class ConsoleDashWidget(IconToolButton):
"""
A widget which brings up the ROS console.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
def __init__(self, context, icon_paths=None, minimal=True):
ok_icon = ['bg-green.svg', 'ic-console.svg']
warn_icon = ['bg-yellow.svg', 'ic-console.svg', 'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-console.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-console.svg', 'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(ConsoleDashWidget, self).__init__('Console Widget',
icons,
icon_paths=icon_paths)
self.minimal = minimal
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._datamodel = MessageDataModel()
self._proxymodel = MessageProxyModel()
self._proxymodel.setSourceModel(self._datamodel)
self._console = None
self._rospack = rospkg.RosPack()
if self._console is None:
self._console = ConsoleWidget(self._proxymodel,
self._rospack,
minimal=self.minimal)
self._console.destroyed.connect(self._console_destroyed)
self._message_queue = []
self._mutex = QMutex()
self._subscriber = rospy.Subscriber('/rosout_agg', Log,
self._message_cb)
self.context = context
self.clicked.connect(self._show_console)
self.context.add_widget(self._console)
self.update_state(0)
self._timer = QTimer()
self._timer.timeout.connect(self._insert_messages)
self._timer.start(100)
self._console_shown = False
self.setToolTip("Rosout")
def _show_console(self):
if self._console is None:
self._console = ConsoleWidget(self._proxymodel,
self._rospack,
minimal=self.minimal)
self._console.destroyed.connect(self._console_destroyed)
try:
if self._console_shown:
self.context.remove_widget(self._console)
self._console_shown = not self._console_shown
else:
self.context.add_widget(self._console)
self._console_shown = not self._console_shown
except Exception:
self._console_shown = not self._console_shown
self._show_console()
def _insert_messages(self):
with QMutexLocker(self._mutex):
msgs = self._message_queue
self._message_queue = []
if msgs:
self._datamodel.insert_rows(msgs)
# The console may not yet be initialized or may have been closed
# So fail silently
try:
self.update_rosout()
except:
pass
def _message_cb(self, log_msg):
if not self._console._paused:
msg = Console.convert_rosgraph_log_message(log_msg)
with QMutexLocker(self._mutex):
self._message_queue.append(msg)
def update_rosout(self):
summary_dur = 30.0
if (rospy.get_time() < 30.0):
summary_dur = rospy.get_time() - 1.0
if (summary_dur < 0):
summary_dur = 0.0
summary = self._console.get_message_summary(summary_dur)
if (summary.fatal or summary.error):
self.update_state(2)
elif (summary.warn):
self.update_state(1)
else:
self.update_state(0)
tooltip = ""
if (summary.fatal):
tooltip += "\nFatal: %s" % (summary.fatal)
if (summary.error):
tooltip += "\nError: %s" % (summary.error)
if (summary.warn):
tooltip += "\nWarn: %s" % (summary.warn)
if (summary.info):
tooltip += "\nInfo: %s" % (summary.info)
if (summary.debug):
tooltip += "\nDebug: %s" % (summary.debug)
if (len(tooltip) == 0):
tooltip = "Rosout: no recent activity"
else:
tooltip = "Rosout: recent activity:" + tooltip
if tooltip != self.toolTip():
self.setToolTip(tooltip)
def _console_destroyed(self):
if self._console:
self._console.cleanup_browsers_on_close()
self._console = None
def shutdown_widget(self):
if self._console:
self._console.cleanup_browsers_on_close()
if self._subscriber:
self._subscriber.unregister()
self._timer.stop()
def save_settings(self, plugin_settings, instance_settings):
self._console.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._console.restore_settings(plugin_settings, instance_settings)
class Console(Plugin):
"""
rqt_console plugin's main class. Handles communication with ros_gui and contains
callbacks to handle incoming message
"""
def __init__(self, context):
"""
:param context: plugin context hook to enable adding widgets as a ROS_GUI pane,
''PluginContext''
"""
super(Console, self).__init__(context)
self.setObjectName('Console')
self._context = context
self._model = MessageDataModel()
self._proxy_model = MessageProxyModel()
self._proxy_model.setSourceModel(self._model)
self._widget = ConsoleWidget(self._proxy_model)
if context.serial_number() > 1:
self._widget.setWindowTitle(
self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# queue to store incoming data which get flushed periodically to the model
# required since QSortProxyModel can not handle a high insert rate
self._message_queue = []
self._mutex = QMutex()
self._timer = QTimer()
self._timer.timeout.connect(self.insert_messages)
self._timer.start(100)
self._subscriber = None
self._topic = '/rosout'
self._subscribe(self._topic)
def queue_message(self, log_msg):
"""
Callback for adding an incomming message to the queue.
"""
if not self._widget._paused:
msg = Console.convert_rosgraph_log_message(log_msg)
with QMutexLocker(self._mutex):
self._message_queue.append(msg)
@staticmethod
def convert_rosgraph_log_message(log_msg):
msg = Message()
msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
msg.stamp = (log_msg.stamp.sec, log_msg.stamp.nanosec)
msg.message = log_msg.msg
msg.severity = log_msg.level
msg.node = log_msg.name
msg.location = log_msg.file + ':' + log_msg.function + ':' + str(log_msg.line)
return msg
def insert_messages(self):
"""
Callback for flushing incoming Log messages from the queue to the model.
"""
with QMutexLocker(self._mutex):
msgs = self._message_queue
self._message_queue = []
if msgs:
self._model.insert_rows(msgs)
def shutdown_plugin(self):
self._context.node.destroy_subscription(self._subscriber)
self._timer.stop()
self._widget.cleanup_browsers_on_close()
def save_settings(self, plugin_settings, instance_settings):
self._widget.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._widget.restore_settings(plugin_settings, instance_settings)
def trigger_configuration(self):
topics = sorted([
topic_name for topic_name, topic_types
in self._context.node.get_topic_names_and_types()
if 'rcl_interfaces/msg/Log' in topic_types
])
dialog = ConsoleSettingsDialog(topics)
(topic, message_limit) = dialog.query(self._topic, self._model.get_message_limit())
if topic != self._topic:
self._subscribe(topic)
if message_limit != self._model.get_message_limit():
self._model.set_message_limit(message_limit)
def _subscribe(self, topic):
if self._subscriber:
self._context.node.destroy_subscription(self._subscriber)
self._subscriber = self._context.node.create_subscription(
Log, topic, self.queue_message, qos_profile_system_default
)
self._currenttopic = topic
class PluginLogManager(Plugin):
"""
rqt_console plugin's main class. Handles communication with ros_gui and contains
callbacks to handle incoming message
"""
def __init__(self, context):
Plugin.__init__(self, context)
def onCreate(self, param):
layout = QGridLayout(self)
layout.setContentsMargins(2, 2, 2, 2)
self._rospack = rospkg.RosPack()
self._model = MessageDataModel()
self._proxy_model = MessageProxyModel()
self._proxy_model.setSourceModel(self._model)
self.__widget = ConsoleWidget(self._proxy_model, self._rospack)
layout.addWidget(self.__widget, 0, 0, 0, 0)
# queue to store incoming data which get flushed periodically to the model
# required since QSortProxyModel can not handle a high insert rate
self._message_queue = []
self._mutex = QMutex()
self._timer = QTimer()
self._timer.timeout.connect(self.insert_messages)
self._timer.start(100)
self._subscriber = None
self._topic = '/rosout_agg'
self._subscribe(self._topic)
def queue_message(self, log_msg):
"""
Callback for adding an incomming message to the queue.
"""
if not self.__widget._paused:
msg = PluginLogManager.convert_rosgraph_log_message(log_msg)
with QMutexLocker(self._mutex):
self._message_queue.append(msg)
@staticmethod
def convert_rosgraph_log_message(log_msg):
msg = Message()
msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
msg.message = log_msg.msg
msg.severity = log_msg.level
msg.node = log_msg.name
msg.stamp = (log_msg.header.stamp.secs, log_msg.header.stamp.nsecs)
msg.topics = sorted(log_msg.topics)
msg.location = log_msg.file + ':' + log_msg.function + ':' + str(
log_msg.line)
return msg
def insert_messages(self):
"""
Callback for flushing incoming Log messages from the queue to the model.
"""
with QMutexLocker(self._mutex):
msgs = self._message_queue
self._message_queue = []
if msgs:
self._model.insert_rows(msgs)
def shutdown_plugin(self):
self._subscriber.unregister()
self._timer.stop()
self.__widget.cleanup_browsers_on_close()
def save_settings(self, plugin_settings, instance_settings):
self.__widget.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self.__widget.restore_settings(plugin_settings, instance_settings)
def trigger_configuration(self):
topics = [
t for t in rospy.get_published_topics()
if t[1] == 'rosgraph_msgs/Log'
]
topics.sort(key=lambda tup: tup[0])
dialog = ConsoleSettingsDialog(topics, self._rospack)
(topic, message_limit) = dialog.query(self._topic,
self._model.get_message_limit())
if topic != self._topic:
self._subscribe(topic)
if message_limit != self._model.get_message_limit():
self._model.set_message_limit(message_limit)
def _subscribe(self, topic):
if self._subscriber:
self._subscriber.unregister()
self._subscriber = rospy.Subscriber(topic, Log, self.queue_message)
self._currenttopic = topic
def onStart(self):
pass
def onPause(self):
pass
def onResume(self):
pass
def onControlModeChanged(self, mode):
if mode == ControlMode.AUTOMATIC:
self.setEnabled(False)
else:
self.setEnabled(True)
def onUserChanged(self, user_info):
pass
def onTranslate(self, lng):
pass
def onEmergencyStop(self, state):
pass
def onDestroy(self):
self.shutdown_plugin()
class ConsoleDashWidget(IconToolButton):
"""
A widget which brings up the ROS console.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
def __init__(self, context, icon_paths=None, minimal=True):
ok_icon = ['bg-green.svg', 'ic-console.svg']
warn_icon = ['bg-yellow.svg', 'ic-console.svg', 'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-console.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-console.svg', 'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(ConsoleDashWidget, self).__init__('Console Widget', icons, icon_paths=icon_paths)
self.minimal = minimal
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._datamodel = MessageDataModel()
self._proxymodel = MessageProxyModel()
self._proxymodel.setSourceModel(self._datamodel)
self._message_queue = []
self._mutex = QMutex()
self._subscriber = rospy.Subscriber('/rosout_agg', Log, self._message_cb)
self._console = None
self.context = context
self.clicked.connect(self._show_console)
self.update_state(0)
self._timer = QTimer()
self._timer.timeout.connect(self._insert_messages)
self._timer.start(100)
self._rospack = rospkg.RosPack()
if self._console is None:
self._console = ConsoleWidget(self._proxymodel, self._rospack, minimal=self.minimal)
self._console.destroyed.connect(self._console_destroyed)
self._console_shown = False
self.setToolTip("Rosout")
def _show_console(self):
if self._console is None:
self._console = ConsoleWidget(self._proxymodel, self._rospack, minimal=self.minimal)
self._console.destroyed.connect(self._console_destroyed)
try:
if self._console_shown:
self.context.remove_widget(self._console)
self._console_shown = not self._console_shown
else:
self.context.add_widget(self._console)
self._console_shown = not self._console_shown
except Exception:
self._console_shown = not self._console_shown
self._show_console()
def _insert_messages(self):
with QMutexLocker(self._mutex):
msgs = self._message_queue
self._message_queue = []
if msgs:
self._datamodel.insert_rows(msgs)
# The console may not yet be initialized or may have been closed
# So fail silently
try:
self.update_rosout()
except:
pass
def _message_cb(self, log_msg):
if not self._console._paused:
msg = Console.convert_rosgraph_log_message(log_msg)
with QMutexLocker(self._mutex):
self._message_queue.append(msg)
def update_rosout(self):
summary_dur = 30.0
if (rospy.get_time() < 30.0):
summary_dur = rospy.get_time() - 1.0
if (summary_dur < 0):
summary_dur = 0.0
summary = self._console.get_message_summary(summary_dur)
if (summary.fatal or summary.error):
self.update_state(2)
elif (summary.warn):
self.update_state(1)
else:
self.update_state(0)
tooltip = ""
if (summary.fatal):
tooltip += "\nFatal: %s" % (summary.fatal)
if (summary.error):
tooltip += "\nError: %s" % (summary.error)
if (summary.warn):
tooltip += "\nWarn: %s" % (summary.warn)
if (summary.info):
tooltip += "\nInfo: %s" % (summary.info)
if (summary.debug):
tooltip += "\nDebug: %s" % (summary.debug)
if (len(tooltip) == 0):
tooltip = "Rosout: no recent activity"
else:
tooltip = "Rosout: recent activity:" + tooltip
if tooltip != self.toolTip():
self.setToolTip(tooltip)
def _console_destroyed(self):
if self._console:
self._console.cleanup_browsers_on_close()
self._console = None
def shutdown_widget(self):
if self._console:
self._console.cleanup_browsers_on_close()
if self._subscriber:
self._subscriber.unregister()
self._timer.stop()
def save_settings(self, plugin_settings, instance_settings):
self._console.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._console.restore_settings(plugin_settings, instance_settings)