class ParamWidget(QWidget):
_TITLE_PLUGIN = 'Param'
def __init__(self, context, node=None):
"""
This class is intended to be called by rqt plugin framework class.
Currently (12/12/2012) the whole widget is splitted into 2 panes:
one on left allows you to choose the node(s) you work on. Right side
pane lets you work with the parameters associated with the node(s) you
select on the left.
"""
#TODO(Isaac) .ui file needs to replace the GUI components declaration
# below.
super(ParamWidget, self).__init__()
self.setObjectName(self._TITLE_PLUGIN)
_hlayout_top = QHBoxLayout(self)
self._splitter = QSplitter(self)
_hlayout_top.addWidget(self._splitter)
nodesel = NodeSelectorWidget()
reconf_widget = ParameditWidget()
self._splitter.insertWidget(0, nodesel)
self._splitter.insertWidget(1, reconf_widget)
nodesel.sig_node_selected.connect(reconf_widget.show_reconf)
if node is not None:
title = self._TITLE_PLUGIN + ' %s' % node
else:
title = self._TITLE_PLUGIN
self.setObjectName(title)
def shutdown(self):
#TODO(Isaac) Needs implemented. Trigger dynamic_reconfigure to unlatch
# subscriber.
pass
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self._splitter.saveState())
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])
class ParamWidget(QWidget):
_TITLE_PLUGIN = 'Dynamic Reconfigure'
# To be connected to PluginContainerWidget
sig_sysmsg = Signal(str)
sig_sysprogress = Signal(str)
def __init__(self, context, node=None):
"""
This class is intended to be called by rqt plugin framework class.
Currently (12/12/2012) the whole widget is splitted into 2 panes:
one on left allows you to choose the node(s) you work on. Right side
pane lets you work with the parameters associated with the node(s) you
select on the left.
(12/27/2012) Despite the pkg name is changed to rqt_reconfigure to
reflect the available functionality, file & class names remain
'param', expecting all the parameters will become handle-able.
"""
super(ParamWidget, self).__init__()
self.setObjectName(self._TITLE_PLUGIN)
self.setWindowTitle(self._TITLE_PLUGIN)
rp = rospkg.RosPack()
#TODO: .ui file needs to replace the GUI components declaration
# below. For unknown reason, referring to another .ui files
# from a .ui that is used in this class failed. So for now,
# I decided not use .ui in this class.
# If someone can tackle this I'd appreciate.
_hlayout_top = QHBoxLayout(self)
self._splitter = QSplitter(self)
_hlayout_top.addWidget(self._splitter)
_vlayout_nodesel_widget = QWidget()
_vlayout_nodesel_side = QVBoxLayout()
_hlayout_filter_widget = QWidget(self)
_hlayout_filter = QHBoxLayout()
self._text_filter = TextFilter()
self.filter_lineedit = TextFilterWidget(self._text_filter, rp)
self.filterkey_label = QLabel("&Filter key:")
self.filterkey_label.setBuddy(self.filter_lineedit)
_hlayout_filter.addWidget(self.filterkey_label)
_hlayout_filter.addWidget(self.filter_lineedit)
_hlayout_filter_widget.setLayout(_hlayout_filter)
self._nodesel_widget = NodeSelectorWidget(self, rp, self.sig_sysmsg)
_vlayout_nodesel_side.addWidget(_hlayout_filter_widget)
_vlayout_nodesel_side.addWidget(self._nodesel_widget)
_vlayout_nodesel_side.setSpacing(1)
_vlayout_nodesel_widget.setLayout(_vlayout_nodesel_side)
reconf_widget = ParameditWidget(rp)
self._splitter.insertWidget(0, _vlayout_nodesel_widget)
self._splitter.insertWidget(1, reconf_widget)
# 1st column, _vlayout_nodesel_widget, to minimize width.
# 2nd col to keep the possible max width.
self._splitter.setStretchFactor(0, 0)
self._splitter.setStretchFactor(1, 1)
# Signal from paramedit widget to node selector widget.
reconf_widget.sig_node_disabled_selected.connect(
self._nodesel_widget.node_deselected)
# Pass name of node to editor widget
self._nodesel_widget.sig_node_selected.connect(
reconf_widget.show_reconf)
if not node:
title = self._TITLE_PLUGIN
else:
title = self._TITLE_PLUGIN + ' %s' % node
self.setObjectName(title)
#Connect filter signal-slots.
self._text_filter.filter_changed_signal.connect(
self._filter_key_changed)
def shutdown(self):
#TODO: Needs implemented. Trigger dynamic_reconfigure to unlatch
# subscriber.
pass
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self._splitter.saveState())
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])
def get_filter_text(self):
"""
:rtype: QString
"""
return self.filter_lineedit.text()
def _filter_key_changed(self):
self._nodesel_widget.set_filter(self._text_filter)
#TODO: This method should be integrated into common architecture. I just
# can't think of how to do so within current design.
def emit_sysmsg(self, msg_str):
self.sig_sysmsg.emit(msg_str)
class ParamWidget(QWidget):
_TITLE_PLUGIN = 'Dynamic Reconfigure'
# To be connected to PluginContainerWidget
sig_sysmsg = Signal(str)
sig_sysprogress = Signal(str)
# To make selections from CLA
sig_selected = Signal(str)
def __init__(self, context, node=None):
"""
This class is intended to be called by rqt plugin framework class.
Currently (12/12/2012) the whole widget is splitted into 2 panes:
one on left allows you to choose the node(s) you work on. Right side
pane lets you work with the parameters associated with the node(s) you
select on the left.
(12/27/2012) Despite the pkg name is changed to rqt_reconfigure to
reflect the available functionality, file & class names remain
'param', expecting all the parameters will become handle-able.
"""
super(ParamWidget, self).__init__()
self.setObjectName(self._TITLE_PLUGIN)
self.setWindowTitle(self._TITLE_PLUGIN)
rp = rospkg.RosPack()
#TODO: .ui file needs to replace the GUI components declaration
# below. For unknown reason, referring to another .ui files
# from a .ui that is used in this class failed. So for now,
# I decided not use .ui in this class.
# If someone can tackle this I'd appreciate.
_hlayout_top = QHBoxLayout(self)
_hlayout_top.setContentsMargins(QMargins(0, 0, 0, 0))
self._splitter = QSplitter(self)
_hlayout_top.addWidget(self._splitter)
_vlayout_nodesel_widget = QWidget()
_vlayout_nodesel_side = QVBoxLayout()
_hlayout_filter_widget = QWidget(self)
_hlayout_filter = QHBoxLayout()
self._text_filter = TextFilter()
self.filter_lineedit = TextFilterWidget(self._text_filter, rp)
self.filterkey_label = QLabel("&Filter key:")
self.filterkey_label.setBuddy(self.filter_lineedit)
_hlayout_filter.addWidget(self.filterkey_label)
_hlayout_filter.addWidget(self.filter_lineedit)
_hlayout_filter_widget.setLayout(_hlayout_filter)
self._nodesel_widget = NodeSelectorWidget(self, rp, self.sig_sysmsg)
_vlayout_nodesel_side.addWidget(_hlayout_filter_widget)
_vlayout_nodesel_side.addWidget(self._nodesel_widget)
_vlayout_nodesel_side.setSpacing(1)
_vlayout_nodesel_widget.setLayout(_vlayout_nodesel_side)
reconf_widget = ParameditWidget(rp)
self._splitter.insertWidget(0, _vlayout_nodesel_widget)
self._splitter.insertWidget(1, reconf_widget)
# 1st column, _vlayout_nodesel_widget, to minimize width.
# 2nd col to keep the possible max width.
self._splitter.setStretchFactor(0, 0)
self._splitter.setStretchFactor(1, 1)
# Signal from paramedit widget to node selector widget.
reconf_widget.sig_node_disabled_selected.connect(
self._nodesel_widget.node_deselected)
# Pass name of node to editor widget
self._nodesel_widget.sig_node_selected.connect(
reconf_widget.show_reconf)
if not node:
title = self._TITLE_PLUGIN
else:
title = self._TITLE_PLUGIN + ' %s' % node
self.setObjectName(title)
#Connect filter signal-slots.
self._text_filter.filter_changed_signal.connect(
self._filter_key_changed)
# Open any clients indicated from command line
self.sig_selected.connect(self._nodesel_widget.node_selected)
for rn in [rospy.resolve_name(c) for c in context.argv()]:
if rn in self._nodesel_widget.get_paramitems():
self.sig_selected.emit(rn)
else:
rospy.logwarn('Could not find a dynamic reconfigure client named \'%s\'', str(rn))
def shutdown(self):
#TODO: Needs implemented. Trigger dynamic_reconfigure to unlatch
# subscriber.
pass
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self._splitter.saveState())
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])
def get_filter_text(self):
"""
:rtype: QString
"""
return self.filter_lineedit.text()
def _filter_key_changed(self):
self._nodesel_widget.set_filter(self._text_filter)
#TODO: This method should be integrated into common architecture. I just
# can't think of how to do so within current design.
def emit_sysmsg(self, msg_str):
self.sig_sysmsg.emit(msg_str)