class MainWindow(QtGui.QMainWindow):
##
# @brief コンストラクタ
# @param self
def __init__(self):
super(MainWindow, self).__init__()
self.setWindowTitle(u"複合コンポーネント作成支援ツール")
self.setMinimumWidth(700)
self.tree = None
self.mgr = OpenRTM_aist.Manager.init(sys.argv)
self.mgr.activateManager()
self.mgr.runManager(True)
filename = "rtcConfSetReq"
filepath = ["./rtcConfSetReq"]
func = self.getFunc(filename, filepath)
func(self.mgr)
self.control_comp = self.mgr.createComponent(filename)
self.tab_widget = QtGui.QTabWidget(self)
self.rtcd_widget = rtcdWidget(self)
self.tab_widget.addTab(self.rtcd_widget, u"RTCD")
self.rtclistWindow = None
self.rtclistArea = None
self.setCentralWidget(self.tab_widget)
self.createAction()
self.createMenus()
self.createToolBars()
#self.mgrc = ManagerControl("")
self.tab_widget_cpp = None
self.tab_widget_python = None
self.curFile = ""
self.rtcdFlag = False
#self.mgrc.CreateComp("MyFirstComponent",[".\\MyFirstComponent"])
#self.mgrc.CreateComp("MyFirstComponent",[".\\MyFirstComponent"])
##
# @brief RTCを検索する
# @param self
# @param name RTC名
# @param ip IPアドレス
# @return RTCのリスト
def searchRTC(self, name, ip='localhost'):
ans = []
self.tree = rtctree.tree.RTCTree(servers=ip, orb=self.control_comp._manager.getORB())
node = self.tree._root
compList = []
self.getNode(node, compList)
for c in compList:
if c.name == name:
ans.append(c)
return ans
##
# @brief RTCのツリーからRTCを検索してリストにする
# @param self
# @param node 現在検索中のノード
# @param cl リスト
def getNode(self, node, cl):
values = node._children.values()
for v in values:
if v.is_component:
cl.append(v)
elif v.is_manager:
pass
else:
self.getNode(v, cl)
##
# @brief アクションの作成の関数
# @param self
def createAction(self):
self.newAct = QtGui.QAction(QtGui.QIcon(':/images/new.png'),"&New...",self)
self.newAct.setShortcuts(QtGui.QKeySequence.New)
self.newAct.triggered.connect(self.newFile)
self.openAct = QtGui.QAction(QtGui.QIcon(':/images/open.png'),"&Open...",self)
self.openAct.setShortcuts(QtGui.QKeySequence.Open)
self.openAct.triggered.connect(self.open)
self.saveAct = QtGui.QAction(QtGui.QIcon(':/images/save.png'),"&Save",self)
self.saveAct.setShortcuts(QtGui.QKeySequence.Save)
self.saveAct.triggered.connect(self.save)
self.saveAsAct = QtGui.QAction("&Save &As",self)
self.saveAsAct.setShortcuts(QtGui.QKeySequence.SaveAs)
self.saveAsAct.triggered.connect(self.saveAs)
self.createPackageAct = QtGui.QAction("&Create &Package",self)
self.createPackageAct.triggered.connect(self.createPackage)
self.rtcdAct = QtGui.QAction(QtGui.QIcon(':/images/run.png'),"&rtcd &Start",self)
self.rtcdAct.triggered.connect(self.rtcdRun)
##
# @brief タブ削除の関数
# @param self
def deleteTabs(self):
if self.tab_widget_cpp:
self.tab_widget.removeTab(self.tab_widget.indexOf(self.tab_widget_cpp))
self.tab_widget_cpp = None
if self.tab_widget_python:
self.tab_widget.removeTab(self.tab_widget.indexOf(self.tab_widget_python))
self.tab_widget_python = None
if self.rtclistArea:
self.tab_widget.removeTab(self.tab_widget.indexOf(self.rtclistArea))
self.rtclistWindow = None
self.rtclistArea = None
##
# @brief メニューの作成の関数
# @param self
def createMenus(self):
self.fileMenu = self.menuBar().addMenu("&File")
self.fileMenu.addAction(self.newAct)
self.fileMenu.addAction(self.openAct)
self.fileMenu.addAction(self.saveAct)
self.fileMenu.addAction(self.saveAsAct)
self.fileMenu.addAction(self.createPackageAct)
##
# @brief ツールバーの作成の関数
# @param self
def createToolBars(self):
self.fileToolBar = self.addToolBar("File")
self.fileToolBar.addAction(self.newAct)
self.fileToolBar.addAction(self.openAct)
self.fileToolBar.addAction(self.saveAct)
self.fileToolBar.addAction(self.rtcdAct)
##
# @brief タブの作成の関数
# @param self
# @param filapath 読み込むファイル名
def createTabs(self, filapath):
ipaddress = str(self.rtcd_widget.WidList["textBox"]["Widget"].text().toLocal8Bit())
confsetComp = self.searchRTC("rtcConfSet0.rtc",ipaddress)
confsetPort = confsetComp[0].get_port_by_name("rtcconf")
#print confsetPort
confsetComp[0].activate_in_ec(0)
portname = confsetComp[0].name + "." + confsetPort.name + "." + self.control_comp.get_sdo_id() + "." + self.control_comp._rtcconfPort.getName()
connectServicePort(confsetPort.object, self.control_comp._rtcconfPort.getPortRef(), portname)
self.control_comp.get_owned_contexts()[0].activate_component(self.control_comp.getObjRef())
self.mgrc_cpp = ManagerControl(filapath,self.control_comp,ManagerControl.CPP)
self.mgrc_py = ManagerControl(filapath,self.control_comp,ManagerControl.PY)
flag = True
while flag:
try:
ans = self.control_comp._rtcconf._ptr().open(filapath)
if ans == False:
self.mesBox(u"ファイルを開くのに失敗しました")
return
wid = self.rtcd_widget.WidList["rtcList"]["Widget"]
clist = self.control_comp._rtcconf._ptr().getExRTCList()[1]
wid.clear()
for c in clist:
wid.addItem(c)
flag = False
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
self.mgrc_cpp.SetParam()
self.mgrc_py.SetParam()
self.deleteTabs()
if self.tab_widget_cpp == None:
self.tab_widget_cpp = TabWidget(self.mgrc_cpp,"C++")
self.tab_widget.addTab(self.tab_widget_cpp, u"CPP")
if self.tab_widget_python == None:
self.tab_widget_python = TabWidget(self.mgrc_py,"Python")
self.tab_widget.addTab(self.tab_widget_python, u"Python")
if self.rtclistWindow == None:
"""filename = "RTCListWindow"
filepath = ["SettingRTCWindow"]
sys.path.append(filepath[0])
(file, pathname, description) = imp.find_module(filename, filepath)
RTCListWindow = imp.load_module(filename, file, pathname, description)
"""
self.rtclistWindow = SettingRTCWindow.RTCListWindow.RTC_Window(self)
self.rtclistArea = SettingRTCWindow.RTCListWindow.ScrollArea()
self.tab_widget.addTab(self.rtclistArea, u"RTCのリスト")
try:
data = self.control_comp._rtcconf._ptr().getProfileList()
self.rtclistWindow.loadList(data[1])
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
self.rtclistArea.setWidget(self.rtclistWindow)
##
# @brief タブの作成の関数
# @param self
# @param name RTC名
# @param type 0でrtcdの起動、1で実行ファイルの起動
def createComp(self, name, type):
if self.rtcdFlag == False:
self.mesBox(u"rtcdを起動していません。\nツールバーのrtcd起動ボタンを押してください。")
return
try:
ans = self.control_comp._rtcconf._ptr().createComp(name, type)
if ans == False:
self.mesBox(u"起動に失敗しました")
else:
self.mesBox(name+u"を起動しました")
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
##
# @brief RTCの初期化関数を取得
# @param self
# @param filename ファイル名
# @param filepath ファイルパス
# @return 初期化関数
def getFunc(self, filename, filepath):
try:
sys.path.append(filepath[0])
(file, pathname, description) = imp.find_module(filename, filepath)
mod = imp.load_module(filename, file, pathname, description)
func = getattr(mod,filename+"Init",None)
return func
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
return None
##
# @brief ダイアログでファイル選択
# @param self
# @return ファイルパス
def getFilePath(self):
fileName = QtGui.QFileDialog.getOpenFileName(self,u"開く","","Config File (*.conf);;All Files (*)")
if fileName.isEmpty():
return ""
ba = str(fileName.toLocal8Bit())
#ba = ba.replace("/","\\")
return ba
##
# @brief ファイル読み込みスロット
# @param self
def open(self):
filepath = self.getFilePath()
if filepath == "":
return
self.createTabs(filepath)
self.curFile = filepath
##
# @brief C++の設定ファイルにGUIの設定を反映
# @param self
def setDataCpp(self):
if self.tab_widget_cpp != None:
data = self.tab_widget_cpp.getConfData()
cdata = self.control_comp.convConfData(data)
try:
self.control_comp._rtcconf._ptr().setDataSeq_Cpp(cdata)
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
##
# @brief Pythonの設定ファイルにGUIの設定を反映
# @param self
def setDataPy(self):
if self.tab_widget_python != None:
data = self.tab_widget_python.getConfData()
cdata = self.control_comp.convConfData(data)
try:
self.control_comp._rtcconf._ptr().setDataSeq_Py(cdata)
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
##
# @brief ファイルに保存する
# @param self
# @param filename ファイル名
def saveFile(self, filename):
self.setDataCpp()
self.setDataPy()
try:
wid = self.rtcd_widget.WidList["rtcList"]["Widget"]
clist = []
for c in range(0, wid.count()):
clist.append(str(wid.itemText(c).toLocal8Bit()))
self.control_comp._rtcconf._ptr().setExRTCList(clist)
self.control_comp._rtcconf._ptr().save(filename)
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
##
# @brief ファイル保存のスロット
# @param self
def save(self):
if self.curFile == "":
return self.saveAs()
else:
self.saveFile(self.curFile)
return True
##
# @brief パッケージを作成、保存
# @param self
# @param filename パッケージ名
def createPack(self, filename):
try:
self.control_comp._rtcconf._ptr().createProject(filename)
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
##
# @brief パッケージを作成、保存のスロット
# @param self
def createPackage(self):
fileName = QtGui.QFileDialog.getSaveFileName(self,u"保存", "","Config File (*.conf);;All Files (*)")
if fileName.isEmpty():
return False
ba = str(fileName.toLocal8Bit())
self.createPack(ba)
##
# @brief ファイルを別名で保存のスロット
# @param self
def saveAs(self):
fileName = QtGui.QFileDialog.getSaveFileName(self,u"保存", "","Config File (*.conf);;All Files (*)")
if fileName.isEmpty():
return False
ba = str(fileName.toLocal8Bit())
self.saveFile(ba)
self.curFile = ba
return True
#self.tab_widget_python = None
"""fname = os.path.basename(ba)
name, ext = os.path.splitext(fname)
dname = os.path.dirname(os.path.relpath(ba))
inv_dname = os.path.relpath(os.path.abspath(".\\"), dname)
s = "cd " + inv_dname + "\n"
s += "rtcd_python -f " + ".\\" + os.path.relpath(ba)
if dname == "":
path = ".\\"+name+".bat"
else:
path = dname+"\\"+name+".bat"
pf = open(path, "w")
pf.write(s)
pf.close()
for c in self.mgrc.mgr.getComponents():
if dname == "":
path = "./"+c.get_sdo_id() + ".conf"
else:
path = dname.replace("\\","/") + "/" +c.get_sdo_id() + ".conf"
f2 = open(path, "w")
s = c.getCategory() + "." + c.get_sdo_id() + ".config_file: " + path + "\n"
f.write(s)
cstes = c.get_configuration().get_active_configuration_set()
s = "configuration.active_config: " + cstes.id + "\n"
f2.write(s)
for l in c.get_configuration().get_configuration_sets():
for d in l.configuration_data:
s = "conf." + l.id + "." + d.name + ": " + d.value.value() + "\n"
f2.write(s)
oEC = c.get_owned_contexts()[0]
rate = oEC.get_rate()
s = "exec_cxt.periodic.rate: " + str(rate) + "\n"
f2.write(s)
#s = "exec_cxt.periodic.type: " + "" + "\n"
f2.close()
f.close()"""
##
# @brief 初期化のスロット
# @param self
def newFile(self):
text, ok = QtGui.QInputDialog.getText(self, u"IPアドレス入力",
u"IPアドレス", QtGui.QLineEdit.Normal,
self.rtcd_widget.WidList["textBox"]["Widget"].text())
if ok and text != '':
self.rtcd_widget.WidList["textBox"]["Widget"].setText(text)
self.createTabs("rtc.conf")
self.curFile = ""
##
# @brief rtcdを起動する
# @param self
def rtcdRun(self):
self.rtcd_widget.rtcdSlot()
self.rtcdFlag = True
##
# @brief メッセージボックス表示
# @param self
# @param mes 表示する文字列
def mesBox(self, mes):
msgbox = QtGui.QMessageBox( self )
msgbox.setText( mes )
msgbox.setModal( True )
ret = msgbox.exec_()
class MainWindow(QtGui.QMainWindow):
##
# @brief コンストラクタ
# @param self
def __init__(self):
super(MainWindow, self).__init__()
self.setWindowTitle(u"複合コンポーネント作成支援ツール")
self.setMinimumWidth(700)
self.tree = None
self.mgr = OpenRTM_aist.Manager.init(sys.argv)
self.mgr.activateManager()
self.mgr.runManager(True)
rtcConfSetReq.rtcConfSetReqInit(self.mgr)
filename = "rtcConfSetReq"
#filepath = ["../rtcConfSetReq"]
#func = self.getFunc(filename, filepath)
#func(self.mgr)
self.control_comp = self.mgr.createComponent(filename)
rtcConfSet.MyModuleInit(self.mgr)
self.tab_widget = QtGui.QTabWidget(self)
self.rtcd_widget = rtcdWidget(self)
self.tab_widget.addTab(self.rtcd_widget, u"RTCD")
self.rtclistWindow = None
self.rtclistArea = None
self.setCentralWidget(self.tab_widget)
self.createAction()
self.createMenus()
self.createToolBars()
#self.mgrc = ManagerControl("")
self.tab_widget_cpp = None
self.tab_widget_python = None
self.curFile = ""
self.rtcdFlag = False
#self.mgrc.CreateComp("MyFirstComponent",[".\\MyFirstComponent"])
#self.mgrc.CreateComp("MyFirstComponent",[".\\MyFirstComponent"])
##
# @brief RTCを検索する
# @param self
# @param name RTC名
# @param ip IPアドレス
# @return RTCのリスト
def searchRTC(self, name, ip='localhost'):
ans = []
self.tree = rtctree.tree.RTCTree(
servers=ip, orb=self.control_comp._manager.getORB())
node = self.tree._root
compList = []
self.getNode(node, compList)
for c in compList:
if c.name == name:
ans.append(c)
return ans
##
# @brief RTCのツリーからRTCを検索してリストにする
# @param self
# @param node 現在検索中のノード
# @param cl リスト
def getNode(self, node, cl):
values = node._children.values()
for v in values:
if v.is_component:
cl.append(v)
elif v.is_manager:
pass
else:
self.getNode(v, cl)
##
# @brief アクションの作成の関数
# @param self
def createAction(self):
self.newAct = QtGui.QAction(QtGui.QIcon(':/images/new.png'), "&New...",
self)
self.newAct.setShortcuts(QtGui.QKeySequence.New)
self.newAct.triggered.connect(self.newFile)
self.openAct = QtGui.QAction(QtGui.QIcon(':/images/open.png'),
"&Open...", self)
self.openAct.setShortcuts(QtGui.QKeySequence.Open)
self.openAct.triggered.connect(self.open)
self.saveAct = QtGui.QAction(QtGui.QIcon(':/images/save.png'), "&Save",
self)
self.saveAct.setShortcuts(QtGui.QKeySequence.Save)
self.saveAct.triggered.connect(self.save)
self.saveAsAct = QtGui.QAction("&Save &As", self)
self.saveAsAct.setShortcuts(QtGui.QKeySequence.SaveAs)
self.saveAsAct.triggered.connect(self.saveAs)
self.createPackageAct = QtGui.QAction("&Create &Package", self)
self.createPackageAct.triggered.connect(self.createPackage)
self.rtcdAct = QtGui.QAction(QtGui.QIcon(':/images/run.png'),
"&rtcd &Start", self)
self.rtcdAct.triggered.connect(self.rtcdRun)
##
# @brief タブ削除の関数
# @param self
def deleteTabs(self):
if self.tab_widget_cpp:
self.tab_widget.removeTab(
self.tab_widget.indexOf(self.tab_widget_cpp))
self.tab_widget_cpp = None
if self.tab_widget_python:
self.tab_widget.removeTab(
self.tab_widget.indexOf(self.tab_widget_python))
self.tab_widget_python = None
if self.rtclistArea:
self.tab_widget.removeTab(self.tab_widget.indexOf(
self.rtclistArea))
self.rtclistWindow = None
self.rtclistArea = None
##
# @brief メニューの作成の関数
# @param self
def createMenus(self):
self.fileMenu = self.menuBar().addMenu("&File")
self.fileMenu.addAction(self.newAct)
self.fileMenu.addAction(self.openAct)
self.fileMenu.addAction(self.saveAct)
self.fileMenu.addAction(self.saveAsAct)
self.fileMenu.addAction(self.createPackageAct)
##
# @brief ツールバーの作成の関数
# @param self
def createToolBars(self):
self.fileToolBar = self.addToolBar("File")
self.fileToolBar.addAction(self.newAct)
self.fileToolBar.addAction(self.openAct)
self.fileToolBar.addAction(self.saveAct)
self.fileToolBar.addAction(self.rtcdAct)
##
# @brief タブの作成の関数
# @param self
# @param filapath 読み込むファイル名
def createTabs(self, filapath):
ipaddress = str(
self.rtcd_widget.WidList["textBox"]["Widget"].text().toLocal8Bit())
confsetComp = self.searchRTC("rtcConfSet0.rtc", ipaddress)
confsetPort = confsetComp[0].get_port_by_name("rtcconf")
#print(confsetPort)
confsetComp[0].activate_in_ec(0)
portname = confsetComp[
0].name + "." + confsetPort.name + "." + self.control_comp.get_sdo_id(
) + "." + self.control_comp._rtcconfPort.getName()
connectServicePort(confsetPort.object,
self.control_comp._rtcconfPort.getPortRef(),
portname)
self.control_comp.get_owned_contexts()[0].activate_component(
self.control_comp.getObjRef())
self.mgrc_cpp = ManagerControl(filapath, self.control_comp,
ManagerControl.CPP)
self.mgrc_py = ManagerControl(filapath, self.control_comp,
ManagerControl.PY)
flag = True
while flag:
try:
ans = self.control_comp._rtcconf._ptr().open(filapath)
if ans != True:
self.mesBox(u"ファイルを開くのに失敗しました")
return
wid = self.rtcd_widget.WidList["rtcList"]["Widget"]
clist = self.control_comp._rtcconf._ptr().getExRTCList()[1]
wid.clear()
for c in clist:
wid.addItem(c)
flag = False
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
self.mgrc_cpp.SetParam()
self.mgrc_py.SetParam()
self.deleteTabs()
if self.tab_widget_cpp == None:
self.tab_widget_cpp = TabWidget(self.mgrc_cpp, "C++")
self.tab_widget.addTab(self.tab_widget_cpp, u"CPP")
if self.tab_widget_python == None:
self.tab_widget_python = TabWidget(self.mgrc_py, "Python")
self.tab_widget.addTab(self.tab_widget_python, u"Python")
if self.rtclistWindow == None:
"""filename = "RTCListWindow"
filepath = ["SettingRTCWindow"]
sys.path.append(filepath[0])
(file, pathname, description) = imp.find_module(filename, filepath)
RTCListWindow = imp.load_module(filename, file, pathname, description)
"""
self.rtclistWindow = SettingRTCWindow.RTCListWindow.RTC_Window(
self)
self.rtclistArea = SettingRTCWindow.RTCListWindow.ScrollArea()
self.tab_widget.addTab(self.rtclistArea, u"RTCのリスト")
try:
data = self.control_comp._rtcconf._ptr().getProfileList()
self.rtclistWindow.loadList(data[1])
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
self.rtclistArea.setWidget(self.rtclistWindow)
##
# @brief タブの作成の関数
# @param self
# @param name RTC名
# @param type 0でrtcdの起動、1で実行ファイルの起動
def createComp(self, name, type):
if self.rtcdFlag == False:
self.mesBox(u"rtcdを起動していません。\nツールバーのrtcd起動ボタンを押してください。")
return
try:
ans = self.control_comp._rtcconf._ptr().createComp(name, type)
if ans == False:
self.mesBox(u"起動に失敗しました")
else:
self.mesBox(name + u"を起動しました")
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
##
# @brief RTCの初期化関数を取得
# @param self
# @param filename ファイル名
# @param filepath ファイルパス
# @return 初期化関数
def getFunc(self, filename, filepath):
try:
sys.path.append(filepath[0])
(file, pathname, description) = imp.find_module(filename, filepath)
mod = imp.load_module(filename, file, pathname, description)
func = getattr(mod, filename + "Init", None)
return func
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
return None
##
# @brief ダイアログでファイル選択
# @param self
# @return ファイルパス
def getFilePath(self):
fileName = QtGui.QFileDialog.getOpenFileName(
self, u"開く", "", "Config File (*.conf);;All Files (*)")
if fileName.isEmpty():
return ""
ba = str(fileName.toLocal8Bit())
#ba = ba.replace("/","\\")
return ba
##
# @brief ファイル読み込みスロット
# @param self
def open(self):
filepath = self.getFilePath()
if filepath == "":
return
self.createTabs(filepath)
self.curFile = filepath
##
# @brief C++の設定ファイルにGUIの設定を反映
# @param self
def setDataCpp(self):
if self.tab_widget_cpp != None:
data = self.tab_widget_cpp.getConfData()
cdata = self.control_comp.convConfData(data)
try:
self.control_comp._rtcconf._ptr().setDataSeq_Cpp(cdata)
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
##
# @brief Pythonの設定ファイルにGUIの設定を反映
# @param self
def setDataPy(self):
if self.tab_widget_python != None:
data = self.tab_widget_python.getConfData()
cdata = self.control_comp.convConfData(data)
try:
self.control_comp._rtcconf._ptr().setDataSeq_Py(cdata)
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
##
# @brief ファイルに保存する
# @param self
# @param filename ファイル名
def saveFile(self, filename):
result = False
self.setDataCpp()
self.setDataPy()
try:
wid = self.rtcd_widget.WidList["rtcList"]["Widget"]
clist = []
for c in range(0, wid.count()):
clist.append(str(wid.itemText(c).toLocal8Bit()))
self.control_comp._rtcconf._ptr().setExRTCList(clist)
result = self.control_comp._rtcconf._ptr().save(filename)
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
return result
##
# @brief ファイル保存のスロット
# @param self
def save(self):
if self.curFile == "":
return self.saveAs()
else:
self.saveFile(self.curFile)
return True
##
# @brief パッケージを作成、保存
# @param self
# @param filename パッケージ名
def createPack(self, filename):
result = False
try:
result = self.control_comp._rtcconf._ptr().createProject(filename)
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
return result
##
# @brief パッケージを作成、保存のスロット
# @param self
def createPackage(self):
fileName = QtGui.QFileDialog.getSaveFileName(
self, u"保存", "", "Config File (*.conf);;All Files (*)")
if fileName.isEmpty():
return False
ba = str(fileName.toLocal8Bit())
self.createPack(ba)
##
# @brief ファイルを別名で保存のスロット
# @param self
def saveAs(self):
fileName = QtGui.QFileDialog.getSaveFileName(
self, u"保存", "", "Config File (*.conf);;All Files (*)")
if fileName.isEmpty():
return False
ba = str(fileName.toLocal8Bit())
self.saveFile(ba)
self.curFile = ba
return True
#self.tab_widget_python = None
"""fname = os.path.basename(ba)
name, ext = os.path.splitext(fname)
dname = os.path.dirname(os.path.relpath(ba))
inv_dname = os.path.relpath(os.path.abspath(".\\"), dname)
s = "cd " + inv_dname + "\n"
s += "rtcd_python -f " + ".\\" + os.path.relpath(ba)
if dname == "":
path = ".\\"+name+".bat"
else:
path = dname+"\\"+name+".bat"
pf = open(path, "w")
pf.write(s)
pf.close()
for c in self.mgrc.mgr.getComponents():
if dname == "":
path = "./"+c.get_sdo_id() + ".conf"
else:
path = dname.replace("\\","/") + "/" +c.get_sdo_id() + ".conf"
f2 = open(path, "w")
s = c.getCategory() + "." + c.get_sdo_id() + ".config_file: " + path + "\n"
f.write(s)
cstes = c.get_configuration().get_active_configuration_set()
s = "configuration.active_config: " + cstes.id + "\n"
f2.write(s)
for l in c.get_configuration().get_configuration_sets():
for d in l.configuration_data:
s = "conf." + l.id + "." + d.name + ": " + d.value.value() + "\n"
f2.write(s)
oEC = c.get_owned_contexts()[0]
rate = oEC.get_rate()
s = "exec_cxt.periodic.rate: " + str(rate) + "\n"
f2.write(s)
#s = "exec_cxt.periodic.type: " + "" + "\n"
f2.close()
f.close()"""
##
# @brief 初期化のスロット
# @param self
def newFile(self):
text, ok = QtGui.QInputDialog.getText(
self, u"アドレス入力", u"アドレス", QtGui.QLineEdit.Normal,
self.rtcd_widget.WidList["textBox"]["Widget"].text())
if ok and text != '':
self.rtcd_widget.WidList["textBox"]["Widget"].setText(text)
self.createTabs("rtc.conf")
self.curFile = ""
##
# @brief rtcdを起動する
# @param self
def rtcdRun(self):
self.rtcd_widget.rtcdSlot()
self.rtcdFlag = True
##
# @brief メッセージボックス表示
# @param self
# @param mes 表示する文字列
def mesBox(self, mes):
msgbox = QtGui.QMessageBox(self)
msgbox.setText(mes)
msgbox.setModal(True)
ret = msgbox.exec_()
def createTabs(self, filapath):
ipaddress = str(self.rtcd_widget.WidList["textBox"]["Widget"].text().toLocal8Bit())
confsetComp = self.searchRTC("rtcConfSet0.rtc",ipaddress)
confsetPort = confsetComp[0].get_port_by_name("rtcconf")
#print confsetPort
confsetComp[0].activate_in_ec(0)
portname = confsetComp[0].name + "." + confsetPort.name + "." + self.control_comp.get_sdo_id() + "." + self.control_comp._rtcconfPort.getName()
connectServicePort(confsetPort.object, self.control_comp._rtcconfPort.getPortRef(), portname)
self.control_comp.get_owned_contexts()[0].activate_component(self.control_comp.getObjRef())
self.mgrc_cpp = ManagerControl(filapath,self.control_comp,ManagerControl.CPP)
self.mgrc_py = ManagerControl(filapath,self.control_comp,ManagerControl.PY)
flag = True
while flag:
try:
ans = self.control_comp._rtcconf._ptr().open(filapath)
if ans == False:
self.mesBox(u"ファイルを開くのに失敗しました")
return
wid = self.rtcd_widget.WidList["rtcList"]["Widget"]
clist = self.control_comp._rtcconf._ptr().getExRTCList()[1]
wid.clear()
for c in clist:
wid.addItem(c)
flag = False
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
self.mgrc_cpp.SetParam()
self.mgrc_py.SetParam()
self.deleteTabs()
if self.tab_widget_cpp == None:
self.tab_widget_cpp = TabWidget(self.mgrc_cpp,"C++")
self.tab_widget.addTab(self.tab_widget_cpp, u"CPP")
if self.tab_widget_python == None:
self.tab_widget_python = TabWidget(self.mgrc_py,"Python")
self.tab_widget.addTab(self.tab_widget_python, u"Python")
if self.rtclistWindow == None:
"""filename = "RTCListWindow"
filepath = ["SettingRTCWindow"]
sys.path.append(filepath[0])
(file, pathname, description) = imp.find_module(filename, filepath)
RTCListWindow = imp.load_module(filename, file, pathname, description)
"""
self.rtclistWindow = SettingRTCWindow.RTCListWindow.RTC_Window(self)
self.rtclistArea = SettingRTCWindow.RTCListWindow.ScrollArea()
self.tab_widget.addTab(self.rtclistArea, u"RTCのリスト")
try:
data = self.control_comp._rtcconf._ptr().getProfileList()
self.rtclistWindow.loadList(data[1])
except:
info = sys.exc_info()
tbinfo = traceback.format_tb( info[2] )
for tbi in tbinfo:
print tbi
self.rtclistArea.setWidget(self.rtclistWindow)
def createTabs(self, filapath):
ipaddress = str(
self.rtcd_widget.WidList["textBox"]["Widget"].text().toLocal8Bit())
confsetComp = self.searchRTC("rtcConfSet0.rtc", ipaddress)
confsetPort = confsetComp[0].get_port_by_name("rtcconf")
#print(confsetPort)
confsetComp[0].activate_in_ec(0)
portname = confsetComp[
0].name + "." + confsetPort.name + "." + self.control_comp.get_sdo_id(
) + "." + self.control_comp._rtcconfPort.getName()
connectServicePort(confsetPort.object,
self.control_comp._rtcconfPort.getPortRef(),
portname)
self.control_comp.get_owned_contexts()[0].activate_component(
self.control_comp.getObjRef())
self.mgrc_cpp = ManagerControl(filapath, self.control_comp,
ManagerControl.CPP)
self.mgrc_py = ManagerControl(filapath, self.control_comp,
ManagerControl.PY)
flag = True
while flag:
try:
ans = self.control_comp._rtcconf._ptr().open(filapath)
if ans != True:
self.mesBox(u"ファイルを開くのに失敗しました")
return
wid = self.rtcd_widget.WidList["rtcList"]["Widget"]
clist = self.control_comp._rtcconf._ptr().getExRTCList()[1]
wid.clear()
for c in clist:
wid.addItem(c)
flag = False
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
self.mgrc_cpp.SetParam()
self.mgrc_py.SetParam()
self.deleteTabs()
if self.tab_widget_cpp == None:
self.tab_widget_cpp = TabWidget(self.mgrc_cpp, "C++")
self.tab_widget.addTab(self.tab_widget_cpp, u"CPP")
if self.tab_widget_python == None:
self.tab_widget_python = TabWidget(self.mgrc_py, "Python")
self.tab_widget.addTab(self.tab_widget_python, u"Python")
if self.rtclistWindow == None:
"""filename = "RTCListWindow"
filepath = ["SettingRTCWindow"]
sys.path.append(filepath[0])
(file, pathname, description) = imp.find_module(filename, filepath)
RTCListWindow = imp.load_module(filename, file, pathname, description)
"""
self.rtclistWindow = SettingRTCWindow.RTCListWindow.RTC_Window(
self)
self.rtclistArea = SettingRTCWindow.RTCListWindow.ScrollArea()
self.tab_widget.addTab(self.rtclistArea, u"RTCのリスト")
try:
data = self.control_comp._rtcconf._ptr().getProfileList()
self.rtclistWindow.loadList(data[1])
except:
info = sys.exc_info()
tbinfo = traceback.format_tb(info[2])
for tbi in tbinfo:
print(tbi)
self.rtclistArea.setWidget(self.rtclistWindow)
