class DotGraph(QtGui.QGraphicsScene): def __init__(self): # Init the base class QtGui.QGraphicsScene.__init__(self) # dot_to_qt transforms into Qt elements using dot layout self._dot_to_qt = DotToQtGenerator() # The pydotfactory self._dot_factory = PydotFactory() self._graph = None pass def drawDot(self, data): self._graph = pydot.dot_parser.parse_dot_data(data) # Clean current drawing self.clear() highlight_level = 3 dot = self._dot_factory.create_dot(self._graph) # layout graph and create qt items (nodes, edges) = self._dot_to_qt.dotcode_to_qt_items(dot, highlight_level, True) for node_item in nodes.itervalues(): self.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self) self.setSceneRect(self.itemsBoundingRect())
class DotGraph(QtGui.QGraphicsScene): def __init__(self): #Init the base class QtGui.QGraphicsScene.__init__(self) # dot_to_qt transforms into Qt elements using dot layout self._dot_to_qt = DotToQtGenerator() #The pydotfactory self._dot_factory = PydotFactory() self._graph = None pass def drawDot(self, data): self._graph = pydot.dot_parser.parse_dot_data(data) #Clean current drawing self.clear() highlight_level = 3 dot = self._dot_factory.create_dot(self._graph) # layout graph and create qt items (nodes, edges) = self._dot_to_qt.dotcode_to_qt_items(dot, highlight_level, True) for node_item in nodes.itervalues(): self.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self) self.setSceneRect(self.itemsBoundingRect())
class RosTfTree(QObject): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosTfTree, self).__init__(context) self.initialized = False self.setObjectName('RosTfTree') self._current_dotcode = None self._widget = QWidget() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosTfTreeDotcodeGenerator() self.tf2_buffer_ = tf2_ros.Buffer() self.tf2_listener_ = tf2_ros.TransformListener(self.tf2_buffer_) # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_tf_tree'), 'resource', 'RosTfTree.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosTfTreeUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect(self._update_tf_graph) self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image-x-generic')) self._widget.save_as_image_push_button.pressed.connect(self._save_image) self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) self._force_refresh = False def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): self._widget.auto_fit_graph_check_box.setChecked( instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked( instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_tf_graph() def _update_tf_graph(self): self._force_refresh = True self._refresh_tf_graph() def _refresh_tf_graph(self): if not self.initialized: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): force_refresh = self._force_refresh self._force_refresh = False rospy.wait_for_service('~tf2_frames') tf2_frame_srv = rospy.ServiceProxy('~tf2_frames', FrameGraph) return self.dotcode_generator.generate_dotcode(dotcode_factory=self.dotcode_factory, tf2_frame_srv=tf2_frame_srv, force_refresh=force_refresh) def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _generate_tool_tip(self, url): return url def _redraw_graph_view(self): self._scene.clear() if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level) for node_item in nodes.itervalues(): self._scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _load_dot(self, file_name=None): if file_name is None: file_name, _ = QFileDialog.getOpenFileName( self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return try: fhandle = open(file_name, 'rb') dotcode = fhandle.read() fhandle.close() except IOError: return self._update_graph_view(dotcode) def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_dot(self): file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'frames.dot', self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return file = QFile(file_name) if not file.open(QIODevice.WriteOnly | QIODevice.Text): return file.write(self._current_dotcode) file.close() def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as SVG'), 'frames.svg', self.tr('Scalable Vector Graphic (*.svg)')) if file_name is None or file_name == '': return generator = QSvgGenerator() generator.setFileName(file_name) generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) painter = QPainter(generator) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() def _save_image(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as image'), 'frames.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) if file_name is None or file_name == '': return img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) painter = QPainter(img) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() img.save(file_name)
class Ros2KnowledgeGraph(Plugin): _deferred_fit_in_view = Signal() def __init__(self, context): super(Ros2KnowledgeGraph, self).__init__(context) self._node = context.node self._logger = self._node.get_logger().get_child( 'ros2_knowledge_graph_viewer.ros2_knowledge_graph.Ros2KnowledgeGraph' ) self.setObjectName('Ros2KnowledgeGraph') self._ros2_knowledge_graph = Ros2KnowledgeGraphImpl() self._current_dotcode = None self._widget = QWidget() self.dotcode_factory = PydotFactory() self.dotcode_generator = Ros2KnowledgeGraphDotcodeGenerator() self.dot_to_qt = DotToQtGenerator() _, package_path = get_resource('packages', 'ros2_knowledge_graph_viewer') ui_file = os.path.join(package_path, 'share', 'ros2_knowledge_graph_viewer', 'resource', 'Ros2KnowledgeGraph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('Ros2KnowledgeGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.save_as_svg_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon( QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect( self._save_image) self._update_ros2_knowledge_graph() self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) self._updateTimer = QtCore.QTimer() self._updateTimer.timeout.connect(self.do_update) self._updateTimer.start(10) def do_update(self): # print("Spinnning") rclpy.spin_once(self._ros2_knowledge_graph, timeout_sec=0.01) # print("Spinned") self._update_ros2_knowledge_graph() self._updateTimer = QtCore.QTimer() self._updateTimer.timeout.connect(self.do_update) self._updateTimer.start(10) def _update_ros2_knowledge_graph(self): self._refresh_ros2_knowledge_graph() def _refresh_ros2_knowledge_graph(self): # print("_refresh_ros2_knowledge_graph") self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): return self.dotcode_generator.generate_dotcode( ros2_knowledge_graphinst=self._ros2_knowledge_graph, dotcode_factory=self.dotcode_factory) def _update_graph_view(self, dotcode): # print("_update_graph_view") if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _redraw_graph_view(self): # print("_redraw_graph_view") self._scene.clear() # layout graph and create qt items (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level=3, same_label_siblings=True, scene=self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) self._fit_in_view() def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)')) if file_name is None or file_name == '': return generator = QSvgGenerator() generator.setFileName(file_name) generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) painter = QPainter(generator) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() def _save_image(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) if file_name is None or file_name == '': return img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) painter = QPainter(img) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() img.save(file_name)
def test_simpleIntegration(self): gen = DotToQtGenerator() dotcode = 'digraph graphname {\n\tgraph [rank=same];\n\tnode [label="\\N"];\n\tgraph [bb="0,0,56,116"];\n\tsubgraph cluster_foo {\n\t\tgraph [label=foo,\n\t\t\tbb="1,1,100,101"];\n\t}\n\tfoo [label=foo, shape=box, pos="28,98", width="0.75", height="0.50"];\n\tedge_ [label=edge_, shape=box, pos="28,26", width="0.78", height="0.50"];\n\tfoo -> edge_ [pos="e,28,44 28,80 28,72 28,63 28,54"];\n}\n' (nodes, edges) = gen.dotcode_to_qt_items(dotcode, 1) self.assertEqual(3, len(nodes)) # also for stack self.assertEqual(1, len(nodes))
class ConductorGraph(Plugin): # pyqt signals are always defined as class attributes signal_deferred_fit_in_view = Signal() signal_update_conductor_graph = Signal() # constants # colour definitions from http://www.w3.org/TR/SVG/types.html#ColorKeywords # see also http://qt-project.org/doc/qt-4.8/qcolor.html#setNamedColor link_strength_colours = { 'very_strong': QColor("lime"), 'strong': QColor("chartreuse"), 'normal': QColor("yellow"), 'weak': QColor("orange"), 'very_weak': QColor("red"), 'missing': QColor("powderblue") } def __init__(self, context): self._context = context super(ConductorGraph, self).__init__(context) self.initialised = False self.setObjectName('Conductor Graph') self._node_items = None self._edge_items = None self._node_item_events = {} self._edge_item_events = {} self._client_info_list = {} self._widget = QWidget() self.cur_selected_client_name = "" self.pre_selected_client_name = "" # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory=PygraphvizFactory() self.dotcode_generator = ConductorGraphDotcodeGenerator() self.dot_to_qt = DotToQtGenerator() self._graph = ConductorGraphInfo(self._update_conductor_graph_relay, self._set_network_statisics) rospack = rospkg.RosPack() ui_file = os.path.join(rospack.get_path('concert_conductor_graph'), 'ui', 'conductor_graph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('ConductorGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.highlight_connections_check_box.toggled.connect( self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect( self._redraw_graph_view) self._widget.clusters_check_box.toggled.connect( self._redraw_graph_view) self.signal_deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self.signal_deferred_fit_in_view.emit() self._widget.tabWidget.currentChanged.connect(self._change_client_tab) self.signal_update_conductor_graph.connect( self._update_conductor_graph) context.add_widget(self._widget) def restore_settings(self, plugin_settings, instance_settings): self.initialised = True self._update_conductor_graph() def shutdown_plugin(self): self._graph.shutdown() def _update_conductor_graph(self): if self.initialised: self._redraw_graph_view() self._update_client_tab() def _update_conductor_graph_relay(self): """ This seems a bit obtuse, but we can't just dump the _update_conductor_graph callback on the underlying conductor graph info and trigger it from there since that trigger will operate from a ros thread and pyqt will crash trying to co-ordinate gui changes from an external thread. We need to relay via a signal. """ self.signal_update_conductor_graph.emit() def _update_client_tab(self): print('[conductor graph]: _update_client_tab') self.pre_selected_client_name = self.cur_selected_client_name self._widget.tabWidget.clear() for k in self._graph.concert_clients.values(): # Only pull in information from connected or connectable clients if k.state not in [ concert_msgs.ConcertClientState.AVAILABLE, concert_msgs.ConcertClientState.MISSING, concert_msgs.ConcertClientState.UNINVITED ]: continue main_widget = QWidget() ver_layout = QVBoxLayout(main_widget) ver_layout.setContentsMargins(9, 9, 9, 9) ver_layout.setSizeConstraint(ver_layout.SetDefaultConstraint) #button layout sub_widget = QWidget() sub_widget.setAccessibleName('sub_widget') ver_layout.addWidget(sub_widget) #client information layout context_label = QLabel() context_label.setText("Client information") ver_layout.addWidget(context_label) app_context_widget = QPlainTextEdit() app_context_widget.setObjectName(k.concert_alias + '_' + 'app_context_widget') app_context_widget.setAccessibleName('app_context_widget') app_context_widget.appendHtml(k.get_rapp_context()) app_context_widget.setReadOnly(True) cursor = app_context_widget.textCursor() cursor.movePosition(QTextCursor.Start, QTextCursor.MoveAnchor, 0) app_context_widget.setTextCursor(cursor) ver_layout.addWidget(app_context_widget) # new icon path = "" if k.is_new: # This only changes when the concert client changes topic publishes anew path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../resources/images/new.gif") #add tab self._widget.tabWidget.addTab(main_widget, QIcon(path), k.concert_alias) #set previous selected tab for k in range(self._widget.tabWidget.count()): tab_text = self._widget.tabWidget.tabText(k) if tab_text == self.pre_selected_client_name: self._widget.tabWidget.setCurrentIndex(k) def _change_client_tab(self, index): self.cur_selected_client_name = self._widget.tabWidget.tabText( self._widget.tabWidget.currentIndex()) def _set_network_statisics(self): # we currently redraw every statistics update (expensive!) so passing for now, but we should # reenable this and drop the change callback to be more efficient #if self._edge_items == None: # return #else: # for edge_items in self._edge_items.itervalues(): # for edge_item in edge_items: # edge_dst_name = edge_item.to_node._label.text() # edge_item.setToolTip(str(self._graph.concert_clients[edge_dst_name].msg.conn_stats)) pass def _redraw_graph_view(self): print("[conductor graph]: _redraw_graph_view") # regenerate the dotcode current_dotcode = self.dotcode_generator.generate_dotcode( conductor_graph_instance=self._graph, dotcode_factory=self.dotcode_factory, clusters=self._widget.clusters_check_box.isChecked()) #print("Dotgraph: \n%s" % current_dotcode) self._scene.clear() self._node_item_events = {} self._edge_item_events = {} self._node_items = None self._edge_items = None highlight_level = 3 if self._widget.highlight_connections_check_box.isChecked( ) else 1 # layout graph and create qt items (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items( current_dotcode, highlight_level=highlight_level, same_label_siblings=True) self._node_items = nodes self._edge_items = edges #nodes - if we wish to make special nodes, do that here (maybe subclass GraphItem, just like NodeItem does for node_item in nodes.itervalues(): # redefine mouse event #self._node_item_events[node_item._label.text()] = GraphEventHandler(self._widget.tabWidget, node_item, node_item.mouseDoubleClickEvent) #node_item.mouseDoubleClickEvent = self._node_item_events[node_item._label.text()].NodeEvent self._node_item_events[ node_item._label.text()] = GraphEventHandler( self._widget.tabWidget, node_item, node_item.hoverEnterEvent) node_item.hoverEnterEvent = self._node_item_events[ node_item._label.text()].NodeEvent self._scene.addItem(node_item) #edges for edge_items in edges.itervalues(): for edge_item in edge_items: #redefine the edge hover event self._edge_item_events[ edge_item._label.text()] = GraphEventHandler( self._widget.tabWidget, edge_item, edge_item._label.hoverEnterEvent) edge_item._label.hoverEnterEvent = self._edge_item_events[ edge_item._label.text()].EdgeEvent #self._edge_item_events[edge_item._label.text()]=GraphEventHandler(self._widget.tabWidget,edge_item,edge_item.mouseDoubleClickEvent); #edge_item.mouseDoubleClickEvent=self._edge_item_events[edge_item._label.text()].EdgeEvent; edge_item.add_to_scene(self._scene) #set the color of node as connection strength one of red, yellow, green edge_dst_name = edge_item.to_node._label.text() if edge_dst_name in self._graph.concert_clients.keys(): link_strength_colour = ConductorGraph.link_strength_colours[ self._graph.concert_clients[edge_dst_name]. get_connection_strength()] edge_item._default_color = link_strength_colour edge_item.set_node_color(link_strength_colour) #set the tooltip about network information edge_item.setToolTip( str(self._graph.concert_clients[edge_dst_name].msg. conn_stats)) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
def test_recursive(self): if DotToQtGeneratorTest._Q_APP is None: raise unittest.case.SkipTest gen = DotToQtGenerator() dotcode = r''' strict digraph "" { graph [bb="0,0,249,541", compound=True, rank=same, rankdir=TB, ranksep=0.2, simplify=True ]; node [label="\N"]; subgraph "/Container" { graph [bb="8,67,241,321", color=None, compound=True, label="/Container", lheight=0.21, lp="124.5,309.5", lwidth=0.81, rank=same, rankdir=TB, ranksep=0.2, style=bold ]; subgraph "/Container/Subcontainer" { graph [bb="84,142,233,287", color=None, compound=True, label="/Container/Subcontainer", lheight=0.21, lp="158.5,275.5", lwidth=1.85, rank=same, rankdir=TB, ranksep=0.2, style=bold ]; "/Container/Subcontainer/logstate1" [height=0.5, label=logstate1, pos="133,235", shape=box, url=None, width=0.90278]; "/Container/Subcontainer/finished" [color=blue, height=0.5, label=finished, pos="133,168", shape=ellipse, url=None, width=1.0833]; "/Container/Subcontainer/logstate1" -> "/Container/Subcontainer/finished" [label=done, lp="146.5,201.5", pos="e,133,186.19 133,216.92 133,210.7 133,203.5 133,196.6", url=None]; } "/Container/finished" [color=blue, height=0.5, label=finished, pos="86,93", shape=ellipse, url=None, width=1.0833]; "/Container/Subcontainer/finished" -> "/Container/finished" [label=finished, lp="132,126.5", pos="e,96.623,110.5 122.33,150.44 116.39,141.19 108.85,129.5 102.19,119.15", url=None]; "/Container/logstate" [height=0.5, label=logstate, pos="46,168", shape=box, url=None, width=0.81944]; "/Container/logstate" -> "/Container/finished" [label=done, lp="82.5,126.5", pos="e,74.304,110.45 53.482,149.8 57.712,140.5 63.287,128.93 69,119 69.051,118.91 69.102,118.82 69.153,118.74", url=None]; } "/finished" [height=0.5, pos="86,18", width=1.1555]; "/Container/finished" -> "/finished" [label=finished, lp="108,51.5", pos="e,86,36.176 86,74.7 86,66.245 86,55.869 86,46.373", url=None]; "/start" -> "/Container/Subcontainer/logstate1" [ lp="146.5,436.5", pos="e,133,250.01 133,355.84 133,337.5 133,316.81 133,260.22", url=None]; "/start" -> "/Container/logstate" [ lp="146.5,436.5", pos="e,46,185.01 133,355.84 46,337.5 46,316.81 46,192.22", url=None]; "/start" [height=0.5, pos="133,373", width=0.79437]; } ''' (nodes, edges) = gen.dotcode_to_qt_items(dotcode, 1) expected_nodes = [ '"/Container"', '"/Container/Subcontainer"', '"/Container/Subcontainer/finished"', '"/Container/Subcontainer/logstate1"', '"/Container/finished"', '"/Container/logstate"', '"/finished"', '"/start"' ] expected_edges = [ '/Container/Subcontainer/finished_TO_/Container/finished_finished', '/Container/Subcontainer/logstate1_TO_/Container/Subcontainer/finished_done', '/Container/finished_TO_/finished_finished', '/Container/logstate_TO_/Container/finished_done', '/start_TO_/Container/Subcontainer/logstate1', '/start_TO_/Container/logstate', ] nodes_sorted = list(sorted(nodes.keys())) edges_sorted = list(sorted(edges.keys())) self.assertEqual(expected_nodes, nodes_sorted) self.assertEqual(expected_edges, edges_sorted)
class RosGraph(Plugin): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosGraph, self).__init__(context) self.initialized = False self.setObjectName('RosGraph') self._graph = None self._current_dotcode = None self._widget = QWidget() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosGraphDotcodeGenerator() # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RosGraph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.graph_type_combo_box.insertItem(0, self.tr('Nodes only'), NODE_NODE_GRAPH) self._widget.graph_type_combo_box.insertItem(1, self.tr('Nodes/Topics (active)'), NODE_TOPIC_GRAPH) self._widget.graph_type_combo_box.insertItem(2, self.tr('Nodes/Topics (all)'), NODE_TOPIC_ALL_GRAPH) self._widget.graph_type_combo_box.setCurrentIndex(0) self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph) self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False) completer = RepeatedWordCompleter(self.node_completionmodel, self) completer.setCompletionMode(QCompleter.PopupCompletion) completer.setWrapAround(True) completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph) self._widget.filter_line_edit.setCompleter(completer) self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False) topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self) topic_completer.setCompletionMode(QCompleter.PopupCompletion) topic_completer.setWrapAround(True) topic_completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph) self._widget.topic_filter_line_edit.setCompleter(topic_completer) self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph) self._widget.actionlib_check_box.clicked.connect(self._refresh_rosgraph) self._widget.dead_sinks_check_box.clicked.connect(self._refresh_rosgraph) self._widget.leaf_topics_check_box.clicked.connect(self._refresh_rosgraph) self._widget.quiet_check_box.clicked.connect(self._refresh_rosgraph) self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect(self._update_rosgraph) self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect(self._save_image) self._update_rosgraph() self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('graph_type_combo_box_index', self._widget.graph_type_combo_box.currentIndex()) instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text()) instance_settings.set_value('topic_filter_line_edit_text', self._widget.topic_filter_line_edit.text()) instance_settings.set_value('namespace_cluster_check_box_state', self._widget.namespace_cluster_check_box.isChecked()) instance_settings.set_value('actionlib_check_box_state', self._widget.actionlib_check_box.isChecked()) instance_settings.set_value('dead_sinks_check_box_state', self._widget.dead_sinks_check_box.isChecked()) instance_settings.set_value('leaf_topics_check_box_state', self._widget.leaf_topics_check_box.isChecked()) instance_settings.set_value('quiet_check_box_state', self._widget.quiet_check_box.isChecked()) instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): self._widget.graph_type_combo_box.setCurrentIndex(int(instance_settings.value('graph_type_combo_box_index', 0))) self._widget.filter_line_edit.setText(instance_settings.value('filter_line_edit_text', '/')) self._widget.topic_filter_line_edit.setText(instance_settings.value('topic_filter_line_edit_text', '/')) self._widget.namespace_cluster_check_box.setChecked(instance_settings.value('namespace_cluster_check_box_state', True) in [True, 'true']) self._widget.actionlib_check_box.setChecked(instance_settings.value('actionlib_check_box_state', True) in [True, 'true']) self._widget.dead_sinks_check_box.setChecked(instance_settings.value('dead_sinks_check_box_state', True) in [True, 'true']) self._widget.leaf_topics_check_box.setChecked(instance_settings.value('leaf_topics_check_box_state', True) in [True, 'true']) self._widget.quiet_check_box.setChecked(instance_settings.value('quiet_check_box_state', True) in [True, 'true']) self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_rosgraph() def _update_rosgraph(self): # re-enable controls customizing fetched ROS graph self._widget.graph_type_combo_box.setEnabled(True) self._widget.filter_line_edit.setEnabled(True) self._widget.topic_filter_line_edit.setEnabled(True) self._widget.namespace_cluster_check_box.setEnabled(True) self._widget.actionlib_check_box.setEnabled(True) self._widget.dead_sinks_check_box.setEnabled(True) self._widget.leaf_topics_check_box.setEnabled(True) self._widget.quiet_check_box.setEnabled(True) self._graph = rosgraph.impl.graph.Graph() self._graph.set_master_stale(5.0) self._graph.set_node_stale(5.0) self._graph.update() self.node_completionmodel.refresh(self._graph.nn_nodes) self.topic_completionmodel.refresh(self._graph.nt_nodes) self._refresh_rosgraph() def _refresh_rosgraph(self): if not self.initialized: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): ns_filter = self._widget.filter_line_edit.text() topic_filter = self._widget.topic_filter_line_edit.text() graph_mode = self._widget.graph_type_combo_box.itemData(self._widget.graph_type_combo_box.currentIndex()) orientation = 'LR' if self._widget.namespace_cluster_check_box.isChecked(): namespace_cluster = 1 else: namespace_cluster = 0 accumulate_actions = self._widget.actionlib_check_box.isChecked() hide_dead_end_topics = self._widget.dead_sinks_check_box.isChecked() hide_single_connection_topics = self._widget.leaf_topics_check_box.isChecked() quiet = self._widget.quiet_check_box.isChecked() return self.dotcode_generator.generate_dotcode( rosgraphinst=self._graph, ns_filter=ns_filter, topic_filter=topic_filter, graph_mode=graph_mode, hide_single_connection_topics=hide_single_connection_topics, hide_dead_end_topics=hide_dead_end_topics, cluster_namespaces_level=namespace_cluster, accumulate_actions=accumulate_actions, dotcode_factory=self.dotcode_factory, orientation=orientation, quiet=quiet) def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _generate_tool_tip(self, url): if url is not None and ':' in url: item_type, item_path = url.split(':', 1) if item_type == 'node': tool_tip = 'Node:\n %s' % (item_path) service_names = rosservice.get_service_list(node=item_path) if service_names: tool_tip += '\nServices:' for service_name in service_names: try: service_type = rosservice.get_service_type(service_name) tool_tip += '\n %s [%s]' % (service_name, service_type) except rosservice.ROSServiceIOException as e: tool_tip += '\n %s' % (e) return tool_tip elif item_type == 'topic': topic_type, topic_name, _ = rostopic.get_topic_type(item_path) return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type) return url def _redraw_graph_view(self): self._scene.clear() if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self._scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _load_dot(self, file_name=None): if file_name is None: file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return try: fh = open(file_name, 'rb') dotcode = fh.read() fh.close() except IOError: return # disable controls customizing fetched ROS graph self._widget.graph_type_combo_box.setEnabled(False) self._widget.filter_line_edit.setEnabled(False) self._widget.topic_filter_line_edit.setEnabled(False) self._widget.namespace_cluster_check_box.setEnabled(False) self._widget.actionlib_check_box.setEnabled(False) self._widget.dead_sinks_check_box.setEnabled(False) self._widget.leaf_topics_check_box.setEnabled(False) self._widget.quiet_check_box.setEnabled(False) self._update_graph_view(dotcode) def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_dot(self): file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rosgraph.dot', self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return handle = QFile(file_name) if not handle.open(QIODevice.WriteOnly | QIODevice.Text): return handle.write(self._current_dotcode) handle.close() def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)')) if file_name is None or file_name == '': return generator = QSvgGenerator() generator.setFileName(file_name) generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) painter = QPainter(generator) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() def _save_image(self): file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) if file_name is None or file_name == '': return img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) painter = QPainter(img) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() img.save(file_name)
class CapabilityGraph(Plugin): __deferred_fit_in_view = Signal() def __init__(self, context): super(CapabilityGraph, self).__init__(context) self.setObjectName('CapabilityGraph') self.__current_dotcode = None self.__widget = QWidget() self.__dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui') loadUi(ui_file, self.__widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self.__widget.setObjectName('CapabilityGraphUI') if context.serial_number() > 1: self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number())) self.__scene = QGraphicsScene() self.__scene.setBackgroundBrush(Qt.white) self.__widget.graphics_view.setScene(self.__scene) self.__widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self.__widget.refresh_graph_push_button.pressed.connect(self.__update_capabilities_graph) self.__update_capabilities_graph() self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection) self.__deferred_fit_in_view.emit() context.add_widget(self.__widget) def __update_capabilities_graph(self): self.__update_graph_view(self.__generate_dotcode()) def __generate_dotcode(self): return generate_dotcode_from_capability_info() def __update_graph_view(self, dotcode): if dotcode == self.__current_dotcode: return self.__current_dotcode = dotcode self.__redraw_graph_view() def __fit_in_view(self): self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(), Qt.KeepAspectRatio) def __redraw_graph_view(self): self.__scene.clear() highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items(self.__current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self.__scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self.__scene) self.__scene.setSceneRect(self.__scene.itemsBoundingRect()) self.__fit_in_view()
class CapabilityGraph(Plugin): __deferred_fit_in_view = Signal() __redraw_graph = Signal() def __init__(self, context): super(CapabilityGraph, self).__init__(context) self.setObjectName('CapabilityGraph') self.__current_dotcode = None self.__running_providers = [] self.__spec_index = None self.__widget = QWidget() self.__dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui') loadUi(ui_file, self.__widget, {'CapabilitiesInteractiveGraphicsView': CapabilitiesInteractiveGraphicsView}) self.__widget.setObjectName('CapabilityGraphUI') if context.serial_number() > 1: self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number())) self.__scene = QGraphicsScene() self.__scene.setBackgroundBrush(Qt.white) self.__widget.graphics_view.setScene(self.__scene) self.__widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self.__widget.refresh_graph_push_button.pressed.connect(self.__refresh_view) self.__refresh_view() self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection) self.__deferred_fit_in_view.emit() self.__redraw_graph.connect(self.__update_capabilities_graph) # TODO: use user provided server node name rospy.Subscriber('/capability_server/events', CapabilityEvent, self.__handle_event) context.add_widget(self.__widget) def __handle_event(self, msg): if msg.type == CapabilityEvent.STOPPED: return if msg.type == CapabilityEvent.LAUNCHED and msg.provider not in self.__running_providers: self.__running_providers.append(msg.provider) if msg.type == CapabilityEvent.TERMINATED and msg.provider in self.__running_providers: self.__running_providers.remove(msg.provider) self.__redraw_graph.emit() def __get_specs(self): self.__spec_index, errors = spec_index_from_service() assert not errors def __get_running_providers(self): # TODO: replace 'capability_server' with user provided server name service_name = '/{0}/get_running_capabilities'.format('capability_server') rospy.wait_for_service(service_name) get_running_capabilities = rospy.ServiceProxy(service_name, GetRunningCapabilities) response = get_running_capabilities() self.__running_providers = [] for cap in response.running_capabilities: self.__running_providers.append(cap.capability.provider) def __refresh_view(self): self.__get_specs() self.__get_running_providers() self.__update_capabilities_graph() def __update_capabilities_graph(self): self.__update_graph_view(self.__generate_dotcode()) def __generate_dotcode(self): return generate_dotcode_from_capability_info(self.__spec_index, self.__running_providers) def __update_graph_view(self, dotcode): if dotcode == self.__current_dotcode: return self.__current_dotcode = dotcode self.__redraw_graph_view() def __fit_in_view(self): self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(), Qt.KeepAspectRatio) def __redraw_graph_view(self): self.__widget.graphics_view._running_providers = self.__running_providers self.__widget.graphics_view._spec_index = self.__spec_index self.__scene.clear() highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items(self.__current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self.__scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self.__scene) self.__scene.setSceneRect(self.__scene.itemsBoundingRect()) self.__fit_in_view()
class ConductorGraph(Plugin): _deferred_fit_in_view=Signal() _client_list_update_signal=Signal() def __init__(self, context): self._context=context super(ConductorGraph, self).__init__(context) self.initialised=False self.setObjectName('Conductor Graph') self._current_dotcode=None self._node_items=None self._edge_items=None self._node_item_events={} self._edge_item_events={} self._client_info_list={} self._widget=QWidget() self.cur_selected_client_name = "" self.pre_selected_client_name = "" # factory builds generic dotcode items self.dotcode_factory=PydotFactory() # self.dotcode_factory=PygraphvizFactory() self.dotcode_generator=RosGraphDotcodeGenerator() self.dot_to_qt=DotToQtGenerator() self._graph=ConductorGraphInfo() self._graph._reg_event_callback(self._update_client_list) self._graph._reg_period_callback(self._set_network_statisics) rospack=rospkg.RosPack() ui_file=os.path.join(rospack.get_path('concert_conductor_graph'), 'ui', 'conductor_graph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('ConductorGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene=QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) #self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('window-new')) self._widget.refresh_graph_push_button.pressed.connect(self._update_conductor_graph) self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() self._widget.tabWidget.currentChanged.connect(self._change_client_tab) self._client_list_update_signal.connect(self._update_conductor_graph) #rospy.Subscriber(concert_msgs.Strings.CONCERT_CLIENT_CHANGES, ConcertClients, self._update_client_list) context.add_widget(self._widget) def restore_settings(self, plugin_settings, instance_settings): self.initialised=True self._refresh_rosgraph() def shutdown_plugin(self): pass def _update_conductor_graph(self): # re-enable controls customizing fetched ROS graph self._refresh_rosgraph() self._update_client_tab() def _refresh_rosgraph(self): if not self.initialised: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): return self.dotcode_generator.generate_dotcode(rosgraphinst=self._graph, dotcode_factory=self.dotcode_factory, orientation='LR' ) def _update_graph_view(self, dotcode): #if dotcode==self._current_dotcode: # return self._current_dotcode=dotcode self._redraw_graph_view() def _update_client_list(self): print "[conductor graph]: _update_client_list" self._client_list_update_signal.emit() pass def _start_service(self,node_name,service_name): service=self._graph._client_info_list[node_name]['gateway_name']+"/"+service_name info_text='' if service_name=='status': service_handle=rospy.ServiceProxy(service, Status) call_result=service_handle() info_text="<html>" info_text +="<p>-------------------------------------------</p>" info_text +="<p><b>application_namespace: </b>" +call_result.application_namespace+"</p>" info_text +="<p><b>remote_controller: </b>" +call_result.remote_controller+"</p>" info_text +="<p><b>application_status: </b>" +call_result.application_status+"</p>" info_text +="</html>" self._client_list_update_signal.emit() elif service_name=='platform_info': service_handle=rospy.ServiceProxy(service, GetPlatformInfo) call_result=service_handle() info_text = "<html>" info_text += "<p>-------------------------------------------</p>" info_text += "<p><b>rocon_uri: </b>" + call_result.platform_info.uri + "</p>" info_text += "<p><b>concert_version: </b>" + call_result.platform_info.version + "</p>" info_text += "</html>" self._client_list_update_signal.emit() elif service_name=='invite': #sesrvice service_handle=rospy.ServiceProxy(service, Invite) #dialog dlg=QDialog(self._widget) dlg.setMinimumSize(400,0) dlg.setMaximumSize(400,0) dlg.setSizePolicy(QSizePolicy.Fixed,QSizePolicy.Expanding) #dialog layout ver_layout=QVBoxLayout(dlg) ver_layout.setContentsMargins (0,0,0,0) dynamic_arg=[] dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Remote Target Name',False,[('remote_target_name','string')])) dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Application Namespace',False,[('application_namespace','string')])) dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Cancel',False,[('cancel','bool')])) #button button_hor_sub_widget=QWidget() button_hor_layout=QHBoxLayout(button_hor_sub_widget) btn_call=QPushButton("Call") btn_cancel=QPushButton("cancel") btn_call.clicked.connect(lambda: dlg.done(0)) btn_call.clicked.connect(lambda : self._call_invite_service(service,service_handle,dynamic_arg)) btn_cancel.clicked.connect(lambda: dlg.done(0)) #add button button_hor_layout.addWidget(btn_call) button_hor_layout.addWidget(btn_cancel) #add button layout ver_layout.addWidget(button_hor_sub_widget) dlg.setVisible(True) elif service_name=='start_app': #sesrvice service_handle=rospy.ServiceProxy(service, StartApp) #dialog dlg=QDialog(self._widget) dlg.setMinimumSize(400,0) dlg.setMaximumSize(400,0) dlg.setSizePolicy(QSizePolicy.Fixed,QSizePolicy.Expanding) #dialog layout ver_layout=QVBoxLayout(dlg) ver_layout.setContentsMargins (0,0,0,0) dynamic_arg=[] dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Name',False,[('name','string')])) dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Remappings',True,[('remap to','string'),('remap from','string')])) #button button_hor_sub_widget=QWidget() button_hor_layout=QHBoxLayout(button_hor_sub_widget) btn_call=QPushButton("Call") btn_cancel=QPushButton("cancel") btn_call.clicked.connect(lambda: dlg.done(0)) btn_call.clicked.connect(lambda : self._call_start_app_service(service,service_handle,dynamic_arg)) btn_cancel.clicked.connect(lambda: dlg.done(0)) #add button button_hor_layout.addWidget(btn_call) button_hor_layout.addWidget(btn_cancel) #add button layout ver_layout.addWidget(button_hor_sub_widget) dlg.setVisible(True) elif service_name=='stop_app': service_handle=rospy.ServiceProxy(service, StopApp) call_result=service_handle() info_text="<html>" info_text +="<p>-------------------------------------------</p>" info_text +="<p><b>stopped: </b>" +str(call_result.stopped)+"</p>" info_text +="<p><b>error_code: </b>" +str(call_result.error_code)+"</p>" info_text +="<p><b>message: </b>" +call_result.message+"</p>" info_text +="</html>" self._update_client_tab() else: print 'has no service' return # display the result of calling service # get tab widget handle service_text_widget=None cur_tab_widget=self._widget.tabWidget.currentWidget() if cur_tab_widget==None: return object_name='services_text_widget' for k in cur_tab_widget.children(): if k.objectName().count(object_name) >=1 : service_text_widget=k break if service_text_widget==None: return service_text_widget.clear() service_text_widget.appendHtml(info_text) def _call_invite_service(self,service,service_handle,dynamic_arg): remote_target_name="" application_namespace="" cancel=False for k in dynamic_arg: if k.name=='Remote Target Name': item_widget=k._get_param_list()[0][0][1] remote_target_name=item_widget.toPlainText() elif k.name=='Application Namespace': item_widgetwidget=k._get_param_list()[0][0][1] application_namespace=item_widget.toPlainText() elif k.name=='Cancel': item_widget=k._get_param_list()[0][0][1] cancel=item_widget.itemData(item_widget.currentIndex()) #calling service call_result=service_handle(remote_target_name,application_namespace,cancel) #status update self._client_list_update_signal.emit() # display the result of calling service info_text="<html>" info_text +="<p>-------------------------------------------</p>" info_text +="<p><b>result: </b>" +str(call_result.result)+"</p>" info_text +="<p><b>error_code: </b>" +str(call_result.error_code)+"</p>" info_text +="<p><b>message: </b>" +call_result.message+"</p>" info_text +="</html>" # get tab widget handle service_text_widget=None cur_tab_widget=self._widget.tabWidget.currentWidget() if cur_tab_widget==None: return object_name='services_text_widget' for k in cur_tab_widget.children(): if k.objectName().count(object_name) >=1 : service_text_widget=k break if service_text_widget==None: return service_text_widget.clear() service_text_widget.appendHtml(info_text) pass def _call_start_app_service(self,service,service_handle,dynamic_arg): name="" remappings=[] for k in dynamic_arg: if k.name=='Name': name=k._get_param_list()[0][0][1].toPlainText() elif k.name=='Remappings': for l in k._get_param_list(): remap_to=l[0][1].toPlainText() remap_from=l[1][1].toPlainText() remappings.append(Remapping(remap_to,remap_from)) #calling service call_result=service_handle(name,remappings) #status update self._client_list_update_signal.emit() # display the result of calling service info_text = '' info_text="<html>" info_text +="<p>-------------------------------------------</p>" info_text +="<p><b>started: </b>" +str(call_result.started)+"</p>" info_text +="<p><b>error_code: </b>" +str(call_result.error_code)+"</p>" info_text +="<p><b>message: </b>" +call_result.message+"</p>" info_text +="<p><b>app_namespace: </b>" +call_result.app_namespace+"</p>" info_text +="</html>" # get tab widget handle service_text_widget=None cur_tab_widget=self._widget.tabWidget.currentWidget() if cur_tab_widget==None: return object_name='services_text_widget' for k in cur_tab_widget.children(): if k.objectName().count(object_name) >=1 : service_text_widget=k break if service_text_widget==None: return service_text_widget.clear() service_text_widget.appendHtml(info_text) pass def _update_client_tab(self): print '[_update_client_tab]' self.pre_selected_client_name = self.cur_selected_client_name self._widget.tabWidget.clear() for k in self._graph._client_info_list.values(): main_widget=QWidget() ver_layout=QVBoxLayout(main_widget) ver_layout.setContentsMargins (9,9,9,9) ver_layout.setSizeConstraint (ver_layout.SetDefaultConstraint) #button layout sub_widget=QWidget() sub_widget.setAccessibleName('sub_widget') btn_grid_layout=QGridLayout(sub_widget) btn_grid_layout.setContentsMargins (9,9,9,9) btn_grid_layout.setColumnStretch (1, 0) btn_grid_layout.setRowStretch (2, 0) invite_btn=QPushButton("Invite") platform_info_btn=QPushButton("Get Platform Info") status_btn=QPushButton("Get Status") start_app_btn=QPushButton("Start App") stop_app_btn=QPushButton("Stop App") invite_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"invite")) platform_info_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"platform_info")) status_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"status")) start_app_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"start_app")) stop_app_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"stop_app")) btn_grid_layout.addWidget(invite_btn) btn_grid_layout.addWidget(platform_info_btn) btn_grid_layout.addWidget(status_btn) btn_grid_layout.addWidget(start_app_btn) btn_grid_layout.addWidget(stop_app_btn) ver_layout.addWidget(sub_widget) #client information layout context_label = QLabel() context_label.setText("Client information") ver_layout.addWidget(context_label) app_context_widget=QPlainTextEdit() app_context_widget.setObjectName(k["name"]+'_'+'app_context_widget') app_context_widget.setAccessibleName('app_context_widget') app_context_widget.appendHtml(k["app_context"]) app_context_widget.setReadOnly(True) cursor = app_context_widget.textCursor() cursor.movePosition(QTextCursor.Start,QTextCursor.MoveAnchor,0) app_context_widget.setTextCursor(cursor) ver_layout.addWidget(app_context_widget) #service layout context_label = QLabel() context_label.setText("Service result") ver_layout.addWidget(context_label) services_text_widget=QPlainTextEdit() services_text_widget.setObjectName(k["name"]+'_'+'services_text_widget') services_text_widget.setReadOnly(True) cursor = services_text_widget.textCursor() cursor.movePosition(QTextCursor.Start,QTextCursor.MoveAnchor,0) services_text_widget.setTextCursor(cursor) ver_layout.addWidget(services_text_widget) # new icon path="" if k["is_new"]==True: path=os.path.join(os.path.dirname(os.path.abspath(__file__)),"../../resources/images/new.gif") #add tab self._widget.tabWidget.addTab(main_widget,QIcon(path), k["name"]); #set previous selected tab for k in range(self._widget.tabWidget.count()): tab_text=self._widget.tabWidget.tabText(k) if tab_text == self.pre_selected_client_name: self._widget.tabWidget.setCurrentIndex(k) def _change_client_tab(self,index): self.cur_selected_client_name = self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()) if self._widget.tabWidget.widget(index) !=None: for k in self._widget.tabWidget.widget(index).children(): if k.objectName().count("services_text_widget"): k.clear() pass def _set_network_statisics(self): if self._edge_items == None: return else: for edge_items in self._edge_items.itervalues(): for edge_item in edge_items: edge_dst_name=edge_item.to_node._label.text() edge_item.setToolTip(str(self._graph._client_info_list[edge_dst_name]['conn_stats'])) def _redraw_graph_view(self): self._scene.clear() self._node_item_events={} self._edge_item_events={} self._node_items=None self._edge_items=None if self._widget.highlight_connections_check_box.isChecked(): highlight_level=3 else: highlight_level=1 highlight_level=3 if self._widget.highlight_connections_check_box.isChecked() else 1 # layout graph and create qt items (nodes, edges)=self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level=highlight_level, same_label_siblings=True) self._node_items=nodes self._edge_items=edges # if we wish to make special nodes, do that here (maybe subclass GraphItem, just like NodeItem does) #node for node_item in nodes.itervalues(): # set the color of conductor to orange if node_item._label.text()==self._graph._concert_conductor_name: royal_blue=QColor(65, 105, 255) node_item._default_color=royal_blue node_item.set_color(royal_blue) # redefine mouse event self._node_item_events[node_item._label.text()]=GraphEventHandler(self._widget.tabWidget,node_item,node_item.mouseDoubleClickEvent); node_item.mouseDoubleClickEvent=self._node_item_events[node_item._label.text()].NodeEvent; self._scene.addItem(node_item) #edge for edge_items in edges.itervalues(): for edge_item in edge_items: #redefine the edge hover event self._edge_item_events[edge_item._label.text()]=GraphEventHandler(self._widget.tabWidget,edge_item,edge_item._label.hoverEnterEvent); edge_item._label.hoverEnterEvent =self._edge_item_events[edge_item._label.text()].EdgeEvent; #self._edge_item_events[edge_item._label.text()]=GraphEventHandler(self._widget.tabWidget,edge_item,edge_item.mouseDoubleClickEvent); #edge_item.mouseDoubleClickEvent=self._edge_item_events[edge_item._label.text()].EdgeEvent; edge_item.add_to_scene(self._scene) #set the color of node as connection strength one of red, yellow, green edge_dst_name=edge_item.to_node._label.text() if edge_dst_name in self._graph._client_info_list.keys(): connection_strength=self._graph._client_info_list[edge_dst_name]['connection_strength'] if connection_strength=='very_strong': green=QColor(0, 255, 0) edge_item._default_color=green edge_item.set_color(green) elif connection_strength=='strong': green_yellow=QColor(125, 255,0) edge_item._default_color=green_yellow edge_item.set_color(green_yellow) elif connection_strength=='normal': yellow=QColor(238, 238,0) edge_item._default_color=yellow edge_item.set_color(yellow) elif connection_strength=='weak': yellow_red=QColor(255, 125,0) edge_item._default_color=yellow_red edge_item.set_color(yellow_red) elif connection_strength=='very_weak': red=QColor(255, 0,0) edge_item._default_color=red edge_item.set_color(red) #set the tooltip about network information edge_item.setToolTip(str(self._graph._client_info_list[edge_dst_name]['conn_stats'])) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
class RosGraph(Plugin): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosGraph, self).__init__(context) self.initialized = False self.setObjectName('RosGraph') self._graph = None self._current_dotcode = None self._widget = QWidget() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosGraphDotcodeGenerator() # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_graph'), 'resource', 'RosGraph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.graph_type_combo_box.insertItem(0, self.tr('Nodes only'), NODE_NODE_GRAPH) self._widget.graph_type_combo_box.insertItem(1, self.tr('Nodes/Topics (active)'), NODE_TOPIC_GRAPH) self._widget.graph_type_combo_box.insertItem(2, self.tr('Nodes/Topics (all)'), NODE_TOPIC_ALL_GRAPH) self._widget.graph_type_combo_box.setCurrentIndex(0) self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph) self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False) completer = RepeatedWordCompleter(self.node_completionmodel, self) completer.setCompletionMode(QCompleter.PopupCompletion) completer.setWrapAround(True) completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph) self._widget.filter_line_edit.setCompleter(completer) self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False) topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self) topic_completer.setCompletionMode(QCompleter.PopupCompletion) topic_completer.setWrapAround(True) topic_completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph) self._widget.topic_filter_line_edit.setCompleter(topic_completer) self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph) self._widget.actionlib_check_box.clicked.connect(self._refresh_rosgraph) self._widget.dead_sinks_check_box.clicked.connect(self._refresh_rosgraph) self._widget.leaf_topics_check_box.clicked.connect(self._refresh_rosgraph) self._widget.quiet_check_box.clicked.connect(self._refresh_rosgraph) self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect(self._update_rosgraph) self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect(self._save_image) self._update_rosgraph() self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('graph_type_combo_box_index', self._widget.graph_type_combo_box.currentIndex()) instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text()) instance_settings.set_value('topic_filter_line_edit_text', self._widget.topic_filter_line_edit.text()) instance_settings.set_value('namespace_cluster_check_box_state', self._widget.namespace_cluster_check_box.isChecked()) instance_settings.set_value('actionlib_check_box_state', self._widget.actionlib_check_box.isChecked()) instance_settings.set_value('dead_sinks_check_box_state', self._widget.dead_sinks_check_box.isChecked()) instance_settings.set_value('leaf_topics_check_box_state', self._widget.leaf_topics_check_box.isChecked()) instance_settings.set_value('quiet_check_box_state', self._widget.quiet_check_box.isChecked()) instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): self._widget.graph_type_combo_box.setCurrentIndex(int(instance_settings.value('graph_type_combo_box_index', 0))) self._widget.filter_line_edit.setText(instance_settings.value('filter_line_edit_text', '/')) self._widget.topic_filter_line_edit.setText(instance_settings.value('topic_filter_line_edit_text', '/')) self._widget.namespace_cluster_check_box.setChecked(instance_settings.value('namespace_cluster_check_box_state', True) in [True, 'true']) self._widget.actionlib_check_box.setChecked(instance_settings.value('actionlib_check_box_state', True) in [True, 'true']) self._widget.dead_sinks_check_box.setChecked(instance_settings.value('dead_sinks_check_box_state', True) in [True, 'true']) self._widget.leaf_topics_check_box.setChecked(instance_settings.value('leaf_topics_check_box_state', True) in [True, 'true']) self._widget.quiet_check_box.setChecked(instance_settings.value('quiet_check_box_state', True) in [True, 'true']) self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_rosgraph() def _update_rosgraph(self): # re-enable controls customizing fetched ROS graph self._widget.graph_type_combo_box.setEnabled(True) self._widget.filter_line_edit.setEnabled(True) self._widget.topic_filter_line_edit.setEnabled(True) self._widget.namespace_cluster_check_box.setEnabled(True) self._widget.actionlib_check_box.setEnabled(True) self._widget.dead_sinks_check_box.setEnabled(True) self._widget.leaf_topics_check_box.setEnabled(True) self._widget.quiet_check_box.setEnabled(True) self._graph = rosgraph.impl.graph.Graph() self._graph.set_master_stale(5.0) self._graph.set_node_stale(5.0) self._graph.update() self.node_completionmodel.refresh(self._graph.nn_nodes) self.topic_completionmodel.refresh(self._graph.nt_nodes) self._refresh_rosgraph() def _refresh_rosgraph(self): if not self.initialized: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): ns_filter = self._widget.filter_line_edit.text() topic_filter = self._widget.topic_filter_line_edit.text() graph_mode = self._widget.graph_type_combo_box.itemData(self._widget.graph_type_combo_box.currentIndex()) orientation = 'LR' if self._widget.namespace_cluster_check_box.isChecked(): namespace_cluster = 1 else: namespace_cluster = 0 accumulate_actions = self._widget.actionlib_check_box.isChecked() hide_dead_end_topics = self._widget.dead_sinks_check_box.isChecked() hide_single_connection_topics = self._widget.leaf_topics_check_box.isChecked() quiet = self._widget.quiet_check_box.isChecked() return self.dotcode_generator.generate_dotcode( rosgraphinst=self._graph, ns_filter=ns_filter, topic_filter=topic_filter, graph_mode=graph_mode, hide_single_connection_topics=hide_single_connection_topics, hide_dead_end_topics=hide_dead_end_topics, cluster_namespaces_level=namespace_cluster, accumulate_actions=accumulate_actions, dotcode_factory=self.dotcode_factory, orientation=orientation, quiet=quiet) def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _generate_tool_tip(self, url): if url is not None and ':' in url: item_type, item_path = url.split(':', 1) if item_type == 'node': tool_tip = 'Node:\n %s' % (item_path) service_names = rosservice.get_service_list(node=item_path) if service_names: tool_tip += '\nServices:' for service_name in service_names: try: service_type = rosservice.get_service_type(service_name) tool_tip += '\n %s [%s]' % (service_name, service_type) except rosservice.ROSServiceIOException as e: tool_tip += '\n %s' % (e) return tool_tip elif item_type == 'topic': topic_type, topic_name, _ = rostopic.get_topic_type(item_path) return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type) return url def _redraw_graph_view(self): self._scene.clear() if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self._scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _load_dot(self, file_name=None): if file_name is None: file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return try: fh = open(file_name, 'rb') dotcode = fh.read() fh.close() except IOError: return # disable controls customizing fetched ROS graph self._widget.graph_type_combo_box.setEnabled(False) self._widget.filter_line_edit.setEnabled(False) self._widget.topic_filter_line_edit.setEnabled(False) self._widget.namespace_cluster_check_box.setEnabled(False) self._widget.actionlib_check_box.setEnabled(False) self._widget.dead_sinks_check_box.setEnabled(False) self._widget.leaf_topics_check_box.setEnabled(False) self._widget.quiet_check_box.setEnabled(False) self._update_graph_view(dotcode) def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_dot(self): file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rosgraph.dot', self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return handle = QFile(file_name) if not handle.open(QIODevice.WriteOnly | QIODevice.Text): return handle.write(self._current_dotcode) handle.close() def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)')) if file_name is None or file_name == '': return generator = QSvgGenerator() generator.setFileName(file_name) generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) painter = QPainter(generator) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() def _save_image(self): file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) if file_name is None or file_name == '': return img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) painter = QPainter(img) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() img.save(file_name)
class CapabilityGraph(Plugin): __deferred_fit_in_view = Signal() __redraw_graph = Signal() def __init__(self, context): super(CapabilityGraph, self).__init__(context) self.setObjectName('CapabilityGraph') self.__current_dotcode = None self.__running_providers = [] self.__spec_index = None self.__widget = QWidget() self.__dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui') loadUi( ui_file, self.__widget, { 'CapabilitiesInteractiveGraphicsView': CapabilitiesInteractiveGraphicsView }) self.__widget.setObjectName('CapabilityGraphUI') if context.serial_number() > 1: self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number())) self.__scene = QGraphicsScene() self.__scene.setBackgroundBrush(Qt.white) self.__widget.graphics_view.setScene(self.__scene) self.__widget.refresh_graph_push_button.setIcon( QIcon.fromTheme('view-refresh')) self.__widget.refresh_graph_push_button.pressed.connect( self.__refresh_view) self.__refresh_view() self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection) self.__deferred_fit_in_view.emit() self.__redraw_graph.connect(self.__update_capabilities_graph) # TODO: use user provided server node name rospy.Subscriber('/capability_server/events', CapabilityEvent, self.__handle_event) context.add_widget(self.__widget) def __handle_event(self, msg): if msg.type == CapabilityEvent.STOPPED: return if msg.type == CapabilityEvent.LAUNCHED and msg.provider not in self.__running_providers: self.__running_providers.append(msg.provider) if msg.type == CapabilityEvent.TERMINATED and msg.provider in self.__running_providers: self.__running_providers.remove(msg.provider) self.__redraw_graph.emit() def __get_specs(self): self.__spec_index, errors = spec_index_from_service() assert not errors def __get_running_providers(self): # TODO: replace 'capability_server' with user provided server name service_name = '/{0}/get_running_capabilities'.format( 'capability_server') rospy.wait_for_service(service_name) get_running_capabilities = rospy.ServiceProxy(service_name, GetRunningCapabilities) response = get_running_capabilities() self.__running_providers = [] for cap in response.running_capabilities: self.__running_providers.append(cap.capability.provider) def __refresh_view(self): self.__get_specs() self.__get_running_providers() self.__update_capabilities_graph() def __update_capabilities_graph(self): self.__update_graph_view(self.__generate_dotcode()) def __generate_dotcode(self): return generate_dotcode_from_capability_info(self.__spec_index, self.__running_providers) def __update_graph_view(self, dotcode): if dotcode == self.__current_dotcode: return self.__current_dotcode = dotcode self.__redraw_graph_view() def __fit_in_view(self): self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(), Qt.KeepAspectRatio) def __redraw_graph_view(self): self.__widget.graphics_view._running_providers = self.__running_providers self.__widget.graphics_view._spec_index = self.__spec_index self.__scene.clear() highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items( self.__current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self.__scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self.__scene) self.__scene.setSceneRect(self.__scene.itemsBoundingRect()) self.__fit_in_view()
class VinoGraph(Plugin): def __init__(self, context): super(VinoGraph, self).__init__(context) # Give QObjects reasonable names self.setObjectName('VinoGraph') # Process standalone plugin command-line arguments from argparse import ArgumentParser parser = ArgumentParser() # Add argument(s) to the parser. parser.add_argument("-q", "--quiet", action="store_true", dest="quiet", help="Put plugin in silent mode") args, unknowns = parser.parse_known_args(context.argv()) if not args.quiet: print 'arguments: ', args print 'unknowns: ', unknowns # Create QWidget self._widget = QWidget() # Get path to UI file which should be in the "resource" folder of this package ui_file = os.path.join(rospkg.RosPack().get_path('rqt_vino_plugin'), 'resource', 'rqt_vino_plugin.ui') # Extend the widget with all attributes and children from UI file loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) # Give QObjects reasonable names self._widget.setObjectName('VinoGraphUi') # Show _widget.windowTitle on left-top of each plugin (when # it's set in _widget). This is useful when you open multiple QListView # plugins at once. Also if you open multiple instances of your # plugin at once, these lines add number to make it easy to # tell from pane to pane. if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) #A dict which stores pipeline name and dotgraph pair self._dotgraphs = dict() #which dotgraph currently drawing on the scence self._current_dotcode = None self._current_pipeline_name = '' #Pydot self.dotcode_factory = VinoPydotFactory() self.dot_to_qt = DotToQtGenerator() self.param_manager = ParamManagerWrapper() #Binding scene canvas self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.graphics_view.setClickNodeCallback(self._edit_node) #QListview of pipelines self._listmodel = QStandardItemModel() self._widget.pipeline_name_listview.clicked.connect( self._display_choosed_pipeline) #self._widget.pipeline_name_listview.itemRenamed.connect(self._rename_pipeline) #Load pipelines from yaml file self._widget.load_pipeline_push_button.clicked.connect( self._load_pipeline) #Create a pipeline self._widget.create_pipeline_push_button.clicked.connect( self._create_pipeline) #Add input to pipeline graph self._widget.add_input_push_button.clicked.connect(self._add_input) #Add infer self._widget.add_inference_push_button.clicked.connect(self._add_infer) self._widget.add_output_push_button.clicked.connect(self._add_output) self._widget.save_pipeline_push_button.clicked.connect( self._save_pipeline) self.models_desc_file_path = os.path.join( rospkg.RosPack().get_path('vino_param_lib'), 'param', 'models.yaml') # Add widget to the user interface context.add_widget(self._widget) def shutdown_plugin(self): # TODO unregister all publishers here pass def save_settings(self, plugin_settings, instance_settings): # TODO save intrinsic configuration, usually using: # instance_settings.set_value(k, v) pass def restore_settings(self, plugin_settings, instance_settings): # TODO restore intrinsic configuration, usually using: # v = instance_settings.value(k) pass def _refresh_rosgraph(self): self._widget.pipeline_name_listview.setModel(self._listmodel) self._widget.pipeline_name_listview.show() self._redraw_graph_view() # if not self.initialized: # return # self._update_graph_view(self._generate_dotcode()) def _rename_pipeline(self, item, col): pass def _display_choosed_pipeline(self, index): pipeline_name = self._listmodel.data(index) if pipeline_name in self._dotgraphs.iterkeys(): self._current_pipeline_name = pipeline_name self._refresh_rosgraph() def _load_pipeline(self): self._dotgraphs.clear() self._listmodel.clear() file_path, _ = QFileDialog.getOpenFileName( self._widget, "QFileDialog.getOpenFileName()", "", "*.yaml") self._dotgraphs = generate_dotcode_from_yaml_file( self.dotcode_factory, self.param_manager, str(file_path)) for pipeline_name, pipeline_dotgraph in self._dotgraphs.items(): pipeline_item = QStandardItem() pipeline_item.setText(pipeline_name) self._listmodel.appendRow(pipeline_item) self._current_pipeline_name = self._dotgraphs.iterkeys().next() self._refresh_rosgraph() #self._display_choosed_pipeline(pipeline_item) def _redraw_graph_view(self): self._scene.clear() if self._dotgraphs == None: return self._current_dotcode = self.dotcode_factory.create_dot( self._dotgraphs[self._current_pipeline_name]) highlight_level = 2 (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items( self._current_dotcode, highlight_level=highlight_level, same_label_siblings=False, scene=self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) #if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _add_input(self): dlg = InputDialog('add', self._dotgraphs[self._current_pipeline_name], self.dotcode_factory, dotparser, self.param_manager, parent=self._widget) dlg.exec_() self._refresh_rosgraph() def _add_infer(self): if self._current_pipeline_name == '': return dlg = InferenceDialog('add', self._dotgraphs[self._current_pipeline_name], self.dotcode_factory, dotparser, self.param_manager, self.models_desc_file_path, parent=self._widget) dlg.exec_() self._refresh_rosgraph() def _edit_node(self, nodename=''): if self._current_pipeline_name == '': return selected_node = self._dotgraphs[self._current_pipeline_name].get_node( nodename.encode('utf-8'))[0] selected_node_type = selected_node.get('nodetype') if selected_node_type == 'input': self._edit_input(nodename) elif selected_node_type == 'infer': self._edit_infer(nodename) elif selected_node_type == 'output': self._edit_output(nodename) def _edit_infer(self, nodename=''): dlg = InferenceDialog('edit', self._dotgraphs[self._current_pipeline_name], self.dotcode_factory, dotparser, self.param_manager, self.models_desc_file_path, nodename=nodename, parent=self._widget) dlg.exec_() self._refresh_rosgraph() def _edit_input(self, nodename=''): dlg = InputDialog('edit', self._dotgraphs[self._current_pipeline_name], self.dotcode_factory, dotparser, self.param_manager, nodename=nodename, parent=self._widget) dlg.exec_() self._refresh_rosgraph() def _edit_output(self, nodename=''): dlg = OutputDialog('edit', self._dotgraphs[self._current_pipeline_name], self.dotcode_factory, dotparser, self.param_manager, models_desc_file_path=self.models_desc_file_path, nodename=nodename, parent=self._widget) dlg.exec_() self._refresh_rosgraph() def _add_output(self): dlg = OutputDialog('add', self._dotgraphs[self._current_pipeline_name], self.dotcode_factory, dotparser, self.param_manager, models_desc_file_path=self.models_desc_file_path, parent=self._widget) dlg.exec_() self._refresh_rosgraph() def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _create_pipeline(self): pipeline_name, okPressed = QInputDialog.getText( self._widget, "Create a new pipeline", "new pipeline name:", QLineEdit.Normal, "") if okPressed != True or pipeline_name == '': #Empty name return pipeline_item = QStandardItem() pipeline_item.setText(pipeline_name) self._listmodel.appendRow(pipeline_item) new_dotgraph = dotparser.generate_dotcode_from_empty( self.dotcode_factory, pipeline_name) self._dotgraphs.update(new_dotgraph) self._current_pipeline_name = pipeline_name self._refresh_rosgraph() def _save_pipeline(self): # print(self._dotgraphs ) self.dotcode_factory.parse_nodes( self._dotgraphs[self._current_pipeline_name])
class RosPackGraph(Plugin): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosPackGraph, self).__init__(context) self.initialized = False self._current_dotcode = None self._update_thread = WorkerThread(self._update_thread_run, self._update_finished) self._nodes = {} self._edges = {} self._options = {} self._options_serialized = '' self.setObjectName('RosPackGraph') rospack = rospkg.RosPack() rosstack = rospkg.RosStack() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosPackageGraphDotcodeGenerator( rospack, rosstack) # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() self._widget = QWidget() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_dep'), 'resource', 'RosPackGraph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosPackGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1) self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2) self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3) self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4) self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5) self._widget.depth_combo_box.currentIndexChanged.connect( self._refresh_rospackgraph) self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0) self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'), 1) self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2) self._widget.directions_combo_box.currentIndexChanged.connect( self._refresh_rospackgraph) self._widget.package_type_combo_box.insertItem(0, self.tr('wet & dry'), 3) self._widget.package_type_combo_box.insertItem(1, self.tr('wet only'), 2) self._widget.package_type_combo_box.insertItem(2, self.tr('dry only'), 1) self._widget.package_type_combo_box.currentIndexChanged.connect( self._refresh_rospackgraph) completionmodel = StackageCompletionModel( self._widget.filter_line_edit, rospack, rosstack) completer = RepeatedWordCompleter(completionmodel, self) completer.setCompletionMode(QCompleter.PopupCompletion) completer.setWrapAround(True) completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.filter_line_edit.editingFinished.connect( self._refresh_rospackgraph) self._widget.filter_line_edit.setCompleter(completer) self._widget.filter_line_edit.selectionChanged.connect( self._clear_filter) self._widget.with_stacks_check_box.clicked.connect( self._refresh_rospackgraph) self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph) self._widget.colorize_check_box.clicked.connect( self._refresh_rospackgraph) self._widget.hide_transitives_check_box.clicked.connect( self._refresh_rospackgraph) self._widget.show_system_check_box.clicked.connect( self._refresh_rospackgraph) self._widget.refresh_graph_push_button.setIcon( QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect( self._update_rospackgraph) self._widget.highlight_connections_check_box.toggled.connect( self._refresh_rospackgraph) self._widget.auto_fit_graph_check_box.toggled.connect( self._refresh_rospackgraph) self._widget.fit_in_view_push_button.setIcon( QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon( QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon( QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect( self._save_image) self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) # If in either of following case, this turnes True # - 1st filtering key is already input by user # - filtering key is restored self._filtering_started = False def shutdown_plugin(self): self._update_thread.kill() def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value( 'depth_combo_box_index', self._widget.depth_combo_box.currentIndex()) instance_settings.set_value( 'directions_combo_box_index', self._widget.directions_combo_box.currentIndex()) instance_settings.set_value( 'package_type_combo_box', self._widget.package_type_combo_box.currentIndex()) instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text()) instance_settings.set_value( 'with_stacks_state', self._widget.with_stacks_check_box.isChecked()) instance_settings.set_value( 'hide_transitives_state', self._widget.hide_transitives_check_box.isChecked()) instance_settings.set_value( 'show_system_state', self._widget.show_system_check_box.isChecked()) instance_settings.set_value('mark_state', self._widget.mark_check_box.isChecked()) instance_settings.set_value( 'colorize_state', self._widget.colorize_check_box.isChecked()) instance_settings.set_value( 'auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value( 'highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): _str_filter = instance_settings.value('filter_line_edit_text', '') if (_str_filter == None or _str_filter == '') and \ not self._filtering_started: _str_filter = '(Separate pkgs by comma)' else: self._filtering_started = True self._widget.depth_combo_box.setCurrentIndex( int(instance_settings.value('depth_combo_box_index', 0))) self._widget.directions_combo_box.setCurrentIndex( int(instance_settings.value('directions_combo_box_index', 0))) self._widget.package_type_combo_box.setCurrentIndex( int(instance_settings.value('package_type_combo_box', 0))) self._widget.filter_line_edit.setText(_str_filter) self._widget.with_stacks_check_box.setChecked( instance_settings.value('with_stacks_state', True) in [True, 'true']) self._widget.mark_check_box.setChecked( instance_settings.value('mark_state', True) in [True, 'true']) self._widget.colorize_check_box.setChecked( instance_settings.value('colorize_state', False) in [True, 'true']) self._widget.hide_transitives_check_box.setChecked( instance_settings.value('hide_transitives_state', False) in [True, 'true']) self._widget.show_system_check_box.setChecked( instance_settings.value('show_system_state', False) in [True, 'true']) self._widget.auto_fit_graph_check_box.setChecked( instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked( instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_rospackgraph() def _update_rospackgraph(self): # re-enable controls customizing fetched ROS graph self._widget.depth_combo_box.setEnabled(True) self._widget.directions_combo_box.setEnabled(True) self._widget.package_type_combo_box.setEnabled(True) self._widget.filter_line_edit.setEnabled(True) self._widget.with_stacks_check_box.setEnabled(True) self._widget.mark_check_box.setEnabled(True) self._widget.colorize_check_box.setEnabled(True) self._widget.hide_transitives_check_box.setEnabled(True) self._widget.show_system_check_box.setEnabled(True) self._refresh_rospackgraph(force_update=True) def _update_options(self): self._options['depth'] = self._widget.depth_combo_box.itemData( self._widget.depth_combo_box.currentIndex()) self._options[ 'directions'] = self._widget.directions_combo_box.itemData( self._widget.directions_combo_box.currentIndex()) self._options[ 'package_types'] = self._widget.package_type_combo_box.itemData( self._widget.package_type_combo_box.currentIndex()) self._options[ 'with_stacks'] = self._widget.with_stacks_check_box.isChecked() self._options['mark_selected'] = self._widget.mark_check_box.isChecked( ) self._options[ 'hide_transitives'] = self._widget.hide_transitives_check_box.isChecked( ) self._options[ 'show_system'] = self._widget.show_system_check_box.isChecked() # TODO: Allow different color themes self._options[ 'colortheme'] = True if self._widget.colorize_check_box.isChecked( ) else None self._options['names'] = self._widget.filter_line_edit.text().split( ',') if self._options['names'] == [u'None']: self._options['names'] = [] self._options[ 'highlight_level'] = 3 if self._widget.highlight_connections_check_box.isChecked( ) else 1 self._options[ 'auto_fit'] = self._widget.auto_fit_graph_check_box.isChecked() def _refresh_rospackgraph(self, force_update=False): if not self.initialized: return self._update_thread.kill() self._update_options() # avoid update if options did not change and force_update is not set new_options_serialized = pickle.dumps(self._options) if new_options_serialized == self._options_serialized and not force_update: return self._options_serialized = pickle.dumps(self._options) self._scene.setBackgroundBrush(Qt.lightGray) self._update_thread.start() # this runs in a non-gui thread, so don't access widgets here directly def _update_thread_run(self): self._update_graph(self._generate_dotcode()) @Slot() def _update_finished(self): self._scene.setBackgroundBrush(Qt.white) self._redraw_graph_scene() # this runs in a non-gui thread, so don't access widgets here directly def _generate_dotcode(self): includes = [] excludes = [] for name in self._options['names']: if name.strip().startswith('-'): excludes.append(name.strip()[1:]) else: includes.append(name.strip()) # orientation = 'LR' descendants = True ancestors = True if self._options['directions'] == 1: descendants = False if self._options['directions'] == 0: ancestors = False return self.dotcode_generator.generate_dotcode( dotcode_factory=self.dotcode_factory, selected_names=includes, excludes=excludes, depth=self._options['depth'], with_stacks=self._options['with_stacks'], descendants=descendants, ancestors=ancestors, mark_selected=self._options['mark_selected'], colortheme=self._options['colortheme'], hide_transitives=self._options['hide_transitives'], show_system=self._options['show_system'], hide_wet=self._options['package_types'] == 1, hide_dry=self._options['package_types'] == 2) # this runs in a non-gui thread, so don't access widgets here directly def _update_graph(self, dotcode): self._current_dotcode = dotcode self._nodes, self._edges = self.dot_to_qt.dotcode_to_qt_items( self._current_dotcode, self._options['highlight_level']) def _generate_tool_tip(self, url): if url is not None and ':' in url: item_type, item_path = url.split(':', 1) if item_type == 'node': tool_tip = 'Node:\n %s' % (item_path) service_names = rosservice.get_service_list(node=item_path) if service_names: tool_tip += '\nServices:' for service_name in service_names: try: service_type = rosservice.get_service_type( service_name) tool_tip += '\n %s [%s]' % (service_name, service_type) except rosservice.ROSServiceIOException as e: tool_tip += '\n %s' % (e) return tool_tip elif item_type == 'topic': topic_type, topic_name, _ = rostopic.get_topic_type(item_path) return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type) return url def _redraw_graph_scene(self): # remove items in order to not garbage nodes which will be continued to be used for item in self._scene.items(): self._scene.removeItem(item) self._scene.clear() for node_item in self._nodes.values(): self._scene.addItem(node_item) for edge_items in self._edges.values(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._options['auto_fit']: self._fit_in_view() def _load_dot(self, file_name=None): if file_name is None: file_name, _ = QFileDialog.getOpenFileName( self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return try: fh = open(file_name, 'rb') dotcode = fh.read() fh.close() except IOError: return # disable controls customizing fetched ROS graph self._widget.depth_combo_box.setEnabled(False) self._widget.directions_combo_box.setEnabled(False) self._widget.package_type_combo_box.setEnabled(False) self._widget.filter_line_edit.setEnabled(False) self._widget.with_stacks_check_box.setEnabled(False) self._widget.mark_check_box.setEnabled(False) self._widget.colorize_check_box.setEnabled(False) self._widget.hide_transitives_check_box.setEnabled(False) self._widget.show_system_check_box.setEnabled(False) self._update_graph(dotcode) self._redraw_graph_scene() @Slot() def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_dot(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as DOT'), 'rospackgraph.dot', self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return handle = QFile(file_name) if not handle.open(QIODevice.WriteOnly | QIODevice.Text): return handle.write(self._current_dotcode) handle.close() def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as SVG'), 'rospackgraph.svg', self.tr('Scalable Vector Graphic (*.svg)')) if file_name is None or file_name == '': return generator = QSvgGenerator() generator.setFileName(file_name) generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) painter = QPainter(generator) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() def _save_image(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as image'), 'rospackgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) if file_name is None or file_name == '': return img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) painter = QPainter(img) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() img.save(file_name) def _clear_filter(self): if not self._filtering_started: self._widget.filter_line_edit.setText('') self._filtering_started = True
class RosBehaviourTree(QObject): _deferred_fit_in_view = Signal() _refresh_view = Signal() _refresh_combo = Signal() _message_changed = Signal() _message_cleared = Signal() _expected_type = py_trees_msgs.BehaviourTree()._type _empty_topic = "No valid topics available" _unselected_topic = "Not subscribing" no_roscore_switch = "--no-roscore" class ComboBoxEventFilter(QObject): """Event filter for the combo box. Will filter left mouse button presses, calling a signal when they happen """ def __init__(self, signal): """ :param Signal signal: signal that is emitted when a left mouse button press happens """ super(RosBehaviourTree.ComboBoxEventFilter, self).__init__() self.signal = signal def eventFilter(self, obj, event): if event.type() == QEvent.MouseButtonPress and event.button( ) == Qt.LeftButton: self.signal.emit() return False def __init__(self, context): super(RosBehaviourTree, self).__init__(context) self.setObjectName('RosBehaviourTree') parser = argparse.ArgumentParser() RosBehaviourTree.add_arguments(parser, False) # if the context doesn't have an argv attribute then assume we're running with --no-roscore if not hasattr(context, 'argv'): args = sys.argv[1:] # Can run the viewer with or without live updating. Running without is # intended for viewing of bags only self.live_update = False else: args = context.argv() self.live_update = True parsed_args = parser.parse_args(args) self.context = context self.initialized = False self._current_dotcode = None # dotcode for the tree that is currently displayed self._viewing_bag = False # true if a bag file is loaded # True if next or previous buttons are pressed. Reset if the tree being # viewed is the last one in the list. self._browsing_timeline = False self._widget = QWidget() # factory builds generic dotcode items self.dotcode_factory = PygraphvizFactory() # PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosBehaviourTreeDotcodeGenerator() self.current_topic = None self.behaviour_sub = None self._tip_message = None # message of the tip of the tree self._saved_settings_topic = None # topic subscribed to by previous instance self.visibility_level = py_trees.common.VisibilityLevel.DETAIL # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_py_trees'), 'resource', 'RosBehaviourTree.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosBehaviourTreeUi') if hasattr(context, 'serial_number') and context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.highlight_connections_check_box.toggled.connect( self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect( self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon( QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_bag_push_button.setIcon( QIcon.fromTheme('document-open')) self._widget.load_bag_push_button.pressed.connect(self._load_bag) self._widget.load_dot_push_button.setIcon( QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon( QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect( self._save_image) for text in visibility.combo_to_py_trees: self._widget.visibility_level_combo_box.addItem(text) self._widget.visibility_level_combo_box.setCurrentIndex( self.visibility_level) self._widget.visibility_level_combo_box.currentIndexChanged[ 'QString'].connect(self._update_visibility_level) # set up the function that is called whenever the box is resized - # ensures that the timeline is correctly drawn. self._widget.resizeEvent = self._resize_event self._timeline = None self._timeline_listener = None # Connect the message changed function of this object to a corresponding # signal. This signal will be activated whenever the message being # viewed changes. self._message_changed.connect(self.message_changed) self._message_cleared.connect(self.message_cleared) # Set up combo box for topic selection # when the refresh_combo signal happens, update the combo topics available self._refresh_combo.connect(self._update_combo_topics) # filter events to catch the event which opens the combo box self._combo_event_filter = RosBehaviourTree.ComboBoxEventFilter( self._refresh_combo) self._widget.topic_combo_box.installEventFilter( self._combo_event_filter) self._widget.topic_combo_box.activated.connect(self._choose_topic) self._update_combo_topics() # Set up navigation buttons self._widget.previous_tool_button.pressed.connect(self._previous) self._widget.previous_tool_button.setIcon( QIcon.fromTheme('go-previous')) self._widget.next_tool_button.pressed.connect(self._next) self._widget.next_tool_button.setIcon(QIcon.fromTheme('go-next')) self._widget.first_tool_button.pressed.connect(self._first) self._widget.first_tool_button.setIcon(QIcon.fromTheme('go-first')) self._widget.last_tool_button.pressed.connect(self._last) self._widget.last_tool_button.setIcon(QIcon.fromTheme('go-last')) # play, pause and stop buttons self._widget.play_tool_button.pressed.connect(self._play) self._widget.play_tool_button.setIcon( QIcon.fromTheme('media-playback-start')) self._widget.stop_tool_button.pressed.connect(self._stop) self._widget.stop_tool_button.setIcon( QIcon.fromTheme('media-playback-stop')) # also connect the navigation buttons so that they stop the timer when # pressed while the tree is playing. self._widget.first_tool_button.pressed.connect(self._stop) self._widget.previous_tool_button.pressed.connect(self._stop) self._widget.last_tool_button.pressed.connect(self._stop) self._widget.next_tool_button.pressed.connect(self._stop) # set up shortcuts for navigation (vim) next_shortcut_vi = QShortcut(QKeySequence("l"), self._widget) next_shortcut_vi.activated.connect( self._widget.next_tool_button.pressed) previous_shortcut_vi = QShortcut(QKeySequence("h"), self._widget) previous_shortcut_vi.activated.connect( self._widget.previous_tool_button.pressed) first_shortcut_vi = QShortcut(QKeySequence("^"), self._widget) first_shortcut_vi.activated.connect( self._widget.first_tool_button.pressed) last_shortcut_vi = QShortcut(QKeySequence("$"), self._widget) last_shortcut_vi.activated.connect( self._widget.last_tool_button.pressed) # shortcuts for emacs next_shortcut_emacs = QShortcut(QKeySequence("Ctrl+f"), self._widget) next_shortcut_emacs.activated.connect( self._widget.next_tool_button.pressed) previous_shortcut_emacs = QShortcut(QKeySequence("Ctrl+b"), self._widget) previous_shortcut_emacs.activated.connect( self._widget.previous_tool_button.pressed) first_shortcut_emacs = QShortcut(QKeySequence("Ctrl+a"), self._widget) first_shortcut_emacs.activated.connect( self._widget.first_tool_button.pressed) last_shortcut_emacs = QShortcut(QKeySequence("Ctrl+e"), self._widget) last_shortcut_emacs.activated.connect( self._widget.last_tool_button.pressed) # set up stuff for dotcode cache self._dotcode_cache_capacity = 50 self._dotcode_cache = {} # cache is ordered on timestamps from messages, but earliest timestamp # isn't necessarily the message that was viewed the longest time ago, so # need to store keys self._dotcode_cache_keys = [] # set up stuff for scene cache (dotcode cache doesn't seem to make much difference) self._scene_cache_capacity = 50 self._scene_cache = {} self._scene_cache_keys = [] # Update the timeline buttons to correspond with a completely # uninitialised state. self._set_timeline_buttons(first_snapshot=False, previous_snapshot=False, next_snapshot=False, last_snapshot=False) self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() # This is used to store a timer which controls how fast updates happen when the play button is pressed. self._play_timer = None # updates the view self._refresh_view.connect(self._refresh_tree_graph) self._force_refresh = False if self.live_update: context.add_widget(self._widget) else: self.initialized = True # this needs to be set for trees to be displayed context.setCentralWidget(self._widget) if parsed_args.bag: self._load_bag(parsed_args.bag) elif parsed_args.latest_bag: # if the latest bag is requested, load it from the default directory, or # the one specified in the args bag_dir = parsed_args.bag_dir or os.getenv( 'ROS_HOME', os.path.expanduser('~/.ros')) + '/behaviour_trees' self.open_latest_bag(bag_dir, parsed_args.by_time) @Slot(str) def _update_visibility_level(self, visibility_level): """ We match the combobox index to the visibility levels defined in py_trees.common.VisibilityLevel. """ self.visibility_level = visibility.combo_to_py_trees[visibility_level] self._refresh_tree_graph() @staticmethod def add_arguments(parser, group=True): """Allows for the addition of arguments to the rqt_gui loading method :param bool group: If set to false, this indicates that the function is being called from the rqt_py_trees script as opposed to the inside of rqt_gui.main. We use this to ensure that the same arguments can be passed with and without the --no-roscore argument set. If it is set, the rqt_gui code is bypassed. We need to make sure that all the arguments are displayed with -h. """ operate_object = parser if group: operate_object = parser.add_argument_group( 'Options for the rqt_py_trees viewer') operate_object.add_argument( 'bag', action='store', nargs='?', help='Load this bag when the viewer starts') operate_object.add_argument( '-l', '--latest-bag', action='store_true', help= 'Load the latest bag available in the bag directory. Bag files are expected to be under the bag directory in the following structure: year-month-day/behaviour_tree_hour-minute-second.bag. If this structure is not followed, the bag file which was most recently modified is used.' ) operate_object.add_argument( '--bag-dir', action='store', help= 'Specify the directory in which to look for bag files. The default is $ROS_HOME/behaviour_trees, if $ROS_HOME is set, or ~/.ros/behaviour_trees otherwise.' ) operate_object.add_argument( '-m', '--by-time', action='store_true', help= 'The latest bag is defined by the time at which the file was last modified, rather than the date and time specified in the filename.' ) operate_object.add_argument( RosBehaviourTree.no_roscore_switch, action='store_true', help= 'Run the viewer without roscore. It is only possible to view bag files if this is set.' ) def open_latest_bag(self, bag_dir, by_time=False): """Open the latest bag in the given directory :param str bag_dir: the directory in which to look for bags :param bool by_time: if true, the latest bag is the one with the latest modification time, not the latest date-time specified by its filename """ if not os.path.isdir(bag_dir): rospy.logwarn( "Requested bag directory {0} is invalid. Latest bag will not be loaded." .format(bag_dir)) return files = [] for root, unused_dirnames, filenames in os.walk(bag_dir, topdown=True): files.extend( fnmatch.filter(map(lambda p: os.path.join(root, p), filenames), '*.bag')) if not files: rospy.logwarn( "No files with extension .bag found in directory {0}".format( bag_dir)) return if not by_time: # parse the file list with a regex to get only those which have the # format year-month-day/behaviour_tree_hour-minute-second.bag re_str = '.*\/\d{4}-\d{2}-\d{2}\/behaviour_tree_\d{2}-\d{2}-\d{2}.bag' expr = re.compile(re_str) valid = filter(lambda f: expr.match(f), files) # if no files match the regex, use modification time instead if not valid: by_time = True else: # dates are monotonically increasing, so the last one is the latest latest_bag = sorted(valid)[-1] if by_time: latest_bag = sorted(files, cmp=lambda x, y: cmp(os.path.getctime(x), os.path.getctime(y)))[-1] self._load_bag(latest_bag) def get_current_message(self): """ Get the message in the list or bag that is being viewed that should be displayed. """ msg = None if self._timeline_listener: try: msg = self._timeline_listener.msg except KeyError: pass return py_trees_msgs.BehaviourTree() if msg is None else msg def _choose_topic(self, index): """Updates the topic that is subscribed to based on changes to the combo box text. If the topic is unchanged, nothing will happnen. Otherwise, the old subscriber will be unregistered, and a new one initialised for the updated topic. If the selected topic corresponds to the unselected topic, the subscriber will be unregistered and a new one will not be created. """ selected_topic = self._widget.topic_combo_box.currentText() if selected_topic != self._empty_topic and self.current_topic != selected_topic: self.current_topic = selected_topic # destroy the old timeline and clear the scene if self._timeline: self._timeline.handle_close() self._widget.timeline_graphics_view.setScene(None) if selected_topic != self._unselected_topic: # set up a timeline to track the messages coming from the subscriber self._set_dynamic_timeline() def _update_combo_topics(self): """ Update the topics displayed in the combo box that the user can use to select which topic they want to listen on for trees, filtered so that only topics with the correct message type are shown. """ # Only update topics if we're running with live updating if not self.live_update: self._widget.topic_combo_box.setEnabled(False) return self._widget.topic_combo_box.clear() topic_list = rospy.get_published_topics() valid_topics = [] for topic_path, topic_type in topic_list: if topic_type == RosBehaviourTree._expected_type: valid_topics.append(topic_path) if not valid_topics: self._widget.topic_combo_box.addItem(RosBehaviourTree._empty_topic) return # always add an item which does nothing so that it is possible to listen to nothing. self._widget.topic_combo_box.addItem( RosBehaviourTree._unselected_topic) for topic in valid_topics: self._widget.topic_combo_box.addItem(topic) # if the topic corresponds to the one that was active the last time # the viewer was run, automatically set that one as the one we look # at if topic == self._saved_settings_topic: self._widget.topic_combo_box.setCurrentIndex( self._widget.topic_combo_box.count() - 1) self._choose_topic(self._widget.topic_combo_box.currentIndex()) def _set_timeline_buttons(self, first_snapshot=None, previous_snapshot=None, next_snapshot=None, last_snapshot=None): """ Allows timeline buttons to be enabled and disabled. """ if first_snapshot is not None: self._widget.first_tool_button.setEnabled(first_snapshot) if previous_snapshot is not None: self._widget.previous_tool_button.setEnabled(previous_snapshot) if next_snapshot is not None: self._widget.next_tool_button.setEnabled(next_snapshot) if last_snapshot is not None: self._widget.last_tool_button.setEnabled(last_snapshot) def _play(self): """ Start a timer which will automatically call the next function every time its duration is up. Only works if the current message is not the final one. """ if not self._play_timer: self._play_timer = rospy.Timer(rospy.Duration(1), self._timer_next) def _timer_next(self, timer): """ Helper function for the timer so that it can call the next function without breaking. """ self._next() def _stop(self): """Stop the play timer, if it exists. """ if self._play_timer: self._play_timer.shutdown() self._play_timer = None def _first(self): """Navigate to the first message. Activates the next and last buttons, disables first and previous, and refreshes the view. Also changes the state to be browsing the timeline. """ self._timeline.navigate_start() self._set_timeline_buttons(first_snapshot=False, previous_snapshot=False, next_snapshot=True, last_snapshot=True) self._refresh_view.emit() self._browsing_timeline = True def _previous(self): """Navigate to the previous message. Activates the next and last buttons, and refreshes the view. If the current message is the second message, then the first and previous buttons are disabled. Changes the state to be browsing the timeline. """ # if already at the beginning, do nothing if self._timeline._timeline_frame.playhead == self._timeline._get_start_stamp( ): return # otherwise, go to the previous message self._timeline.navigate_previous() # now browsing the timeline self._browsing_timeline = True self._set_timeline_buttons(last_snapshot=True, next_snapshot=True) # if now at the beginning, disable timeline buttons. if self._timeline._timeline_frame.playhead == self._timeline._get_end_stamp( ): self._set_timeline_buttons(next_snapshot=False, last_snapshot=False) self._refresh_view.emit() def _last(self): """Navigate to the last message. Activates the first and previous buttons, disables next and last, and refreshes the view. The user is no longer browsing the timeline after this is called. """ self._timeline.navigate_end() self._set_timeline_buttons(first_snapshot=True, previous_snapshot=True, next_snapshot=False, last_snapshot=False) self._refresh_view.emit() self._browsing_timeline = False self._new_messages = 0 def _next(self): """Navigate to the next message. Activates the first and previous buttons. If the current message is the second from last, disables the next and last buttons, and stops browsing the timeline. """ # if already at the end, do nothing if self._timeline._timeline_frame.playhead == self._timeline._get_end_stamp( ): return # otherwise, go to the next message self._timeline.navigate_next() self._set_timeline_buttons(first_snapshot=True, previous_snapshot=True) # if now at the end, disable timeline buttons and shutdown the play timer if active if self._timeline._timeline_frame.playhead == self._timeline._get_end_stamp( ): self._set_timeline_buttons(next_snapshot=False, last_snapshot=False) self._browsing_timeline = False if self._play_timer: self._play_timer.shutdown() self._refresh_view.emit() def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('visibility_level', self.visibility_level) instance_settings.set_value( 'auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value( 'highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) combo_text = self._widget.topic_combo_box.currentText() if combo_text not in [self._empty_topic, self._unselected_topic]: instance_settings.set_value('combo_box_subscribed_topic', combo_text) def restore_settings(self, plugin_settings, instance_settings): try: self._widget.auto_fit_graph_check_box.setChecked( instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked( instance_settings.value( 'highlight_connections_check_box_state', True) in [True, 'true']) self._saved_settings_topic = instance_settings.value( 'combo_box_subscribed_topic', None) saved_visibility_level = instance_settings.value( 'visibility_level', 1) except TypeError as e: self._widget.auto_fit_graph_check_box.setChecked(True) self._widget.highlight_connections_check_box.setChecked(True) self._saved_settings_topic = None saved_visibility_level = 1 rospy.logerr( "Rqt PyTrees: incompatible qt app configuration found, try removing ~/.config/ros.org/rqt_gui.ini" ) rospy.logerr("Rqt PyTrees: %s" % e) self._widget.visibility_level_combo_box.setCurrentIndex( visibility.saved_setting_to_combo_index[saved_visibility_level]) self.initialized = True self._update_combo_topics() self._refresh_tree_graph() def _refresh_tree_graph(self): """Refresh the graph view by regenerating the dotcode from the current message. """ if not self.initialized: return self._update_graph_view( self._generate_dotcode(self.get_current_message())) def _generate_dotcode(self, message): """ Get the dotcode for the given message, checking the cache for dotcode that was previously generated, and adding to the cache if it wasn't there. Cache replaces LRU. Mostly stolen from rqt_bag.MessageLoaderThread :param py_trees_msgs.BehavoiurTree message """ if message is None: return "" ####################################################### # Get the tip, from the perspective of the root ####################################################### # this is pretty inefficient, and ignores caching tip_id = None self._tip_message = None # reverse behaviour list - construction puts the root at the end (with # visitor, at least) for behaviour in reversed(message.behaviours): # root has empty parent ID if str(behaviour.parent_id) == str(uuid_msgs.UniqueID()): # parent is the root behaviour, so tip_id = behaviour.tip_id # Run through the behaviours and do a couple of things: # - get the tip # - protect against feedback messages with quotes (https://bitbucket.org/yujinrobot/gopher_crazy_hospital/issues/72/rqt_py_trees-fails-to-display-tree) if self._tip_message is None: for behaviour in message.behaviours: if str(behaviour.own_id) == str(tip_id): self._tip_message = behaviour.message if '"' in behaviour.message: print("%s" % termcolor.colored( '[ERROR] found double quotes in the feedback message [%s]' % behaviour.message, 'red')) behaviour.message = behaviour.message.replace('"', '') print("%s" % termcolor.colored( '[ERROR] stripped to stop from crashing, but do catch the culprit! [%s]' % behaviour.message, 'red')) key = str(message.header.stamp) # stamps are unique if key in self._dotcode_cache: return self._dotcode_cache[key] force_refresh = self._force_refresh self._force_refresh = False visible_behaviours = visibility.filter_behaviours_by_visibility_level( message.behaviours, self.visibility_level) # cache miss dotcode = self.dotcode_generator.generate_dotcode( dotcode_factory=self.dotcode_factory, behaviours=visible_behaviours, timestamp=message.header.stamp, force_refresh=force_refresh) self._dotcode_cache[key] = dotcode self._dotcode_cache_keys.append(key) if len(self._dotcode_cache) > self._dotcode_cache_capacity: oldest = self._dotcode_cache_keys[0] del self._dotcode_cache[oldest] self._dotcode_cache_keys.remove(oldest) return dotcode def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _redraw_graph_view(self): key = str(self.get_current_message().header.stamp) if key in self._scene_cache: new_scene = self._scene_cache[key] else: # cache miss new_scene = QGraphicsScene() new_scene.setBackgroundBrush(Qt.white) if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 # (nodes, edges) = self.dot_to_qt.graph_to_qt_items(self.dotcode_generator.graph, # highlight_level) # this function is very expensive (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items( self._current_dotcode, highlight_level) for node_item in nodes.itervalues(): new_scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(new_scene) new_scene.setSceneRect(new_scene.itemsBoundingRect()) # put the scene in the cache self._scene_cache[key] = new_scene self._scene_cache_keys.append(key) if len(self._scene_cache) > self._scene_cache_capacity: oldest = self._scene_cache_keys[0] del self._scene_cache[oldest] self._scene_cache_keys.remove(oldest) # after construction, set the scene and fit to the view self._scene = new_scene self._widget.graphics_view.setScene(self._scene) self._widget.message_label.setText(self._tip_message) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _resize_event(self, event): """Activated when the window is resized. Will re-fit the behaviour tree in the window, and update the size of the timeline scene rectangle so that it is correctly drawn. """ self._fit_in_view() if self._timeline: self._timeline.setSceneRect( 0, 0, self._widget.timeline_graphics_view.width() - 2, max(self._widget.timeline_graphics_view.height() - 2, self._timeline._timeline_frame._history_bottom)) def timeline_changed(self): """Should be called whenever the timeline changes. At the moment this is only used to ensure that the first and previous buttons are correctly disabled when a new message coming in on the timeline pushes the playhead to be at the first message """ if self._timeline._timeline_frame.playhead == self._timeline._get_start_stamp( ): self._set_timeline_buttons(first_snapshot=False, previous_snapshot=False) else: self._set_timeline_buttons(first_snapshot=True, previous_snapshot=True) def message_changed(self): """ This function should be called when the message being viewed changes. Will change the current message and update the view. Also ensures that the timeline buttons are correctly set for the current position of the playhead on the timeline. """ if self._timeline._timeline_frame.playhead == self._timeline._get_end_stamp( ): self._set_timeline_buttons(last_snapshot=False, next_snapshot=False) else: self._set_timeline_buttons(last_snapshot=True, next_snapshot=True) if self._timeline._timeline_frame.playhead == self._timeline._get_start_stamp( ): self._set_timeline_buttons(first_snapshot=False, previous_snapshot=False) else: self._set_timeline_buttons(first_snapshot=True, previous_snapshot=True) self._refresh_view.emit() def message_cleared(self): """ This function should be called when the message being viewed was cleared. Currently no situation where this happens? """ pass def no_right_click_press_event(self, func): """Decorator for ignoring right click events on mouse press """ @functools.wraps(func) def wrapper(event): if event.type() == QEvent.MouseButtonPress and event.button( ) == Qt.RightButton: event.ignore() else: func(event) return wrapper def _set_dynamic_timeline(self): """ Set the timeline to a dynamic timeline, listening to messages on the topic selected in the combo box. """ self._timeline = DynamicTimeline(self, publish_clock=False) # connect timeline events so that the timeline will update when events happen self._widget.timeline_graphics_view.mousePressEvent = self.no_right_click_press_event( self._timeline.on_mouse_down) self._widget.timeline_graphics_view.mouseReleaseEvent = self._timeline.on_mouse_up self._widget.timeline_graphics_view.mouseMoveEvent = self._timeline.on_mouse_move self._widget.timeline_graphics_view.wheelEvent = self._timeline.on_mousewheel self._widget.timeline_graphics_view.setScene(self._timeline) # Don't show scrollbars - the timeline adjusts to the size of the view self._widget.timeline_graphics_view.setHorizontalScrollBarPolicy( Qt.ScrollBarAlwaysOff) self._widget.timeline_graphics_view.setVerticalScrollBarPolicy( Qt.ScrollBarAlwaysOff) # Send a resize event so that the timeline knows the size of the view it's in self._resize_event(None) self._timeline.add_topic(self.current_topic, py_trees_msgs.BehaviourTree) # Create a listener for the timeline which will call the emit function # on the given signals when the message being viewed changes or is # cleared. The message being viewed changing generally happens when the # user moves the slider around. self._timeline_listener = DynamicTimelineListener( self._timeline, self.current_topic, self._message_changed, self._message_cleared) # Need to add a listener to make sure that we can get information about # messages that are on the topic that we're interested in. self._timeline.add_listener(self.current_topic, self._timeline_listener) self._timeline.navigate_end() self._timeline._redraw_timeline(None) self._timeline.timeline_updated.connect(self.timeline_changed) def _set_bag_timeline(self, bag): """Set the timeline of this object to a bag timeline, hooking the graphics view into mouse and wheel functions of the timeline. """ self._timeline = BagTimeline(self, publish_clock=False) # connect timeline events so that the timeline will update when events happen self._widget.timeline_graphics_view.mousePressEvent = self.no_right_click_press_event( self._timeline.on_mouse_down) self._widget.timeline_graphics_view.mouseReleaseEvent = self._timeline.on_mouse_up self._widget.timeline_graphics_view.mouseMoveEvent = self._timeline.on_mouse_move self._widget.timeline_graphics_view.wheelEvent = self._timeline.on_mousewheel self._widget.timeline_graphics_view.setScene(self._timeline) # Don't show scrollbars - the timeline adjusts to the size of the view self._widget.timeline_graphics_view.setHorizontalScrollBarPolicy( Qt.ScrollBarAlwaysOff) self._widget.timeline_graphics_view.setVerticalScrollBarPolicy( Qt.ScrollBarAlwaysOff) # Send a resize event so that the timeline knows the size of the view it's in self._resize_event(None) self._timeline.add_bag(bag) # Create a listener for the timeline which will call the emit function # on the given signals when the message being viewed changes or is # cleared. The message being viewed changing generally happens when the # user moves the slider around. self._timeline_listener = TimelineListener(self._timeline, self.current_topic, self._message_changed, self._message_cleared) # Need to add a listener to make sure that we can get information about # messages that are on the topic that we're interested in. self._timeline.add_listener(self.current_topic, self._timeline_listener) # Go to the first message in the timeline of the bag. self._timeline.navigate_start() def _load_bag(self, file_name=None): """Load a bag from file. If no file name is given, a dialogue will pop up and the user will be asked to select a file. If the bag file selected doesn't have any valid topic, nothing will happen. If there are valid topics, we load the bag and add a timeline for managing it. """ if file_name is None: file_name, _ = QFileDialog.getOpenFileName( self._widget, self.tr('Open trees from bag file'), None, self.tr('ROS bag (*.bag)')) if file_name is None or file_name == "": return rospy.loginfo("Reading bag from {0}".format(file_name)) bag = rosbag.Bag(file_name, 'r') # ugh... topics = bag.get_type_and_topic_info()[1].keys() types = [] for i in range(0, len(bag.get_type_and_topic_info()[1].values())): types.append(bag.get_type_and_topic_info()[1].values()[i][0]) tree_topics = [] # only look at the first matching topic for ind, tp in enumerate(types): if tp == 'py_trees_msgs/BehaviourTree': tree_topics.append(topics[ind]) if len(tree_topics) == 0: rospy.logerr('Requested bag did not contain any valid topics.') return self.message_list = [] self._viewing_bag = True rospy.loginfo('Reading behaviour trees from topic {0}'.format( tree_topics[0])) for unused_topic, msg, unused_t in bag.read_messages( topics=[tree_topics[0]]): self.message_list.append(msg) self.current_topic = tree_topics[0] self._set_timeline_buttons(first_snapshot=True, previous_snapshot=True, next_snapshot=False, last_snapshot=False) self._set_bag_timeline(bag) self._refresh_view.emit() def _load_dot(self, file_name=None): if file_name is None: file_name, _ = QFileDialog.getOpenFileName( self._widget, self.tr('Open tree from DOT file'), None, self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return try: fhandle = open(file_name, 'rb') dotcode = fhandle.read() fhandle.close() except IOError: return self._update_graph_view(dotcode) def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_dot(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as DOT'), 'frames.dot', self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return dot_file = QFile(file_name) if not dot_file.open(QIODevice.WriteOnly | QIODevice.Text): return dot_file.write(self._current_dotcode) dot_file.close() def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as SVG'), 'frames.svg', self.tr('Scalable Vector Graphic (*.svg)')) if file_name is None or file_name == '': return generator = QSvgGenerator() generator.setFileName(file_name) generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) painter = QPainter(generator) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() def _save_image(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as image'), 'frames.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) if file_name is None or file_name == '': return img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) painter = QPainter(img) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() img.save(file_name)
class TopicGraphWidget(QWidget): def __init__(self, ros: Ros, parent=None): super(TopicGraphWidget, self).__init__(parent) self.ros_client = ros layout = QVBoxLayout() self._widget = QWidget() self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._graphics_view = InteractiveGraphicsView(self._widget) self._graphics_view.setScene(self._scene) self._graphics_view.setRenderHints(QPainter.Antialiasing | QPainter.HighQualityAntialiasing | QPainter.SmoothPixmapTransform | QPainter.TextAntialiasing) self._graphics_view.setResizeAnchor(QGraphicsView.AnchorViewCenter) layout.addWidget(self._graphics_view) self._refresh_button = QPushButton('加载数据') self._refresh_button.setFixedWidth(100) self._refresh_button.clicked.connect(self._draw_graph_view) btn_layout = QHBoxLayout() btn_layout.addWidget(self._refresh_button) layout.addLayout(btn_layout) self.setLayout(layout) self._current_dotcode = None self.dot_to_qt = DotToQtGenerator() self.dotcode_factory = PydotFactory() self.dotcode_generator = RosGraphDotcodeGenerator(self.ros_client) self._graph = graph.Graph(self.ros_client) self._graph.set_master_stale(5.0) self._graph.set_node_stale(5.0) def _generate_dotcode(self): ns_filter = '/' topic_filter = '/' graph_mode = NODE_TOPIC_ALL_GRAPH orientation = 'LR' namespace_cluster = 2 accumulate_actions = True hide_dead_end_topics = False hide_single_connection_topics = True quiet = True unreachable = True group_tf_nodes = True hide_tf_nodes = False group_image_nodes = True hide_dynamic_reconfigure = True return self.dotcode_generator.generate_dotcode( rosgraphinst=self._graph, ns_filter=ns_filter, topic_filter=topic_filter, graph_mode=graph_mode, hide_single_connection_topics=hide_single_connection_topics, hide_dead_end_topics=hide_dead_end_topics, cluster_namespaces_level=namespace_cluster, accumulate_actions=accumulate_actions, dotcode_factory=self.dotcode_factory, orientation=orientation, quiet=quiet, unreachable=unreachable, group_tf_nodes=group_tf_nodes, hide_tf_nodes=hide_tf_nodes, group_image_nodes=group_image_nodes, hide_dynamic_reconfigure=hide_dynamic_reconfigure) def _draw_graph_view(self): if self.ros_client is None: QMessageBox.critical(self, "错误", '未连接ROS') return if not self.ros_client.is_connected: QMessageBox.critical(self, "错误", '连接中断,请重新连接') return self._graph.update() self._current_dotcode = self._generate_dotcode() self._scene.clear() (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level=3, same_label_siblings=True, scene=self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) self._fit_in_view() def resizeEvent(self, e): self._fit_in_view() QWidget.resizeEvent(self, e) def _fit_in_view(self): self._graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
class RosPackGraph(Plugin): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosPackGraph, self).__init__(context) self.initialized = False self._current_dotcode = None self._update_thread = WorkerThread(self._update_thread_run, self._update_finished) self._nodes = [] self._edges = [] self._options = {} self._options_serialized = '' self.setObjectName('RosPackGraph') rospack = rospkg.RosPack() rosstack = rospkg.RosStack() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosPackageGraphDotcodeGenerator( rospack, rosstack) # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() self._widget = QWidget() ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RosPackGraph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosPackGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1) self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2) self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3) self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4) self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5) self._widget.depth_combo_box.setCurrentIndex(0) self._widget.depth_combo_box.currentIndexChanged.connect( self._refresh_rospackgraph) self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0) self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'), 1) self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2) self._widget.directions_combo_box.setCurrentIndex(2) self._widget.directions_combo_box.currentIndexChanged.connect( self._refresh_rospackgraph) completionmodel = StackageCompletionModel( self._widget.filter_line_edit, rospack, rosstack) completer = RepeatedWordCompleter(completionmodel, self) completer.setCompletionMode(QCompleter.PopupCompletion) completer.setWrapAround(True) completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.filter_line_edit.editingFinished.connect( self._refresh_rospackgraph) self._widget.filter_line_edit.setCompleter(completer) self._widget.with_stacks_check_box.clicked.connect( self._refresh_rospackgraph) self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph) self._widget.colorize_check_box.clicked.connect( self._refresh_rospackgraph) self._widget.hide_transitives_check_box.clicked.connect( self._refresh_rospackgraph) self._widget.refresh_graph_push_button.setIcon( QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect( self._update_rospackgraph) self._widget.highlight_connections_check_box.toggled.connect( self._refresh_rospackgraph) self._widget.auto_fit_graph_check_box.toggled.connect( self._refresh_rospackgraph) self._widget.fit_in_view_push_button.setIcon( QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon( QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon( QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect( self._save_image) self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) def shutdown_plugin(self): self._update_thread.kill() def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value( 'depth_combo_box_index', self._widget.depth_combo_box.currentIndex()) instance_settings.set_value( 'directions_combo_box_index', self._widget.directions_combo_box.currentIndex()) instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text()) instance_settings.set_value( 'with_stacks_state', self._widget.with_stacks_check_box.isChecked()) instance_settings.set_value( 'hide_transitives_state', self._widget.hide_transitives_check_box.isChecked()) instance_settings.set_value('mark_state', self._widget.mark_check_box.isChecked()) instance_settings.set_value( 'colorize_state', self._widget.colorize_check_box.isChecked()) instance_settings.set_value( 'auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value( 'highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): self._widget.depth_combo_box.setCurrentIndex( int(instance_settings.value('depth_combo_box_index', 0))) self._widget.directions_combo_box.setCurrentIndex( int(instance_settings.value('directions_combo_box_index', 0))) self._widget.filter_line_edit.setText( instance_settings.value('filter_line_edit_text', '')) self._widget.with_stacks_check_box.setChecked( instance_settings.value('with_stacks_state', True) in [True, 'true']) self._widget.mark_check_box.setChecked( instance_settings.value('mark_state', True) in [True, 'true']) self._widget.colorize_check_box.setChecked( instance_settings.value('colorize_state', True) in [True, 'true']) self._widget.hide_transitives_check_box.setChecked( instance_settings.value('hide_transitives_state', True) in [True, 'true']) self._widget.auto_fit_graph_check_box.setChecked( instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked( instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_rospackgraph() def _update_rospackgraph(self): # re-enable controls customizing fetched ROS graph self._widget.depth_combo_box.setEnabled(True) self._widget.directions_combo_box.setEnabled(True) self._widget.filter_line_edit.setEnabled(True) self._widget.with_stacks_check_box.setEnabled(True) self._widget.mark_check_box.setEnabled(True) self._widget.colorize_check_box.setEnabled(True) self._widget.hide_transitives_check_box.setEnabled(True) self._refresh_rospackgraph(force_update=True) def _update_options(self): self._options['depth'] = self._widget.depth_combo_box.itemData( self._widget.depth_combo_box.currentIndex()) self._options[ 'directions'] = self._widget.directions_combo_box.itemData( self._widget.directions_combo_box.currentIndex()) self._options[ 'with_stacks'] = self._widget.with_stacks_check_box.isChecked() self._options['mark_selected'] = self._widget.mark_check_box.isChecked( ) self._options[ 'hide_transitives'] = self._widget.hide_transitives_check_box.isChecked( ) # TODO: Allow different color themes self._options[ 'colortheme'] = True if self._widget.colorize_check_box.isChecked( ) else None self._options['names'] = self._widget.filter_line_edit.text().split( ',') if self._options['names'] == [u'None']: self._options['names'] = [] self._options[ 'highlight_level'] = 3 if self._widget.highlight_connections_check_box.isChecked( ) else 1 self._options[ 'auto_fit'] = self._widget.auto_fit_graph_check_box.isChecked() def _refresh_rospackgraph(self, force_update=False): if not self.initialized: return self._update_thread.kill() self._update_options() # avoid update if options did not change and force_update is not set new_options_serialized = pickle.dumps(self._options) if new_options_serialized == self._options_serialized and not force_update: return self._options_serialized = pickle.dumps(self._options) self._scene.setBackgroundBrush(Qt.lightGray) self._update_thread.start() # this runs in a non-gui thread, so don't access widgets here directly def _update_thread_run(self): self._update_graph(self._generate_dotcode()) @Slot() def _update_finished(self): self._scene.setBackgroundBrush(Qt.white) self._redraw_graph_scene() # this runs in a non-gui thread, so don't access widgets here directly def _generate_dotcode(self): includes = [] excludes = [] for name in self._options['names']: if name.strip().startswith('-'): excludes.append(name.strip()[1:]) else: includes.append(name.strip()) # orientation = 'LR' descendants = True ancestors = True if self._options['directions'] == 1: descendants = False if self._options['directions'] == 0: ancestors = False return self.dotcode_generator.generate_dotcode( dotcode_factory=self.dotcode_factory, selected_names=includes, excludes=excludes, depth=self._options['depth'], with_stacks=self._options['with_stacks'], descendants=descendants, ancestors=ancestors, mark_selected=self._options['mark_selected'], colortheme=self._options['colortheme'], hide_transitives=self._options['hide_transitives']) # this runs in a non-gui thread, so don't access widgets here directly def _update_graph(self, dotcode): self._current_dotcode = dotcode self._nodes, self._edges = self.dot_to_qt.dotcode_to_qt_items( self._current_dotcode, self._options['highlight_level']) def _generate_tool_tip(self, url): if url is not None and ':' in url: item_type, item_path = url.split(':', 1) if item_type == 'node': tool_tip = 'Node:\n %s' % (item_path) service_names = rosservice.get_service_list(node=item_path) if service_names: tool_tip += '\nServices:' for service_name in service_names: try: service_type = rosservice.get_service_type( service_name) tool_tip += '\n %s [%s]' % (service_name, service_type) except rosservice.ROSServiceIOException, e: tool_tip += '\n %s' % (e) return tool_tip elif item_type == 'topic': topic_type, topic_name, _ = rostopic.get_topic_type(item_path) return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type) return url
class RosTfTree(QObject): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosTfTree, self).__init__(context) self.initialized = False self.setObjectName('RosTfTree') self._current_dotcode = None self._widget = QWidget() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosTfTreeDotcodeGenerator() self.tf2_buffer_ = tf2_ros.Buffer() self.tf2_listener_ = tf2_ros.TransformListener(self.tf2_buffer_) # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_tf_tree'), 'resource', 'RosTfTree.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosTfTreeUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.refresh_graph_push_button.setIcon( QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect( self._update_tf_graph) self._widget.highlight_connections_check_box.toggled.connect( self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect( self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon( QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon( QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon( QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon( QIcon.fromTheme('image-x-generic')) self._widget.save_as_image_push_button.pressed.connect( self._save_image) self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) self._force_refresh = False def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value( 'auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value( 'highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): self._widget.auto_fit_graph_check_box.setChecked( instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked( instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_tf_graph() def _update_tf_graph(self): self._force_refresh = True self._refresh_tf_graph() def _refresh_tf_graph(self): if not self.initialized: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): force_refresh = self._force_refresh self._force_refresh = False rospy.wait_for_service('~tf2_frames') tf2_frame_srv = rospy.ServiceProxy('~tf2_frames', FrameGraph) return self.dotcode_generator.generate_dotcode( dotcode_factory=self.dotcode_factory, tf2_frame_srv=tf2_frame_srv, force_refresh=force_refresh) def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _generate_tool_tip(self, url): return url def _redraw_graph_view(self): self._scene.clear() if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level) for node_item in nodes.values(): self._scene.addItem(node_item) for edge_items in edges.values(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _load_dot(self, file_name=None): if file_name is None: file_name, _ = QFileDialog.getOpenFileName( self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return try: fhandle = open(file_name, 'rb') dotcode = fhandle.read() fhandle.close() except IOError: return self._update_graph_view(dotcode) def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_dot(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as DOT'), 'frames.dot', self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return file = QFile(file_name) if not file.open(QIODevice.WriteOnly | QIODevice.Text): return file.write(self._current_dotcode) file.close() def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as SVG'), 'frames.svg', self.tr('Scalable Vector Graphic (*.svg)')) if file_name is None or file_name == '': return generator = QSvgGenerator() generator.setFileName(file_name) generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) painter = QPainter(generator) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() def _save_image(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as image'), 'frames.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) if file_name is None or file_name == '': return img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) painter = QPainter(img) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() img.save(file_name)
class RosPackGraph(Plugin): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosPackGraph, self).__init__(context) self.initialized = False self._current_dotcode = None self._update_thread = WorkerThread(self._update_thread_run, self._update_finished) self._nodes = {} self._edges = {} self._options = {} self._options_serialized = '' self.setObjectName('RosPackGraph') rospack = rospkg.RosPack() rosstack = rospkg.RosStack() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosPackageGraphDotcodeGenerator(rospack, rosstack) # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() self._widget = QWidget() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_dep'), 'resource', 'RosPackGraph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosPackGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1) self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2) self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3) self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4) self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5) self._widget.depth_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph) self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0) self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'), 1) self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2) self._widget.directions_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph) self._widget.package_type_combo_box.insertItem(0, self.tr('wet & dry'), 3) self._widget.package_type_combo_box.insertItem(1, self.tr('wet only'), 2) self._widget.package_type_combo_box.insertItem(2, self.tr('dry only'), 1) self._widget.package_type_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph) completionmodel = StackageCompletionModel(self._widget.filter_line_edit, rospack, rosstack) completer = RepeatedWordCompleter(completionmodel, self) completer.setCompletionMode(QCompleter.PopupCompletion) completer.setWrapAround(True) completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.filter_line_edit.editingFinished.connect(self._refresh_rospackgraph) self._widget.filter_line_edit.setCompleter(completer) self._widget.filter_line_edit.selectionChanged.connect(self._clear_filter) self._widget.with_stacks_check_box.clicked.connect(self._refresh_rospackgraph) self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph) self._widget.colorize_check_box.clicked.connect(self._refresh_rospackgraph) self._widget.hide_transitives_check_box.clicked.connect(self._refresh_rospackgraph) self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect(self._update_rospackgraph) self._widget.highlight_connections_check_box.toggled.connect(self._refresh_rospackgraph) self._widget.auto_fit_graph_check_box.toggled.connect(self._refresh_rospackgraph) self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect(self._save_image) self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) # If in either of following case, this turnes True # - 1st filtering key is already input by user # - filtering key is restored self._filtering_started = False def shutdown_plugin(self): self._update_thread.kill() def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('depth_combo_box_index', self._widget.depth_combo_box.currentIndex()) instance_settings.set_value('directions_combo_box_index', self._widget.directions_combo_box.currentIndex()) instance_settings.set_value('package_type_combo_box', self._widget.package_type_combo_box.currentIndex()) instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text()) instance_settings.set_value('with_stacks_state', self._widget.with_stacks_check_box.isChecked()) instance_settings.set_value('hide_transitives_state', self._widget.hide_transitives_check_box.isChecked()) instance_settings.set_value('mark_state', self._widget.mark_check_box.isChecked()) instance_settings.set_value('colorize_state', self._widget.colorize_check_box.isChecked()) instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): _str_filter = instance_settings.value('filter_line_edit_text', '') if (_str_filter == None or _str_filter == '') and \ not self._filtering_started: _str_filter = '(Separate pkgs by comma)' else: self._filtering_started = True self._widget.depth_combo_box.setCurrentIndex(int(instance_settings.value('depth_combo_box_index', 0))) self._widget.directions_combo_box.setCurrentIndex(int(instance_settings.value('directions_combo_box_index', 0))) self._widget.package_type_combo_box.setCurrentIndex(int(instance_settings.value('package_type_combo_box', 0))) self._widget.filter_line_edit.setText(_str_filter) self._widget.with_stacks_check_box.setChecked(instance_settings.value('with_stacks_state', True) in [True, 'true']) self._widget.mark_check_box.setChecked(instance_settings.value('mark_state', True) in [True, 'true']) self._widget.colorize_check_box.setChecked(instance_settings.value('colorize_state', False) in [True, 'true']) self._widget.hide_transitives_check_box.setChecked(instance_settings.value('hide_transitives_state', False) in [True, 'true']) self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_rospackgraph() def _update_rospackgraph(self): # re-enable controls customizing fetched ROS graph self._widget.depth_combo_box.setEnabled(True) self._widget.directions_combo_box.setEnabled(True) self._widget.package_type_combo_box.setEnabled(True) self._widget.filter_line_edit.setEnabled(True) self._widget.with_stacks_check_box.setEnabled(True) self._widget.mark_check_box.setEnabled(True) self._widget.colorize_check_box.setEnabled(True) self._widget.hide_transitives_check_box.setEnabled(True) self._refresh_rospackgraph(force_update=True) def _update_options(self): self._options['depth'] = self._widget.depth_combo_box.itemData(self._widget.depth_combo_box.currentIndex()) self._options['directions'] = self._widget.directions_combo_box.itemData(self._widget.directions_combo_box.currentIndex()) self._options['package_types'] = self._widget.package_type_combo_box.itemData(self._widget.package_type_combo_box.currentIndex()) self._options['with_stacks'] = self._widget.with_stacks_check_box.isChecked() self._options['mark_selected'] = self._widget.mark_check_box.isChecked() self._options['hide_transitives'] = self._widget.hide_transitives_check_box.isChecked() # TODO: Allow different color themes self._options['colortheme'] = True if self._widget.colorize_check_box.isChecked() else None self._options['names'] = self._widget.filter_line_edit.text().split(',') if self._options['names'] == [u'None']: self._options['names'] = [] self._options['highlight_level'] = 3 if self._widget.highlight_connections_check_box.isChecked() else 1 self._options['auto_fit'] = self._widget.auto_fit_graph_check_box.isChecked() def _refresh_rospackgraph(self, force_update=False): if not self.initialized: return self._update_thread.kill() self._update_options() # avoid update if options did not change and force_update is not set new_options_serialized = pickle.dumps(self._options) if new_options_serialized == self._options_serialized and not force_update: return self._options_serialized = pickle.dumps(self._options) self._scene.setBackgroundBrush(Qt.lightGray) self._update_thread.start() # this runs in a non-gui thread, so don't access widgets here directly def _update_thread_run(self): self._update_graph(self._generate_dotcode()) @Slot() def _update_finished(self): self._scene.setBackgroundBrush(Qt.white) self._redraw_graph_scene() # this runs in a non-gui thread, so don't access widgets here directly def _generate_dotcode(self): includes = [] excludes = [] for name in self._options['names']: if name.strip().startswith('-'): excludes.append(name.strip()[1:]) else: includes.append(name.strip()) # orientation = 'LR' descendants = True ancestors = True if self._options['directions'] == 1: descendants = False if self._options['directions'] == 0: ancestors = False return self.dotcode_generator.generate_dotcode(dotcode_factory=self.dotcode_factory, selected_names=includes, excludes=excludes, depth=self._options['depth'], with_stacks=self._options['with_stacks'], descendants=descendants, ancestors=ancestors, mark_selected=self._options['mark_selected'], colortheme=self._options['colortheme'], hide_transitives=self._options['hide_transitives'], hide_wet=self._options['package_types'] == 1, hide_dry=self._options['package_types'] == 2) # this runs in a non-gui thread, so don't access widgets here directly def _update_graph(self, dotcode): self._current_dotcode = dotcode self._nodes, self._edges = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, self._options['highlight_level']) def _generate_tool_tip(self, url): if url is not None and ':' in url: item_type, item_path = url.split(':', 1) if item_type == 'node': tool_tip = 'Node:\n %s' % (item_path) service_names = rosservice.get_service_list(node=item_path) if service_names: tool_tip += '\nServices:' for service_name in service_names: try: service_type = rosservice.get_service_type(service_name) tool_tip += '\n %s [%s]' % (service_name, service_type) except rosservice.ROSServiceIOException, e: tool_tip += '\n %s' % (e) return tool_tip elif item_type == 'topic': topic_type, topic_name, _ = rostopic.get_topic_type(item_path) return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type) return url
class GraphGogglesWidget(QtGui.QWidget): """A QT Widget to selectively view the graph of a dot file.""" def __init__(self, dotFile, maxDistance): """ * dotfile -- the path to the dot file to load * maxDistance -- the maximum distance from the node to allow """ QtGui.QWidget.__init__(self) self.__dotFile = dotFile self.__maxDistance = maxDistance # Load the graph from the dot file self.__graph = DotFileGraph(dotFile) self.__dotcode = None # Create a layout for the widget self.__layout = QtGui.QVBoxLayout() self.setLayout(self.__layout) # Create the graphics scene and view to display the graph self.__scene = QtGui.QGraphicsScene() self.__scene.setBackgroundBrush(Qt.white) self.__view = QtGui.QGraphicsView() self.__view.setScene(self.__scene) self.__layout.addWidget(self.__view) # Create a slider to change the parent depth self.__aboveSlider, self.__aboveLabel = self.__createDistanceSlider( "Distance above", self.__graph.getAboveDistance(), self.__onAboveDistance) # Create a slider to change the child depth self.__belowSlider, self.__belowLabel = self.__createDistanceSlider( "Distance below", self.__graph.getBelowDistance(), self.__onBelowDistance) # Create a list to view all nodes self.__createNodeListWidget() # Generates QT widgets from dot code self.__dotToQt = DotToQtGenerator() # Do the initial display of the graph self.updateGraph() self.setGeometry(0, 0, 1000, 600) def getDotFile(self): """Get the dot file that is being viewed.""" return self.__dotFile def getSelectedNode(self): """Get the name of the currently selected node""" return self.__graph.getSelectedNode() def onSaveAs(self, saveFilename): """Save the current graph to the given file. * saveFilename -- the file to save the graph to """ # Write the dot code to the file if self.__dotcode is not None: fd = open(saveFilename, "w") fd.write(self.__dotcode) fd.close() def updateGraph(self): """Update the graph.""" self.__scene.clear() # Generate the dot graph self.__dotcode = self.__graph.getDotCode( orientation='UD', rank='same', simplify=False) # Allow duplicate edges # Generate the QT items corresponding to the given dot graph highlight_level = 3 (nodes, edges) = self.__dotToQt.dotcode_to_qt_items( self.__dotcode, highlight_level=highlight_level, same_label_siblings=True) # Add all the QT items to the scene for node_item in nodes.itervalues(): self.__scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self.__scene) self.__scene.setSceneRect(self.__scene.itemsBoundingRect()) def __onAboveDistance(self, distance): """Called when the above distance is changed. * distance -- the new above distance """ # Update the label label = "%s" % distance self.__aboveLabel.setText(label) self.__graph.setAboveDistance(distance) self.updateGraph() # Redisplay the graph def __onBelowDistance(self, distance): """Called when the below distance is changed. * distance -- the new below distance """ # Update the label label = "%s" % distance self.__belowLabel.setText(label) self.__graph.setBelowDistance(distance) self.updateGraph() # Redisplay the graph def __onSelectNode(self, node): """Called when a node is selected. * node -- the selected node """ self.__graph.setSelectedNode(node) self.updateGraph() # Redisplay the graph def __onNodeClicked(self, current, previous): """Called when a node is clicked in the list of nodes. * current -- the current node selected * previous -- the previously selected node """ self.__onSelectNode(current.text()) def __createDistanceSlider(self, label, distance, callback): """Create a slider widget to control the distance from the selected node. * label -- the label for the slider * distance -- the default distance value * callback -- the function to call when the slider is changed """ frame = QtGui.QFrame() layout = QtGui.QHBoxLayout() frame.setLayout(layout) # Create a main label for the slider label = QtGui.QLabel("%s:" % label) layout.addWidget(label) # Create the slider slider = QtGui.QSlider(QtCore.Qt.Horizontal) slider.setMinimum(0) slider.setMaximum(self.__maxDistance) slider.setValue(distance) slider.setTickPosition(QtGui.QSlider.TicksBelow) slider.setTickInterval(1) # Every 1 level slider.valueChanged.connect(callback) layout.addWidget(slider) # Create a label to display the value label = QtGui.QLabel("%s" % distance) layout.addWidget(label) # Add a button to reset the slider to its original value resetButton = QtGui.QPushButton("Reset") resetButton.clicked.connect(self.__getClickWrapper(slider, distance)) layout.addWidget(resetButton) self.__layout.addWidget(frame) return slider, label def __createNodeListWidget(self): """Create a list widget to display all possible nodes.""" frame = QtGui.QFrame() layout = QtGui.QVBoxLayout() frame.setLayout(layout) # Add a label label = QtGui.QLabel("Nodes:") layout.addWidget(label) # Add the list of known nodes self.__nodeListWidget = QtGui.QListWidget() layout.addWidget(self.__nodeListWidget) # Display nodes in alphabetical order sortedNodes = sorted(self.__graph.getNodes()) for node in sortedNodes: self.__nodeListWidget.addItem(node) # Update the graph with the currently selected widget self.__nodeListWidget.currentItemChanged.connect(self.__onNodeClicked) self.__layout.addWidget(frame) def __getClickWrapper(self, slider, resetValue): """Get a function wrapper to reset the given slider. * slider -- reset the slider * resetValue -- the value to reset the slider to """ def __wrapper(): slider.setValue(resetValue) return __wrapper
class BTWidget(QWidget): _redraw_interval = 40 _deferred_fit_in_view = Signal() def __init__(self): super(BTWidget, self).__init__() self.setObjectName('BTWidget') self._graph = None self._current_dotcode = None self._initialized = False # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_bt'), 'resource', 'rqt_bt.ui') loadUi(ui_file, self, {'InteractiveGraphicsView': InteractiveGraphicsView}) self.refresh_timer = QTimer(self) self.refresh_timer.start(self._redraw_interval) self.refresh_timer.timeout.connect(self._refresh_rosgraph) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self.graphics_view.setScene(self._scene) self.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self.refresh_graph_push_button.clicked.connect(self._update_rosgraph) self.highlight_connections_check_box.toggled.connect( self._redraw_graph_view) self.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) self.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self.fit_in_view_push_button.clicked.connect(self._fit_in_view) self.depth_spin_box.setMinimum(-1) self.depth_spin_box.valueChanged.connect(self._refresh_rosgraph) self.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) self.save_dot_push_button.clicked.connect(self._save_dot) self.save_as_svg_push_button.setIcon( QIcon.fromTheme('document-save-as')) self.save_as_svg_push_button.clicked.connect(self._save_svg) self.save_as_image_push_button.setIcon(QIcon.fromTheme('image')) self.save_as_image_push_button.clicked.connect(self._save_image) self.run_push_button.setIcon(QIcon.fromTheme('media-playback-pause')) self.run_push_button.clicked.connect(self._run_bt) self._update_rosgraph() self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() # generator builds tree graph bt_sub_name = '/cyborg/bt/behavior_tree' bt_update_sub_name = '/cyborg/bt/behavior_tree_updates' bt_enabled_sub_name = '/cyborg/bt/enabled' bt_enable_srv_name = '/cyborg/bt/enable' self._bt_enabled = True rospy.Subscriber(bt_enabled_sub_name, Bool, self._bt_enabled_cb) self._bt_enable_srv = rospy.ServiceProxy(bt_enable_srv_name, SetBool) bt_data = BTData(bt_sub_name, bt_update_sub_name) self.dotcode_generator = RosBTDotcodeGenerator(bt_data) def _bt_enabled_cb(self, msg): self._bt_enabled = msg.data if self._bt_enabled: self.run_push_button.setIcon( QIcon.fromTheme('media-playback-pause')) else: self.run_push_button.setIcon( QIcon.fromTheme('media-playback-start')) def _run_bt(self): enable_req = False if self._bt_enabled else True if self._bt_enable_srv(data=enable_req).success: self._bt_enabled = enable_req def _update_rosgraph(self): self._graph = rosgraph.impl.graph.Graph() self._graph.set_master_stale(5.0) self._graph.set_node_stale(5.0) self._graph.update() self._refresh_rosgraph() def _refresh_rosgraph(self): if not self._initialized: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): depth = self.depth_spin_box.value() return self.dotcode_generator.generate_dotcode(max_depth=depth) def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _generate_tool_tip(self, url): if url is not None and ':' in url: item_type, item_path = url.split(':', 1) if item_type == 'node': tool_tip = 'Node:\n %s' % (item_path) service_names = rosservice.get_service_list(node=item_path) if service_names: tool_tip += '\nServices:' for service_name in service_names: try: service_type = rosservice.get_service_type( service_name) tool_tip += '\n %s [%s]' % (service_name, service_type) except rosservice.ROSServiceIOException as e: tool_tip += '\n %s' % (e) return tool_tip elif item_type == 'topic': topic_type, topic_name, _ = rostopic.get_topic_type(item_path) return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type) return url def _redraw_graph_view(self): self._scene.clear() if self.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items( self._current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.values(): self._scene.addItem(node_item) for edge_items in edges.values(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _fit_in_view(self): self.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_dot(self): file_name, _ = QFileDialog.getSaveFileName( self, self.tr('Save as DOT'), 'rosgraph.dot', self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return handle = QFile(file_name) if not handle.open(QIODevice.WriteOnly | QIODevice.Text): return handle.write(self._current_dotcode) handle.close() def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName( self, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)')) if file_name is None or file_name == '': return generator = QSvgGenerator() generator.setFileName(file_name) generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) painter = QPainter(generator) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() def _save_image(self): file_name, _ = QFileDialog.getSaveFileName( self, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) if file_name is None or file_name == '': return img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) painter = QPainter(img) painter.setRenderHint(QPainter.Antialiasing) self._scene.render(painter) painter.end() img.save(file_name) def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('auto_fit_graph_check_box_state', self.auto_fit_graph_check_box.isChecked()) instance_settings.set_value( 'highlight_connections_check_box_state', self.highlight_connections_check_box.isChecked()) instance_settings.set_value('depth_spin_box_value', self.depth_spin_box.value()) def restore_settings(self, plugin_settings, instance_settings): self.auto_fit_graph_check_box.setChecked( instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self.highlight_connections_check_box.setChecked( instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.depth_spin_box.setValue( int(instance_settings.value('depth_spin_box_value', -1))) self._initialized = True self._refresh_rosgraph()