def __init__(self, parent=None):
super(XTermWidget, self).__init__(parent)
self.setObjectName('XTermWidget')
self._process = QProcess(self)
self._process.finished.connect(self.close_signal)
# let the widget finish init before embedding xterm
QTimer.singleShot(100, self._embed_xterm)
def __init__(self, parent=None, script_path=None):
# possible use os to do better justice to script path??
if script_path:
xterm_cmd += " -e $SHELL -c 'source %s; $SHELL'" % os.path.abspath(
script_path)
super(XTermWidget, self).__init__(parent)
self.setObjectName('XTermWidget')
self._process = QProcess(self)
self._process.finished.connect(self.close_signal)
# let the widget finish init before embedding xterm
QTimer.singleShot(100, self._embed_xterm)
def on_select_type(self, id, index):
"""Callback for change selection in dropdown lists.
Adds and removes dropdown list to/from the dialog that are used to filter subtypes based on the current selection.
Args:
id (int): Number of the combobox that dispatched the callback
index (int): Number of the selected item in the current combobox (id)
"""
# log.debug(self.__class__.__name__, 'Selected {}: {}'.format(id, index))
# clear filters after selected
while id < len(self._comboBoxes) - 1:
# log.debug(self.__class__.__name__, 'Delete {}'.format(id+1))
label = self.formLayout.labelForField(self._comboBoxes[id + 1])
label.deleteLater()
self._comboBoxes[id + 1].deleteLater()
del self._comboBoxes[id + 1]
# get current selection
if index > 0: # if not 'All' is selected
selected = self._comboBoxes[id].itemData(self._comboBoxes[id].currentIndex())
elif id > 0: # if 'All' is selected and it is not the first combo box
selected = self._comboBoxes[id - 1].itemData(self._comboBoxes[id - 1].currentIndex())
else: # if 'All' is selected and it is the first combo box
selected = self.default_type
# log.debug(self.__class__.__name__, 'Selected type {}'.format(selected))
# create new combo box if not 'All' is selected
if index > 0:
self.create_comboBox(selected)
# log.debug(self.__class__.__name__, 'Created {}'.format(len(self._comboBoxes)-1))
# update list of individuals
self.comboBox_individual.clear()
if index > 0 or (id > 0 and index == 0):
self.comboBox_individual.addItem('new ' + utils.ontology_type2name(selected), selected)
[self.comboBox_individual.addItem(l, d) for l, d in self.get_individuals(selected).iteritems()]
QTimer.singleShot(0, self.adjustSize)
def on_load_profile_file(self, path):
'''
Load the profile file.
:param path: the path of the profile file.
:type path: str
'''
rospy.loginfo("Load profile %s" % path)
self.progressBar.setValue(0)
self.setVisible(True)
self.setWindowTitle("%s profile started" %
os.path.basename(path).rstrip('.nmprofile'))
hasstart = False
if path:
try:
import yaml
with open(path, 'r') as f:
# print yaml.load(f.read())
content = yaml.load(f.read())
if not isinstance(content, dict):
raise Exception("Mailformed profile: %s" %
os.path.basename(path))
for muri, master_dict in content.items():
local_hostname = get_hostname(
self._main_window.getMasteruri())
rmuri = muri.replace('$LOCAL$', local_hostname)
master = self._main_window.getMaster(rmuri)
running_nodes = master.getRunningNodesIfLocal()
usr = None
self._current_profile[rmuri] = set()
if 'user' in master_dict:
usr = master_dict['user']
if master_dict['mastername'] and master_dict[
'mastername']:
nm.nameres().add_master_entry(
master.masteruri, master_dict['mastername'],
master_dict['address'])
hostname = master_dict['address'].replace(
'$LOCAL$', local_hostname)
if 'master_discovery' in master_dict:
self._start_node_from_profile(
master,
hostname,
'master_discovery_fkie',
'master_discovery',
usr,
cfg=master_dict['master_discovery'])
self._current_profile[rmuri].add(
'/master_discovery')
if 'master_sync' in master_dict:
self._start_node_from_profile(
master,
hostname,
'master_sync_fkie',
'master_sync',
usr,
cfg=master_dict['master_sync'])
self._current_profile[rmuri].add('/master_sync')
if 'zeroconf' in master_dict:
self._start_node_from_profile(
master,
hostname,
'master_discovery_fkie',
'zeroconf',
usr,
cfg=master_dict['zeroconf'])
self._current_profile[rmuri].add('/zeroconf')
try:
do_start = []
do_not_stop = {
'/rosout',
rospy.get_name(), '/node_manager',
'/master_discovery', '/master_sync',
'*default_cfg', '/zeroconf'
}
configs = master_dict['configs']
conf_set = set()
for cfg_name, cmdict in configs.items():
cfg_name = cfg_name.replace(
'$LOCAL$', local_hostname)
if cfg_name.startswith("pkg://"):
cfg_name = os.path.abspath(
resolve_url(cfg_name))
conf_set.add(cfg_name)
reload_launch = True
argv = []
is_default = False
if 'default' in cmdict:
if cmdict['default']:
# it is a default configuration, test for load or not
is_default = True
if 'argv_used' in cmdict['params']:
argv = cmdict['params'][
'argv_used']
if cfg_name in master.default_cfgs:
reload_launch = False
if argv:
params = get_rosparam(
cfg_name, rmuri)
if 'argv_used' in params:
reload_launch = set(
params['argv_used']
) != set(argv)
if reload_launch:
self._main_window.on_load_launch_as_default_bypkg(
cmdict['params']['package'],
cmdict['params']
['launch_file'], master, argv,
local_hostname)
else:
do_not_stop.add(cfg_name)
elif 'argv' in cmdict:
if 'argv' in cmdict:
argv = cmdict['argv']
# do we need to load to load/reload launch file
if cfg_name in master.launchfiles:
reload_launch = set(
master.launchfiles[cfg_name].argv
) != set(argv)
if reload_launch:
self._main_window.launch_dock.load_file(
cfg_name, argv, master.masteruri)
if 'nodes' in cmdict:
self._current_profile[rmuri].update(
cmdict['nodes'])
force_start = True
cfg = cfg_name if not is_default else roslib.names.ns_join(
cfg_name, 'run')
if not reload_launch:
force_start = False
do_not_stop.update(set(
cmdict['nodes']))
do_start.append(
(reload_launch, cfg,
cmdict['nodes'], force_start))
else:
do_start.append(
(reload_launch, cfg,
cmdict['nodes'], force_start))
# close unused configurations
for lfile in set(
master.launchfiles.keys()) - conf_set:
master._close_cfg(lfile)
master.stop_nodes_by_name(running_nodes.keys(),
True, do_not_stop)
for reload_launch, cfg, nodes, force_start in do_start:
if nodes:
hasstart = True
if reload_launch:
master.start_nodes_after_load_cfg(
cfg.rstrip('/run'), list(nodes),
force_start)
else:
master.start_nodes_by_name(
list(nodes), cfg, force_start)
except Exception as ml:
import traceback
print traceback.format_exc(1)
rospy.logwarn(
"Can not load launch file for %s: %s" %
(muri, ml))
except Exception as e:
import traceback
print traceback.format_exc(1)
WarningMessageBox(QMessageBox.Warning, "Load profile error",
'Error while load profile', str(e)).exec_()
if not hasstart:
self.update_progress()
else:
QTimer.singleShot(1000, self.update_progress)
def on_load_profile_file(self, grpc_url):
'''
Load the profile file.
:param str grpc_url: the path of the profile file.
'''
_url, path = nmdurl.split(grpc_url)
rospy.loginfo("Load profile %s" % path)
self.progressBar.setValue(0)
self.setVisible(True)
self.setWindowTitle("%s profile started" %
os.path.basename(path).rstrip('.nmprofile'))
hasstart = False
if path:
try:
with open(path, 'r') as f:
content = ruamel.yaml.load(f.read(),
Loader=ruamel.yaml.Loader)
if not isinstance(content, dict):
raise Exception("Mailformed profile: %s" %
os.path.basename(path))
for muri, master_dict in content.items():
local_hostname = get_hostname(
self._main_window.getMasteruri())
rmuri = muri.replace('$LOCAL$', local_hostname)
master = self._main_window.getMaster(rmuri)
running_nodes = master.get_nodes_runningIfLocal()
usr = None
self._current_profile[rmuri] = set()
if 'user' in master_dict:
usr = master_dict['user']
if master_dict['mastername'] and master_dict[
'mastername']:
nm.nameres().add_master_entry(
master.masteruri, master_dict['mastername'],
master_dict['address'])
hostname = master_dict['address'].replace(
'$LOCAL$', local_hostname)
if 'master_discovery' in master_dict:
self._start_node_from_profile(
master,
hostname,
'fkie_master_discovery',
'master_discovery',
usr,
cfg=master_dict['master_discovery'])
self._current_profile[rmuri].add(
'/master_discovery')
if 'master_sync' in master_dict:
self._start_node_from_profile(
master,
hostname,
'fkie_master_sync',
'master_sync',
usr,
cfg=master_dict['master_sync'])
self._current_profile[rmuri].add('/master_sync')
if 'zeroconf' in master_dict:
self._start_node_from_profile(
master,
hostname,
'fkie_master_discovery',
'zeroconf',
usr,
cfg=master_dict['zeroconf'])
self._current_profile[rmuri].add('/zeroconf')
if 'node_manager_daemon' in master_dict:
self._start_node_from_profile(
master,
hostname,
'fkie_node_manager_daemon',
'node_manager_daemon',
usr,
cfg=master_dict['node_manager_daemon'])
self._current_profile[rmuri].add(
'/node_manager_daemon')
try:
do_start = []
do_not_stop = {
'/rosout',
rospy.get_name(), '/node_manager',
'/master_discovery', '/master_sync',
'*default_cfg', '/zeroconf',
'/node_manager_daemon'
}
configs = master_dict['configs']
conf_set = set()
for cfg_name, cmdict in configs.items():
cfg_name = cfg_name.replace(
'$LOCAL$', local_hostname)
if cfg_name.startswith("pkg://"):
cfg_name = resolve_pkg(
cfg_name, nmdurl.nmduri(rmuri))
conf_set.add(cfg_name)
reload_launch = True
args = {}
if 'args' in cmdict:
if 'args' in cmdict:
args = cmdict['args']
# do we need to load to load/reload launch file
if cfg_name in master.launchfiles:
reload_launch = set(
master.launchfiles[cfg_name].args.
itervalues()) != set(
args.itervalues())
if reload_launch:
self._main_window.launch_dock.load_file(
cfg_name, args, master.masteruri)
if 'nodes' in cmdict:
self._current_profile[rmuri].update(
cmdict['nodes'])
force_start = True
cfg = cfg_name
if not reload_launch:
force_start = False
do_not_stop.update(set(
cmdict['nodes']))
do_start.append(
(reload_launch, cfg,
cmdict['nodes'], force_start))
else:
do_start.append(
(reload_launch, cfg,
cmdict['nodes'], force_start))
# close unused configurations
for lfile in set(
master.launchfiles.keys()) - conf_set:
master._close_cfg(lfile)
master.stop_nodes_by_name(running_nodes.keys(),
True, do_not_stop)
for reload_launch, cfg, nodes, force_start in do_start:
if nodes:
hasstart = True
if reload_launch:
master.start_nodes_after_load_cfg(
cfg, list(nodes), force_start)
else:
master.start_nodes_by_name(
list(nodes), cfg, force_start)
except Exception as ml:
import traceback
print(utf8(traceback.format_exc(1)))
rospy.logwarn(
"Can not load launch file for %s: %s" %
(muri, utf8(ml)))
except Exception as e:
import traceback
print(traceback.format_exc(1))
MessageBox.warning(self, "Load profile error",
'Error while load profile', utf8(e))
if not hasstart:
self.update_progress()
else:
QTimer.singleShot(1000, self.update_progress)
def on_load_profile_file(self, path):
'''
Load the profile file.
:param path: the path of the profile file.
:type path: str
'''
rospy.loginfo("Load profile %s" % path)
self.progressBar.setValue(0)
self.setVisible(True)
self.setWindowTitle("%s profile started" % os.path.basename(path).rstrip('.nmprofile'))
hasstart = False
if path:
try:
import yaml
with open(path, 'r') as f:
# print yaml.load(f.read())
content = yaml.load(f.read())
if not isinstance(content, dict):
raise Exception("Mailformed profile: %s" % os.path.basename(path))
for muri, master_dict in content.items():
local_hostname = get_hostname(self._main_window.getMasteruri())
rmuri = muri.replace('$LOCAL$', local_hostname)
master = self._main_window.getMaster(rmuri)
running_nodes = master.getRunningNodesIfLocal()
usr = None
self._current_profile[rmuri] = set()
if 'user' in master_dict:
usr = master_dict['user']
if master_dict['mastername'] and master_dict['mastername']:
nm.nameres().add_master_entry(master.masteruri, master_dict['mastername'], master_dict['address'])
hostname = master_dict['address'].replace('$LOCAL$', local_hostname)
if 'master_discovery' in master_dict:
self._start_node_from_profile(master, hostname, 'master_discovery_fkie', 'master_discovery', usr, cfg=master_dict['master_discovery'])
self._current_profile[rmuri].add('/master_discovery')
if 'master_sync' in master_dict:
self._start_node_from_profile(master, hostname, 'master_sync_fkie', 'master_sync', usr, cfg=master_dict['master_sync'])
self._current_profile[rmuri].add('/master_sync')
if 'zeroconf' in master_dict:
self._start_node_from_profile(master, hostname, 'master_discovery_fkie', 'zeroconf', usr, cfg=master_dict['zeroconf'])
self._current_profile[rmuri].add('/zeroconf')
try:
do_start = []
do_not_stop = {'/rosout', rospy.get_name(), '/node_manager', '/master_discovery', '/master_sync', '*default_cfg', '/zeroconf'}
configs = master_dict['configs']
conf_set = set()
for cfg_name, cmdict in configs.items():
cfg_name = cfg_name.replace('$LOCAL$', local_hostname)
if cfg_name.startswith("pkg://"):
cfg_name = os.path.abspath(resolve_url(cfg_name))
conf_set.add(cfg_name)
reload_launch = True
argv = []
is_default = False
if 'default' in cmdict:
if cmdict['default']:
# it is a default configuration, test for load or not
is_default = True
if 'argv_used' in cmdict['params']:
argv = cmdict['params']['argv_used']
if cfg_name in master.default_cfgs:
reload_launch = False
if argv:
params = get_rosparam(cfg_name, rmuri)
if 'argv_used' in params:
reload_launch = set(params['argv_used']) != set(argv)
if reload_launch:
self._main_window.on_load_launch_as_default_bypkg(cmdict['params']['package'], cmdict['params']['launch_file'], master, argv, local_hostname)
else:
do_not_stop.add(cfg_name)
elif 'argv' in cmdict:
if 'argv' in cmdict:
argv = cmdict['argv']
# do we need to load to load/reload launch file
if cfg_name in master.launchfiles:
reload_launch = set(master.launchfiles[cfg_name].argv) != set(argv)
if reload_launch:
self._main_window.launch_dock.load_file(cfg_name, argv, master.masteruri)
if 'nodes' in cmdict:
self._current_profile[rmuri].update(cmdict['nodes'])
force_start = True
cfg = cfg_name if not is_default else roslib.names.ns_join(cfg_name, 'run')
if not reload_launch:
force_start = False
do_not_stop.update(set(cmdict['nodes']))
do_start.append((reload_launch, cfg, cmdict['nodes'], force_start))
else:
do_start.append((reload_launch, cfg, cmdict['nodes'], force_start))
# close unused configurations
for lfile in set(master.launchfiles.keys()) - conf_set:
master._close_cfg(lfile)
master.stop_nodes_by_name(running_nodes.keys(), True, do_not_stop)
for reload_launch, cfg, nodes, force_start in do_start:
if nodes:
hasstart = True
if reload_launch:
master.start_nodes_after_load_cfg(cfg.rstrip('/run'), list(nodes), force_start)
else:
master.start_nodes_by_name(list(nodes), cfg, force_start)
except Exception as ml:
import traceback
print utf8(traceback.format_exc(1))
rospy.logwarn("Can not load launch file for %s: %s" % (muri, utf8(ml)))
except Exception as e:
import traceback
print traceback.format_exc(1)
MessageBox.warning(self, "Load profile error",
'Error while load profile',
utf8(e))
if not hasstart:
self.update_progress()
else:
QTimer.singleShot(1000, self.update_progress)
def autoScrollLog(self): QTimer.singleShot(0, self._widget.logList.scrollToBottom)
def move_marker():
global time, interval
time += interval
if time < 10.0:
marker.set_time(time)
QTimer.singleShot(int(interval * 1000), move_marker)
def __init__(self, context):
"""初期化処理"""
super(RqtParamManagerPlugin, self).__init__(context)
# クラス変数初期化
self._title = "rqt_param_manager"
self._get_interval = 1000
self._monitor_timer = QTimer()
self._conf_file_path_list = FILE_DEFAULT_PM_CONFS
self._dump_yaml_file_path = ""
self._config_items = []
self._ros_namespace = os.environ.get(KEY_ENV_ROS_NAMESPACE, "")
self._table_input_item_map = {}
self._topic_listeners = []
self._topic_data_map = {}
self._prm_writer = None
self._monitor_param_nms = []
self._param_values = {}
self.setObjectName('RqtParamManagerPlugin')
args = {}
self._parse_args(sys.argv, args)
if (ARG_CONF in args):
self._conf_file_path_list = args[ARG_CONF]
if (len(self._ros_namespace) > 0 and self._ros_namespace[:-1] != "/"):
self._ros_namespace = self._ros_namespace + "/"
# Create QWidget
self._widget = QWidget()
self.ui = Ui_rqt_param_manager_main()
self.ui.setupUi(self._widget)
context.add_widget(self._widget)
tblMon = self.ui.tblMonitor
tblMon.initUI()
tblMon.invoke_topic_pub.connect(self._on_topic_publish_invoke)
self._initEnv(args)
result_load_conf = self._parse_conf_file(self._conf_file_path_list,
self._config_items,
self._topic_data_map)
QTimer.singleShot(0, self._update_window_title)
self.ui.btnClose.clicked.connect(self._app_close)
if not result_load_conf:
self.ui.btnSave.setEnabled(False)
else:
self.ui.btnSave.clicked.connect(self._on_exec_save)
self._monitor_timer.timeout.connect(self._on_period_monitoring)
tblMon.load_items(self._config_items)
self._monitor_param_nms = tblMon.get_monitor_param_nms()
# 定期監視処理の開始
if self._get_interval > 0:
self._on_period_monitoring()
rospy.loginfo("start monitor. interval =%d sec",
self._get_interval)
self._monitor_timer.start(self._get_interval)
self._start_topic_listen(self._config_items)
