.update(self.topics[t].rect)
self.scene.removeItem(self.topics[t])
del self.topics[t]
repaint |= bool(nodes_remaining)
repaint |= bool(topics_remaining)
for node in self.nodes.values():
node.refresh(state)
for topic in self.topics.values():
topic.refresh(state)
if repaint:
self.scene.update()
#self.scene.addItem(Arrow(self, "/usb_cam/image_raw", self.nodes["/usb_cam"], self.nodes["/sdl_viewer"]))
def edit_params(self):
sel = self.scene.selectedItems()
if(len(sel) == 1):
item = sel[0]
if type(item) == Node:
p = ParamEditor(item.name, self)
p.show()
p.raise_()
p.activateWindow()
def selection_changed(self):
sel = self.scene.selectedItems()
if(len(sel) == 1):
item = sel[0]
#self.node_info.set_node(item)
#self.info_label.setText(item.info_text)
else:
#self.node_info.set_node(None)
#self.info_label.setText("<i>No node selected.</i>")
pass
