def main(self, argv=None, standalone=None, plugin_argument_provider=None, plugin_manager_settings_prefix=''):
if argv is None:
argv = sys.argv
# extract --args and everything behind manually since argparse can not handle that
arguments = argv[1:]
# extract plugin specific args when not being invoked in standalone mode programmatically
if not standalone:
plugin_args = []
if '--args' in arguments:
index = arguments.index('--args')
plugin_args = arguments[index + 1:]
arguments = arguments[0:index + 1]
parser = ArgumentParser(os.path.basename(Main.main_filename), add_help=False)
self.add_arguments(parser, standalone=bool(standalone), plugin_argument_provider=plugin_argument_provider)
self._options = parser.parse_args(arguments)
if standalone:
# rerun parsing to separate common arguments from plugin specific arguments
parser = ArgumentParser(os.path.basename(Main.main_filename), add_help=False)
self.add_arguments(parser, standalone=bool(standalone))
self._options, plugin_args = parser.parse_known_args(arguments)
self._options.plugin_args = plugin_args
# set default values for options not available in standalone mode
if standalone:
self._options.freeze_layout = False
self._options.lock_perspective = False
self._options.multi_process = False
self._options.perspective = None
self._options.perspective_file = None
self._options.standalone_plugin = standalone
self._options.list_perspectives = False
self._options.list_plugins = False
self._options.command_pid = None
self._options.command_start_plugin = None
self._options.command_switch_perspective = None
self._options.embed_plugin = None
self._options.embed_plugin_serial = None
self._options.embed_plugin_address = None
# check option dependencies
try:
if self._options.plugin_args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
raise RuntimeError('Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option')
if self._options.freeze_layout and not self._options.lock_perspective:
raise RuntimeError('Option --freeze_layout can only be used together with the --lock_perspective option')
list_options = (self._options.list_perspectives, self._options.list_plugins)
list_options_set = [opt for opt in list_options if opt is not False]
if len(list_options_set) > 1:
raise RuntimeError('Only one --list-* option can be used at a time')
command_options = (self._options.command_start_plugin, self._options.command_switch_perspective)
command_options_set = [opt for opt in command_options if opt is not None]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError('Without DBus support the --command-* options are not available')
if len(command_options_set) > 1:
raise RuntimeError('Only one --command-* option can be used at a time (except --command-pid which is optional)')
if len(command_options_set) == 0 and self._options.command_pid is not None:
raise RuntimeError('Option --command_pid can only be used together with an other --command-* option')
embed_options = (self._options.embed_plugin, self._options.embed_plugin_serial, self._options.embed_plugin_address)
embed_options_set = [opt for opt in embed_options if opt is not None]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError('Without DBus support the --embed-* options are not available')
if len(embed_options_set) > 0 and len(embed_options_set) < len(embed_options):
raise RuntimeError('Missing option(s) - all \'--embed-*\' options must be set')
if len(embed_options_set) > 0 and self._options.clear_config:
raise RuntimeError('Option --clear-config can only be used without any --embed-* option')
groups = (list_options_set, command_options_set, embed_options_set)
groups_set = [opt for opt in groups if len(opt) > 0]
if len(groups_set) > 1:
raise RuntimeError('Options from different groups (--list, --command, --embed) can not be used together')
perspective_options = (self._options.perspective, self._options.perspective_file)
perspective_options_set = [opt for opt in perspective_options if opt is not None]
if len(perspective_options_set) > 1:
raise RuntimeError('Only one --perspective-* option can be used at a time')
if self._options.perspective_file is not None and not os.path.isfile(self._options.perspective_file):
raise RuntimeError('Option --perspective-file must reference existing file')
except RuntimeError as e:
print(str(e))
#parser.parse_args(['--help'])
# calling --help will exit
return 1
# set implicit option dependencies
if self._options.standalone_plugin is not None:
self._options.lock_perspective = True
# create application context containing various relevant information
from .application_context import ApplicationContext
context = ApplicationContext()
context.qtgui_path = self._qtgui_path
context.options = self._options
if self._dbus_available:
from dbus import DBusException, Interface, SessionBus
# non-special applications provide various dbus interfaces
if self._dbus_available:
context.provide_app_dbus_interfaces = len(groups_set) == 0
context.dbus_base_bus_name = 'org.ros.qt_gui'
if context.provide_app_dbus_interfaces:
context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid()
# provide pid of application via dbus
from .application_dbus_interface import ApplicationDBusInterface
_dbus_server = ApplicationDBusInterface(context.dbus_base_bus_name)
# determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
if len(command_options_set) > 0 or len(embed_options_set) > 0:
host_pid = None
if self._options.command_pid is not None:
host_pid = self._options.command_pid
else:
try:
remote_object = SessionBus().get_object(context.dbus_base_bus_name, '/Application')
except DBusException:
pass
else:
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.Application')
host_pid = remote_interface.get_pid()
if host_pid is not None:
context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid
# execute command on host application instance
if len(command_options_set) > 0:
if self._options.command_start_plugin is not None:
try:
remote_object = SessionBus().get_object(context.dbus_host_bus_name, '/PluginManager')
except DBusException:
(rc, msg) = (1, 'unable to communicate with GUI instance "%s"' % context.dbus_host_bus_name)
else:
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.PluginManager')
(rc, msg) = remote_interface.start_plugin(self._options.command_start_plugin, ' '.join(self._options.plugin_args))
if rc == 0:
print('qt_gui_main() started plugin "%s" in GUI "%s"' % (msg, context.dbus_host_bus_name))
else:
print('qt_gui_main() could not start plugin "%s" in GUI "%s": %s' % (self._options.command_start_plugin, context.dbus_host_bus_name, msg))
return rc
elif self._options.command_switch_perspective is not None:
remote_object = SessionBus().get_object(context.dbus_host_bus_name, '/PerspectiveManager')
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.PerspectiveManager')
remote_interface.switch_perspective(self._options.command_switch_perspective)
print('qt_gui_main() switched to perspective "%s" in GUI "%s"' % (self._options.command_switch_perspective, context.dbus_host_bus_name))
return 0
raise RuntimeError('Unknown command not handled')
# choose selected or default qt binding
setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
from python_qt_binding import QT_BINDING
from python_qt_binding.QtCore import qDebug, qInstallMsgHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
from python_qt_binding.QtGui import QAction, QIcon, QMenuBar
from .about_handler import AboutHandler
from .composite_plugin_provider import CompositePluginProvider
from .container_manager import ContainerManager
from .help_provider import HelpProvider
from .icon_loader import get_icon
from .main_window import MainWindow
from .minimized_dock_widgets_toolbar import MinimizedDockWidgetsToolbar
from .perspective_manager import PerspectiveManager
from .plugin_manager import PluginManager
def message_handler(type_, msg):
colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
cyan_color = '\033[36m' if colored_output else ''
red_color = '\033[31m' if colored_output else ''
reset_color = '\033[0m' if colored_output else ''
if type_ == QtDebugMsg and self._options.verbose:
print(msg, file=sys.stderr)
elif type_ == QtWarningMsg:
print(cyan_color + msg + reset_color, file=sys.stderr)
elif type_ == QtCriticalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
elif type_ == QtFatalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
sys.exit(1)
qInstallMsgHandler(message_handler)
app = self.create_application(argv)
self._check_icon_theme_compliance()
settings = QSettings(QSettings.IniFormat, QSettings.UserScope, 'ros.org', self._settings_filename)
if len(embed_options_set) == 0:
if self._options.clear_config:
settings.clear()
main_window = MainWindow()
if self._options.on_top:
main_window.setWindowFlags(Qt.WindowStaysOnTopHint)
main_window.statusBar()
def sigint_handler(*args):
qDebug('\nsigint_handler()')
main_window.close()
signal.signal(signal.SIGINT, sigint_handler)
# the timer enables triggering the sigint_handler
timer = QTimer()
timer.start(500)
timer.timeout.connect(lambda: None)
# create own menu bar to share one menu bar on Mac
menu_bar = QMenuBar()
if 'darwin' in platform.platform().lower():
menu_bar.setNativeMenuBar(True)
else:
menu_bar.setNativeMenuBar(False)
if not self._options.lock_perspective:
main_window.setMenuBar(menu_bar)
file_menu = menu_bar.addMenu(menu_bar.tr('&File'))
action = QAction(file_menu.tr('&Quit'), file_menu)
action.setIcon(QIcon.fromTheme('application-exit'))
action.triggered.connect(main_window.close)
file_menu.addAction(action)
else:
app.setQuitOnLastWindowClosed(False)
main_window = None
menu_bar = None
self._add_plugin_providers()
# setup plugin manager
plugin_provider = CompositePluginProvider(self.plugin_providers)
plugin_manager = PluginManager(plugin_provider, settings, context, settings_prefix=plugin_manager_settings_prefix)
if self._options.list_plugins:
# output available plugins
print('\n'.join(sorted(plugin_manager.get_plugins().values())))
return 0
help_provider = HelpProvider()
plugin_manager.plugin_help_signal.connect(help_provider.plugin_help_request)
# setup perspective manager
if main_window is not None:
perspective_manager = PerspectiveManager(settings, context)
if self._options.list_perspectives:
# output available perspectives
print('\n'.join(sorted(perspective_manager.perspectives)))
return 0
else:
perspective_manager = None
if main_window is not None:
container_manager = ContainerManager(main_window, plugin_manager)
plugin_manager.set_main_window(main_window, menu_bar, container_manager)
if not self._options.freeze_layout:
minimized_dock_widgets_toolbar = MinimizedDockWidgetsToolbar(container_manager, main_window)
main_window.addToolBar(Qt.BottomToolBarArea, minimized_dock_widgets_toolbar)
plugin_manager.set_minimized_dock_widgets_toolbar(minimized_dock_widgets_toolbar)
if menu_bar is not None:
perspective_menu = menu_bar.addMenu(menu_bar.tr('P&erspectives'))
perspective_manager.set_menu(perspective_menu)
# connect various signals and slots
if perspective_manager is not None and main_window is not None:
# signal changed perspective to update window title
perspective_manager.perspective_changed_signal.connect(main_window.perspective_changed)
# signal new settings due to changed perspective
perspective_manager.save_settings_signal.connect(main_window.save_settings)
perspective_manager.restore_settings_signal.connect(main_window.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(main_window.restore_settings)
if perspective_manager is not None and plugin_manager is not None:
perspective_manager.save_settings_signal.connect(plugin_manager.save_settings)
plugin_manager.save_settings_completed_signal.connect(perspective_manager.save_settings_completed)
perspective_manager.restore_settings_signal.connect(plugin_manager.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(plugin_manager.restore_settings_without_plugins)
if plugin_manager is not None and main_window is not None:
# signal before changing plugins to save window state
plugin_manager.plugins_about_to_change_signal.connect(main_window.save_setup)
# signal changed plugins to restore window state
plugin_manager.plugins_changed_signal.connect(main_window.restore_state)
# signal save settings to store plugin setup on close
main_window.save_settings_before_close_signal.connect(plugin_manager.close_application)
# signal save and shutdown called for all plugins, trigger closing main window again
plugin_manager.close_application_signal.connect(main_window.close, type=Qt.QueuedConnection)
if main_window is not None and menu_bar is not None:
about_handler = AboutHandler(context.qtgui_path, main_window)
help_menu = menu_bar.addMenu(menu_bar.tr('&Help'))
action = QAction(file_menu.tr('&About'), help_menu)
action.setIcon(QIcon.fromTheme('help-about'))
action.triggered.connect(about_handler.show)
help_menu.addAction(action)
# set initial size - only used without saved configuration
if main_window is not None:
main_window.resize(600, 450)
main_window.move(100, 100)
# ensure that qt_gui/src is in sys.path
src_path = os.path.realpath(os.path.join(os.path.dirname(__file__), '..'))
if src_path not in sys.path:
sys.path.append(src_path)
# load specific plugin
plugin = None
plugin_serial = None
if self._options.embed_plugin is not None:
plugin = self._options.embed_plugin
plugin_serial = self._options.embed_plugin_serial
elif self._options.standalone_plugin is not None:
plugin = self._options.standalone_plugin
plugin_serial = 0
if plugin is not None:
plugins = plugin_manager.find_plugins_by_name(plugin)
if len(plugins) == 0:
print('qt_gui_main() found no plugin matching "%s"' % plugin)
return 1
elif len(plugins) > 1:
print('qt_gui_main() found multiple plugins matching "%s"\n%s' % (plugin, '\n'.join(plugins.values())))
return 1
plugin = plugins.keys()[0]
qDebug('QtBindingHelper using %s' % QT_BINDING)
plugin_manager.discover()
if self._options.reload_import:
qDebug('ReloadImporter() automatically reload all subsequent imports')
from .reload_importer import ReloadImporter
_reload_importer = ReloadImporter()
self._add_reload_paths(_reload_importer)
_reload_importer.enable()
# switch perspective
if perspective_manager is not None:
if plugin:
perspective_manager.set_perspective(plugin, hide_and_without_plugin_changes=True)
elif self._options.perspective_file:
perspective_manager.import_perspective_from_file(self._options.perspective_file, perspective_manager.HIDDEN_PREFIX + '__cli_perspective_from_file')
else:
perspective_manager.set_perspective(self._options.perspective)
# load specific plugin
if plugin:
plugin_manager.load_plugin(plugin, plugin_serial, self._options.plugin_args)
running = plugin_manager.is_plugin_running(plugin, plugin_serial)
if not running:
return 1
if self._options.standalone_plugin:
# use icon of standalone plugin (if available) for application
plugin_descriptor = plugin_manager.get_plugin_descriptor(plugin)
action_attributes = plugin_descriptor.action_attributes()
if 'icon' in action_attributes and action_attributes['icon'] is not None:
base_path = plugin_descriptor.attributes().get('plugin_path')
try:
icon = get_icon(action_attributes['icon'], action_attributes.get('icontype', None), base_path)
except UserWarning:
pass
else:
app.setWindowIcon(icon)
if main_window is not None:
main_window.show()
if sys.platform == 'darwin':
main_window.raise_()
return app.exec_()
def main(self,
argv=None,
standalone=None,
plugin_argument_provider=None,
plugin_manager_settings_prefix=''):
if argv is None:
argv = sys.argv
# extract --args and everything behind manually since argparse can not handle that
arguments = argv[1:]
# extract plugin specific args when not being invoked in standalone mode programmatically
if not standalone:
plugin_args = []
if '--args' in arguments:
index = arguments.index('--args')
plugin_args = arguments[index + 1:]
arguments = arguments[0:index + 1]
parser = ArgumentParser(os.path.basename(Main.main_filename),
add_help=False)
self.add_arguments(parser,
standalone=bool(standalone),
plugin_argument_provider=plugin_argument_provider)
self._options = parser.parse_args(arguments)
self._options.multi_process = False # not supported anymore
if standalone:
# rerun parsing to separate common arguments from plugin specific arguments
parser = ArgumentParser(os.path.basename(Main.main_filename),
add_help=False)
self.add_arguments(parser, standalone=bool(standalone))
self._options, plugin_args = parser.parse_known_args(arguments)
self._options.plugin_args = plugin_args
# set default values for options not available in standalone mode
if standalone:
self._options.freeze_layout = False
self._options.lock_perspective = False
self._options.hide_title = False
self._options.perspective = None
self._options.perspective_file = None
self._options.standalone_plugin = standalone
self._options.list_perspectives = False
self._options.list_plugins = False
self._options.command_pid = None
self._options.command_start_plugin = None
self._options.command_switch_perspective = None
self._options.embed_plugin = None
self._options.embed_plugin_serial = None
self._options.embed_plugin_address = None
# check option dependencies
try:
if self._options.plugin_args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
raise RuntimeError(
'Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option'
)
if self._options.freeze_layout and not self._options.lock_perspective:
raise RuntimeError(
'Option --freeze_layout can only be used together with the --lock_perspective option'
)
list_options = (self._options.list_perspectives,
self._options.list_plugins)
list_options_set = [
opt for opt in list_options if opt is not False
]
if len(list_options_set) > 1:
raise RuntimeError(
'Only one --list-* option can be used at a time')
command_options = (self._options.command_start_plugin,
self._options.command_switch_perspective)
command_options_set = [
opt for opt in command_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --command-* options are not available'
)
if len(command_options_set) > 1:
raise RuntimeError(
'Only one --command-* option can be used at a time (except --command-pid which is optional)'
)
if len(command_options_set
) == 0 and self._options.command_pid is not None:
raise RuntimeError(
'Option --command_pid can only be used together with an other --command-* option'
)
embed_options = (self._options.embed_plugin,
self._options.embed_plugin_serial,
self._options.embed_plugin_address)
embed_options_set = [
opt for opt in embed_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --embed-* options are not available'
)
if len(embed_options_set) > 0 and len(embed_options_set) < len(
embed_options):
raise RuntimeError(
'Missing option(s) - all \'--embed-*\' options must be set'
)
if len(embed_options_set) > 0 and self._options.clear_config:
raise RuntimeError(
'Option --clear-config can only be used without any --embed-* option'
)
groups = (list_options_set, command_options_set, embed_options_set)
groups_set = [opt for opt in groups if len(opt) > 0]
if len(groups_set) > 1:
raise RuntimeError(
'Options from different groups (--list, --command, --embed) can not be used together'
)
perspective_options = (self._options.perspective,
self._options.perspective_file)
perspective_options_set = [
opt for opt in perspective_options if opt is not None
]
if len(perspective_options_set) > 1:
raise RuntimeError(
'Only one --perspective-* option can be used at a time')
if self._options.perspective_file is not None and not os.path.isfile(
self._options.perspective_file):
raise RuntimeError(
'Option --perspective-file must reference existing file')
except RuntimeError as e:
print(str(e))
#parser.parse_args(['--help'])
# calling --help will exit
return 1
# set implicit option dependencies
if self._options.standalone_plugin is not None:
self._options.lock_perspective = True
# create application context containing various relevant information
from .application_context import ApplicationContext
context = ApplicationContext()
context.qtgui_path = self._qtgui_path
context.options = self._options
if self._dbus_available:
from dbus import DBusException, Interface, SessionBus
# non-special applications provide various dbus interfaces
if self._dbus_available:
context.provide_app_dbus_interfaces = len(groups_set) == 0
context.dbus_base_bus_name = 'org.ros.qt_gui'
if context.provide_app_dbus_interfaces:
context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid(
)
# provide pid of application via dbus
from .application_dbus_interface import ApplicationDBusInterface
_dbus_server = ApplicationDBusInterface(
context.dbus_base_bus_name)
# determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
if len(command_options_set) > 0 or len(embed_options_set) > 0:
host_pid = None
if self._options.command_pid is not None:
host_pid = self._options.command_pid
else:
try:
remote_object = SessionBus().get_object(
context.dbus_base_bus_name, '/Application')
except DBusException:
pass
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.Application')
host_pid = remote_interface.get_pid()
if host_pid is not None:
context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid
# execute command on host application instance
if len(command_options_set) > 0:
if self._options.command_start_plugin is not None:
try:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PluginManager')
except DBusException:
(rc,
msg) = (1,
'unable to communicate with GUI instance "%s"' %
context.dbus_host_bus_name)
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PluginManager')
(rc, msg) = remote_interface.start_plugin(
self._options.command_start_plugin,
' '.join(self._options.plugin_args))
if rc == 0:
print('qt_gui_main() started plugin "%s" in GUI "%s"' %
(msg, context.dbus_host_bus_name))
else:
print(
'qt_gui_main() could not start plugin "%s" in GUI "%s": %s'
% (self._options.command_start_plugin,
context.dbus_host_bus_name, msg))
return rc
elif self._options.command_switch_perspective is not None:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PerspectiveManager')
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PerspectiveManager')
remote_interface.switch_perspective(
self._options.command_switch_perspective)
print(
'qt_gui_main() switched to perspective "%s" in GUI "%s"' %
(self._options.command_switch_perspective,
context.dbus_host_bus_name))
return 0
raise RuntimeError('Unknown command not handled')
# choose selected or default qt binding
setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
from python_qt_binding import QT_BINDING
from python_qt_binding.QtCore import qDebug, qInstallMessageHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
from python_qt_binding.QtGui import QIcon
from python_qt_binding.QtWidgets import QAction, QMenuBar
from .about_handler import AboutHandler
from .composite_plugin_provider import CompositePluginProvider
from .container_manager import ContainerManager
from .help_provider import HelpProvider
from .icon_loader import get_icon
from .main_window import MainWindow
from .minimized_dock_widgets_toolbar import MinimizedDockWidgetsToolbar
from .perspective_manager import PerspectiveManager
from .plugin_manager import PluginManager
# TODO PySide2 segfaults when invoking this custom message handler atm
if QT_BINDING != 'pyside':
def message_handler(type_, context, msg):
colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
cyan_color = '\033[36m' if colored_output else ''
red_color = '\033[31m' if colored_output else ''
reset_color = '\033[0m' if colored_output else ''
if type_ == QtDebugMsg and self._options.verbose:
print(msg, file=sys.stderr)
elif type_ == QtWarningMsg:
print(cyan_color + msg + reset_color, file=sys.stderr)
elif type_ == QtCriticalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
elif type_ == QtFatalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
sys.exit(1)
qInstallMessageHandler(message_handler)
app = self.create_application(argv)
self._check_icon_theme_compliance()
settings = QSettings(QSettings.IniFormat, QSettings.UserScope,
'ros.org', self._settings_filename)
if len(embed_options_set) == 0:
if self._options.clear_config:
settings.clear()
main_window = MainWindow()
if self._options.on_top:
main_window.setWindowFlags(Qt.WindowStaysOnTopHint)
main_window.statusBar()
def sigint_handler(*args):
qDebug('\nsigint_handler()')
main_window.close()
signal.signal(signal.SIGINT, sigint_handler)
# the timer enables triggering the sigint_handler
timer = QTimer()
timer.start(500)
timer.timeout.connect(lambda: None)
if not self._options.lock_perspective:
menu_bar = main_window.menuBar()
file_menu = menu_bar.addMenu(menu_bar.tr('&File'))
action = QAction(file_menu.tr('&Quit'), file_menu)
action.setIcon(QIcon.fromTheme('application-exit'))
action.triggered.connect(main_window.close)
file_menu.addAction(action)
else:
menu_bar = None
else:
app.setQuitOnLastWindowClosed(False)
main_window = None
menu_bar = None
self._add_plugin_providers()
# setup plugin manager
plugin_provider = CompositePluginProvider(self.plugin_providers)
plugin_manager = PluginManager(
plugin_provider,
settings,
context,
settings_prefix=plugin_manager_settings_prefix)
if self._options.list_plugins:
# output available plugins
print('\n'.join(sorted(plugin_manager.get_plugins().values())))
return 0
help_provider = HelpProvider()
plugin_manager.plugin_help_signal.connect(
help_provider.plugin_help_request)
# setup perspective manager
if main_window is not None:
perspective_manager = PerspectiveManager(settings, context)
if self._options.list_perspectives:
# output available perspectives
print('\n'.join(sorted(perspective_manager.perspectives)))
return 0
else:
perspective_manager = None
if main_window is not None:
container_manager = ContainerManager(main_window, plugin_manager)
plugin_manager.set_main_window(main_window, menu_bar,
container_manager)
if not self._options.freeze_layout:
minimized_dock_widgets_toolbar = MinimizedDockWidgetsToolbar(
container_manager, main_window)
main_window.addToolBar(Qt.BottomToolBarArea,
minimized_dock_widgets_toolbar)
plugin_manager.set_minimized_dock_widgets_toolbar(
minimized_dock_widgets_toolbar)
if menu_bar is not None:
perspective_menu = menu_bar.addMenu(menu_bar.tr('P&erspectives'))
perspective_manager.set_menu(perspective_menu)
# connect various signals and slots
if perspective_manager is not None and main_window is not None:
# signal changed perspective to update window title
perspective_manager.perspective_changed_signal.connect(
main_window.perspective_changed)
# signal new settings due to changed perspective
perspective_manager.save_settings_signal.connect(
main_window.save_settings)
perspective_manager.restore_settings_signal.connect(
main_window.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
main_window.restore_settings)
if perspective_manager is not None and plugin_manager is not None:
perspective_manager.save_settings_signal.connect(
plugin_manager.save_settings)
plugin_manager.save_settings_completed_signal.connect(
perspective_manager.save_settings_completed)
perspective_manager.restore_settings_signal.connect(
plugin_manager.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
plugin_manager.restore_settings_without_plugins)
if plugin_manager is not None and main_window is not None:
# signal before changing plugins to save window state
plugin_manager.plugins_about_to_change_signal.connect(
main_window.save_setup)
# signal changed plugins to restore window state
plugin_manager.plugins_changed_signal.connect(
main_window.restore_state)
# signal save settings to store plugin setup on close
main_window.save_settings_before_close_signal.connect(
plugin_manager.close_application)
# signal save and shutdown called for all plugins, trigger closing main window again
plugin_manager.close_application_signal.connect(
main_window.close, type=Qt.QueuedConnection)
if main_window is not None and menu_bar is not None:
about_handler = AboutHandler(context.qtgui_path, main_window)
help_menu = menu_bar.addMenu(menu_bar.tr('&Help'))
action = QAction(help_menu.tr('&About'), help_menu)
action.setIcon(QIcon.fromTheme('help-about'))
action.triggered.connect(about_handler.show)
help_menu.addAction(action)
# set initial size - only used without saved configuration
if main_window is not None:
main_window.resize(600, 450)
main_window.move(100, 100)
# ensure that qt_gui/src is in sys.path
src_path = os.path.realpath(
os.path.join(os.path.dirname(__file__), '..'))
if src_path not in sys.path:
sys.path.append(src_path)
# load specific plugin
plugin = None
plugin_serial = None
if self._options.embed_plugin is not None:
plugin = self._options.embed_plugin
plugin_serial = self._options.embed_plugin_serial
elif self._options.standalone_plugin is not None:
plugin = self._options.standalone_plugin
plugin_serial = 0
if plugin is not None:
plugins = plugin_manager.find_plugins_by_name(plugin)
if len(plugins) == 0:
print('qt_gui_main() found no plugin matching "%s"' % plugin)
print('try passing the option "--force-discover"')
return 1
elif len(plugins) > 1:
print(
'qt_gui_main() found multiple plugins matching "%s"\n%s' %
(plugin, '\n'.join(plugins.values())))
return 1
plugin = list(plugins.keys())[0]
qDebug('QtBindingHelper using %s' % QT_BINDING)
plugin_manager.discover()
if self._options.reload_import:
qDebug(
'ReloadImporter() automatically reload all subsequent imports')
from .reload_importer import ReloadImporter
_reload_importer = ReloadImporter()
self._add_reload_paths(_reload_importer)
_reload_importer.enable()
# switch perspective
if perspective_manager is not None:
if plugin:
perspective_manager.set_perspective(
plugin, hide_and_without_plugin_changes=True)
elif self._options.perspective_file:
perspective_manager.import_perspective_from_file(
self._options.perspective_file,
perspective_manager.HIDDEN_PREFIX +
os.path.basename(self._options.perspective_file))
else:
perspective_manager.set_perspective(self._options.perspective)
# load specific plugin
if plugin:
plugin_manager.load_plugin(plugin, plugin_serial,
self._options.plugin_args)
running = plugin_manager.is_plugin_running(plugin, plugin_serial)
if not running:
return 1
if self._options.standalone_plugin:
# use icon of standalone plugin (if available) for application
plugin_descriptor = plugin_manager.get_plugin_descriptor(
plugin)
action_attributes = plugin_descriptor.action_attributes()
if 'icon' in action_attributes and action_attributes[
'icon'] is not None:
base_path = plugin_descriptor.attributes().get(
'plugin_path')
try:
icon = get_icon(
action_attributes['icon'],
action_attributes.get('icontype', None), base_path)
except UserWarning:
pass
else:
app.setWindowIcon(icon)
if main_window is not None:
main_window.show()
if sys.platform == 'darwin':
main_window.raise_()
return app.exec_()
def main(self, argv=None, standalone=None):
# check if DBus is available
try:
import dbus
del dbus
self._dbus_available = True
except ImportError:
pass
if argv is None:
argv = sys.argv
# extract --args and everything behind manually since argparse can not handle that
arguments = argv[1:]
args = []
if '--args' in arguments:
index = arguments.index('--args')
args = arguments[index + 1:]
arguments = arguments[0:index + 1]
if standalone:
arguments += ['-s', standalone]
parser = ArgumentParser('usage: %prog [options]')
self._add_arguments(parser)
self._options = parser.parse_args(arguments)
self._options.args = args
# check option dependencies
try:
if self._options.args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
raise RuntimeError(
'Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option'
)
list_options = (self._options.list_perspectives,
self._options.list_plugins)
list_options_set = [
opt for opt in list_options if opt is not False
]
if len(list_options_set) > 1:
raise RuntimeError(
'Only one --list-* option can be used at a time')
command_options = (self._options.command_start_plugin,
self._options.command_switch_perspective)
command_options_set = [
opt for opt in command_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --command-* options are not available'
)
if len(command_options_set) > 1:
raise RuntimeError(
'Only one --command-* option can be used at a time (except --command-pid which is optional)'
)
if len(command_options_set
) == 0 and self._options.command_pid is not None:
raise RuntimeError(
'Option --command_pid can only be used together with an other --command-* option'
)
embed_options = (self._options.embed_plugin,
self._options.embed_plugin_serial,
self._options.embed_plugin_address)
embed_options_set = [
opt for opt in embed_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --embed-* options are not available'
)
if len(embed_options_set) > 0 and len(embed_options_set) < len(
embed_options):
raise RuntimeError(
'Missing option(s) - all \'--embed-*\' options must be set'
)
if len(embed_options_set) > 0 and self._options.clear_config:
raise RuntimeError(
'Option --clear-config can only be used without any --embed-* option'
)
groups = (list_options_set, command_options_set, embed_options_set)
groups_set = [opt for opt in groups if len(opt) > 0]
if len(groups_set) > 1:
raise RuntimeError(
'Options from different groups (--list, --command, --embed) can not be used together'
)
except RuntimeError as e:
print(str(e))
#parser.parse_args(['--help'])
# calling --help will exit
return 1
# set implicit option dependencies
if self._options.standalone_plugin is not None:
self._options.lock_perspective = True
# use qt/glib mainloop integration to get dbus mainloop working
if self._dbus_available:
from dbus.mainloop.glib import DBusGMainLoop
from dbus import DBusException, Interface, SessionBus
DBusGMainLoop(set_as_default=True)
# create application context containing various relevant information
from .application_context import ApplicationContext
context = ApplicationContext()
context.options = self._options
# non-special applications provide various dbus interfaces
if self._dbus_available:
context.provide_app_dbus_interfaces = len(groups_set) == 0
context.dbus_base_bus_name = 'org.ros.qt_gui'
if context.provide_app_dbus_interfaces:
context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid(
)
# provide pid of application via dbus
from .application_dbus_interface import ApplicationDBusInterface
_dbus_server = ApplicationDBusInterface(
context.dbus_base_bus_name)
# determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
if len(command_options_set) > 0 or len(embed_options_set) > 0:
host_pid = None
if self._options.command_pid is not None:
host_pid = self._options.command_pid
else:
try:
remote_object = SessionBus().get_object(
context.dbus_base_bus_name, '/Application')
except DBusException:
pass
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.Application')
host_pid = remote_interface.get_pid()
if host_pid is not None:
context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid
# execute command on host application instance
if len(command_options_set) > 0:
if self._options.command_start_plugin is not None:
try:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PluginManager')
except DBusException:
(rc,
msg) = (1,
'unable to communicate with GUI instance "%s"' %
context.dbus_host_bus_name)
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PluginManager')
(rc, msg) = remote_interface.start_plugin(
self._options.command_start_plugin,
' '.join(self._options.args))
if rc == 0:
print('qt_gui_main() started plugin "%s" in GUI "%s"' %
(msg, context.dbus_host_bus_name))
else:
print(
'qt_gui_main() could not start plugin "%s" in GUI "%s": %s'
% (self._options.command_start_plugin,
context.dbus_host_bus_name, msg))
return rc
elif self._options.command_switch_perspective is not None:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PerspectiveManager')
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PerspectiveManager')
remote_interface.switch_perspective(
self._options.command_switch_perspective)
print(
'qt_gui_main() switched to perspective "%s" in GUI "%s"' %
(self._options.command_switch_perspective,
context.dbus_host_bus_name))
return 0
raise RuntimeError('Unknown command not handled')
# choose selected or default qt binding
setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
from python_qt_binding import QT_BINDING
from python_qt_binding.QtCore import qDebug, qInstallMsgHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
from python_qt_binding.QtGui import QAction, QApplication, QIcon, QMenuBar
from .about_handler import AboutHandler
from .composite_plugin_provider import CompositePluginProvider
from .help_provider import HelpProvider
from .main_window import MainWindow
from .perspective_manager import PerspectiveManager
from .plugin_manager import PluginManager
def message_handler(type_, msg):
colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
cyan_color = '\033[36m' if colored_output else ''
red_color = '\033[31m' if colored_output else ''
reset_color = '\033[0m' if colored_output else ''
if type_ == QtDebugMsg and self._options.verbose:
print(msg, file=sys.stderr)
elif type_ == QtWarningMsg:
print(cyan_color + msg + reset_color, file=sys.stderr)
elif type_ == QtCriticalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
elif type_ == QtFatalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
sys.exit(1)
qInstallMsgHandler(message_handler)
app = QApplication(argv)
app.setAttribute(Qt.AA_DontShowIconsInMenus, False)
self.__check_icon_theme_compliance()
if len(embed_options_set) == 0:
settings = QSettings(QSettings.IniFormat, QSettings.UserScope,
'ros.org', self._settings_filename)
if self._options.clear_config:
settings.clear()
main_window = MainWindow()
main_window.setDockNestingEnabled(True)
main_window.statusBar()
def sigint_handler(*args):
qDebug('\nsigint_handler()')
main_window.close()
signal.signal(signal.SIGINT, sigint_handler)
# the timer enables triggering the sigint_handler
timer = QTimer()
timer.start(500)
timer.timeout.connect(lambda: None)
# create own menu bar to share one menu bar on Mac
menu_bar = QMenuBar()
menu_bar.setNativeMenuBar(False)
if not self._options.lock_perspective:
main_window.setMenuBar(menu_bar)
file_menu = menu_bar.addMenu(menu_bar.tr('File'))
action = QAction(file_menu.tr('Quit'), file_menu)
action.setIcon(QIcon.fromTheme('application-exit'))
action.triggered.connect(main_window.close)
file_menu.addAction(action)
else:
app.setQuitOnLastWindowClosed(False)
settings = None
main_window = None
menu_bar = None
self._add_plugin_providers()
# setup plugin manager
plugin_provider = CompositePluginProvider(self.plugin_providers)
plugin_manager = PluginManager(plugin_provider, context)
if self._options.list_plugins:
# output available plugins
print('\n'.join(sorted(plugin_manager.get_plugins().values())))
return 0
help_provider = HelpProvider()
plugin_manager.plugin_help_signal.connect(
help_provider.plugin_help_request)
# setup perspective manager
if settings is not None:
perspective_manager = PerspectiveManager(settings, context)
if self._options.list_perspectives:
# output available perspectives
print('\n'.join(sorted(perspective_manager.perspectives)))
return 0
else:
perspective_manager = None
if main_window is not None:
plugin_manager.set_main_window(main_window, menu_bar)
if settings is not None and menu_bar is not None:
perspective_menu = menu_bar.addMenu(menu_bar.tr('Perspectives'))
perspective_manager.set_menu(perspective_menu)
# connect various signals and slots
if perspective_manager is not None and main_window is not None:
# signal changed perspective to update window title
perspective_manager.perspective_changed_signal.connect(
main_window.perspective_changed)
# signal new settings due to changed perspective
perspective_manager.save_settings_signal.connect(
main_window.save_settings)
perspective_manager.restore_settings_signal.connect(
main_window.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
main_window.restore_settings)
if perspective_manager is not None and plugin_manager is not None:
perspective_manager.save_settings_signal.connect(
plugin_manager.save_settings)
plugin_manager.save_settings_completed_signal.connect(
perspective_manager.save_settings_completed)
perspective_manager.restore_settings_signal.connect(
plugin_manager.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
plugin_manager.restore_settings_without_plugins)
if plugin_manager is not None and main_window is not None:
# signal before changing plugins to save window state
plugin_manager.plugins_about_to_change_signal.connect(
main_window.save_setup)
# signal changed plugins to restore window state
plugin_manager.plugins_changed_signal.connect(
main_window.restore_state)
# signal save settings to store plugin setup on close
main_window.save_settings_before_close_signal.connect(
plugin_manager.close_application)
# signal save and shutdown called for all plugins, trigger closing main window again
plugin_manager.close_application_signal.connect(
main_window.close, type=Qt.QueuedConnection)
if main_window is not None and menu_bar is not None:
about_handler = AboutHandler(main_window)
help_menu = menu_bar.addMenu(menu_bar.tr('Help'))
action = QAction(file_menu.tr('About'), help_menu)
action.setIcon(QIcon.fromTheme('help-about'))
action.triggered.connect(about_handler.show)
help_menu.addAction(action)
# set initial size - only used without saved configuration
if main_window is not None:
main_window.resize(600, 450)
main_window.move(100, 100)
# ensure that qt_gui/src is in sys.path
src_path = os.path.realpath(
os.path.join(os.path.dirname(__file__), '..'))
if src_path not in sys.path:
sys.path.append(src_path)
# load specific plugin
plugin = None
plugin_serial = None
if self._options.embed_plugin is not None:
plugin = self._options.embed_plugin
plugin_serial = self._options.embed_plugin_serial
elif self._options.standalone_plugin is not None:
plugin = self._options.standalone_plugin
plugin_serial = 0
if plugin is not None:
plugins = plugin_manager.find_plugins_by_name(plugin)
if len(plugins) == 0:
print('qt_gui_main() found no plugin matching "%s"' % plugin)
return 1
elif len(plugins) > 1:
print(
'qt_gui_main() found multiple plugins matching "%s"\n%s' %
(plugin, '\n'.join(plugins.values())))
return 1
plugin = plugins.keys()[0]
qDebug('QtBindingHelper using %s' % QT_BINDING)
plugin_manager.discover()
self._caching_hook()
if self._options.reload_import:
qDebug(
'ReloadImporter() automatically reload all subsequent imports')
from .reload_importer import ReloadImporter
_reload_importer = ReloadImporter()
self._add_reload_paths(_reload_importer)
_reload_importer.enable()
# switch perspective
if perspective_manager is not None:
if not plugin:
perspective_manager.set_perspective(self._options.perspective)
else:
perspective_manager.set_perspective(
plugin, hide_and_without_plugin_changes=True)
# load specific plugin
if plugin:
plugin_manager.load_plugin(plugin, plugin_serial,
self._options.args)
if main_window is not None:
main_window.show()
return app.exec_()
