def updateCapabilities(self, masteruri, cfg_name, description):
'''
Updates the capabilities view.
@param masteruri: the ROS master URI of updated ROS master.
@type masteruri: C{str}
@param cfg_name: The name of the node provided the capabilities description.
@type cfg_name: C{str}
@param description: The capabilities description object.
@type description: U{multimaster_msgs_fkie.srv.ListDescription<http://docs.ros.org/api/multimaster_msgs_fkie/html/srv/ListDescription.html>} Response
'''
# if it is a new masteruri add a new column
robot_index = self._robotHeader.index(masteruri)
robot_name = description.robot_name if description.robot_name else nm.nameres().mastername(masteruri)
# append a new robot
new_robot = False
if robot_index == -1:
robot_index = self._robotHeader.insertSortedItem(masteruri, robot_name)
self.insertColumn(robot_index)
# robot_index = self.columnCount()-1
# self._robotHeader.insertItem(robot_index)
self._robotHeader.setDescription(robot_index, cfg_name, masteruri, robot_name, description.robot_type, description.robot_descr.replace("\\n ", "\n").decode(sys.getfilesystemencoding()), description.robot_images)
item = QTableWidgetItem()
item.setSizeHint(QSize(96, 96))
self.setHorizontalHeaderItem(robot_index, item)
self.horizontalHeaderItem(robot_index).setText(robot_name)
new_robot = True
else:
# update
self._robotHeader.setDescription(robot_index, cfg_name, masteruri, robot_name, description.robot_type, description.robot_descr.replace("\\n ", "\n").decode(sys.getfilesystemencoding()), description.robot_images)
# set the capabilities
for c in description.capabilities:
cap_index = self._capabilityHeader.index(c.name.decode(sys.getfilesystemencoding()))
if cap_index == -1 or new_robot:
if cap_index == -1:
# append a new capability
cap_index = self._capabilityHeader.insertSortedItem(c.name.decode(sys.getfilesystemencoding()), c.name.decode(sys.getfilesystemencoding()))
self.insertRow(cap_index)
self.setRowHeight(cap_index, 96)
self._capabilityHeader.setDescription(cap_index, cfg_name, c.name.decode(sys.getfilesystemencoding()), c.name.decode(sys.getfilesystemencoding()), c.type, c.description.replace("\\n ", "\n").decode(sys.getfilesystemencoding()), c.images)
item = QTableWidgetItem()
item.setSizeHint(QSize(96, 96))
self.setVerticalHeaderItem(cap_index, item)
self.verticalHeaderItem(cap_index).setText(c.name.decode(sys.getfilesystemencoding()))
else:
self._capabilityHeader.setDescription(cap_index, cfg_name, c.name.decode(sys.getfilesystemencoding()), c.name.decode(sys.getfilesystemencoding()), c.type, c.description.replace("\\n ", "\n").decode(sys.getfilesystemencoding()), c.images)
# add the capability control widget
controlWidget = CapabilityControlWidget(masteruri, cfg_name, c.namespace, c.nodes)
controlWidget.start_nodes_signal.connect(self._start_nodes)
controlWidget.stop_nodes_signal.connect(self._stop_nodes)
self.setCellWidget(cap_index, robot_index, controlWidget)
self._capabilityHeader.controlWidget.insert(cap_index, controlWidget)
else:
self._capabilityHeader.updateDescription(cap_index, cfg_name, c.name.decode(sys.getfilesystemencoding()), c.name.decode(sys.getfilesystemencoding()), c.type, c.description.replace("\\n ", "\n").decode(sys.getfilesystemencoding()), c.images)
try:
self.cellWidget(cap_index, robot_index).updateNodes(cfg_name, c.namespace, c.nodes)
except:
import traceback
print traceback.format_exc()
def cb_points(self, p):
for i in range(len(p.ids)):
self.tracks[p.ids[i]].append( (int(p.x[i]),int(p.y[i])) )
if p.ids[i] not in self.ids:
row = self.id_table.rowCount()
self.id_table.insertRow(row)
i0 = QTableWidgetItem()
i1 = QTableWidgetItem()
i0.setData(Qt.DisplayRole,p.ids[i])
i1.setData(Qt.DisplayRole,0)
i0.setFlags(i0.flags() ^ Qt.ItemIsEditable)
self.id_table.setItem(row,0,i0)
self.id_table.setItem(row,1,i1)
self.ids[p.ids[i]] = [i0,i1]
def updateCapabilities(self, masteruri, cfg_name, description):
'''
Updates the capabilities view.
:param str masteruri: the ROS master URI of updated ROS master.
:param str cfg_name: The name of the node provided the capabilities description.
:param description: The capabilities description object.
:type description: fkie_node_manager_daemon.launch_description.LaunchDescription
'''
# if it is a new masteruri add a new column
robot_name = description.robot_name
robot_index = self._robotHeader.index(masteruri)
# append a new robot
descr_utf8 = utf8(description.robot_descr.replace("\\n ", "\n"))
if robot_index == -1:
robot_index = self._robotHeader.insertSortedItem(
masteruri, robot_name)
self.insertColumn(robot_index)
self._robotHeader.setDescription(robot_index, cfg_name, masteruri,
robot_name,
description.robot_type,
descr_utf8,
description.robot_images)
item = QTableWidgetItem()
item.setSizeHint(QSize(96, 96))
self.setHorizontalHeaderItem(robot_index, item)
if robot_name:
self.horizontalHeaderItem(robot_index).setText(robot_name)
else:
# update
self._robotHeader.setDescription(robot_index, cfg_name, masteruri,
robot_name,
description.robot_type,
descr_utf8,
description.robot_images)
# set the capabilities
for c in description.capabilities:
cname = utf8(c.name)
cdescription = utf8(c.description.replace("\\n ", "\n"))
cap_index = self._capabilityHeader.index(cname)
if cap_index == -1 or self.cellWidget(cap_index,
robot_index) is None:
if cap_index == -1:
# append a new capability
cap_index = self._capabilityHeader.insertSortedItem(
cname, cname)
self.insertRow(cap_index)
self.setRowHeight(cap_index, 96)
self._capabilityHeader.setDescription(
cap_index, cfg_name, cname, cname, c.type,
cdescription, c.images)
item = QTableWidgetItem()
item.setSizeHint(QSize(96, 96))
self.setVerticalHeaderItem(cap_index, item)
self.verticalHeaderItem(cap_index).setText(cname)
else:
self._capabilityHeader.setDescription(
cap_index, cfg_name, cname, cname, c.type,
cdescription, c.images)
# add the capability control widget
controlWidget = CapabilityControlWidget(
masteruri, cfg_name, c.namespace, c.nodes)
controlWidget.start_nodes_signal.connect(self._start_nodes)
controlWidget.stop_nodes_signal.connect(self._stop_nodes)
self.setCellWidget(cap_index, robot_index, controlWidget)
self._capabilityHeader.controlWidget.insert(
cap_index, controlWidget)
else:
self._capabilityHeader.update_description(
cap_index, cfg_name, cname, cname, c.type, cdescription,
c.images)
try:
self.cellWidget(cap_index, robot_index).updateNodes(
cfg_name, c.namespace, c.nodes)
except Exception:
import traceback
print(traceback.format_exc())
def _update_item(self, row, col, color, string):
item = QTableWidgetItem(string)
item.setBackground(color)
self._widget.findChild(QTableWidget,
'killTable').setItem(row, col, item)
def cb_points(self, p):
for i in range(len(p.ids)):
self.tracks[p.ids[i]].append((int(p.x[i]), int(p.y[i])))
if p.ids[i] not in self.ids:
row = self.id_table.rowCount()
self.id_table.insertRow(row)
i0 = QTableWidgetItem()
i1 = QTableWidgetItem()
i0.setData(Qt.DisplayRole, p.ids[i])
i1.setData(Qt.DisplayRole, 0)
i0.setFlags(i0.flags() ^ Qt.ItemIsEditable)
self.id_table.setItem(row, 0, i0)
self.id_table.setItem(row, 1, i1)
self.ids[p.ids[i]] = [i0, i1]
def _update_item(self, row, col, color, string):
item = QTableWidgetItem(string)
item.setBackground(color)
self._widget.findChild(QTableWidget, 'killTable').setItem(row, col, item)
