class MicoButtonsWidget(QWidget):
def __init__(self, widget):
super(MicoButtonsWidget, self).__init__()
rospkg_pack = rospkg.RosPack()
ui_file = os.path.join(rospkg_pack.get_path('mico_controller'), 'resource', 'MicoButtons.ui')
loadUi(ui_file, self)
self.start_arm_srv = rospy.ServiceProxy('mico_arm_driver/in/start', MicoStart)
self.stop_arm_srv = rospy.ServiceProxy('mico_arm_driver/in/stop', MicoStop)
self.home_arm_srv = rospy.ServiceProxy('mico_arm_driver/in/home_arm', MicoHome)
self._updateTimer = QTimer(self)
self._updateTimer.timeout.connect(self.timeout_callback)
def start(self):
self._updateTimer.start(1000) # loop rate[ms]
def stop(self):
self._updateTimer.stop()
def timeout_callback(self):
pass
# rqt override
def save_settings(self, plugin_settings, instance_settings):
pass
# instance_settings.set_value('topic_name', self._topic_name)
def restore_settings(self, plugin_settings, instance_settings):
pass
# topic_name = instance_settings.value('topic_name')
# try:
# self._topic_name = eval(topic_name)
# except Exception:
# self._topic_name = self.TOPIC_NAME
def shutdown_plugin(self):
self.stop()
@Slot()
def on_qt_start_btn_clicked(self):
rospy.loginfo(self.start_arm_srv())
@Slot()
def on_qt_stop_btn_clicked(self):
rospy.loginfo(self.stop_arm_srv())
@Slot()
def on_qt_home_btn_clicked(self):
rospy.loginfo(self.home_arm_srv())
class MotionEditorWidget(QWidget):
position_renamed = Signal(QListWidgetItem)
def __init__(self, motion_publisher, robot_config):
super(MotionEditorWidget, self).__init__()
self.robot_config = robot_config
self._motion_publisher = motion_publisher
self._motion_data = MotionData(robot_config)
self._filter_pattern = ''
self._playback_marker = None
self._playback_timer = None
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'motion_editor.ui')
loadUi(ui_file, self)
self.list_widgets = {}
for group_type in robot_config.group_types():
list_widget = QListWidget()
list_widget.setSortingEnabled(True)
list_widget.setDragDropMode(QAbstractItemView.DragOnly)
list_widget.setContextMenuPolicy(Qt.CustomContextMenu)
list_widget.customContextMenuRequested.connect(
lambda pos, _group_type=group_type: self.positions_list_context_menu(_group_type, pos)
)
list_widget.itemChanged.connect(self.on_list_item_changed)
self.position_lists_layout.addWidget(list_widget)
self.list_widgets[group_type] = list_widget
self._timeline_widget = TimelineWidget()
for track_name in self.robot_config.sorted_groups():
track_type = self.robot_config.groups[track_name].group_type
track = self._timeline_widget.add_track(track_name, track_type)
list_widget = self.list_widgets[track_type]
palette = list_widget.palette()
palette.setColor(QPalette.Base, track._colors['track'])
list_widget.setPalette(palette)
self.timeline_group.layout().addWidget(self._timeline_widget)
for group_type in robot_config.group_types():
label = QLabel(group_type)
label.setAlignment(Qt.AlignHCenter | Qt.AlignVCenter)
self.group_label_layout.addWidget(label)
self.update_motion_name_combo()
self.stop_motion_button.pressed.connect(self.on_motion_stop_pressed)
def on_list_item_changed(self, item):
print 'Position name changed from', item._text, 'to', item.text()
self.position_renamed.emit(item)
def on_motion_stop_pressed(self):
self._clear_playback_marker()
self._motion_publisher.stop_motion()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self.splitter.saveState())
instance_settings.set_value('filter_pattern', self.filter_pattern_edit.text())
instance_settings.set_value('filter_motions_checked', self.filter_motions_check.isChecked())
instance_settings.set_value('filter_positions_checked', self.filter_positions_check.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.contains('splitter'):
self.splitter.restoreState(instance_settings.value('splitter'))
else:
self.splitter.setSizes([300, 100])
self.filter_pattern_edit.setText(instance_settings.value('filter_pattern', ''))
self.filter_motions_check.setChecked(instance_settings.value('filter_motions_checked', False) in (1, True, 'true'))
self.filter_positions_check.setChecked(instance_settings.value('filter_positions_checked', False) in (1, True, 'true'))
@Slot()
def on_clear_motion_button_clicked(self):
self._timeline_widget.scene().clear()
@Slot()
def on_delete_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to delete.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self._motion_data.delete(motion_name)
self.update_motion_name_combo()
@Slot()
def on_save_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No name given to save this motion.')
return
self._motion_data.save(motion_name, self.get_motion_from_timeline())
self.update_motion_name_combo()
@Slot()
def on_load_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to load.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self.on_clear_motion_button_clicked()
motion = self._motion_data[motion_name]
for group_name, poses in motion.items():
for pose in poses:
data = self.robot_config.groups[group_name].adapt_to_side(pose['positions'])
self._timeline_widget.scene().add_clip(group_name, pose['name'], pose['starttime'], pose['duration'], data)
@Slot()
def on_null_motion_button_clicked(self):
self._clear_playback_marker()
for group_name in self.robot_config.groups:
target_position = [0] * len(self.robot_config.groups[group_name].joints)
self._motion_publisher.move_to_position(group_name, target_position, self.time_factor_spin.value())
@Slot()
def on_run_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to run.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self._clear_playback_marker()
self._motion_publisher.publish_motion(self._motion_data[motion_name], self.time_factor_spin.value())
print '[Motion Editor] Running motion:', motion_name
@Slot(str)
def on_filter_pattern_edit_textChanged(self, pattern):
self._filter_pattern = pattern
self._apply_filter_to_position_lists()
self.update_motion_name_combo()
def _apply_filter_to_position_lists(self):
for group_type in self.robot_config.group_types():
list_widget = self.list_widgets[group_type]
for row in range(list_widget.count()):
item = list_widget.item(row)
hidden = self.filter_positions_check.isChecked() and re.search(self._filter_pattern, item.text()) is None
item.setHidden(hidden)
@Slot(bool)
def on_filter_positions_check_toggled(self, checked):
self._apply_filter_to_position_lists()
@Slot(bool)
def on_filter_motions_check_toggled(self, checked):
self.update_motion_name_combo()
def update_motion_name_combo(self):
combo = self.motion_name_combo
# remember selected motion name
motion_name = str(combo.currentText())
# update motion names
combo.clear()
motion_names = self._motion_data.keys()
if self.filter_motions_check.isChecked():
motion_names = [name for name in motion_names if re.search(self._filter_pattern, name) is not None]
combo.addItems(sorted(motion_names))
# restore previously selected motion name
motion_index = combo.findText(motion_name)
combo.setCurrentIndex(motion_index)
def update_positions_lists(self, positions):
for group_type in self.robot_config.group_types():
list_widget = self.list_widgets[group_type]
list_widget.clear()
for name, position in positions[group_type].items():
item = QListWidgetItem(name)
item._data = position
item._text = name
item._type = group_type
item.setFlags(item.flags() | Qt.ItemIsEditable)
list_widget.addItem(item)
self._apply_filter_to_position_lists()
def positions_list_context_menu(self, group_type, pos):
list_widget = self.list_widgets[group_type]
list_item = list_widget.itemAt(pos)
if list_item is None:
return
menu = QMenu()
move_to = {}
for group in self.robot_config.group_list():
if list_item._type == group.group_type:
move_to[menu.addAction('move "%s"' % group.name)] = [group.name]
# move_to[menu.addAction('move all')] = list(move_to.itervalues())
move_to[menu.addAction('move all')] = [group_list[0] for group_list in list(move_to.itervalues())]
result = menu.exec_(list_widget.mapToGlobal(pos))
if result in move_to:
group_names = move_to[result]
for group_name in group_names:
target_positions = self.robot_config.groups[group_name].adapt_to_side(list_item._data)
self._motion_publisher.move_to_position(group_name, target_positions, self.time_factor_spin.value())
print '[Motion Editor] Moving %s to: %s' % (group_name, zip(self.robot_config.groups[group_name].joints_sorted(), target_positions))
def get_motion_from_timeline(self):
motion = {}
for group_name, clips in self._timeline_widget.scene().clips().items():
motion[group_name] = []
for clip in clips:
pose = {
'name': clip.text(),
'starttime': clip.starttime(),
'duration': clip.duration(),
'positions': self.robot_config.groups[group_name].adapt_to_side(clip.data()),
}
motion[group_name].append(pose)
return motion
@Slot()
def on_run_timeline_button_clicked(self):
print '[Motion Editor] Running timeline.'
self._playback_duration = 0.0
for clips in self._timeline_widget.scene().clips().values():
if len(clips) > 0 and self._playback_duration < clips[-1].endtime():
self._playback_duration = clips[-1].endtime()
self._playback_time_factor = self.time_factor_spin.value()
self._clear_playback_marker()
self._playback_marker = self._timeline_widget.scene().add_marker(0.0)
self._playback_timer = QTimer()
self._playback_timer.setInterval(30)
self._playback_timer.timeout.connect(self._playback_update)
self._playback_start = rospy.get_time()
self._motion_publisher.publish_motion(self.get_motion_from_timeline(), self.time_factor_spin.value())
self._playback_timer.start()
def _clear_playback_marker(self):
if self._playback_timer is not None:
self._playback_timer.stop()
if self._playback_marker is not None:
self._playback_marker.remove()
@Slot()
def _playback_update(self):
duration = (rospy.get_time() - self._playback_start) / self._playback_time_factor
if duration > self._playback_duration:
self._clear_playback_marker()
else:
self._playback_marker.set_time(duration)
class RobotMonitorWidget(QWidget):
"""
NOTE: RobotMonitorWidget.shutdown function needs to be called
when the instance of this class terminates.
RobotMonitorWidget itself doesn't store previous diagnostic states.
It instead delegates that function to Timeline class.
"""
_TREE_ALL = 1
_TREE_WARN = 2
_TREE_ERR = 3
message_updated = Signal(DiagnosticArray)
def __init__(self, context, topic=None):
"""
:param context: plugin context hook to enable adding widgets as a
ROS_GUI pane, 'PluginContext'
:param topic: Diagnostic topic to subscribe to 'str'
"""
super(RobotMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_monitor'), 'resource',
'robotmonitor_mainwidget.ui')
loadUi(ui_file, self)
obj_name = 'Robot Monitor'
self.setObjectName(obj_name)
self.setWindowTitle(obj_name)
self.message_updated.connect(self.message_cb)
# if we're given a topic, create a timeline. otherwise, don't
# this can be used later when writing an rqt_bag plugin
if topic:
# create timeline data structure
self._timeline = Timeline(topic, DiagnosticArray)
self._timeline.message_updated.connect(self.message_updated)
# create timeline pane widget
self.timeline_pane = TimelinePane(self)
self.timeline_pane.set_timeline(self._timeline)
self.vlayout_top.addWidget(self.timeline_pane)
self.timeline_pane.show()
else:
self._timeline = None
self.timeline_pane = None
self._inspectors = {}
# keep a copy of the current message for opening new inspectors
self._current_msg = None
self.tree_all_devices.itemDoubleClicked.connect(self._tree_clicked)
self.warn_flattree.itemDoubleClicked.connect(self._tree_clicked)
self.err_flattree.itemDoubleClicked.connect(self._tree_clicked)
# TODO: resize on itemCollapsed and itemExpanded
self._is_stale = False
self._timer = QTimer()
self._timer.timeout.connect(self._update_message_state)
self._timer.start(1000)
palette = self.tree_all_devices.palette()
self._original_base_color = palette.base().color()
self._original_alt_base_color = palette.alternateBase().color()
self._tree = StatusItem(self.tree_all_devices.invisibleRootItem())
self._warn_tree = StatusItem(self.warn_flattree.invisibleRootItem())
self._err_tree = StatusItem(self.err_flattree.invisibleRootItem())
@Slot(DiagnosticArray)
def message_cb(self, msg):
""" DiagnosticArray message callback """
self._current_msg = msg
# Walk the status array and update the tree
for status in msg.status:
# Compute path and walk to appropriate subtree
path = status.name.split('/')
if path[0] == '':
path = path[1:]
tmp_tree = self._tree
for p in path:
tmp_tree = tmp_tree[p]
tmp_tree.update(status, util.get_resource_name(status.name))
# Check for warnings
if status.level == DiagnosticStatus.WARN:
name = status.name
self._warn_tree[name].update(status, status.name)
# Check for errors
if status.level == DiagnosticStatus.ERROR:
name = status.name
self._err_tree[name].update(status, status.name)
# For any items in the tree that were not updated, remove them
self._tree.prune()
self._warn_tree.prune()
self._err_tree.prune()
# TODO(ahendrix): implement
# Insight: for any item that is not OK, it only provides additional
# information if all of it's children are OK
#
# otherwise, it's just an aggregation of its children
# and doesn't provide any additional value when added to
# the warning and error flat trees
self.tree_all_devices.resizeColumnToContents(0)
self.warn_flattree.resizeColumnToContents(0)
self.err_flattree.resizeColumnToContents(0)
def resizeEvent(self, evt):
"""Overridden from QWidget"""
rospy.logdebug('RobotMonitorWidget resizeEvent')
if self.timeline_pane:
self.timeline_pane.redraw()
@Slot(str)
def _inspector_closed(self, name):
""" Called when an inspector window is closed """
if name in self._inspectors:
del self._inspectors[name]
def _tree_clicked(self, item, column):
"""
Slot to QTreeWidget.itemDoubleClicked
:type item: QTreeWidgetItem
:type column: int
"""
rospy.logdebug('RobotMonitorWidget _tree_clicked col=%d', column)
if item.name in self._inspectors:
self._inspectors[item.name].activateWindow()
else:
self._inspectors[item.name] = InspectorWindow(self, item.name,
self._current_msg, self._timeline)
self._inspectors[item.name].closed.connect(self._inspector_closed)
self.message_updated.connect(self._inspectors[item.name].message_updated)
def _update_message_state(self):
""" Update the display if it's stale """
if self._timeline is not None:
if self._timeline.has_messages:
previous_stale_state = self._is_stale
self._is_stale = self._timeline.is_stale
time_diff = int(self._timeline.data_age())
msg_template = "Last message received %s %s ago"
if time_diff == 1:
msg = msg_template % (time_diff, "second")
else:
msg = msg_template % (time_diff, "seconds")
self.timeline_pane._msg_label.setText(msg)
if previous_stale_state != self._is_stale:
self._update_background_color()
else:
# no messages received yet
self.timeline_pane._msg_label.setText("No messages received")
def _update_background_color(self):
""" Update the background color based on staleness """
p = self.tree_all_devices.palette()
if self._is_stale:
p.setColor(QPalette.Base, Qt.darkGray)
p.setColor(QPalette.AlternateBase, Qt.lightGray)
else:
p.setColor(QPalette.Base, self._original_base_color)
p.setColor(QPalette.AlternateBase, self._original_alt_base_color)
self.tree_all_devices.setPalette(p)
self.warn_flattree.setPalette(p)
self.err_flattree.setPalette(p)
def shutdown(self):
"""
This needs to be called whenever this class terminates.
This closes all the instances on all trees.
Also unregisters ROS' subscriber, stops timer.
"""
rospy.logdebug('RobotMonitorWidget in shutdown')
names = self._inspectors.keys()
for name in names:
self._inspectors[name].close()
if self._timeline:
self._timeline.shutdown()
self._timer.stop()
del self._timer
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self.splitter.saveState())
# TODO(ahendrix): persist the device paths, positions and sizes of any
# inspector windows
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.contains('splitter'):
self.splitter.restoreState(instance_settings.value('splitter'))
else:
self.splitter.setSizes([100, 100, 200])
class MainVirtJoy(QWidget):
##########################################################################
##########################################################################
#####################################################################
def __init__(self):
#####################################################################
super(MainVirtJoy, self).__init__()
self.timer_rate = rospy.get_param('~publish_rate', 150)
self.pub_twist = rospy.Publisher('twist', Twist)
self.x_min = rospy.get_param("~x_min", -0.10)
self.x_max = rospy.get_param("~x_max", 0.10)
self.r_min = rospy.get_param("~r_min", -1.0)
self.r_max = rospy.get_param("~r_max", 1.0)
self.timer = QTimer()
self.timer.singleShot = False
self.timer.timeout.connect(self.timerEvent)
#####################################################################
def mousePressEvent(self, event):
#####################################################################
rospy.logdebug('-D- virtual_joystick mouse clicked')
self.timer.start(self.timer_rate)
self.get_position(event)
#####################################################################
def mouseReleaseEvent(self, event):
#####################################################################
rospy.logdebug('-D- virtual_joystick mouse released')
self.x = 0.5
self.y = 0.5
self.pubTwist()
self.timer.stop()
#####################################################################
def mouseMoveEvent(self, event):
#####################################################################
self.get_position(event)
#####################################################################
def get_position(self, event):
#####################################################################
s = self.size()
s_w = s.width()
s_h = s.height()
pos = event.pos()
self.x = 1.0 * pos.x() / s_w
self.y = 1.0 * pos.y() / s_h
rospy.logdebug('-D- virtual_joystick point (%0.2f, %0.2f)' % (self.x,self.y))
#####################################################################
def timerEvent(self):
#####################################################################
rospy.logdebug("-D- virtual_joystick timer event")
self.pubTwist()
#######################################################
def pubTwist(self):
#######################################################
# rospy.loginfo("publishing twist from (%0.3f,%0.3f)" %(self.x,self.y))
self.twist = Twist()
self.twist.linear.x = (1-self.y) * (self.x_max - self.x_min) + self.x_min
self.twist.linear.y = 0
self.twist.linear.z = 0
self.twist.angular.x = 0
self.twist.angular.y = 0
self.twist.angular.z = (1-self.x) * (self.r_max - self.r_min) + self.r_min
if self.twist.linear.x > self.x_max:
self.twist.linear.x = self.x_max
if self.twist.linear.x < self.x_min:
self.twist.linear.x = self.x_min
if self.twist.angular.z > self.r_max:
self.twist.angular.z = self.r_max
if self.twist.angular.z < self.r_min:
self.twist.angular.z = self.r_min
self.pub_twist.publish( self.twist )
class SysCheck(Plugin):
def __init__(self, context):
super(SysCheck, self).__init__(context)
# Set the name of the object
# (Usually should be the same as the class name)
self.setObjectName('SysCheck')
# Get the thruster parameters
self.names = []
try:
self.names = rospy.get_param('thrusters/mapping')
except KeyError:
print "Thruster mapping not loaded into parameter server"
# Setup the publisher and message object for sending thruster messages
self.pub = rospy.Publisher('thruster', thruster, queue_size=1)
self.thrusterMessage = thruster()
# Subscribe to the depth and orientation topics
self.depth_sub = rospy.Subscriber('depth', Float32Stamped,
self.depthSubCallback, queue_size=1)
self.imu_sub = rospy.Subscriber('pretty/orientation',
Euler,
self.imuSubCallback, queue_size=1)
# Initialize the timers
self.depthTimer = QTimer(self)
self.imuTimer = QTimer(self)
self.sendTimer = QTimer(self)
self.depthTimer.timeout.connect(self.depthMissed)
self.imuTimer.timeout.connect(self.imuMissed)
self.sendTimer.timeout.connect(self.sendMessage)
self.depthTimer.start(1000)
self.imuTimer.start(1000)
# Only start the param timer if the params aren't loaded
if len(self.names) == 0:
self.paramTimer = QTimer(self)
self.paramTimer.timeout.connect(self.loadParam)
self.paramTimer.start(1000)
# 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('robosub'),
'src/rqt/rqt_syscheck/resource', 'SysCheck.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects a name (Usually the class name + 'Ui')
self._widget.setObjectName('SysCheckUi')
# Add RoboSub Logo to the GUI
logo_file = os.path.join(rospkg.RosPack().get_path('robosub'),
'src/rqt/resource', 'robosub_logo.png')
self._widget.setStyleSheet(".QWidget {background-image: url(" +
logo_file +
"); background-repeat: no-repeat;" +
"background-position:bottom right}")
# Hide the stale labels on init
self._widget.imuStale.hide()
self._widget.depthStale.hide()
# Connect the valueChanged signal to our updateSpeed function
self._widget.thrusterSpeed.valueChanged[int].connect(self.updateSpeed)
self._widget.thrusterEnable.setCheckable(True)
self._widget.thrusterEnable.toggled[bool].connect(self.enable)
self._widget.thrusterKill.clicked[bool].connect(self.kill)
# Load in the thruster buttons and connect callbacks
self.thrusterButtons = []
self.thrusterScales = []
self.thrusterCallbacks = {}
self.loadThrusters()
# If the context is not the root add the serial number to the window
# title
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
def kill(self):
for i in self.thrusterButtons:
i.setChecked(False)
self._widget.thrusterSpeed.setValue(0)
def enable(self, s):
if s:
self.sendTimer.start(1000)
else:
self.sendTimer.stop()
def loadThrusters(self):
# Loop over all of the thruster values found in the params
for i in range(0, len(self.names)):
# Add a button to a list so we can mess with it later
self.thrusterButtons.append(QPushButton(self.names[i]['name']))
# Modify setting of the button
self.thrusterButtons[i].setCheckable(True)
# Save the callbacks in a list
self.thrusterCallbacks[self.names[i]['name']] = \
getattr(self, '_handle_thruster' + str(i))
# Connect the callback to the button's toggle event
self.thrusterButtons[i].toggled[bool].connect(
self.thrusterCallbacks[self.names[i]['name']])
# Add the button to the Ui
self._widget.thrusterButtons.addWidget(self.thrusterButtons[i])
# Get the orientation
self.thrusterScales.append(0)
for v in self.names[i]['orientation'].values():
self.thrusterScales[i] = self.thrusterScales[i] + v
# Append a value to the thruster message for this button
self.thrusterMessage.data.append(0.0)
print self.thrusterScales
def loadParam(self):
try:
self.names = rospy.get_param('thrusters/mapping')
self.loadThrusters()
# Stop the timer if the params were successfully loaded
self.paramTimer.stop()
except KeyError:
# Don't throw an error if we hit a KeyError
pass
def shutdown_plugin(self):
# Stop the send timer before unregistering the publisher
self.sendTimer.stop()
# Unregister the thruster publisher and subscribers
self.pub.unregister()
self.depth_sub.unregister()
self.imu_sub.unregister()
# Stop the Other Timers
try:
self.paramTimer.stop()
except AttributeError:
pass
self.imuTimer.stop()
self.depthTimer.stop()
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 imuMissed(self):
# If an Imu message was not received by the time the timer fired
# show the stale label and hide the active label
if not self._widget.imuStale.isVisible():
self._widget.imuStale.show()
if self._widget.imuActive.isVisible():
self._widget.imuActive.hide()
def imuSubCallback(self, m):
# Stop the imuTimer so it doesn't fire in this function
self.imuTimer.stop()
# Reset the active label hiding the stale label
if self._widget.imuStale.isVisible():
self._widget.imuStale.hide()
if not self._widget.imuActive.isVisible():
self._widget.imuActive.show()
self._widget.currentRoll.setText(str(m.roll))
self._widget.currentPitch.setText(str(m.pitch))
self._widget.currentYaw.setText(str(m.yaw))
# Restart the timer
self.imuTimer.start(1000)
def depthMissed(self):
# If an Depth message was not received by the time the timer fired
# show the stale label and hide the active label
if not self._widget.depthStale.isVisible():
self._widget.depthStale.show()
if self._widget.depthActive.isVisible():
self._widget.depthActive.hide()
def depthSubCallback(self, m):
# Stop the imuTimer so it doesn't fire in this function
self.depthTimer.stop()
# Reset the active label hiding the stale label
if self._widget.depthStale.isVisible():
self._widget.depthStale.hide()
if not self._widget.depthActive.isVisible():
self._widget.depthActive.show()
self._widget.currentDepth.setText("{0:.2f}".format(m.data))
# Restart the timer
self.depthTimer.start(1000)
def sendMessage(self):
# Publish the message that we have constructed
self.pub.publish(self.thrusterMessage)
# Update the speeds in the thruster message based on the slider
def updateSpeed(self, value):
# Update the speed label so the user knows the value that is set
self._widget.speedLabel.setText("Speed ({:+.2f})".format(
float(value)/100))
# Loop over the thruster message and update the value
for i in range(0, len(self.thrusterMessage.data)):
# Check if the thruster is enabled
if self.thrusterButtons[i].isChecked():
self.thrusterMessage.data[i] = self.thrusterScales[i] * \
float(value)/100
'''
The following functions handle updating the thruster message based on
the buttons.
'''
def _handle_thruster0(self, state):
if state:
self.thrusterMessage.data[0] = 0.01 * self.thrusterScales[0] * \
self._widget.thrusterSpeed.value()
else:
self.thrusterMessage.data[0] = 0
def _handle_thruster1(self, state):
if state:
self.thrusterMessage.data[1] = 0.01 * self.thrusterScales[1] * \
self._widget.thrusterSpeed.value()
else:
self.thrusterMessage.data[1] = 0
def _handle_thruster2(self, state):
if state:
self.thrusterMessage.data[2] = 0.01 * self.thrusterScales[2] * \
self._widget.thrusterSpeed.value()
else:
self.thrusterMessage.data[2] = 0
def _handle_thruster3(self, state):
if state:
self.thrusterMessage.data[3] = 0.01 * self.thrusterScales[3] * \
self._widget.thrusterSpeed.value()
else:
self.thrusterMessage.data[3] = 0
def _handle_thruster4(self, state):
if state:
self.thrusterMessage.data[4] = 0.01 * self.thrusterScales[4] * \
self._widget.thrusterSpeed.value()
else:
self.thrusterMessage.data[4] = 0
def _handle_thruster5(self, state):
if state:
self.thrusterMessage.data[5] = 0.01 * self.thrusterScales[5] * \
self._widget.thrusterSpeed.value()
else:
self.thrusterMessage.data[5] = 0
def _handle_thruster6(self, state):
if state:
self.thrusterMessage.data[6] = 0.01 * self.thrusterScales[6] * \
self._widget.thrusterSpeed.value()
else:
self.thrusterMessage.data[6] = 0
def _handle_thruster7(self, state):
if state:
self.thrusterMessage.data[7] = 0.01 * self.thrusterScales[7] * \
self._widget.thrusterSpeed.value()
else:
self.thrusterMessage.data[7] = 0
class Top(Plugin):
NODE_FIELDS = [ 'pid', 'get_cpu_percent', 'get_memory_percent', 'get_num_threads']
OUT_FIELDS = ['node_name', 'pid', 'cpu_percent', 'memory_percent', 'num_threads' ]
FORMAT_STRS = ['%s', '%s', '%0.2f', '%0.2f', '%s' ]
NODE_LABELS = ['Node', 'PID', 'CPU %', 'Mem %', 'Num Threads' ]
SORT_TYPE = [str, str, float, float, float ]
TOOLTIPS = {
0: ('cmdline', lambda x: '\n'.join(textwrap.wrap(' '.join(x)))),
3: ('memory_info', lambda x: ('Resident: %0.2f MiB, Virtual: %0.2f MiB' % (x[0]/2**20, x[1]/2**20)))
}
_node_info = NodeInfo()
name_filter = re.compile('')
def __init__(self, context):
super(Top, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Top')
# 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
self._selected_node = ''
self._selected_node_lock = RLock()
# Setup the toolbar
self._toolbar = QToolBar()
self._filter_box = QLineEdit()
self._regex_box = QCheckBox()
self._regex_box.setText('regex')
self._toolbar.addWidget(QLabel('Filter'))
self._toolbar.addWidget(self._filter_box)
self._toolbar.addWidget(self._regex_box)
self._filter_box.returnPressed.connect(self.update_filter)
self._regex_box.stateChanged.connect(self.update_filter)
# Create a container widget and give it a layout
self._container = QWidget()
self._container.setWindowTitle('Process Monitor')
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Create the table widget
self._table_widget = QTreeWidget()
self._table_widget.setObjectName('TopTable')
self._table_widget.setColumnCount(len(self.NODE_LABELS))
self._table_widget.setHeaderLabels(self.NODE_LABELS)
self._table_widget.itemClicked.connect(self._tableItemClicked)
self._table_widget.setSortingEnabled(True)
self._table_widget.setAlternatingRowColors(True)
self._layout.addWidget(self._table_widget)
context.add_widget(self._container)
# Add a button for killing nodes
self._kill_button = QPushButton('Kill Node')
self._layout.addWidget(self._kill_button)
self._kill_button.clicked.connect(self._kill_node)
# Update twice since the first cpu% lookup will always return 0
self.update_table()
self.update_table()
self._table_widget.resizeColumnToContents(0)
# Start a timer to trigger updates
self._update_timer = QTimer()
self._update_timer.setInterval(1000)
self._update_timer.timeout.connect(self.update_table)
self._update_timer.start()
def _tableItemClicked(self, item, column):
with self._selected_node_lock:
self._selected_node = item.text(0)
def update_filter(self, *args):
if self._regex_box.isChecked():
expr = self._filter_box.text()
else:
expr = re.escape(self._filter_box.text())
self.name_filter = re.compile(expr)
self.update_table()
def _kill_node(self):
self._node_info.kill_node(self._selected_node)
def update_one_item(self, row, info):
twi = TopWidgetItem()
for col, field in enumerate(self.OUT_FIELDS):
val = info[field]
twi.setText(col, self.FORMAT_STRS[col] % val)
self._table_widget.insertTopLevelItem(row, twi)
for col, (key, func) in self.TOOLTIPS.iteritems():
twi.setToolTip(col, func(info[key]))
with self._selected_node_lock:
if twi.text(0) == self._selected_node:
twi.setSelected(True)
self._table_widget.setItemHidden(twi, len(self.name_filter.findall(info['node_name'])) == 0)
def update_table(self):
self._table_widget.clear()
infos = self._node_info.get_all_node_fields(self.NODE_FIELDS)
for nx, info in enumerate(infos):
self.update_one_item(nx, info)
def shutdown_plugin(self):
self._update_timer.stop()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('filter_text', self._filter_box.text())
instance_settings.set_value('is_regex', int(self._regex_box.checkState()))
def restore_settings(self, plugin_settings, instance_settings):
self._filter_box.setText(instance_settings.value('filter_text'))
is_regex_int = instance_settings.value('is_regex')
if is_regex_int:
self._regex_box.setCheckState(Qt.CheckState(is_regex_int))
else:
self._regex_box.setCheckState(Qt.CheckState(0))
self.update_filter()
class LifeFrame(QFrame):
STATE_STOPPED = "stopped"
STATE_RUN = "running"
STATE_IDLE = "idle"
def __init__(self, parent=None):
super(LifeFrame, self).__init__(parent)
self._ui = Ui_life_frame()
self._motion = Rotate('/mobile_base/commands/velocity')
self._motion_thread = None
self._timer = QTimer()
#self._timer.setInterval(60000) #60s
self._timer.setInterval(250) #60s
QObject.connect(self._timer, SIGNAL('timeout()'), self, SLOT('update_progress_callback()'))
self._state = LifeFrame.STATE_STOPPED
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
self._motion.init(self._ui.angular_speed_spinbox.value())
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: life frame shutdown")
self._motion.shutdown()
##########################################################################
# Widget Management
##########################################################################
def hibernate(self):
'''
This gets called when the frame goes out of focus (tab switch).
Disable everything to avoid running N tabs in parallel when in
reality we are only running one.
'''
pass
def restore(self):
'''
Restore the frame after a hibernate.
'''
pass
##########################################################################
# Motion Callbacks
##########################################################################
def start(self):
self._state = LifeFrame.STATE_RUN
self._ui.run_progress.reset()
self._ui.idle_progress.reset()
self._motion_thread = WorkerThread(self._motion.execute, None)
self._motion_thread.start()
def stop(self):
self._state = LifeFrame.STATE_STOPPED
self._motion.stop()
if self._motion_thread:
self._motion_thread.wait()
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._timer.start()
self.start()
@Slot()
def on_stop_button_clicked(self):
self.stop()
self._timer.stop()
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_angular_speed_spinbox_valueChanged(self, value):
self._motion.init(self._ui.angular_speed_spinbox.value())
##########################################################################
# Timer Callbacks
##########################################################################
@Slot()
def update_progress_callback(self):
if self._state == LifeFrame.STATE_RUN:
new_value = self._ui.run_progress.value()+1
if new_value == self._ui.run_progress.maximum():
print(" Switching to idle")
self._motion.stop()
self._state = LifeFrame.STATE_IDLE
else:
self._ui.run_progress.setValue(new_value)
if self._state == LifeFrame.STATE_IDLE:
new_value = self._ui.idle_progress.value()+1
if new_value == self._ui.idle_progress.maximum():
print(" Switching to run")
self.start()
else:
self._ui.idle_progress.setValue(new_value)
class ControllerManager(Plugin):
"""
Graphical frontend for managing ros_control controllers.
"""
_cm_update_freq = 1 # Hz
def __init__(self, context):
super(ControllerManager, self).__init__(context)
self.setObjectName('ControllerManager')
# Create QWidget and extend it with all the attributes and children
# from the UI file
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_controller_manager'),
'resource',
'controller_manager.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('ControllerManagerUi')
# Pop-up that displays controller information
self._popup_widget = QWidget()
ui_file = os.path.join(rp.get_path('rqt_controller_manager'),
'resource',
'controller_info.ui')
loadUi(ui_file, self._popup_widget)
self._popup_widget.setObjectName('ControllerInfoUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# 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()))
# Add widget to the user interface
context.add_widget(self._widget)
# Initialize members
self._cm_ns = [] # Namespace of the selected controller manager
self._controllers = [] # State of each controller
self._table_model = None
self._controller_lister = None
# Controller manager service proxies
self._load_srv = None
self._unload_srv = None
self._switch_srv = None
# Controller state icons
rospack = rospkg.RosPack()
path = rospack.get_path('rqt_controller_manager')
self._icons = {'running': QIcon(path + '/resource/led_green.png'),
'stopped': QIcon(path + '/resource/led_red.png'),
'uninitialized': QIcon(path + '/resource/led_off.png')}
# Controllers display
table_view = self._widget.table_view
table_view.setContextMenuPolicy(Qt.CustomContextMenu)
table_view.customContextMenuRequested.connect(self._on_ctrl_menu)
table_view.doubleClicked.connect(self._on_ctrl_info)
header = table_view.horizontalHeader()
header.setSectionResizeMode(QHeaderView.ResizeToContents)
header.setContextMenuPolicy(Qt.CustomContextMenu)
header.customContextMenuRequested.connect(self._on_header_menu)
# Timer for controller manager updates
self._list_cm = ControllerManagerLister()
self._update_cm_list_timer = QTimer(self)
self._update_cm_list_timer.setInterval(1000.0 /
self._cm_update_freq)
self._update_cm_list_timer.timeout.connect(self._update_cm_list)
self._update_cm_list_timer.start()
# Timer for running controller updates
self._update_ctrl_list_timer = QTimer(self)
self._update_ctrl_list_timer.setInterval(1000.0 /
self._cm_update_freq)
self._update_ctrl_list_timer.timeout.connect(self._update_controllers)
self._update_ctrl_list_timer.start()
# Signal connections
w = self._widget
w.cm_combo.currentIndexChanged[str].connect(self._on_cm_change)
def shutdown_plugin(self):
self._update_cm_list_timer.stop()
self._update_ctrl_list_timer.stop()
self._popup_widget.hide()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('cm_ns', self._cm_ns)
def restore_settings(self, plugin_settings, instance_settings):
# Restore last session's controller_manager, if present
self._update_cm_list()
cm_ns = instance_settings.value('cm_ns')
cm_combo = self._widget.cm_combo
cm_list = [cm_combo.itemText(i) for i in range(cm_combo.count())]
try:
idx = cm_list.index(cm_ns)
cm_combo.setCurrentIndex(idx)
except (ValueError):
pass
# def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget
# title bar
# Usually used to open a modal configuration dialog
def _update_cm_list(self):
update_combo(self._widget.cm_combo, self._list_cm())
def _on_cm_change(self, cm_ns):
self._cm_ns = cm_ns
# Setup services for communicating with the selected controller manager
self._set_cm_services(cm_ns)
# Controller lister for the selected controller manager
if cm_ns:
self._controller_lister = ControllerLister(cm_ns)
self._update_controllers()
else:
self._controller_lister = None
def _set_cm_services(self, cm_ns):
if cm_ns:
# NOTE: Persistent services are used for performance reasons.
# If the controller manager dies, we detect it and disconnect from
# it anyway
load_srv_name = _append_ns(cm_ns, 'load_controller')
self._load_srv = rospy.ServiceProxy(load_srv_name,
LoadController,
persistent=True)
unload_srv_name = _append_ns(cm_ns, 'unload_controller')
self._unload_srv = rospy.ServiceProxy(unload_srv_name,
UnloadController,
persistent=True)
switch_srv_name = _append_ns(cm_ns, 'switch_controller')
self._switch_srv = rospy.ServiceProxy(switch_srv_name,
SwitchController,
persistent=True)
else:
self._load_srv = None
self._unload_srv = None
self._switch_srv = None
def _update_controllers(self):
# Find controllers associated to the selected controller manager
controllers = self._list_controllers()
# Update controller display, if necessary
if self._controllers != controllers:
self._controllers = controllers
self._show_controllers() # NOTE: Model is recomputed from scratch
def _list_controllers(self):
"""
@return List of controllers associated to a controller manager
namespace. Contains both stopped/running controllers, as returned by
the C{list_controllers} service, plus uninitialized controllers with
configurations loaded in the parameter server.
@rtype [str]
"""
if not self._cm_ns:
return []
# Add loaded controllers first
controllers = self._controller_lister()
# Append potential controller configs found in the parameter server
all_ctrls_ns = _resolve_controllers_ns(self._cm_ns)
for name in get_rosparam_controller_names(all_ctrls_ns):
add_ctrl = not any(name == ctrl.name for ctrl in controllers)
if add_ctrl:
type_str = _rosparam_controller_type(all_ctrls_ns, name)
uninit_ctrl = ControllerState(name=name,
type=type_str,
state='uninitialized')
controllers.append(uninit_ctrl)
return controllers
def _show_controllers(self):
table_view = self._widget.table_view
self._table_model = ControllerTable(self._controllers, self._icons)
table_view.setModel(self._table_model)
def _on_ctrl_menu(self, pos):
# Get data of selected controller
row = self._widget.table_view.rowAt(pos.y())
if row < 0:
return # Cursor is not under a valid item
ctrl = self._controllers[row]
# Show context menu
menu = QMenu(self._widget.table_view)
if ctrl.state == 'running':
action_stop = menu.addAction(self._icons['stopped'], 'Stop')
action_kill = menu.addAction(self._icons['uninitialized'],
'Stop and Unload')
elif ctrl.state == 'stopped':
action_start = menu.addAction(self._icons['running'], 'Start')
action_unload = menu.addAction(self._icons['uninitialized'],
'Unload')
elif ctrl.state == 'uninitialized':
action_load = menu.addAction(self._icons['stopped'], 'Load')
action_spawn = menu.addAction(self._icons['running'],
'Load and Start')
action = menu.exec_(self._widget.table_view.mapToGlobal(pos))
# Evaluate user action
if ctrl.state == 'running':
if action is action_stop:
self._stop_controller(ctrl.name)
elif action is action_kill:
self._stop_controller(ctrl.name)
self._unload_controller(ctrl.name)
elif ctrl.state == 'stopped':
if action is action_start:
self._start_controller(ctrl.name)
elif action is action_unload:
self._unload_controller(ctrl.name)
elif ctrl.state == 'uninitialized':
if action is action_load:
self._load_controller(ctrl.name)
if action is action_spawn:
self._load_controller(ctrl.name)
self._start_controller(ctrl.name)
def _on_ctrl_info(self, index):
popup = self._popup_widget
ctrl = self._controllers[index.row()]
popup.ctrl_name.setText(ctrl.name)
popup.ctrl_type.setText(ctrl.type)
res_model = QStandardItemModel()
model_root = QStandardItem('Claimed Resources')
res_model.appendRow(model_root)
for hw_res in ctrl.claimed_resources:
hw_iface_item = QStandardItem(hw_res.hardware_interface)
model_root.appendRow(hw_iface_item)
for res in hw_res.resources:
res_item = QStandardItem(res)
hw_iface_item.appendRow(res_item)
popup.resource_tree.setModel(res_model)
popup.resource_tree.setItemDelegate(FontDelegate(popup.resource_tree))
popup.resource_tree.expandAll()
popup.move(QCursor.pos())
popup.show()
def _on_header_menu(self, pos):
header = self._widget.table_view.horizontalHeader()
# Show context menu
menu = QMenu(self._widget.table_view)
action_toggle_auto_resize = menu.addAction('Toggle Auto-Resize')
action = menu.exec_(header.mapToGlobal(pos))
# Evaluate user action
if action is action_toggle_auto_resize:
if header.resizeMode(0) == QHeaderView.ResizeToContents:
header.setSectionResizeMode(QHeaderView.Interactive)
else:
header.setSectionResizeMode(QHeaderView.ResizeToContents)
def _load_controller(self, name):
self._load_srv.call(LoadControllerRequest(name=name))
def _unload_controller(self, name):
self._unload_srv.call(UnloadControllerRequest(name=name))
def _start_controller(self, name):
strict = SwitchControllerRequest.STRICT
req = SwitchControllerRequest(start_controllers=[name],
stop_controllers=[],
strictness=strict)
self._switch_srv.call(req)
def _stop_controller(self, name):
strict = SwitchControllerRequest.STRICT
req = SwitchControllerRequest(start_controllers=[],
stop_controllers=[name],
strictness=strict)
self._switch_srv.call(req)
class ROSData(object):
"""
Subscriber to ROS topic that buffers incoming data
"""
def __init__(self, topic_code, topic_item, start_time):
self.name = topic_code + '/' + topic_item
self.start_time = start_time
self.error = None
self.lock = threading.Lock()
self.buff_x = []
self.buff_y = []
self.interval = 100 # in milliseconds, period of regular update
self.timer = QTimer()
self.timer.setInterval(self.interval)
self.code = topic_code
self.item = topic_item
# go through options and decide what your self.data will be, given the ros subscribers
if topic_code == 's':
if topic_item == 'chi':
self.timer.timeout.connect(self.state_chi_cb)
elif topic_item == 'phi':
self.timer.timeout.connect(self.state_phi_cb)
elif topic_item == 'theta':
self.timer.timeout.connect(self.state_theta_cb)
elif topic_item == 'Va':
self.timer.timeout.connect(self.state_Va_cb)
elif topic_code == 'ci':
if topic_item == 'phi_c':
self.timer.timeout.connect(self.conin_phi_c_cb)
elif topic_item == 'theta_c':
self.timer.timeout.connect(self.conin_theta_c_cb)
elif topic_code == 'cc':
if topic_item == 'chi_c':
self.timer.timeout.connect(self.concom_chi_c_cb)
elif topic_item == 'Va_c':
self.timer.timeout.connect(self.concom_Va_c_cb)
self.timer.start()
def close(self):
self.timer.stop()
def state_chi_cb(self):
self.buff_x.append(rospy.get_time() - self.start_time)
self.buff_y.append(StateSub.chi)
def state_phi_cb(self):
self.buff_x.append(rospy.get_time() - self.start_time)
self.buff_y.append(StateSub.phi)
def state_theta_cb(self):
self.buff_x.append(rospy.get_time() - self.start_time)
self.buff_y.append(StateSub.theta)
def state_Va_cb(self):
self.buff_x.append(rospy.get_time() - self.start_time)
self.buff_y.append(StateSub.Va)
def conin_phi_c_cb(self):
self.buff_x.append(rospy.get_time() - self.start_time)
self.buff_y.append(ConInSub.phi_c)
def conin_theta_c_cb(self):
self.buff_x.append(rospy.get_time() - self.start_time)
self.buff_y.append(ConInSub.theta_c)
def concom_chi_c_cb(self):
self.buff_x.append(rospy.get_time() - self.start_time)
self.buff_y.append(ConComSub.chi_c)
def concom_Va_c_cb(self):
self.buff_x.append(rospy.get_time() - self.start_time)
self.buff_y.append(ConComSub.Va_c)
def __next__(self):
"""
Get the next data in the series
:returns: [xdata], [ydata]
"""
if self.error:
raise self.error
try:
self.lock.acquire()
buff_x = self.buff_x
buff_y = self.buff_y
self.buff_x = []
self.buff_y = []
finally:
self.lock.release()
return buff_x, buff_y
class HistogramPlotWidget(QWidget):
_redraw_interval = 40
def __init__(self, topics):
super(HistogramPlotWidget, self).__init__()
self.setObjectName('HistogramPlotWidget')
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('jsk_rqt_plugins'), 'resource',
'plot_histogram.ui')
loadUi(ui_file, self)
self.cv_bridge = CvBridge()
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.data_plot = MatHistogramPlot(self)
self.data_plot_layout.addWidget(self.data_plot)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
self._start_time = rospy.get_time()
self._rosdata = None
if len(topics) != 0:
self.subscribe_topic(topics)
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
@Slot('QDropEvent*')
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.subscribe_topic(topic_name)
@Slot()
def on_topic_edit_returnPressed(self):
if self.subscribe_topic_button.isEnabled():
self.subscribe_topic(str(self.topic_edit.text()))
@Slot()
def on_subscribe_topic_button_clicked(self):
self.subscribe_topic(str(self.topic_edit.text()))
def subscribe_topic(self, topic_name):
self.topic_with_field_name = topic_name
self.pub_image = rospy.Publisher(topic_name + "/histogram_image",
Image)
if not self._rosdata:
self._rosdata = ROSData(topic_name, self._start_time)
else:
if self._rosdata != topic_name:
self._rosdata.close()
self.data_plot.clear()
self._rosdata = ROSData(topic_name, self._start_time)
else:
rospy.logwarn("%s is already subscribed", topic_name)
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()
@Slot()
def on_clear_button_clicked(self):
self.data_plot.clear()
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
def update_plot(self):
if not self._rosdata:
return
data_x, data_y = self._rosdata.next()
if len(data_y) == 0:
return
axes = self.data_plot._canvas.axes
axes.cla()
if isinstance(data_y[-1], HistogramWithRange):
xs = [y.count for y in data_y[-1].bins]
pos = [y.min_value for y in data_y[-1].bins]
widths = [y.max_value - y.min_value for y in data_y[-1].bins]
axes.set_xlim(xmin=pos[0], xmax=pos[-1] + widths[-1])
elif isinstance(data_y[-1], collections.Sequence):
xs = data_y[-1]
pos = np.arange(len(xs))
widths = [1] * len(xs)
axes.set_xlim(xmin=0, xmax=len(xs))
else:
rospy.logerr(
"Topic/Field name '%s' has unsupported '%s' type."
"List of float values and "
"jsk_recognition_msgs/HistogramWithRange are supported." %
(self.topic_with_field_name, self._rosdata.sub.data_class))
return
#axes.xticks(range(5))
for p, x, w in zip(pos, xs, widths):
axes.bar(p, x, color='r', align='center', width=w)
axes.legend([self.topic_with_field_name], prop={'size': '8'})
self.data_plot._canvas.draw()
buffer = StringIO()
self.data_plot._canvas.figure.savefig(buffer, format="png")
buffer.seek(0)
img_array = np.asarray(bytearray(buffer.read()), dtype=np.uint8)
img = cv2.imdecode(img_array, cv2.CV_LOAD_IMAGE_COLOR)
self.pub_image.publish(self.cv_bridge.cv2_to_imgmsg(img, "bgr8"))
class Top(Plugin):
NODE_FIELDS = [ 'pid', 'get_cpu_percent', 'get_memory_percent', 'get_num_threads']
OUT_FIELDS = ['node_name', 'pid', 'cpu_percent', 'memory_percent', 'num_threads' ]
FORMAT_STRS = ['%s', '%s', '%0.2f', '%0.2f', '%s' ]
NODE_LABELS = ['Node', 'PID', 'CPU %', 'Mem %', 'Num Threads' ]
SORT_TYPE = [str, str, float, float, float ]
TOOLTIPS = {
0: ('cmdline', lambda x: '\n'.join(textwrap.wrap(' '.join(x)))),
3: ('memory_info', lambda x: ('Resident: %0.2f MiB, Virtual: %0.2f MiB' % (x[0]/2**20, x[1]/2**20)))
}
_node_info = NodeInfo()
name_filter = re.compile('')
def __init__(self, context):
super(Top, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Top')
# 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
self._selected_node = ''
self._selected_node_lock = RLock()
# Setup the toolbar
self._toolbar = QToolBar()
self._filter_box = QLineEdit()
self._regex_box = QCheckBox()
self._regex_box.setText('regex')
self._toolbar.addWidget(QLabel('Filter'))
self._toolbar.addWidget(self._filter_box)
self._toolbar.addWidget(self._regex_box)
self._filter_box.returnPressed.connect(self.update_filter)
self._regex_box.stateChanged.connect(self.update_filter)
# Create a container widget and give it a layout
self._container = QWidget()
self._container.setWindowTitle('Process Monitor')
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Create the table widget
self._table_widget = QTreeWidget()
self._table_widget.setObjectName('TopTable')
self._table_widget.setColumnCount(len(self.NODE_LABELS))
self._table_widget.setHeaderLabels(self.NODE_LABELS)
self._table_widget.itemClicked.connect(self._tableItemClicked)
self._table_widget.setSortingEnabled(True)
self._table_widget.setAlternatingRowColors(True)
self._layout.addWidget(self._table_widget)
context.add_widget(self._container)
# Add a button for killing nodes
self._kill_button = QPushButton('Kill Node')
self._layout.addWidget(self._kill_button)
self._kill_button.clicked.connect(self._kill_node)
# Update twice since the first cpu% lookup will always return 0
self.update_table()
self.update_table()
self._table_widget.resizeColumnToContents(0)
# Start a timer to trigger updates
self._update_timer = QTimer()
self._update_timer.setInterval(1000)
self._update_timer.timeout.connect(self.update_table)
self._update_timer.start()
def _tableItemClicked(self, item, column):
with self._selected_node_lock:
self._selected_node = item.text(0)
def update_filter(self, *args):
if self._regex_box.isChecked():
expr = self._filter_box.text()
else:
expr = re.escape(self._filter_box.text())
self.name_filter = re.compile(expr)
self.update_table()
def _kill_node(self):
self._node_info.kill_node(self._selected_node)
def update_one_item(self, row, info):
twi = TopWidgetItem()
for col, field in enumerate(self.OUT_FIELDS):
val = info[field]
twi.setText(col, self.FORMAT_STRS[col] % val)
self._table_widget.insertTopLevelItem(row, twi)
for col, (key, func) in self.TOOLTIPS.iteritems():
twi.setToolTip(col, func(info[key]))
with self._selected_node_lock:
if twi.text(0) == self._selected_node:
twi.setSelected(True)
#self._table_widget.setItemHidden(twi, len(self.name_filter.findall(info['node_name'])) == 0)
twi.setHidden(len(self.name_filter.findall(info['node_name'])) == 0)
def update_table(self):
self._table_widget.clear()
infos = self._node_info.get_all_node_fields(self.NODE_FIELDS)
for nx, info in enumerate(infos):
self.update_one_item(nx, info)
def shutdown_plugin(self):
self._update_timer.stop()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('filter_text', self._filter_box.text())
instance_settings.set_value('is_regex', int(self._regex_box.checkState()))
def restore_settings(self, plugin_settings, instance_settings):
self._filter_box.setText(instance_settings.value('filter_text'))
is_regex_int = instance_settings.value('is_regex')
if is_regex_int:
self._regex_box.setCheckState(Qt.CheckState(is_regex_int))
else:
self._regex_box.setCheckState(Qt.CheckState(0))
self.update_filter()
class BagTimeline(QGraphicsScene):
"""
BagTimeline contains bag files, all information required to display the bag data visualization on the screen
Also handles events
"""
status_bar_changed_signal = Signal()
selected_region_changed = Signal(rospy.Time, rospy.Time)
def __init__(self, context, publish_clock):
"""
:param context: plugin context hook to enable adding rqt_bag plugin widgets as ROS_GUI snapin panes, ''PluginContext''
"""
super(BagTimeline, self).__init__()
self._bags = []
self._bag_lock = threading.RLock()
self.background_task = None # Display string
self.background_task_cancel = False
# Playing / Recording
self._playhead_lock = threading.RLock()
self._max_play_speed = 1024.0 # fastest X play speed
self._min_play_speed = 1.0 / 1024.0 # slowest X play speed
self._play_speed = 0.0
self._play_all = False
self._playhead_positions_cvs = {}
self._playhead_positions = {} # topic -> (bag, position)
self._message_loaders = {}
self._messages_cvs = {}
self._messages = {} # topic -> (bag, msg_data)
self._message_listener_threads = {} # listener -> MessageListenerThread
self._player = False
self._publish_clock = publish_clock
self._recorder = None
self.last_frame = None
self.last_playhead = None
self.desired_playhead = None
self.wrap = True # should the playhead wrap when it reaches the end?
self.stick_to_end = False # should the playhead stick to the end?
self._play_timer = QTimer()
self._play_timer.timeout.connect(self.on_idle)
self._play_timer.setInterval(3)
# Plugin popup management
self._context = context
self.popups = {}
self._views = []
self._listeners = {}
# Initialize scene
# the timeline renderer fixes use of black pens and fills, so ensure we fix white here for contrast.
# otherwise a dark qt theme will default it to black and the frame render pen will be unreadable
self.setBackgroundBrush(Qt.white)
self._timeline_frame = TimelineFrame(self)
self._timeline_frame.setPos(0, 0)
self.addItem(self._timeline_frame)
self.background_progress = 0
self.__closed = False
def get_context(self):
"""
:returns: the ROS_GUI context, 'PluginContext'
"""
return self._context
def handle_close(self):
"""
Cleans up the timeline, bag and any threads
"""
if self.__closed:
return
else:
self.__closed = True
self._play_timer.stop()
for topic in self._get_topics():
self.stop_publishing(topic)
self._message_loaders[topic].stop()
if self._player:
self._player.stop()
if self._recorder:
self._recorder.stop()
if self.background_task is not None:
self.background_task_cancel = True
self._timeline_frame.handle_close()
for bag in self._bags:
bag.close()
for frame in self._views:
if frame.parent():
self._context.remove_widget(frame)
# Bag Management and access
def add_bag(self, bag):
"""
creates an indexing thread for each new topic in the bag
fixes the boarders and notifies the indexing thread to index the new items bags
:param bag: ros bag file, ''rosbag.bag''
"""
self._bags.append(bag)
bag_topics = bag_helper.get_topics(bag)
new_topics = set(bag_topics) - set(self._timeline_frame.topics)
for topic in new_topics:
self._playhead_positions_cvs[topic] = threading.Condition()
self._messages_cvs[topic] = threading.Condition()
self._message_loaders[topic] = MessageLoaderThread(self, topic)
self._timeline_frame._start_stamp = self._get_start_stamp()
self._timeline_frame._end_stamp = self._get_end_stamp()
self._timeline_frame.topics = self._get_topics()
self._timeline_frame._topics_by_datatype = self._get_topics_by_datatype()
# If this is the first bag, reset the timeline
if self._timeline_frame._stamp_left is None:
self._timeline_frame.reset_timeline()
# Invalidate entire index cache for all topics in this bag
with self._timeline_frame.index_cache_cv:
for topic in bag_topics:
self._timeline_frame.invalidated_caches.add(topic)
if topic in self._timeline_frame.index_cache:
del self._timeline_frame.index_cache[topic]
self._timeline_frame.index_cache_cv.notify()
def file_size(self):
with self._bag_lock:
return sum(b.size for b in self._bags)
#TODO Rethink API and if these need to be visible
def _get_start_stamp(self):
"""
:return: first stamp in the bags, ''rospy.Time''
"""
with self._bag_lock:
start_stamp = None
for bag in self._bags:
bag_start_stamp = bag_helper.get_start_stamp(bag)
if bag_start_stamp is not None and (start_stamp is None or bag_start_stamp < start_stamp):
start_stamp = bag_start_stamp
return start_stamp
def _get_end_stamp(self):
"""
:return: last stamp in the bags, ''rospy.Time''
"""
with self._bag_lock:
end_stamp = None
for bag in self._bags:
bag_end_stamp = bag_helper.get_end_stamp(bag)
if bag_end_stamp is not None and (end_stamp is None or bag_end_stamp > end_stamp):
end_stamp = bag_end_stamp
return end_stamp
def _get_topics(self):
"""
:return: sorted list of topic names, ''list(str)''
"""
with self._bag_lock:
topics = set()
for bag in self._bags:
for topic in bag_helper.get_topics(bag):
topics.add(topic)
return sorted(topics)
def _get_topics_by_datatype(self):
"""
:return: dict of list of topics for each datatype, ''dict(datatype:list(topic))''
"""
with self._bag_lock:
topics_by_datatype = {}
for bag in self._bags:
for datatype, topics in bag_helper.get_topics_by_datatype(bag).items():
topics_by_datatype.setdefault(datatype, []).extend(topics)
return topics_by_datatype
def get_datatype(self, topic):
"""
:return: datatype associated with a topic, ''str''
:raises: if there are multiple datatypes assigned to a single topic, ''Exception''
"""
with self._bag_lock:
datatype = None
for bag in self._bags:
bag_datatype = bag_helper.get_datatype(bag, topic)
if datatype and bag_datatype and (bag_datatype != datatype):
raise Exception('topic %s has multiple datatypes: %s and %s' % (topic, datatype, bag_datatype))
if bag_datatype:
datatype = bag_datatype
return datatype
def get_entries(self, topics, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: entries the bag file, ''msg''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort
bag_entries = []
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topics))
bag_entries.append(b._get_entries(connections, start_stamp, end_stamp))
for entry, _ in bag._mergesort(bag_entries, key=lambda entry: entry.time):
yield entry
def get_entries_with_bags(self, topic, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: tuple of (bag, entry) for the entries in the bag file, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort
bag_entries = []
bag_by_iter = {}
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topic))
it = iter(b._get_entries(connections, start_stamp, end_stamp))
bag_by_iter[it] = b
bag_entries.append(it)
for entry, it in bag._mergesort(bag_entries, key=lambda entry: entry.time):
yield bag_by_iter[it], entry
def get_entry(self, t, topic):
"""
Access a bag entry
:param t: time, ''rospy.Time''
:param topic: the topic to be accessed, ''str''
:return: tuple of (bag, entry) corisponding to time t and topic, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
entry_bag, entry = None, None
for bag in self._bags:
bag_entry = bag._get_entry(t, bag._get_connections(topic))
if bag_entry and (not entry or bag_entry.time > entry.time):
entry_bag, entry = bag, bag_entry
return entry_bag, entry
def get_entry_before(self, t):
"""
Access a bag entry
:param t: time, ''rospy.Time''
:return: tuple of (bag, entry) corresponding to time t, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
entry_bag, entry = None, None
for bag in self._bags:
bag_entry = bag._get_entry(t-rospy.Duration(0,1), bag._get_connections())
if bag_entry and (not entry or bag_entry.time < entry.time):
entry_bag, entry = bag, bag_entry
return entry_bag, entry
def get_entry_after(self, t):
"""
Access a bag entry
:param t: time, ''rospy.Time''
:return: tuple of (bag, entry) corisponding to time t, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
entry_bag, entry = None, None
for bag in self._bags:
bag_entry = bag._get_entry_after(t, bag._get_connections())
if bag_entry and (not entry or bag_entry.time < entry.time):
entry_bag, entry = bag, bag_entry
return entry_bag, entry
def get_next_message_time(self):
"""
:return: time of the next message after the current playhead position,''rospy.Time''
"""
if self._timeline_frame.playhead is None:
return None
_, entry = self.get_entry_after(self._timeline_frame.playhead)
if entry is None:
return self._timeline_frame._start_stamp
return entry.time
def get_previous_message_time(self):
"""
:return: time of the next message before the current playhead position,''rospy.Time''
"""
if self._timeline_frame.playhead is None:
return None
_, entry = self.get_entry_before(self._timeline_frame.playhead)
if entry is None:
return self._timeline_frame._end_stamp
return entry.time
def resume(self):
if (self._player):
self._player.resume()
### Copy messages to...
def start_background_task(self, background_task):
"""
Verify that a background task is not currently running before starting a new one
:param background_task: name of the background task, ''str''
"""
if self.background_task is not None:
QMessageBox(QMessageBox.Warning, 'Exclamation', 'Background operation already running:\n\n%s' % self.background_task, QMessageBox.Ok).exec_()
return False
self.background_task = background_task
self.background_task_cancel = False
return True
def stop_background_task(self):
self.background_task = None
def copy_region_to_bag(self, filename):
if len(self._bags) > 0:
self._export_region(filename, self._timeline_frame.topics, self._timeline_frame.play_region[0], self._timeline_frame.play_region[1])
def _export_region(self, path, topics, start_stamp, end_stamp):
"""
Starts a thread to save the current selection to a new bag file
:param path: filesystem path to write to, ''str''
:param topics: topics to write to the file, ''list(str)''
:param start_stamp: start of area to save, ''rospy.Time''
:param end_stamp: end of area to save, ''rospy.Time''
"""
if not self.start_background_task('Copying messages to "%s"' % path):
return
# TODO implement a status bar area with information on the current save status
bag_entries = list(self.get_entries_with_bags(topics, start_stamp, end_stamp))
if self.background_task_cancel:
return
# Get the total number of messages to copy
total_messages = len(bag_entries)
# If no messages, prompt the user and return
if total_messages == 0:
QMessageBox(QMessageBox.Warning, 'rqt_bag', 'No messages found', QMessageBox.Ok).exec_()
self.stop_background_task()
return
# Open the path for writing
try:
export_bag = rosbag.Bag(path, 'w')
except Exception:
QMessageBox(QMessageBox.Warning, 'rqt_bag', 'Error opening bag file [%s] for writing' % path, QMessageBox.Ok).exec_()
self.stop_background_task()
return
# Run copying in a background thread
self._export_thread = threading.Thread(target=self._run_export_region, args=(export_bag, topics, start_stamp, end_stamp, bag_entries))
self._export_thread.start()
def _run_export_region(self, export_bag, topics, start_stamp, end_stamp, bag_entries):
"""
Threaded function that saves the current selection to a new bag file
:param export_bag: bagfile to write to, ''rosbag.bag''
:param topics: topics to write to the file, ''list(str)''
:param start_stamp: start of area to save, ''rospy.Time''
:param end_stamp: end of area to save, ''rospy.Time''
"""
total_messages = len(bag_entries)
update_step = max(1, total_messages / 100)
message_num = 1
progress = 0
# Write out the messages
for bag, entry in bag_entries:
if self.background_task_cancel:
break
try:
topic, msg, t = self.read_message(bag, entry.position)
export_bag.write(topic, msg, t)
except Exception as ex:
qWarning('Error exporting message at position %s: %s' % (str(entry.position), str(ex)))
export_bag.close()
self.stop_background_task()
return
if message_num % update_step == 0 or message_num == total_messages:
new_progress = int(100.0 * (float(message_num) / total_messages))
if new_progress != progress:
progress = new_progress
if not self.background_task_cancel:
self.background_progress = progress
self.status_bar_changed_signal.emit()
message_num += 1
# Close the bag
try:
self.background_progress = 0
self.status_bar_changed_signal.emit()
export_bag.close()
except Exception as ex:
QMessageBox(QMessageBox.Warning, 'rqt_bag', 'Error closing bag file [%s]: %s' % (export_bag.filename, str(ex)), QMessageBox.Ok).exec_()
self.stop_background_task()
def read_message(self, bag, position):
with self._bag_lock:
return bag._read_message(position)
### Mouse events
def on_mouse_down(self, event):
if event.buttons() == Qt.LeftButton:
self._timeline_frame.on_left_down(event)
elif event.buttons() == Qt.MidButton:
self._timeline_frame.on_middle_down(event)
elif event.buttons() == Qt.RightButton:
topic = self._timeline_frame.map_y_to_topic(self.views()[0].mapToScene(event.pos()).y())
TimelinePopupMenu(self, event, topic)
def on_mouse_up(self, event):
self._timeline_frame.on_mouse_up(event)
def on_mouse_move(self, event):
self._timeline_frame.on_mouse_move(event)
def on_mousewheel(self, event):
self._timeline_frame.on_mousewheel(event)
# Zooming
def zoom_in(self):
self._timeline_frame.zoom_in()
def zoom_out(self):
self._timeline_frame.zoom_out()
def reset_zoom(self):
self._timeline_frame.reset_zoom()
def translate_timeline_left(self):
self._timeline_frame.translate_timeline_left()
def translate_timeline_right(self):
self._timeline_frame.translate_timeline_right()
### Publishing
def is_publishing(self, topic):
return self._player and self._player.is_publishing(topic)
def start_publishing(self, topic):
if not self._player and not self._create_player():
return False
self._player.start_publishing(topic)
return True
def stop_publishing(self, topic):
if not self._player:
return False
self._player.stop_publishing(topic)
return True
def _create_player(self):
if not self._player:
try:
self._player = Player(self)
if self._publish_clock:
self._player.start_clock_publishing()
except Exception as ex:
qWarning('Error starting player; aborting publish: %s' % str(ex))
return False
return True
def set_publishing_state(self, start_publishing):
if start_publishing:
for topic in self._timeline_frame.topics:
if not self.start_publishing(topic):
break
else:
for topic in self._timeline_frame.topics:
self.stop_publishing(topic)
# property: play_all
def _get_play_all(self):
return self._play_all
def _set_play_all(self, play_all):
if play_all == self._play_all:
return
self._play_all = not self._play_all
self.last_frame = None
self.last_playhead = None
self.desired_playhead = None
play_all = property(_get_play_all, _set_play_all)
def toggle_play_all(self):
self.play_all = not self.play_all
### Playing
def on_idle(self):
self._step_playhead()
def _step_playhead(self):
"""
moves the playhead to the next position based on the desired position
"""
# Reset when the playing mode switchs
if self._timeline_frame.playhead != self.last_playhead:
self.last_frame = None
self.last_playhead = None
self.desired_playhead = None
if self._play_all:
self.step_next_message()
else:
self.step_fixed()
def step_fixed(self):
"""
Moves the playhead a fixed distance into the future based on the current play speed
"""
if self.play_speed == 0.0 or not self._timeline_frame.playhead:
self.last_frame = None
self.last_playhead = None
return
now = rospy.Time.from_sec(time.time())
if self.last_frame:
# Get new playhead
if self.stick_to_end:
new_playhead = self.end_stamp
else:
new_playhead = self._timeline_frame.playhead + rospy.Duration.from_sec((now - self.last_frame).to_sec() * self.play_speed)
start_stamp, end_stamp = self._timeline_frame.play_region
if new_playhead > end_stamp:
if self.wrap:
if self.play_speed > 0.0:
new_playhead = start_stamp
else:
new_playhead = end_stamp
else:
new_playhead = end_stamp
if self.play_speed > 0.0:
self.stick_to_end = True
elif new_playhead < start_stamp:
if self.wrap:
if self.play_speed < 0.0:
new_playhead = end_stamp
else:
new_playhead = start_stamp
else:
new_playhead = start_stamp
# Update the playhead
self._timeline_frame.playhead = new_playhead
self.last_frame = now
self.last_playhead = self._timeline_frame.playhead
def step_next_message(self):
"""
Move the playhead to the next message
"""
if self.play_speed <= 0.0 or not self._timeline_frame.playhead:
self.last_frame = None
self.last_playhead = None
return
if self.last_frame:
if not self.desired_playhead:
self.desired_playhead = self._timeline_frame.playhead
else:
delta = rospy.Time.from_sec(time.time()) - self.last_frame
if delta > rospy.Duration.from_sec(0.1):
delta = rospy.Duration.from_sec(0.1)
self.desired_playhead += delta
# Get the occurrence of the next message
next_message_time = self.get_next_message_time()
if next_message_time < self.desired_playhead:
self._timeline_frame.playhead = next_message_time
else:
self._timeline_frame.playhead = self.desired_playhead
self.last_frame = rospy.Time.from_sec(time.time())
self.last_playhead = self._timeline_frame.playhead
### Recording
def record_bag(self, filename, all=True, topics=[], regex=False, limit=0):
try:
self._recorder = Recorder(filename, bag_lock=self._bag_lock, all=all, topics=topics, regex=regex, limit=limit)
except Exception as ex:
qWarning('Error opening bag for recording [%s]: %s' % (filename, str(ex)))
return
self._recorder.add_listener(self._message_recorded)
self.add_bag(self._recorder.bag)
self._recorder.start()
self.wrap = False
self._timeline_frame._index_cache_thread.period = 0.1
self.update()
def toggle_recording(self):
if self._recorder:
self._recorder.toggle_paused()
self.update()
def _message_recorded(self, topic, msg, t):
if self._timeline_frame._start_stamp is None:
self._timeline_frame._start_stamp = t
self._timeline_frame._end_stamp = t
self._timeline_frame._playhead = t
elif self._timeline_frame._end_stamp is None or t > self._timeline_frame._end_stamp:
self._timeline_frame._end_stamp = t
if not self._timeline_frame.topics or topic not in self._timeline_frame.topics:
self._timeline_frame.topics = self._get_topics()
self._timeline_frame._topics_by_datatype = self._get_topics_by_datatype()
self._playhead_positions_cvs[topic] = threading.Condition()
self._messages_cvs[topic] = threading.Condition()
self._message_loaders[topic] = MessageLoaderThread(self, topic)
if self._timeline_frame._stamp_left is None:
self.reset_zoom()
# Notify the index caching thread that it has work to do
with self._timeline_frame.index_cache_cv:
self._timeline_frame.invalidated_caches.add(topic)
self._timeline_frame.index_cache_cv.notify()
if topic in self._listeners:
for listener in self._listeners[topic]:
try:
listener.timeline_changed()
except Exception as ex:
qWarning('Error calling timeline_changed on %s: %s' % (type(listener), str(ex)))
### Views / listeners
def add_view(self, topic, frame):
self._views.append(frame)
def has_listeners(self, topic):
return topic in self._listeners
def add_listener(self, topic, listener):
self._listeners.setdefault(topic, []).append(listener)
self._message_listener_threads[(topic, listener)] = MessageListenerThread(self, topic, listener)
# Notify the message listeners
self._message_loaders[topic].reset()
with self._playhead_positions_cvs[topic]:
self._playhead_positions_cvs[topic].notify_all()
self.update()
def remove_listener(self, topic, listener):
topic_listeners = self._listeners.get(topic)
if topic_listeners is not None and listener in topic_listeners:
topic_listeners.remove(listener)
if len(topic_listeners) == 0:
del self._listeners[topic]
# Stop the message listener thread
if (topic, listener) in self._message_listener_threads:
self._message_listener_threads[(topic, listener)].stop()
del self._message_listener_threads[(topic, listener)]
self.update()
### Playhead
# property: play_speed
def _get_play_speed(self):
if self._timeline_frame._paused:
return 0.0
return self._play_speed
def _set_play_speed(self, play_speed):
if play_speed == self._play_speed:
return
if play_speed > 0.0:
self._play_speed = min(self._max_play_speed, max(self._min_play_speed, play_speed))
elif play_speed < 0.0:
self._play_speed = max(-self._max_play_speed, min(-self._min_play_speed, play_speed))
else:
self._play_speed = play_speed
if self._play_speed < 1.0:
self.stick_to_end = False
self.update()
play_speed = property(_get_play_speed, _set_play_speed)
def toggle_play(self):
if self._play_speed != 0.0:
self.play_speed = 0.0
else:
self.play_speed = 1.0
def navigate_play(self):
self.play_speed = 1.0
self.last_frame = rospy.Time.from_sec(time.time())
self.last_playhead = self._timeline_frame.playhead
self._play_timer.start()
def navigate_stop(self):
self.play_speed = 0.0
self._play_timer.stop()
def navigate_previous(self):
self.navigate_stop()
self._timeline_frame.playhead = self.get_previous_message_time()
self.last_playhead = self._timeline_frame.playhead
def navigate_next(self):
self.navigate_stop()
self._timeline_frame.playhead = self.get_next_message_time()
self.last_playhead = self._timeline_frame.playhead
def navigate_rewind(self):
if self._play_speed < 0.0:
new_play_speed = self._play_speed * 2.0
elif self._play_speed == 0.0:
new_play_speed = -1.0
else:
new_play_speed = self._play_speed * 0.5
self.play_speed = new_play_speed
def navigate_fastforward(self):
if self._play_speed > 0.0:
new_play_speed = self._play_speed * 2.0
elif self._play_speed == 0.0:
new_play_speed = 2.0
else:
new_play_speed = self._play_speed * 0.5
self.play_speed = new_play_speed
def navigate_start(self):
self._timeline_frame.playhead = self._timeline_frame.play_region[0]
def navigate_end(self):
self._timeline_frame.playhead = self._timeline_frame.play_region[1]
class ControllerManager(Plugin):
"""
Graphical frontend for managing ros_control controllers.
"""
_cm_update_freq = 1 # Hz
def __init__(self, context):
super(ControllerManager, self).__init__(context)
self.setObjectName('ControllerManager')
# Create QWidget and extend it with all the attributes and children
# from the UI file
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_controller_manager'),
'resource',
'controller_manager.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('ControllerManagerUi')
# Pop-up that displays controller information
self._popup_widget = QWidget()
ui_file = os.path.join(rp.get_path('rqt_controller_manager'),
'resource',
'controller_info.ui')
loadUi(ui_file, self._popup_widget)
self._popup_widget.setObjectName('ControllerInfoUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# 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()))
# Add widget to the user interface
context.add_widget(self._widget)
# Initialize members
self._cm_ns = [] # Namespace of the selected controller manager
self._controllers = [] # State of each controller
self._table_model = None
self._controller_lister = None
# Controller manager service proxies
self._load_srv = None
self._unload_srv = None
self._switch_srv = None
# Controller state icons
rospack = rospkg.RosPack()
path = rospack.get_path('rqt_controller_manager')
self._icons = {'running': QIcon(path + '/resource/led_green.png'),
'stopped': QIcon(path + '/resource/led_red.png'),
'uninitialized': QIcon(path + '/resource/led_off.png'),
'initialized': QIcon(path + '/resource/led_red.png')}
# Controllers display
table_view = self._widget.table_view
table_view.setContextMenuPolicy(Qt.CustomContextMenu)
table_view.customContextMenuRequested.connect(self._on_ctrl_menu)
table_view.doubleClicked.connect(self._on_ctrl_info)
header = table_view.horizontalHeader()
header.setSectionResizeMode(QHeaderView.ResizeToContents)
header.setContextMenuPolicy(Qt.CustomContextMenu)
header.customContextMenuRequested.connect(self._on_header_menu)
# Timer for controller manager updates
self._list_cm = ControllerManagerLister()
self._update_cm_list_timer = QTimer(self)
self._update_cm_list_timer.setInterval(1000.0 /
self._cm_update_freq)
self._update_cm_list_timer.timeout.connect(self._update_cm_list)
self._update_cm_list_timer.start()
# Timer for running controller updates
self._update_ctrl_list_timer = QTimer(self)
self._update_ctrl_list_timer.setInterval(1000.0 /
self._cm_update_freq)
self._update_ctrl_list_timer.timeout.connect(self._update_controllers)
self._update_ctrl_list_timer.start()
# Signal connections
w = self._widget
w.cm_combo.currentIndexChanged[str].connect(self._on_cm_change)
def shutdown_plugin(self):
self._update_cm_list_timer.stop()
self._update_ctrl_list_timer.stop()
self._popup_widget.hide()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('cm_ns', self._cm_ns)
def restore_settings(self, plugin_settings, instance_settings):
# Restore last session's controller_manager, if present
self._update_cm_list()
cm_ns = instance_settings.value('cm_ns')
cm_combo = self._widget.cm_combo
cm_list = [cm_combo.itemText(i) for i in range(cm_combo.count())]
try:
idx = cm_list.index(cm_ns)
cm_combo.setCurrentIndex(idx)
except (ValueError):
pass
# def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget
# title bar
# Usually used to open a modal configuration dialog
def _update_cm_list(self):
update_combo(self._widget.cm_combo, self._list_cm())
def _on_cm_change(self, cm_ns):
self._cm_ns = cm_ns
# Setup services for communicating with the selected controller manager
self._set_cm_services(cm_ns)
# Controller lister for the selected controller manager
if cm_ns:
self._controller_lister = ControllerLister(cm_ns)
self._update_controllers()
else:
self._controller_lister = None
def _set_cm_services(self, cm_ns):
if cm_ns:
# NOTE: Persistent services are used for performance reasons.
# If the controller manager dies, we detect it and disconnect from
# it anyway
load_srv_name = _append_ns(cm_ns, 'load_controller')
self._load_srv = rospy.ServiceProxy(load_srv_name,
LoadController,
persistent=True)
unload_srv_name = _append_ns(cm_ns, 'unload_controller')
self._unload_srv = rospy.ServiceProxy(unload_srv_name,
UnloadController,
persistent=True)
switch_srv_name = _append_ns(cm_ns, 'switch_controller')
self._switch_srv = rospy.ServiceProxy(switch_srv_name,
SwitchController,
persistent=True)
else:
self._load_srv = None
self._unload_srv = None
self._switch_srv = None
def _update_controllers(self):
# Find controllers associated to the selected controller manager
controllers = self._list_controllers()
# Update controller display, if necessary
if self._controllers != controllers:
self._controllers = controllers
self._show_controllers() # NOTE: Model is recomputed from scratch
def _list_controllers(self):
"""
@return List of controllers associated to a controller manager
namespace. Contains both stopped/running controllers, as returned by
the C{list_controllers} service, plus uninitialized controllers with
configurations loaded in the parameter server.
@rtype [str]
"""
if not self._cm_ns:
return []
# Add loaded controllers first
controllers = self._controller_lister()
# Append potential controller configs found in the parameter server
all_ctrls_ns = _resolve_controllers_ns(self._cm_ns)
for name in get_rosparam_controller_names(all_ctrls_ns):
add_ctrl = not any(name == ctrl.name for ctrl in controllers)
if add_ctrl:
type_str = _rosparam_controller_type(all_ctrls_ns, name)
uninit_ctrl = ControllerState(name=name,
type=type_str,
state='uninitialized')
controllers.append(uninit_ctrl)
return controllers
def _show_controllers(self):
table_view = self._widget.table_view
self._table_model = ControllerTable(self._controllers, self._icons)
table_view.setModel(self._table_model)
def _on_ctrl_menu(self, pos):
# Get data of selected controller
row = self._widget.table_view.rowAt(pos.y())
if row < 0:
return # Cursor is not under a valid item
ctrl = self._controllers[row]
# Show context menu
menu = QMenu(self._widget.table_view)
if ctrl.state == 'running':
action_stop = menu.addAction(self._icons['stopped'], 'Stop')
action_kill = menu.addAction(self._icons['uninitialized'],
'Stop and Unload')
elif ctrl.state == 'stopped':
action_start = menu.addAction(self._icons['running'],
'Start again')
action_unload = menu.addAction(self._icons['uninitialized'],
'Unload')
elif ctrl.state == 'initialized':
action_start = menu.addAction(self._icons['running'], 'Start')
action_unload = menu.addAction(self._icons['uninitialized'],
'Unload')
elif ctrl.state == 'uninitialized':
action_load = menu.addAction(self._icons['stopped'], 'Load')
action_spawn = menu.addAction(self._icons['running'],
'Load and Start')
action = menu.exec_(self._widget.table_view.mapToGlobal(pos))
# Evaluate user action
if ctrl.state == 'running':
if action is action_stop:
self._stop_controller(ctrl.name)
elif action is action_kill:
self._stop_controller(ctrl.name)
self._unload_controller(ctrl.name)
elif ctrl.state == 'stopped' or ctrl.state == 'initialized':
if action is action_start:
self._start_controller(ctrl.name)
elif action is action_unload:
self._unload_controller(ctrl.name)
elif ctrl.state == 'uninitialized':
if action is action_load:
self._load_controller(ctrl.name)
if action is action_spawn:
self._load_controller(ctrl.name)
self._start_controller(ctrl.name)
def _on_ctrl_info(self, index):
popup = self._popup_widget
ctrl = self._controllers[index.row()]
popup.ctrl_name.setText(ctrl.name)
popup.ctrl_type.setText(ctrl.type)
res_model = QStandardItemModel()
model_root = QStandardItem('Claimed Resources')
res_model.appendRow(model_root)
for hw_res in ctrl.claimed_resources:
hw_iface_item = QStandardItem(hw_res.hardware_interface)
model_root.appendRow(hw_iface_item)
for res in hw_res.resources:
res_item = QStandardItem(res)
hw_iface_item.appendRow(res_item)
popup.resource_tree.setModel(res_model)
popup.resource_tree.setItemDelegate(FontDelegate(popup.resource_tree))
popup.resource_tree.expandAll()
popup.move(QCursor.pos())
popup.show()
def _on_header_menu(self, pos):
header = self._widget.table_view.horizontalHeader()
# Show context menu
menu = QMenu(self._widget.table_view)
action_toggle_auto_resize = menu.addAction('Toggle Auto-Resize')
action = menu.exec_(header.mapToGlobal(pos))
# Evaluate user action
if action is action_toggle_auto_resize:
if header.resizeMode(0) == QHeaderView.ResizeToContents:
header.setSectionResizeMode(QHeaderView.Interactive)
else:
header.setSectionResizeMode(QHeaderView.ResizeToContents)
def _load_controller(self, name):
self._load_srv.call(LoadControllerRequest(name=name))
def _unload_controller(self, name):
self._unload_srv.call(UnloadControllerRequest(name=name))
def _start_controller(self, name):
strict = SwitchControllerRequest.STRICT
req = SwitchControllerRequest(start_controllers=[name],
stop_controllers=[],
strictness=strict)
self._switch_srv.call(req)
def _stop_controller(self, name):
strict = SwitchControllerRequest.STRICT
req = SwitchControllerRequest(start_controllers=[],
stop_controllers=[name],
strictness=strict)
self._switch_srv.call(req)
class RobotMonitorWidget(QWidget):
"""
NOTE: RobotMonitorWidget.shutdown function needs to be called
when the instance of this class terminates.
RobotMonitorWidget itself doesn't store previous diagnostic states.
It instead delegates that function to Timeline class.
"""
_TREE_ALL = 1
_TREE_WARN = 2
_TREE_ERR = 3
message_updated = Signal(Gui)
def __init__(self, context, topic=None):
"""
:param context: plugin context hook to enable adding widgets as a
ROS_GUI pane, 'PluginContext'
:param topic: Diagnostic topic to subscribe to 'str'
"""
super(RobotMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_monitor'), 'resource',
'robotmonitor_mainwidget.ui')
loadUi(ui_file, self)
obj_name = 'ROS Monitor'
self.setObjectName(obj_name)
self.setWindowTitle(obj_name)
self.message_updated.connect(self.monitoring_cb)
# if we're given a topic, create a timeline. otherwise, don't
# this can be used later when writing an rqt_bag plugin
if topic:
# create timeline data structure
self._timeline = Timeline(topic, Gui)
self._timeline.message_updated.connect(self.message_updated)
# create timeline pane widget
self.timeline_pane = TimelinePane(self)
self.timeline_pane.set_timeline(self._timeline)
self.vlayout_top.addWidget(self.timeline_pane)
self.timeline_pane.show()
else:
self._timeline = None
self.timeline_pane = None
self._inspectors = {}
# keep a copy of the current message for opening new inspectors
self._current_msg = None
self.tree_all_devices.itemDoubleClicked.connect(self._tree_clicked)
self.warn_flattree.itemDoubleClicked.connect(self._tree_clicked)
self.err_flattree.itemDoubleClicked.connect(self._tree_clicked)
# TODO: resize on itemCollapsed and itemExpanded
self._is_stale = False
self._timer = QTimer()
self._timer.timeout.connect(self._update_message_state)
self._timer.start(1000)
palette = self.tree_all_devices.palette()
self._original_base_color = palette.base().color()
self._original_alt_base_color = palette.alternateBase().color()
self._tree = StatusItem(self.tree_all_devices.invisibleRootItem())
self._warn_tree = StatusItem(self.warn_flattree.invisibleRootItem())
self._err_tree = StatusItem(self.err_flattree.invisibleRootItem())
@Slot(Gui)
def monitoring_cb(self, msg):
""" Gui message callback """
self._current_msg = msg
# Walk the status array and update the tree
for info in msg.infos:
# Compute path and walk to appropriate subtree
path = info.name.split('/')
if path[0] == '':
path = path[1:]
tmp_tree = self._tree
for p in path:
if p == '':
continue
tmp_tree = tmp_tree[p]
infoP = GuiInfo()
infoP.name = p
infoP.errorlevel = info.errorlevel
tmp_tree.update(infoP, p)
tmp_tree.update(info, path[-1])
# Check for warnings
if int(info.errorlevel * 2.9) == DiagnosticStatus.WARN:
name = info.name
self._warn_tree[name].update(info, info.name)
# Check for errors
if int(info.errorlevel * 2.9) == DiagnosticStatus.ERROR:
name = info.name
self._err_tree[name].update(info, info.name)
# For any items in the tree that were not updated, remove them
self._tree.prune()
self._warn_tree.prune()
self._err_tree.prune()
# TODO(ahendrix): implement
# Insight: for any item that is not OK, it only provides additional
# information if all of it's children are OK
#
# otherwise, it's just an aggregation of its children
# and doesn't provide any additional value when added to
# the warning and error flat trees
self.tree_all_devices.resizeColumnToContents(0)
self.warn_flattree.resizeColumnToContents(0)
self.err_flattree.resizeColumnToContents(0)
def resizeEvent(self, evt):
"""Overridden from QWidget"""
rospy.logdebug('RobotMonitorWidget resizeEvent')
if self.timeline_pane:
self.timeline_pane.redraw()
@Slot(str)
def _inspector_closed(self, name):
""" Called when an inspector window is closed """
if name in self._inspectors:
del self._inspectors[name]
def _tree_clicked(self, item, column):
"""
Slot to QTreeWidget.itemDoubleClicked
:type item: QTreeWidgetItem
:type column: int
"""
rospy.logdebug('RobotMonitorWidget _tree_clicked col=%d', column)
if item.name in self._inspectors:
self._inspectors[item.name].activateWindow()
else:
self._inspectors[item.name] = InspectorWindow(
self, item.name, self._current_msg, self._timeline)
self._inspectors[item.name].closed.connect(self._inspector_closed)
self.message_updated.connect(
self._inspectors[item.name].message_updated)
def _update_message_state(self):
""" Update the display if it's stale """
if self._timeline is not None:
if self._timeline.has_messages:
previous_stale_state = self._is_stale
self._is_stale = self._timeline.is_stale
time_diff = int(self._timeline.data_age())
msg_template = "Last message received %s %s ago"
if time_diff == 1:
msg = msg_template % (time_diff, "second")
else:
msg = msg_template % (time_diff, "seconds")
self.timeline_pane._msg_label.setText(msg)
if previous_stale_state != self._is_stale:
self._update_background_color()
else:
# no messages received yet
self.timeline_pane._msg_label.setText("No messages received")
def _update_background_color(self):
""" Update the background color based on staleness """
p = self.tree_all_devices.palette()
if self._is_stale:
p.setColor(QPalette.Base, Qt.darkGray)
p.setColor(QPalette.AlternateBase, Qt.lightGray)
else:
p.setColor(QPalette.Base, self._original_base_color)
p.setColor(QPalette.AlternateBase, self._original_alt_base_color)
self.tree_all_devices.setPalette(p)
self.warn_flattree.setPalette(p)
self.err_flattree.setPalette(p)
def shutdown(self):
"""
This needs to be called whenever this class terminates.
This closes all the instances on all trees.
Also unregisters ROS' subscriber, stops timer.
"""
rospy.logdebug('RobotMonitorWidget in shutdown')
names = self._inspectors.keys()
for name in names:
self._inspectors[name].close()
if self._timeline:
self._timeline.shutdown()
self._timer.stop()
del self._timer
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self.splitter.saveState())
# TODO(ahendrix): persist the device paths, positions and sizes of any
# inspector windows
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.contains('splitter'):
self.splitter.restoreState(instance_settings.value('splitter'))
else:
self.splitter.setSizes([100, 100, 200])
class TopicWidget(QWidget):
SELECT_BY_NAME = 0
SELECT_BY_MSGTYPE = 1
_column_names = ['topic', 'type', 'bandwidth', 'rate', 'value']
def __init__(self,
plugin=None,
selected_topics=None,
select_topic_type=SELECT_BY_NAME):
"""
@type selected_topics: list of tuples.
@param selected_topics: [($NAME_TOPIC$, $TYPE_TOPIC$), ...]
@type select_topic_type: int
@param select_topic_type: Can specify either the name of topics or by
the type of topic, to filter the topics to
show. If 'select_topic_type' argument is
None, this arg shouldn't be meaningful.
"""
super(TopicWidget, self).__init__()
self._select_topic_type = select_topic_type
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_topic'), 'resource',
'TopicWidget.ui')
loadUi(ui_file, self)
self._plugin = plugin
self.topics_tree_widget.sortByColumn(0, Qt.AscendingOrder)
header = self.topics_tree_widget.header()
header.setResizeMode(QHeaderView.ResizeToContents)
header.customContextMenuRequested.connect(
self.handle_header_view_customContextMenuRequested)
header.setContextMenuPolicy(Qt.CustomContextMenu)
# Whether to get all topics or only the topics that are set in advance.
# Can be also set by the setter method "set_selected_topics".
self._selected_topics = selected_topics
self._current_topic_list = []
self._topics = {}
self._tree_items = {}
self._column_index = {}
for column_name in self._column_names:
self._column_index[column_name] = len(self._column_index)
# self.refresh_topics()
# init and start update timer
self._timer_refresh_topics = QTimer(self)
self._timer_refresh_topics.timeout.connect(self.refresh_topics)
def set_topic_specifier(self, specifier):
self._select_topic_type = specifier
def start(self):
"""
This method needs to be called to start updating topic pane.
"""
self._timer_refresh_topics.start(1000)
@Slot()
def refresh_topics(self):
"""
refresh tree view items
"""
if self._selected_topics is None:
topic_list = rospy.get_published_topics()
if topic_list is None:
rospy.logerr(
'Not even a single published topic found. Check network configuration'
)
return
else: # Topics to show are specified.
topic_list = self._selected_topics
topic_specifiers_server_all = None
topic_specifiers_required = None
rospy.logdebug('refresh_topics) self._selected_topics=%s' %
(topic_list, ))
if self._select_topic_type == self.SELECT_BY_NAME:
topic_specifiers_server_all = [
name for name, type in rospy.get_published_topics()
]
topic_specifiers_required = [name for name, type in topic_list]
elif self._select_topic_type == self.SELECT_BY_MSGTYPE:
# The topics that are required (by whoever uses this class).
topic_specifiers_required = [type for name, type in topic_list]
# The required topics that match with published topics.
topics_match = [(name, type)
for name, type in rospy.get_published_topics()
if type in topic_specifiers_required]
topic_list = topics_match
rospy.logdebug('selected & published topic types=%s' %
(topic_list, ))
rospy.logdebug('server_all=%s\nrequired=%s\ntlist=%s' %
(topic_specifiers_server_all,
topic_specifiers_required, topic_list))
if len(topic_list) == 0:
rospy.logerr(
'None of the following required topics are found.\n(NAME, TYPE): %s'
% (self._selected_topics, ))
return
if self._current_topic_list != topic_list:
self._current_topic_list = topic_list
# start new topic dict
new_topics = {}
for topic_name, topic_type in topic_list:
# if topic is new or has changed its type
if topic_name not in self._topics or \
self._topics[topic_name]['type'] != topic_type:
# create new TopicInfo
topic_info = TopicInfo(topic_name, topic_type)
message_instance = None
if topic_info.message_class is not None:
message_instance = topic_info.message_class()
# add it to the dict and tree view
topic_item = self._recursive_create_widget_items(
self.topics_tree_widget, topic_name, topic_type,
message_instance)
new_topics[topic_name] = {
'item': topic_item,
'info': topic_info,
'type': topic_type,
}
else:
# if topic has been seen before, copy it to new dict and
# remove it from the old one
new_topics[topic_name] = self._topics[topic_name]
del self._topics[topic_name]
# clean up old topics
for topic_name in self._topics.keys():
self._topics[topic_name]['info'].stop_monitoring()
index = self.topics_tree_widget.indexOfTopLevelItem(
self._topics[topic_name]['item'])
self.topics_tree_widget.takeTopLevelItem(index)
del self._topics[topic_name]
# switch to new topic dict
self._topics = new_topics
self._update_topics_data()
def _update_topics_data(self):
for topic in self._topics.values():
topic_info = topic['info']
if topic_info.monitoring:
# update rate
rate, _, _, _ = topic_info.get_hz()
rate_text = '%1.2f' % rate if rate != None else 'unknown'
# update bandwidth
bytes_per_s, _, _, _ = topic_info.get_bw()
if bytes_per_s is None:
bandwidth_text = 'unknown'
elif bytes_per_s < 1000:
bandwidth_text = '%.2fB/s' % bytes_per_s
elif bytes_per_s < 1000000:
bandwidth_text = '%.2fKB/s' % (bytes_per_s / 1000.)
else:
bandwidth_text = '%.2fMB/s' % (bytes_per_s / 1000000.)
# update values
value_text = ''
self.update_value(topic_info._topic_name,
topic_info.last_message)
else:
rate_text = ''
bandwidth_text = ''
value_text = 'not monitored' if topic_info.error is None else topic_info.error
self._tree_items[topic_info._topic_name].setText(
self._column_index['rate'], rate_text)
self._tree_items[topic_info._topic_name].setText(
self._column_index['bandwidth'], bandwidth_text)
self._tree_items[topic_info._topic_name].setText(
self._column_index['value'], value_text)
def update_value(self, topic_name, message):
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name in message.__slots__:
self.update_value(topic_name + '/' + slot_name,
getattr(message, slot_name))
elif type(message) in (list, tuple) and (len(message) > 0) and hasattr(
message[0], '__slots__'):
for index, slot in enumerate(message):
if topic_name + '[%d]' % index in self._tree_items:
self.update_value(topic_name + '[%d]' % index, slot)
else:
base_type_str, _ = self._extract_array_info(
self._tree_items[topic_name].text(
self._column_index['type']))
self._recursive_create_widget_items(
self._tree_items[topic_name],
topic_name + '[%d]' % index, base_type_str, slot)
# remove obsolete children
if len(message) < self._tree_items[topic_name].childCount():
for i in range(len(message),
self._tree_items[topic_name].childCount()):
item_topic_name = topic_name + '[%d]' % i
self._recursive_delete_widget_items(
self._tree_items[item_topic_name])
else:
if topic_name in self._tree_items:
self._tree_items[topic_name].setText(
self._column_index['value'], repr(message))
def _extract_array_info(self, type_str):
array_size = None
if '[' in type_str and type_str[-1] == ']':
type_str, array_size_str = type_str.split('[', 1)
array_size_str = array_size_str[:-1]
if len(array_size_str) > 0:
array_size = int(array_size_str)
else:
array_size = 0
return type_str, array_size
def _recursive_create_widget_items(self, parent, topic_name, type_name,
message):
if parent is self.topics_tree_widget:
# show full topic name with preceding namespace on toplevel item
topic_text = topic_name
item = TreeWidgetItem(self._toggle_monitoring, topic_name, parent)
else:
topic_text = topic_name.split('/')[-1]
if '[' in topic_text:
topic_text = topic_text[topic_text.index('['):]
item = QTreeWidgetItem(parent)
item.setText(self._column_index['topic'], topic_text)
item.setText(self._column_index['type'], type_name)
item.setData(0, Qt.UserRole, topic_name)
self._tree_items[topic_name] = item
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name, type_name in zip(message.__slots__,
message._slot_types):
self._recursive_create_widget_items(
item, topic_name + '/' + slot_name, type_name,
getattr(message, slot_name))
else:
base_type_str, array_size = self._extract_array_info(type_name)
try:
base_instance = roslib.message.get_message_class(
base_type_str)()
except (ValueError, TypeError):
base_instance = None
if array_size is not None and hasattr(base_instance, '__slots__'):
for index in range(array_size):
self._recursive_create_widget_items(
item, topic_name + '[%d]' % index, base_type_str,
base_instance)
return item
def _toggle_monitoring(self, topic_name):
item = self._tree_items[topic_name]
if item.checkState(0):
self._topics[topic_name]['info'].start_monitoring()
else:
self._topics[topic_name]['info'].stop_monitoring()
def _recursive_delete_widget_items(self, item):
def _recursive_remove_items_from_tree(item):
for index in reversed(range(item.childCount())):
_recursive_remove_items_from_tree(item.child(index))
topic_name = item.data(0, Qt.UserRole)
del self._tree_items[topic_name]
_recursive_remove_items_from_tree(item)
item.parent().removeChild(item)
@Slot('QPoint')
def handle_header_view_customContextMenuRequested(self, pos):
header = self.topics_tree_widget.header()
# show context menu
menu = QMenu(self)
action_toggle_auto_resize = menu.addAction('Toggle Auto-Resize')
action = menu.exec_(header.mapToGlobal(pos))
# evaluate user action
if action is action_toggle_auto_resize:
if header.resizeMode(0) == QHeaderView.ResizeToContents:
header.setResizeMode(QHeaderView.Interactive)
else:
header.setResizeMode(QHeaderView.ResizeToContents)
@Slot('QPoint')
def on_topics_tree_widget_customContextMenuRequested(self, pos):
item = self.topics_tree_widget.itemAt(pos)
if item is None:
return
# show context menu
menu = QMenu(self)
action_item_expand = menu.addAction(QIcon.fromTheme('zoom-in'),
'Expand All Children')
action_item_collapse = menu.addAction(QIcon.fromTheme('zoom-out'),
'Collapse All Children')
action = menu.exec_(self.topics_tree_widget.mapToGlobal(pos))
# evaluate user action
if action in (action_item_expand, action_item_collapse):
expanded = (action is action_item_expand)
def recursive_set_expanded(item):
item.setExpanded(expanded)
for index in range(item.childCount()):
recursive_set_expanded(item.child(index))
recursive_set_expanded(item)
def shutdown_plugin(self):
for topic in self._topics.values():
topic['info'].stop_monitoring()
self._timer_refresh_topics.stop()
def set_selected_topics(self, selected_topics):
"""
@param selected_topics: list of tuple. [(topic_name, topic_type)]
@type selected_topics: []
"""
rospy.logdebug('set_selected_topics topics={}'.format(
len(selected_topics)))
self._selected_topics = selected_topics
class ControllerManagerWidget(QWidget):
_column_names = ['name', 'state', 'type', 'hw_iface', 'resources']
_column_names_pretty = ['Controller Name', 'State', 'Type', 'HW Interface', 'Claimed Resources']
sig_sysmsg = Signal(str)
def __init__(self, plugin):
super(ControllerManagerWidget, self).__init__()
self._plugin = plugin
self.setWindowTitle('Controller Manager')
# create layouts
vlayout_outer = QtGui.QVBoxLayout(self)
vlayout_outer.setObjectName('vert_layout_outer')
hlayout_top = QtGui.QHBoxLayout(self)
hlayout_top.setObjectName('hori_layout_top')
vlayout_outer.addLayout(hlayout_top)
# create top bar
# controller manager namespace combo box & label
cm_ns_label = QtGui.QLabel(self)
cm_ns_label.setObjectName('cm_ns_label')
cm_ns_label.setText('CM Namespace:')
fixed_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed)
cm_ns_label.setSizePolicy(fixed_policy)
hlayout_top.addWidget(cm_ns_label)
cm_namespace_combo = QtGui.QComboBox(self)
cm_namespace_combo.setObjectName('cm_namespace_combo')
hlayout_top.addWidget(cm_namespace_combo)
self.cm_namespace_combo = cm_namespace_combo
# load controller combo box & label
load_ctrl_label = QtGui.QLabel(self)
load_ctrl_label.setObjectName('load_ctrl_label')
load_ctrl_label.setText('Load Controller:')
fixed_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed)
load_ctrl_label.setSizePolicy(fixed_policy)
hlayout_top.addWidget(load_ctrl_label)
load_ctrl_combo = QtGui.QComboBox(self)
load_ctrl_combo.setObjectName('load_ctrl_combo')
load_ctrl_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)
load_ctrl_combo.setSizePolicy(load_ctrl_size_policy)
hlayout_top.addWidget(load_ctrl_combo)
self.load_ctrl_combo = load_ctrl_combo
# load control button
load_ctrl_button = QtGui.QPushButton(self)
load_ctrl_button.setObjectName('load_ctrl_button')
button_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed, QtGui.QSizePolicy.Fixed)
button_size_policy.setHorizontalStretch(0)
button_size_policy.setVerticalStretch(0)
button_size_policy.setHeightForWidth(load_ctrl_button.sizePolicy().hasHeightForWidth())
load_ctrl_button.setSizePolicy(button_size_policy)
load_ctrl_button.setBaseSize(QtCore.QSize(30, 30))
load_ctrl_button.setIcon(QIcon.fromTheme('list-add'))
load_ctrl_button.setIconSize(QtCore.QSize(20,20))
load_ctrl_button.clicked.connect(self.load_cur_ctrl)
hlayout_top.addWidget(load_ctrl_button)
# start control button
start_ctrl_button = QtGui.QPushButton(self)
start_ctrl_button.setObjectName('start_ctrl_button')
button_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed, QtGui.QSizePolicy.Fixed)
button_size_policy.setHorizontalStretch(0)
button_size_policy.setVerticalStretch(0)
button_size_policy.setHeightForWidth(start_ctrl_button.sizePolicy().hasHeightForWidth())
start_ctrl_button.setSizePolicy(button_size_policy)
start_ctrl_button.setBaseSize(QtCore.QSize(30, 30))
start_ctrl_button.setIcon(QIcon.fromTheme('media-playback-start'))
start_ctrl_button.setIconSize(QtCore.QSize(20,20))
start_ctrl_button.clicked.connect(self.start_cur_ctrl)
hlayout_top.addWidget(start_ctrl_button)
# create tree/list widget
ctrl_list_tree_widget = QtGui.QTreeWidget(self)
ctrl_list_tree_widget.setObjectName('ctrl_list_tree_widget')
self.ctrl_list_tree_widget = ctrl_list_tree_widget
ctrl_list_tree_widget.setColumnCount(len(self._column_names))
ctrl_list_tree_widget.setHeaderLabels(self._column_names_pretty)
ctrl_list_tree_widget.sortByColumn(0, Qt.AscendingOrder)
ctrl_list_tree_widget.setContextMenuPolicy(Qt.CustomContextMenu)
ctrl_list_tree_widget.customContextMenuRequested.connect(
self.on_ctrl_list_tree_widget_customContextMenuRequested)
vlayout_outer.addWidget(ctrl_list_tree_widget)
header = self.ctrl_list_tree_widget.header()
header.setResizeMode(QHeaderView.ResizeToContents)
header.customContextMenuRequested.connect(
self.handle_header_view_customContextMenuRequested)
header.setContextMenuPolicy(Qt.CustomContextMenu)
self._ctrlers = {}
self._column_index = {}
for column_name in self._column_names:
self._column_index[column_name] = len(self._column_index)
# controller manager services
self.list_types = {}
self.list_ctrlers = {}
self.load_ctrler = {}
self.unload_ctrler = {}
self.switch_ctrlers = {}
self.ctrlman_ns_cur = ''
self.loadable_params = {}
# init and start update timer
self._timer_refresh_ctrlers = QTimer(self)
self._timer_refresh_ctrlers.timeout.connect(self._refresh_ctrlers_cb)
def controller_manager_connect(self, ctrlman_ns):
self.list_types[ctrlman_ns] = rospy.ServiceProxy(
ctrlman_ns + '/controller_manager/list_controller_types', ListControllerTypes)
self.list_ctrlers[ctrlman_ns] = rospy.ServiceProxy(
ctrlman_ns + '/controller_manager/list_controllers', ListControllers)
self.load_ctrler[ctrlman_ns] = rospy.ServiceProxy(
ctrlman_ns + '/controller_manager/load_controller', LoadController)
self.unload_ctrler[ctrlman_ns] = rospy.ServiceProxy(
ctrlman_ns + '/controller_manager/unload_controller', UnloadController)
self.switch_ctrlers[ctrlman_ns] = rospy.ServiceProxy(
ctrlman_ns + '/controller_manager/switch_controller', SwitchController)
self.cm_namespace_combo.addItem(ctrlman_ns)
def controller_manager_disconnect(self, ctrlman_ns):
self.list_types[ctrlman_ns].close()
del self.list_types[ctrlman_ns]
self.list_ctrlers[ctrlman_ns].close()
del self.list_ctrlers[ctrlman_ns]
self.load_ctrler[ctrlman_ns].close()
del self.load_ctrler[ctrlman_ns]
self.unload_ctrler[ctrlman_ns].close()
del self.unload_ctrler[ctrlman_ns]
self.switch_ctrlers[ctrlman_ns].close()
del self.switch_ctrlers[ctrlman_ns]
combo_ind = self.cm_namespace_combo.findText(ctrlman_ns)
self.cm_namespace_combo.removeItem(combo_ind)
def _refresh_ctrlers_cb(self):
try:
# refresh the list of controller managers we can find
srv_list = rosservice.get_service_list()
ctrlman_ns_list_cur = []
for srv_name in srv_list:
if 'controller_manager/list_controllers' in srv_name:
srv_type = rosservice.get_service_type(srv_name)
if srv_type == 'controller_manager_msgs/ListControllers':
ctrlman_ns = srv_name.split('/controller_manager/list_controllers')[0]
if ctrlman_ns == '':
ctrlman_ns = '/'
# ctrlman_ns is a Controller Manager namespace
if ctrlman_ns not in self.list_ctrlers:
# we haven't connected to it yet, create the service proxies
self.controller_manager_connect(ctrlman_ns)
ctrlman_ns_list_cur.append(ctrlman_ns)
# remove every controller manager which isn't up anymore
for ctrlman_ns_old in self.list_ctrlers.keys():
if ctrlman_ns_old not in ctrlman_ns_list_cur:
self.controller_manager_disconnect(ctrlman_ns_old)
# refresh the controller list for the current controller manager
self.refresh_loadable_ctrlers()
self.refresh_ctrlers()
except Exception as e:
self.sig_sysmsg.emit(e.message)
def remove_ctrler_from_list(self, ctrler_name):
item = self._ctrlers[ctrler_name]['item']
index = self.ctrl_list_tree_widget.indexOfTopLevelItem(item)
self.ctrl_list_tree_widget.takeTopLevelItem(index)
del self._ctrlers[ctrler_name]
def remove_loadable_from_list(self, load_text):
load_ctrl_ind = self.load_ctrl_combo.findText(load_text)
self.load_ctrl_combo.removeItem(load_ctrl_ind)
del self.loadable_params[load_text]
def refresh_loadable_ctrlers(self):
if self.cm_namespace_combo.count() == 0:
# no controller managers found so there are no loadable controllers
# remove old loadables
for old_loadable_text in self.loadable_params.keys():
self.remove_loadable_from_list(old_loadable_text)
return
ctrlman_ns = self.cm_namespace_combo.currentText()
if self.ctrlman_ns_cur != ctrlman_ns:
# new controller manager selected
# remove old loadables from list from last CM
for old_loadable_text in self.loadable_params.keys():
self.remove_loadable_from_list(old_loadable_text)
rospy.wait_for_service(ctrlman_ns + '/controller_manager/list_controller_types', 0.2)
try:
resp = self.list_types[ctrlman_ns].call(ListControllerTypesRequest())
except rospy.ServiceException as e:
# TODO: display warning somehow
return
ctrler_types = resp.types
loadable_params_cur = []
all_params = rosparam.list_params('/')
# for every parameter
for pname in all_params:
# remove the controller manager namespace
if ctrlman_ns == '/':
pname_sub = pname
else:
pname_sub = pname[len(ctrlman_ns):]
psplit = pname_sub.split('/')
if len(psplit) > 2 and psplit[2] == 'type':
loadable_type = rosparam.get_param(pname)
if loadable_type in ctrler_types:
load_text = pname[:-5] + ' - ' + loadable_type
loadable_params_cur.append(load_text)
if load_text not in self.loadable_params:
self.loadable_params[load_text] = psplit[1]
self.load_ctrl_combo.addItem(load_text)
# remove loadable parameters no longer in the parameter server
for load_text_old in self.loadable_params.keys():
if load_text_old not in loadable_params_cur:
self.remove_loadable_from_list(load_text_old)
@Slot()
def refresh_ctrlers(self):
if self.cm_namespace_combo.count() == 0:
# no controller managers found so there are no controllers to update
# remove old controllers
for old_ctrler_name in self._ctrlers.keys():
self.remove_ctrler_from_list(old_ctrler_name)
return
ctrlman_ns = self.cm_namespace_combo.currentText()
if self.ctrlman_ns_cur != ctrlman_ns:
# new controller manager selected
# remove old controllers from list from last CM
for old_ctrler_name in self._ctrlers.keys():
self.remove_ctrler_from_list(old_ctrler_name)
self.ctrlman_ns_cur = ctrlman_ns
rospy.wait_for_service(ctrlman_ns + '/controller_manager/list_controllers', 0.2)
try:
resp = self.list_ctrlers[ctrlman_ns].call(ListControllersRequest())
except rospy.ServiceException as e:
# TODO: display warning somehow
return
controller_list = resp.controller
new_ctrlers = {}
for c in controller_list:
if c.name not in self._ctrlers:
# new controller
item = QTreeWidgetItem(self.ctrl_list_tree_widget)
item.setData(0, Qt.UserRole, c.name)
ctrler = {'item' : item,
'state' : c.state,
'type' : c.type,
'hw_iface' : c.hardware_interface,
'resources' : "[" + ", ".join(c.resources) + "]"}
ctrler['item'].setText(self._column_index['name'], c.name)
update_type = True
update_state = True
else:
# controller already in list
ctrler = self._ctrlers[c.name]
update_type = False
update_state = False
if ctrler['type'] != c.type or ctrler['hw_iface'] != c.hardware_interface:
# total controller change
ctrler['state'] = c.state
ctrler['type'] = c.type
ctrler['hw_iface'] = c.hardware_interface
ctrler['resources'] = "[" + ", ".join(c.resources) + "]"
update_type = True
if ctrler['state'] != c.state:
# state change
ctrler['state'] = c.state
update_state = True
# update entries if needed
if update_type:
ctrler['item'].setText(self._column_index['type'], ctrler['type'])
ctrler['item'].setText(self._column_index['hw_iface'], ctrler['hw_iface'])
ctrler['item'].setText(self._column_index['resources'], ctrler['resources'])
if update_state or update_type:
ctrler['item'].setText(self._column_index['state'], ctrler['state'])
new_ctrlers[c.name] = ctrler
# remove missing controllers
for old_ctrler_name in self._ctrlers.keys():
if old_ctrler_name not in new_ctrlers:
self.remove_ctrler_from_list(old_ctrler_name)
# update current controllers
self._ctrlers = new_ctrlers
def start(self):
self._timer_refresh_ctrlers.start(1000)
@Slot('QPoint')
def handle_header_view_customContextMenuRequested(self, pos):
header = self.ctrl_list_tree_widget.header()
# show context menu
menu = QMenu(self)
action_toggle_auto_resize = menu.addAction('Toggle Auto-Resize')
action = menu.exec_(header.mapToGlobal(pos))
# evaluate user action
if action is action_toggle_auto_resize:
if header.resizeMode(0) == QHeaderView.ResizeToContents:
header.setResizeMode(QHeaderView.Interactive)
else:
header.setResizeMode(QHeaderView.ResizeToContents)
def load_cur_ctrl(self):
ctrlman_ns = self.cm_namespace_combo.currentText()
load_text = self.load_ctrl_combo.currentText()
load_param = self.loadable_params[load_text]
self.load_controller(ctrlman_ns, load_param)
def start_cur_ctrl(self):
ctrlman_ns = self.cm_namespace_combo.currentText()
load_text = self.load_ctrl_combo.currentText()
load_param = self.loadable_params[load_text]
self.load_controller(ctrlman_ns, load_param)
self.start_stop_controller(ctrlman_ns, load_param, True)
@Slot('QPoint')
def on_ctrl_list_tree_widget_customContextMenuRequested(self, pos):
ctrlman_ns = self.cm_namespace_combo.currentText()
item = self.ctrl_list_tree_widget.itemAt(pos)
if item is None:
return
ctrl_name = item.data(0, Qt.UserRole)
ctrl_state = self._ctrlers[ctrl_name]['state']
# show context menu
menu = QMenu(self)
if ctrl_state == 'running':
action_stop = menu.addAction(
QIcon.fromTheme('media-playback-stop'), 'Stop Controller')
action_kill = menu.addAction(
QIcon.fromTheme('list-remove'), 'Stop and Unload Controller')
elif ctrl_state == 'stopped':
action_start = menu.addAction(
QIcon.fromTheme('media-playback-start'), 'Start Controller')
action_unload = menu.addAction(
QIcon.fromTheme('list-remove'), 'Unload Controller')
action = menu.exec_(self.ctrl_list_tree_widget.mapToGlobal(pos))
# evaluate user action
if ctrl_state == 'running':
if action is action_stop:
self.start_stop_controller(ctrlman_ns, ctrl_name, False)
elif action is action_kill:
self.start_stop_controller(ctrlman_ns, ctrl_name, False)
self.unload_controller(ctrlman_ns, ctrl_name)
elif ctrl_state == 'stopped':
if action is action_start:
self.start_stop_controller(ctrlman_ns, ctrl_name, True)
elif action is action_unload:
self.unload_controller(ctrlman_ns, ctrl_name)
def load_controller(self, ctrlman_ns, name):
rospy.wait_for_service(ctrlman_ns + '/controller_manager/load_controller', 0.2)
try:
resp = self.load_ctrler[ctrlman_ns].call(LoadControllerRequest(name))
if resp.ok == 1:
# successful
return 0
else:
# failure
return 1
except rospy.ServiceException as e:
# exception
return 2
def unload_controller(self, ctrlman_ns, name):
rospy.wait_for_service(ctrlman_ns + '/controller_manager/unload_controller', 0.2)
try:
resp = self.unload_ctrler[ctrlman_ns].call(UnloadControllerRequest(name))
if resp.ok == 1:
# successful
return 0
else:
# failure
return 1
except rospy.ServiceException as e:
# exception
return 2
def start_stop_controller(self, ctrlman_ns, name, is_start):
rospy.wait_for_service(ctrlman_ns + '/controller_manager/switch_controller', 0.2)
start = []
stop = []
strictness = SwitchControllerRequest.STRICT
if is_start:
start = [name]
else:
stop = [name]
try:
resp = self.switch_ctrlers[ctrlman_ns].call(
SwitchControllerRequest(start, stop, strictness))
if resp.ok == 1:
# successful
return 0
else:
# failure
return 1
except rospy.ServiceException as e:
# exception
return 2
def shutdown_plugin(self):
for ctrlman_ns in self.list_ctrlers.keys():
self.controller_manager_disconnect(ctrlman_ns)
self._timer_refresh_ctrlers.stop()
class CopterPlugin(Plugin):
plot_start_time = -1
status_time = 0
state_time = 0
pause = 0
# Observed parameters
voltage = 10
cpu_load = 0
flight_mode_ll = 'flight_mode'
state_estimation = 'state_estimate'
position_control = 'position_control'
motor_status = 'motor_status'
flight_time = 0
gps_status = 'gps_status'
gps_num_satellites = 0
def __init__(self, context):
super(CopterPlugin, self).__init__(context)
self.setObjectName('CopterPlugin')
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_copter'), 'resource', 'CopterPlugin.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('CopterPluginUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Add icons to the buttons
self._widget.pause_resume_plot_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self._widget.start_reset_plot_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.srv_refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.battery_alert.setIcon(QIcon.fromTheme('dialog-warning'))
self._widget.battery_alert.setVisible(0)
# Initialize the timer
self._start_time = rospy.get_time()
self._timer = QTimer(self)
self._timer.timeout.connect(self._timer_update)
self._timer.start(50)
# Initialize all plots and subscribers
self._state_subscriber = None
self._status_subscriber = None
self._client = None
self._create_plots()
self._get_init_services()
# Add event functions
self._widget.start_reset_plot_button.clicked.connect(self._reset_plots)
self._widget.pause_resume_plot_button.clicked.connect(self._pause_resume_plots)
self._widget.copter_namespace_textbox.returnPressed.connect(self._reset_subscriber)
self._widget.copter_namespace_button.clicked.connect(self._reset_subscriber)
self._widget.srv_refresh_button.clicked.connect(self._refresh_init_services)
self._widget.copter_namespace_textbox.setFocus()
# Update the displayed data in the widget
def _timer_update(self):
# Check if Voltage low
if self.voltage < 10:
self._widget.battery_alert.setVisible(1)
else:
self._widget.battery_alert.setVisible(0)
# Only update the current tab
tab = self._widget.tab_widget.currentIndex()
# This is the status tab update
if tab is 0:
self.plot_battery_voltage.rescale_axis_y()
self._widget.cpu_load_bar.setValue(self.cpu_load)
self._widget.flight_mode_ll_textbox.setText(self.flight_mode_ll)
self._widget.state_estimation_textbox.setText(self.state_estimation)
self._widget.position_control_textbox.setText(self.position_control)
self._widget.motor_status_textbox.setText(self.motor_status)
self._widget.flight_time_box.setValue(self.flight_time)
self._widget.gps_status_textbox.setText(self.gps_status)
self._widget.gps_num_satellites_box.setValue(self.gps_num_satellites)
self._widget.battery_voltage_display.setValue(self.voltage)
# This is the state-plot tab
if tab is 1 and not self.pause:
self.plot_position.rescale_axis_y()
self.plot_velocity.rescale_axis_y()
self.plot_acceleration_bias.rescale_axis_y()
self.plot_scale.rescale_axis_y()
def _pause_resume_plots(self):
if self.pause is 0:
self.pause = 1
self._widget.pause_resume_plot_button.setIcon(QIcon.fromTheme('media-playback-start'))
self._widget.pause_resume_plot_button.setText("Resume")
else:
self.pause = 0
self._widget.pause_resume_plot_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self._widget.pause_resume_plot_button.setText("Pause")
# Get all available msf-initialisation services
def _get_init_services(self):
self._init_services = []
service_names = rosservice.get_service_list()
for service_name in service_names:
if "initialize_msf" in service_name:
self._init_services.append(SrvWidget(self._widget.srv_container_layout, service_name))
def _refresh_init_services(self):
for init_service in self._init_services:
self._widget.srv_container_layout.removeWidget(init_service._widget)
init_service._widget.close()
self._get_init_services()
# Subscribe to rostopics according to the namespace
def _reset_subscriber(self):
namespace = self._widget.copter_namespace_textbox.text()
state_topic = namespace + '/fcu/ekf_state_out'
status_topic = namespace + '/fcu/status'
print "Subscribing to", state_topic
print "Subscribing to", status_topic
if self._state_subscriber is not None:
self._state_subscriber.unregister()
if self._status_subscriber is not None:
self._status_subscriber.unregister()
self._state_subscriber = rospy.Subscriber(state_topic, ExtEkf, self._state_subscriber_callback)
self._status_subscriber = rospy.Subscriber(status_topic, mav_status, self._status_subscriber_callback)
def _state_subscriber_callback(self, input):
if self.plot_start_time is -1:
self.plot_start_time = input.header.stamp.to_sec()
self.state_time = input.header.stamp.to_sec() - self.plot_start_time
#if self.plot_position is not None:
self.plot_position.update_value('x', self.state_time, input.state[0])
self.plot_position.update_value('y', self.state_time, input.state[1])
self.plot_position.update_value('z', self.state_time, input.state[2])
#if self.plot_velocity is not None:
self.plot_velocity.update_value('x', self.state_time, input.state[3])
self.plot_velocity.update_value('y', self.state_time, input.state[4])
self.plot_velocity.update_value('z', self.state_time, input.state[5])
#if self.plot_acceleration_bias is not None:
self.plot_acceleration_bias.update_value('x', self.state_time, input.state[6])
self.plot_acceleration_bias.update_value('y', self.state_time, input.state[7])
self.plot_acceleration_bias.update_value('z', self.state_time, input.state[8])
#if self.plot_scale is not None:
self.plot_scale.update_value('scale', self.state_time, input.state[9])
def _status_subscriber_callback(self, input):
self.status_time = input.header.stamp.to_sec() - self.plot_start_time
self.voltage = input.battery_voltage
self.cpu_load = input.cpu_load
self.flight_mode_ll = input.flight_mode_ll
self.state_estimation = input.state_estimation
self.position_control = input.position_control
self.motor_status = input.motor_status
self.flight_time = input.flight_time
self.gps_status = input.gps_status
self.gps_num_satellites = input.gps_num_satellites
#if self.plot_battery_voltage is not None:
self.plot_battery_voltage.update_value('voltage', self.status_time, input.battery_voltage)
def _create_plots(self):
self.plot_start_time = -1
self.plot_battery_voltage = QwtDataPlot(self._widget)
self._widget.plot_battery_voltage_layout.addWidget(self.plot_battery_voltage)
self.plot_battery_voltage.add_curve('voltage', 'Voltage', [0], [0])
self.plot_position = QwtDataPlot(self._widget)
self._widget.plot_position_layout.addWidget(self.plot_position)
self.plot_position.add_curve('x', 'x-position', [0], [0])
self.plot_position.add_curve('y', 'y-position', [0], [0])
self.plot_position.add_curve('z', 'z-position', [0], [0])
self.plot_velocity = QwtDataPlot(self._widget)
self._widget.plot_velocity_layout.addWidget(self.plot_velocity)
self.plot_velocity.add_curve('x', 'x-velocity', [0], [0])
self.plot_velocity.add_curve('y', 'y-velocity', [0], [0])
self.plot_velocity.add_curve('z', 'z-velocity', [0], [0])
self.plot_acceleration_bias = QwtDataPlot(self._widget)
self._widget.plot_acceleration_bias_layout.addWidget(self.plot_acceleration_bias)
self.plot_acceleration_bias.add_curve('x', 'x-acc-bias', [0], [0])
self.plot_acceleration_bias.add_curve('y', 'y-acc-bias', [0], [0])
self.plot_acceleration_bias.add_curve('z', 'z-acc-bias', [0], [0])
self.plot_scale = QwtDataPlot(self._widget)
self._widget.plot_scale_layout.addWidget(self.plot_scale)
self.plot_scale.add_curve('scale', 'visual scale', [0], [0])
def _reset_plots(self):
self._widget.plot_battery_voltage_layout.removeWidget(self.plot_battery_voltage)
self.plot_battery_voltage.close()
self._widget.plot_position_layout.removeWidget(self.plot_position)
self.plot_position.close()
self._widget.plot_velocity_layout.removeWidget(self.plot_velocity)
self.plot_velocity.close()
self._widget.plot_acceleration_bias_layout.removeWidget(self.plot_acceleration_bias)
self.plot_acceleration_bias.close()
self._widget.plot_scale_layout.removeWidget(self.plot_scale)
self.plot_scale.close()
self._create_plots()
def shutdown_plugin(self):
self._timer.stop()
if self._state_subscriber is not None:
self._state_subscriber.unregister()
if self._status_subscriber is not None:
self._status_subscriber.unregister()
def save_settings(self, plugin_settings, instance_settings):
pass
def restore_settings(self, plugin_settings, instance_settings):
pass
class TFBroadcasterWidget(QWidget):
def __init__(self, widget):
super(TFBroadcasterWidget, self).__init__()
rospkg_pack = rospkg.RosPack()
ui_file = os.path.join(rospkg_pack.get_path('gui_nodes'), 'resource', 'TFBroadcaster.ui')
loadUi(ui_file, self)
self._frame_id, self._child_frame_id = FRAME_ID, CHILD_FRAME_ID
self._tf_manager = TFBroadcasterImpl(self._frame_id, self._child_frame_id)
self.setup_ui()
self._updateTimer = QTimer(self)
self._updateTimer.timeout.connect(self.timeout_callback)
def setup_ui(self):
self._status_widget = StatusInputWidgetSet(self.qt_stop_radiobtn,
self.qt_static_tf_radiobtn,
self.qt_tf_radiobtn,
self._tf_manager.set_stop_status,
self._tf_manager.set_static_tf_status,
self._tf_manager.set_tf_status)
self._frame_id_widget = FrameIDInputWidgetSet(self.qt_frame_id_lineedit,
self.qt_frame_id_update_btn,
self._frame_id,
self._tf_manager.set_frame_id)
self._child_frame_id_widget = FrameIDInputWidgetSet(self.qt_child_frame_id_lineedit,
self.qt_child_frame_id_update_btn,
self._child_frame_id,
self._tf_manager.set_child_frame_id)
self._x_widget = SliderSpinboxInputWidgetSet(self.qt_x_slider,
self.qt_x_spinbox,
self.qt_x_btn,
0.0, POS_MAX_VALUE, POS_MIN_VALUE)
self._y_widget = SliderSpinboxInputWidgetSet(self.qt_y_slider,
self.qt_y_spinbox,
self.qt_y_btn,
0.0, POS_MAX_VALUE, POS_MIN_VALUE)
self._z_widget = SliderSpinboxInputWidgetSet(self.qt_z_slider,
self.qt_z_spinbox,
self.qt_z_btn,
0.0, POS_MAX_VALUE, POS_MIN_VALUE)
self._roll_widget = SliderSpinboxInputWidgetSet(self.qt_roll_slider,
self.qt_roll_spinbox,
self.qt_roll_btn,
0.0, ORI_MAX_VALUE, ORI_MIN_VALUE)
self._pitch_widget = SliderSpinboxInputWidgetSet(self.qt_pitch_slider,
self.qt_pitch_spinbox,
self.qt_pitch_btn,
0.0, ORI_MAX_VALUE, ORI_MIN_VALUE)
self._yaw_widget = SliderSpinboxInputWidgetSet(self.qt_yaw_slider,
self.qt_yaw_spinbox,
self.qt_yaw_btn,
0.0, ORI_MAX_VALUE, ORI_MIN_VALUE)
def start(self):
self._tf_manager.set_frames(self._frame_id, self._child_frame_id)
self._updateTimer.start(10) # loop rate[ms]
def stop(self):
self._updateTimer.stop()
def timeout_callback(self):
self._tf_manager.set_position(self._x_widget.value, self._y_widget.value, self._z_widget.value)
self._tf_manager.set_orientation(self._roll_widget.value,
self._pitch_widget.value,
self._yaw_widget.value,
is_rad=False)
self._tf_manager.broadcast_tf()
# override
def save_settings(self, plugin_settings, instance_settings):
self._frame_id = self._frame_id_widget.str
self._child_frame_id = self._child_frame_id_widget.str
instance_settings.set_value('frame_ids', (self._frame_id, self._child_frame_id))
# override
def restore_settings(self, plugin_settings, instance_settings):
frames = instance_settings.value('frame_ids')
try:
self._frame_id, self._child_frame_id = frames
self._frame_id_widget.update(self._frame_id)
self._child_frame_id_widget.update(self._child_frame_id)
except Exception:
self._frame_id, self._child_frame_id = FRAME_ID, CHILD_FRAME_ID
# override
def shutdown_plugin(self):
self.stop()
class Plot3DWidget(QWidget):
_redraw_interval = 40
def __init__(self, initial_topics=None, start_paused=False,
buffer_length=100, use_poly=True, no_legend=False):
super(Plot3DWidget, self).__init__()
self.setObjectName('Plot3DWidget')
self._buffer_length = buffer_length
self._initial_topics = initial_topics
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('jsk_rqt_plugins'),
'resource', 'plot3d.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.remove_topic_button.setIcon(QIcon.fromTheme('remove'))
self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.data_plot = MatDataPlot3D(self, self._buffer_length,
use_poly, no_legend)
self.data_plot_layout.addWidget(self.data_plot)
self.data_plot.autoscroll(self.autoscroll_checkbox.isChecked())
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
self.subscribe_topic_button.setEnabled(False)
if start_paused:
self.pause_button.setChecked(True)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self._start_time = rospy.get_time()
self._rosdata = {}
self._remove_topic_menu = QMenu()
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
if self._initial_topics:
for topic_name in self._initial_topics:
self.add_topic(topic_name)
self._initial_topics = None
@Slot('QDragEnterEvent*')
def dragEnterEvent(self, event):
# get topic name
if not event.mimeData().hasText():
if not hasattr(event.source(), 'selectedItems') or len(event.source().selectedItems()) == 0:
qWarning('Plot.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0')
return
item = event.source().selectedItems()[0]
topic_name = item.data(0, Qt.UserRole)
if topic_name == None:
qWarning('Plot.dragEnterEvent(): not hasattr(item, ros_topic_name_)')
return
else:
topic_name = str(event.mimeData().text())
# check for numeric field type
is_numeric, is_array, message = is_slot_numeric(topic_name)
if is_numeric and not is_array:
event.acceptProposedAction()
else:
qWarning('Plot.dragEnterEvent(): rejecting: "%s"' % (message))
@Slot('QDropEvent*')
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.add_topic(topic_name)
@Slot(str)
def on_topic_edit_textChanged(self, topic_name):
# on empty topic name, update topics
if topic_name in ('', '/'):
self._topic_completer.update_topics()
is_numeric, is_array, message = is_slot_numeric(topic_name)
self.subscribe_topic_button.setEnabled(is_numeric and not is_array)
self.subscribe_topic_button.setToolTip(message)
@Slot()
def on_topic_edit_returnPressed(self):
if self.subscribe_topic_button.isEnabled():
self.add_topic(str(self.topic_edit.text()))
@Slot()
def on_subscribe_topic_button_clicked(self):
self.add_topic(str(self.topic_edit.text()))
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
@Slot(bool)
def on_autoscroll_checkbox_clicked(self, checked):
self.data_plot.autoscroll(checked)
@Slot()
def on_clear_button_clicked(self):
self.clean_up_subscribers()
def update_plot(self):
if self.data_plot is not None:
needs_redraw = False
for topic_name, rosdata in self._rosdata.items():
try:
data_x, data_y = rosdata.next()
if data_x or data_y:
self.data_plot.update_values(topic_name, data_x, data_y)
needs_redraw = True
except RosPlotException as e:
qWarning('PlotWidget.update_plot(): error in rosplot: %s' % e)
if needs_redraw:
self.data_plot.redraw()
def _subscribed_topics_changed(self):
self._update_remove_topic_menu()
if not self.pause_button.isChecked():
# if pause button is not pressed, enable timer based on subscribed topics
self.enable_timer(self._rosdata)
def _update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
self._subscribed_topics_changed()
def remove_topic(self, topic_name):
self._rosdata[topic_name].close()
del self._rosdata[topic_name]
self.data_plot.remove_curve(topic_name)
self._subscribed_topics_changed()
def clean_up_subscribers(self):
for topic_name, rosdata in self._rosdata.items():
rosdata.close()
self.data_plot.remove_curve(topic_name)
self._rosdata = {}
self._subscribed_topics_changed()
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()
class JointTrajectoryController(Plugin):
"""
Graphical frontend for a C{JointTrajectoryController}.
There are two modes for interacting with a controller:
1. B{Monitor mode} Joint displays are updated with the state reported
by the controller. This is a read-only mode and does I{not} send
control commands. Every time a new controller is selected, it starts
in monitor mode for safety reasons.
2. B{Control mode} Joint displays update the control command that is
sent to the controller. Commands are sent periodically evan if the
displays are not being updated by the user.
To control the aggressiveness of the motions, the maximum speed of the
sent commands can be scaled down using the C{Speed scaling control}
This plugin is able to detect and keep track of all active controller
managers, as well as the JointTrajectoryControllers that are I{running}
in each controller manager.
For a controller to be compatible with this plugin, it must comply with
the following requisites:
- The controller type contains the C{JointTrajectoryController}
substring, e.g., C{position_controllers/JointTrajectoryController}
- The controller exposes the C{command} and C{state} topics in its
ROS interface.
Additionally, there must be a URDF loaded with a valid joint limit
specification, namely position (when applicable) and velocity limits.
A reference implementation of the C{JointTrajectoryController} is
available in the C{joint_trajectory_controller} ROS package.
"""
_cmd_pub_freq = 10.0 # Hz
_widget_update_freq = 30.0 # Hz
_ctrlrs_update_freq = 1 # Hz
_min_traj_dur = 5.0 / _cmd_pub_freq # Minimum trajectory duration
jointStateChanged = Signal([dict])
def __init__(self, context):
super(JointTrajectoryController, self).__init__(context)
self.setObjectName('JointTrajectoryController')
# Create QWidget and extend it with all the attributes and children
# from the UI file
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_joint_trajectory_controller'),
'resource',
'joint_trajectory_controller.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('JointTrajectoryControllerUi')
# Setup speed scaler
speed_scaling = DoubleEditor(1.0, 100.0)
speed_scaling.spin_box.setSuffix('%')
speed_scaling.spin_box.setValue(50.0)
speed_scaling.spin_box.setDecimals(0)
speed_scaling.setEnabled(False)
self._widget.speed_scaling_layout.addWidget(speed_scaling)
self._speed_scaling_widget = speed_scaling
speed_scaling.valueChanged.connect(self._on_speed_scaling_change)
self._on_speed_scaling_change(speed_scaling.value())
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# 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()))
# Add widget to the user interface
context.add_widget(self._widget)
# Initialize members
self._jtc_name = [] # Name of selected joint trajectory controller
self._cm_ns = [] # Namespace of the selected controller manager
self._joint_pos = {} # name->pos map for joints of selected controller
self._joint_names = [] # Ordered list of selected controller joints
self._robot_joint_limits = {} # Lazily evaluated on first use
# Timer for sending commands to active controller
self._update_cmd_timer = QTimer(self)
self._update_cmd_timer.setInterval(1000.0 / self._cmd_pub_freq)
self._update_cmd_timer.timeout.connect(self._update_cmd_cb)
# Timer for updating the joint widgets from the controller state
self._update_act_pos_timer = QTimer(self)
self._update_act_pos_timer.setInterval(1000.0 /
self._widget_update_freq)
self._update_act_pos_timer.timeout.connect(self._update_joint_widgets)
# Timer for controller manager updates
self._list_cm = ControllerManagerLister()
self._update_cm_list_timer = QTimer(self)
self._update_cm_list_timer.setInterval(1000.0 /
self._ctrlrs_update_freq)
self._update_cm_list_timer.timeout.connect(self._update_cm_list)
self._update_cm_list_timer.start()
# Timer for running controller updates
self._update_jtc_list_timer = QTimer(self)
self._update_jtc_list_timer.setInterval(1000.0 /
self._ctrlrs_update_freq)
self._update_jtc_list_timer.timeout.connect(self._update_jtc_list)
self._update_jtc_list_timer.start()
# Signal connections
w = self._widget
w.enable_button.toggled.connect(self._on_jtc_enabled)
w.jtc_combo.currentIndexChanged[str].connect(self._on_jtc_change)
w.cm_combo.currentIndexChanged[str].connect(self._on_cm_change)
self._cmd_pub = None # Controller command publisher
self._state_sub = None # Controller state subscriber
self._list_controllers = None
def shutdown_plugin(self):
self._update_cmd_timer.stop()
self._update_act_pos_timer.stop()
self._update_cm_list_timer.stop()
self._update_jtc_list_timer.stop()
self._unregister_state_sub()
self._unregister_cmd_pub()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('cm_ns', self._cm_ns)
instance_settings.set_value('jtc_name', self._jtc_name)
def restore_settings(self, plugin_settings, instance_settings):
# Restore last session's controller_manager, if present
self._update_cm_list()
cm_ns = instance_settings.value('cm_ns')
cm_combo = self._widget.cm_combo
cm_list = [cm_combo.itemText(i) for i in range(cm_combo.count())]
try:
idx = cm_list.index(cm_ns)
cm_combo.setCurrentIndex(idx)
# Resore last session's controller, if running
self._update_jtc_list()
jtc_name = instance_settings.value('jtc_name')
jtc_combo = self._widget.jtc_combo
jtc_list = [jtc_combo.itemText(i) for i in range(jtc_combo.count())]
try:
idx = jtc_list.index(jtc_name)
jtc_combo.setCurrentIndex(idx)
except (ValueError):
pass
except (ValueError):
pass
# def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget
# title bar
# Usually used to open a modal configuration dialog
def _update_cm_list(self):
update_combo(self._widget.cm_combo, self._list_cm())
def _update_jtc_list(self):
# Clear controller list if no controller information is available
if not self._list_controllers:
self._widget.jtc_combo.clear()
return
# List of running controllers with a valid joint limits specification
# for _all_ their joints
running_jtc = self._running_jtc_info()
if running_jtc and not self._robot_joint_limits:
self._robot_joint_limits = get_joint_limits() # Lazy evaluation
valid_jtc = []
for jtc_info in running_jtc:
has_limits = all(name in self._robot_joint_limits
for name in _jtc_joint_names(jtc_info))
if has_limits:
valid_jtc.append(jtc_info);
valid_jtc_names = [data.name for data in valid_jtc]
# Update widget
update_combo(self._widget.jtc_combo, sorted(valid_jtc_names))
def _on_speed_scaling_change(self, val):
self._speed_scale = val / self._speed_scaling_widget.slider.maximum()
def _on_joint_state_change(self, actual_pos):
assert(len(actual_pos) == len(self._joint_pos))
for name in actual_pos.keys():
self._joint_pos[name]['position'] = actual_pos[name]
def _on_cm_change(self, cm_ns):
self._cm_ns = cm_ns
if cm_ns:
self._list_controllers = ControllerLister(cm_ns)
# NOTE: Clear below is important, as different controller managers
# might have controllers with the same name but different
# configurations. Clearing forces controller re-discovery
self._widget.jtc_combo.clear()
self._update_jtc_list()
else:
self._list_controllers = None
def _on_jtc_change(self, jtc_name):
self._unload_jtc()
self._jtc_name = jtc_name
if self._jtc_name:
self._load_jtc()
def _on_jtc_enabled(self, val):
# Don't allow enabling if there are no controllers selected
if not self._jtc_name:
self._widget.enable_button.setChecked(False)
return
# Enable/disable joint displays
for joint_widget in self._joint_widgets():
joint_widget.setEnabled(val)
# Enable/disable speed scaling
self._speed_scaling_widget.setEnabled(val)
if val:
# Widgets send desired position commands to controller
self._update_act_pos_timer.stop()
self._update_cmd_timer.start()
else:
# Controller updates widgets with actual position
self._update_cmd_timer.stop()
self._update_act_pos_timer.start()
def _load_jtc(self):
# Initialize joint data corresponding to selected controller
running_jtc = self._running_jtc_info()
self._joint_names = next(_jtc_joint_names(x) for x in running_jtc
if x.name == self._jtc_name)
for name in self._joint_names:
self._joint_pos[name] = {}
# Update joint display
try:
layout = self._widget.joint_group.layout()
for name in self._joint_names:
limits = self._robot_joint_limits[name]
joint_widget = DoubleEditor(limits['min_position'],
limits['max_position'])
layout.addRow(name, joint_widget)
# NOTE: Using partial instead of a lambda because lambdas
# "will not evaluate/look up the argument values before it is
# effectively called, breaking situations like using a loop
# variable inside it"
from functools import partial
par = partial(self._update_single_cmd_cb, name=name)
joint_widget.valueChanged.connect(par)
except:
# TODO: Can we do better than swallow the exception?
from sys import exc_info
print 'Unexpected error:', exc_info()[0]
# Enter monitor mode (sending commands disabled)
self._on_jtc_enabled(False)
# Setup ROS interfaces
jtc_ns = _resolve_controller_ns(self._cm_ns, self._jtc_name)
state_topic = jtc_ns + '/state'
cmd_topic = jtc_ns + '/command'
self._state_sub = rospy.Subscriber(state_topic,
JointTrajectoryControllerState,
self._state_cb,
queue_size=1)
self._cmd_pub = rospy.Publisher(cmd_topic,
JointTrajectory,
queue_size=1)
# Start updating the joint positions
self.jointStateChanged.connect(self._on_joint_state_change)
def _unload_jtc(self):
# Stop updating the joint positions
try:
self.jointStateChanged.disconnect(self._on_joint_state_change)
except:
pass
# Reset ROS interfaces
self._unregister_state_sub()
self._unregister_cmd_pub()
# Clear joint widgets
# NOTE: Implementation is a workaround for:
# https://bugreports.qt-project.org/browse/QTBUG-15990 :(
layout = self._widget.joint_group.layout()
if layout is not None:
while layout.count():
layout.takeAt(0).widget().deleteLater()
# Delete existing layout by reparenting to temporary
QWidget().setLayout(layout)
self._widget.joint_group.setLayout(QFormLayout())
# Reset joint data
self._joint_names = []
self._joint_pos = {}
# Enforce monitor mode (sending commands disabled)
self._widget.enable_button.setChecked(False)
def _running_jtc_info(self):
from controller_manager_msgs.utils\
import filter_by_type, filter_by_state
controller_list = self._list_controllers()
jtc_list = filter_by_type(controller_list,
'JointTrajectoryController',
match_substring=True)
running_jtc_list = filter_by_state(jtc_list, 'running')
return running_jtc_list
def _unregister_cmd_pub(self):
if self._cmd_pub is not None:
self._cmd_pub.unregister()
self._cmd_pub = None
def _unregister_state_sub(self):
if self._state_sub is not None:
self._state_sub.unregister()
self._state_sub = None
def _state_cb(self, msg):
actual_pos = {}
for i in range(len(msg.joint_names)):
joint_name = msg.joint_names[i]
joint_pos = msg.actual.positions[i]
actual_pos[joint_name] = joint_pos
self.jointStateChanged.emit(actual_pos)
def _update_single_cmd_cb(self, val, name):
self._joint_pos[name]['command'] = val
def _update_cmd_cb(self):
dur = []
traj = JointTrajectory()
traj.joint_names = self._joint_names
point = JointTrajectoryPoint()
for name in traj.joint_names:
pos = self._joint_pos[name]['position']
cmd = pos
try:
cmd = self._joint_pos[name]['command']
except (KeyError):
pass
max_vel = self._robot_joint_limits[name]['max_velocity']
dur.append(max(abs(cmd - pos) / max_vel, self._min_traj_dur))
point.positions.append(cmd)
point.time_from_start = rospy.Duration(max(dur) / self._speed_scale)
traj.points.append(point)
self._cmd_pub.publish(traj)
def _update_joint_widgets(self):
joint_widgets = self._joint_widgets()
for id in range(len(joint_widgets)):
joint_name = self._joint_names[id]
try:
joint_pos = self._joint_pos[joint_name]['position']
joint_widgets[id].setValue(joint_pos)
except (KeyError):
pass # Can happen when first connected to controller
def _joint_widgets(self): # TODO: Cache instead of compute every time?
widgets = []
layout = self._widget.joint_group.layout()
for row_id in range(layout.rowCount()):
widgets.append(layout.itemAt(row_id,
QFormLayout.FieldRole).widget())
return widgets
class Plot2DWidget(QWidget):
_redraw_interval = 40
def __init__(self, topics):
super(Plot2DWidget, self).__init__()
self.setObjectName("Plot2DWidget")
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path("jsk_rqt_plugins"), "resource", "plot_histogram.ui")
loadUi(ui_file, self)
self.cv_bridge = CvBridge()
self.subscribe_topic_button.setIcon(QIcon.fromTheme("add"))
self.pause_button.setIcon(QIcon.fromTheme("media-playback-pause"))
self.clear_button.setIcon(QIcon.fromTheme("edit-clear"))
self.data_plot = MatPlot2D(self)
self.data_plot_layout.addWidget(self.data_plot)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
self._start_time = rospy.get_time()
self._rosdata = None
if len(topics) != 0:
self.subscribe_topic(topics)
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
@Slot("QDropEvent*")
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.subscribe_topic(topic_name)
@Slot()
def on_topic_edit_returnPressed(self):
if self.subscribe_topic_button.isEnabled():
self.subscribe_topic(str(self.topic_edit.text()))
@Slot()
def on_subscribe_topic_button_clicked(self):
self.subscribe_topic(str(self.topic_edit.text()))
def subscribe_topic(self, topic_name):
self.topic_with_field_name = topic_name
self.pub_image = rospy.Publisher(topic_name + "/histogram_image", Image)
if not self._rosdata:
self._rosdata = ROSData(topic_name, self._start_time)
else:
if self._rosdata != topic_name:
self._rosdata.close()
self.data_plot.clear()
self._rosdata = ROSData(topic_name, self._start_time)
else:
rospy.logwarn("%s is already subscribed", topic_name)
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()
@Slot()
def on_clear_button_clicked(self):
self.data_plot.clear()
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
def update_plot(self):
if not self._rosdata:
return
data_x, data_y = self._rosdata.next()
if len(data_y) == 0:
return
axes = self.data_plot._canvas.axes
axes.cla()
# matplotlib
# concatenate x and y in order to sort
concatenated_data = zip(data_y[-1].xs, data_y[-1].ys)
if self.sort_x:
concatenated_data.sort(key=lambda x: x[0])
xs = [d[0] for d in concatenated_data]
ys = [d[1] for d in concatenated_data]
if self.is_line:
axes.plot(xs, ys, label=self.topic_with_field_name)
else:
axes.scatter(xs, ys)
# set limit
axes.set_xlim(min(xs), max(xs))
axes.set_ylim(min(ys), max(ys))
# line fitting
if self.fit_line:
X = np.array(data_y[-1].xs)
Y = np.array(data_y[-1].ys)
A = np.array([X, np.ones(len(X))])
A = A.T
a, b = np.linalg.lstsq(A, Y)[0]
axes.plot(X, (a * X + b), "g--", label="{0} x + {1}".format(a, b))
if self.fit_line_ransac:
model_ransac = linear_model.RANSACRegressor(
linear_model.LinearRegression(), min_samples=2, residual_threshold=self.fit_line_ransac_outlier
)
X = np.array(data_y[-1].xs).reshape((len(data_y[-1].xs), 1))
Y = np.array(data_y[-1].ys)
model_ransac.fit(X, Y)
line_X = X
line_y_ransac = model_ransac.predict(line_X)
axes.plot(
line_X,
line_y_ransac,
"r--",
label="{0} x + {1}".format(model_ransac.estimator_.coef_[0][0], model_ransac.estimator_.intercept_[0]),
)
if not self.no_legend:
axes.legend(prop={"size": "8"})
axes.grid()
if self.xtitle:
axes.set_xlabel(self.xtitle)
if self.ytitle:
axes.set_ylabel(self.ytitle)
self.data_plot._canvas.draw()
buffer = StringIO()
self.data_plot._canvas.figure.savefig(buffer, format="png")
buffer.seek(0)
img_array = np.asarray(bytearray(buffer.read()), dtype=np.uint8)
img = cv2.imdecode(img_array, cv2.CV_LOAD_IMAGE_COLOR)
self.pub_image.publish(self.cv_bridge.cv2_to_imgmsg(img, "bgr8"))
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)
class RobotMonitorWidget(AbstractStatusWidget):
"""
NOTE: RobotMonitorWidget.shutdown function needs to be called
when the instance of this class terminates.
RobotMonitorWidget itself doesn't store previous diagnostic states.
It instead delegates that function to TimelinePane class.
"""
_sig_tree_nodes_updated = Signal(int)
_sig_new_diagnostic = Signal(DiagnosticArray)
_TREE_ALL = 1
_TREE_WARN = 2
_TREE_ERR = 3
def __init__(self, context, topic):
"""
:param context: plugin context hook to enable adding widgets as a
ROS_GUI pane, 'PluginContext'
:param topic: Diagnostic topic to subscribe to 'str'
"""
super(RobotMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_monitor'), 'resource',
'robotmonitor_mainwidget.ui')
loadUi(ui_file, self, {'TimelinePane': TimelinePane})
#loadUi(ui_file, self)
obj_name = 'Robot Monitor'
self.setObjectName(obj_name)
self.setWindowTitle(obj_name)
self._toplevel_statitems = [] # StatusItem
self._warn_statusitems = [] # StatusItem. Contains ALL DEGREES
# (device top level, device' _sub) in parallel
self._err_statusitems = [] # StatusItem
# TODO: Declaring timeline pane.
# Needs to be stashed away into .ui file but so far failed.
self.timeline_pane.set_timeline_data(Util.SECONDS_TIMELINE,
self.get_color_for_value,
self.on_pause)
self.tree_all_devices.itemDoubleClicked.connect(self._tree_clicked)
self.warn_flattree.itemDoubleClicked.connect(self._tree_clicked)
self.err_flattree.itemDoubleClicked.connect(self._tree_clicked)
self.tree_all_devices.resizeColumnToContents(0)
self._sig_tree_nodes_updated.connect(self._tree_nodes_updated)
self.vlayout_top.addWidget(self.timeline_pane)
self.timeline_pane.show()
self._paused = False
self._is_stale = None
self._last_message_time = 0.0
self._timer = QTimer()
# self._timer.timerEvent.connect(self._update_message_state)
self._timer.timeout.connect(self._update_message_state)
self._timer.start(1000)
self._sub = rospy.Subscriber(
topic, # name of the topic
DiagnosticArray, # type of the topic
self._cb)
self._sig_new_diagnostic.connect(self.new_diagnostic)
self._original_base_color = self.tree_all_devices.palette().base().color()
self._original_alt_base_color = self.tree_all_devices.palette().alternateBase().color()
def _cb(self, msg):
"""
Intended to be called from non-Qt thread,
ie. ROS Subscriber in particular.
:type msg: DiagnosticArray
"""
# Directly calling callback function 'new_diagnostic' here results in
# segfaults.
self._sig_new_diagnostic.emit(msg)
def new_diagnostic(self, msg, is_forced=False):
"""
Overridden from AbstractStatusWidget.
When monitoring not paused, this public method updates all the
treewidgets contained in this class, and also notifies the StatusItem
instances that are stored in the all-device-tree, which eventually
updates the InspectorWindows in them.
:type msg: DiagnosticArray
:param is_forced: Intended for non-incoming-msg trigger
(in particular, from child object like TimelinePane).
@author: Isaac Saito
"""
if not self._paused and not is_forced:
self.timeline_pane.new_diagnostic(msg)
self._update_devices_tree(msg)
self._update_warns_errors(msg)
self._on_new_message_received(msg)
self._notify_statitems(msg)
rospy.logdebug(' RobotMonitorWidget _cb stamp=%s',
msg.header.stamp)
elif is_forced:
self._update_devices_tree(msg)
self._update_warns_errors(msg)
def _notify_statitems(self, diag_arr):
"""
Notify new message arrival to all existing InespectorWindow instances
that are encapsulated in StatusItem instances contained in
self._toplevel_statitems.
"""
for statitem_new in diag_arr.status:
corresp = Util.get_correspondent(statitem_new.name,
self._toplevel_statitems)
statitem_prev = corresp[Util._DICTKEY_STATITEM]
if statitem_prev and statitem_prev.inspector:
rospy.logdebug(' RobotMonitorWidget _notify_statitems ' +
'name=%s len toplv items=%d',
statitem_new.name, len(self._toplevel_statitems))
return
def resizeEvent(self, evt):
"""Overridden from QWidget"""
rospy.logdebug('RobotMonitorWidget resizeEvent')
self.timeline_pane.redraw()
def _tree_clicked(self, item, column):
"""
Slot to QTreeWidget.itemDoubleClicked
:type item: QTreeWidgetItem
:type column: int
"""
rospy.logdebug('RobotMonitorWidget _tree_clicked col=%d', column)
item.on_click()
def _update_devices_tree(self, diag_array):
"""
Update the tree from the bottom
:type diag_array: DiagnosticArray
"""
# TODO: 11/5/2012 Currently, in case some devices disappear
# while running this program, there's no way to remove
# those from the device-tree.
statusnames_curr_toplevel = [Util.get_grn_resource_name(status.name)
for status in self._toplevel_statitems]
# Only the status variable that pops up at the end is
# processed by Util.get_grn_resource_name.
for status_new in self._get_toplevel_diagnosticstat(diag_array):
name = Util.get_grn_resource_name(status_new.name)
rospy.logdebug('_update_devices_tree 0 name @ toplevel %s', name)
dict_status = 0
if name in statusnames_curr_toplevel: # No change of names
# in toplevel since last time.
statusitem = self._toplevel_statitems[
statusnames_curr_toplevel.index(name)]
dict_status = statusitem.update_children(status_new,
diag_array)
times_errors = dict_status[Util._DICTKEY_TIMES_ERROR]
times_warnings = dict_status[Util._DICTKEY_TIMES_WARN]
Util.update_status_images(status_new, statusitem)
# TODO: Update status text on each node using dict_status.
base_text = Util.gen_headline_status_green(statusitem.status)
rospy.logdebug('_update_devices_tree warn_id= %s\n\t\t\t' +
'diagnostic_status.name = %s\n\t\t\t\t' +
'Normal status diag_array = %s',
statusitem.warning_id,
status_new.name, base_text)
if (times_errors > 0 or times_warnings > 0):
base_text = "(Err: %s, Wrn: %s) %s %s" % (
times_errors,
times_warnings,
Util.get_grn_resource_name(status_new.name),
status_new.message)
rospy.logdebug('_update_dev_tree 1 text to show=%s',
base_text)
statusitem.setText(0, base_text)
statusitem.setText(1, status_new.message)
else:
rospy.logdebug('_update_dev_tree 2 text to show=%s',
base_text)
statusitem.setText(0, base_text)
statusitem.setText(1, 'OK')
else:
new_status_item = StatusItem(status_new)
new_status_item.update_children(status_new,
diag_array)
# Figure out if a statusitem and its subtree contains errors.
# new_status_item.setIcon(0, self._error_icon)
# This shows NG icon at the beginning of each statusitem.
Util.update_status_images(status_new,
new_status_item)
self._toplevel_statitems.append(new_status_item)
rospy.logdebug(' _update_devices_tree 2 ' +
'status_new.name %s',
new_status_item.name)
self.tree_all_devices.addTopLevelItem(new_status_item)
self._sig_tree_nodes_updated.emit(self._TREE_ALL)
def _tree_nodes_updated(self, tree_type):
tree_obj = None
if self._TREE_ALL == tree_type:
tree_obj = self.tree_all_devices
elif self._TREE_WARN == tree_type:
tree_obj = self.warn_flattree
if self._TREE_ERR == tree_type:
tree_obj = self.err_flattree
tree_obj.resizeColumnToContents(0)
def _get_toplevel_diagnosticstat(self, diag_array):
"""
Return an array that contains DiagnosticStatus only at the top level of
the given msg.
:type msg: DiagnosticArray
:rtype: DiagnosticStatus[]
"""
ret = []
for diagnostic_status in diag_array.status:
if len(diagnostic_status.name.split('/')) == 2:
rospy.logdebug(" _get_toplevel_diagnosticstat " +
"TOP lev %s ", diagnostic_status.name)
ret.append(diagnostic_status)
else:
rospy.logdebug(" _get_toplevel_diagnosticstat " +
"Not top lev %s ", diagnostic_status.name)
return ret
def _update_warns_errors(self, diag_array):
"""
Update the warning and error trees.
Unlike _update_devices_tree function where all DiagnosticStatus
need to be inspected constantly, this function is used in a trial
to reduce unnecessary inspection of the status level for all
DiagnosticStatus contained in the incoming DiagnosticArray msg.
:type msg: DiagnosticArray
"""
self._update_flat_tree(diag_array)
def pause(self, msg):
"""
Do nothing if already being _paused.
:type msg: DiagnosticArray
"""
if not self._paused:
self._paused = True
self.new_diagnostic(msg)
def unpause(self, msg=None):
"""
:type msg: DiagnosticArray
"""
self._paused = False
def on_pause(self, paused, diagnostic_arr):
"""
Check if InspectorWindows are set. If they are, pause them.
Pay attention not to confuse with RobotMonitorWidget.pause.
:type paused: bool
:type diagnostic_arr: DiagnosticArray
"""
if paused:
self.pause(diagnostic_arr)
elif (len(self._toplevel_statitems) > 0):
diag_array_queue = self.timeline_pane._get_diagnosticarray()
statitems = []
for diag_arr in diag_array_queue:
state_instant = InstantaneousState()
state_instant.update(diag_arr)
statitems.append(state_instant)
for statitem_toplv in self._toplevel_statitems:
if (paused):
statitem_toplv.disable()
else:
statitem_toplv.enable()
for state_instant in statitems:
items = state_instant.get_items()
if statitem_toplv.get_name() in items:
statitem_toplv.update(
items[statitem_toplv.get_name()].status)
def _update_flat_tree(self, diag_arr):
"""
Update the given flat tree (ie. tree that doesn't show children nodes -
all of its elements will be shown on top level) with
all the DiagnosticStatus instances contained in the given
DiagnosticArray, regardless of the level of the device in a device
category.
For both warn / error trees, StatusItem instances are newly generated.
:type diag_arr: DiagnosticArray
"""
for diag_stat_new in diag_arr.status:
# Num of loops here should be equal to the num of the top
# DiagnosticStatus item. Ex. in PR2, 9 or so.
stat_lv_new = diag_stat_new.level
dev_name = diag_stat_new.name
correspondent_warn_curr = Util.get_correspondent(
Util.get_grn_resource_name(dev_name),
self._warn_statusitems)
dev_index_warn_curr = correspondent_warn_curr[Util._DICTKEY_INDEX]
rospy.logdebug(' dev_index_warn_curr=%s dev_name=%s',
dev_index_warn_curr, dev_name)
correspondent_err_curr = Util.get_correspondent(
Util.get_grn_resource_name(dev_name),
self._err_statusitems)
dev_index_err_curr = correspondent_err_curr[Util._DICTKEY_INDEX]
headline = "%s" % diag_stat_new.name
if DiagnosticStatus.OK == stat_lv_new:
if 0 <= dev_index_warn_curr:
rospy.logdebug('dev_index_warn_curr=%s name=%s, ' +
'stat_lv_new=%d', dev_index_warn_curr,
dev_name, stat_lv_new)
statitem_curr = self._get_statitem(dev_index_warn_curr,
self._warn_statusitems,
self.warn_flattree, 1)
statitem_curr.warning_id = None
elif 0 <= dev_index_err_curr:
statitem_curr = self._get_statitem(dev_index_err_curr,
self._err_statusitems,
self.err_flattree, 1)
statitem_curr.error_id = None
elif DiagnosticStatus.WARN == stat_lv_new:
statitem = None
if 0 <= dev_index_err_curr:
# If the corresponding statusitem is in error tree,
# move it to warn tree.
statitem = self._get_statitem(dev_index_err_curr,
self._err_statusitems,
self.err_flattree)
self._add_statitem(statitem, self._warn_statusitems,
self.warn_flattree, headline,
diag_stat_new.message, stat_lv_new)
elif (dev_index_warn_curr < 0 and dev_index_err_curr < 0):
# If the corresponding statusitem isn't found,
# create new obj.
statitem = StatusItem(diag_stat_new)
self._add_statitem(statitem, self._warn_statusitems,
self.warn_flattree, headline,
diag_stat_new.message, stat_lv_new)
self._warn_statusitems.append(statitem)
elif (0 < dev_index_warn_curr):
# If the corresponding statusitem is already in warn tree,
# obtain the instance.
statitem = self._get_statitem(dev_index_warn_curr,
self._warn_statusitems)
if statitem: # If not None
# Updating statusitem will keep popup window also update.
statitem.update_children(diag_stat_new,
diag_arr)
elif ((DiagnosticStatus.ERROR == stat_lv_new) or
(DiagnosticStatus.STALE == stat_lv_new)):
statitem = None
if 0 <= dev_index_warn_curr:
# If the corresponding statusitem is in warn tree,
# move it to err tree.
statitem = self._get_statitem(dev_index_warn_curr,
self._warn_statusitems,
self.warn_flattree)
self._add_statitem(statitem, self._err_statusitems,
self.err_flattree, headline,
diag_stat_new.message, stat_lv_new)
elif (0 <= dev_index_err_curr):
# If the corresponding statusitem is already in err tree,
# obtain the instance.
statitem = self._get_statitem(dev_index_err_curr,
self._err_statusitems)
elif (dev_index_warn_curr < 0 and dev_index_err_curr < 0):
# If the corresponding statusitem isn't found,
# create new obj.
statitem = StatusItem(diag_stat_new)
self._add_statitem(statitem, self._err_statusitems,
self.err_flattree, headline,
diag_stat_new.message, stat_lv_new)
if statitem: # If not None
# Updating statusitem will keep popup window also update.
statitem.update_children(diag_stat_new,
diag_arr)
self._sig_tree_nodes_updated.emit(self._TREE_WARN)
self._sig_tree_nodes_updated.emit(self._TREE_ERR)
def _add_statitem(self, statusitem, statitem_list,
tree, headline, statusmsg, statlevel):
if 'Warning' == statusmsg or 'Error' == statusmsg:
return
statusitem.setText(0, headline)
statusitem.setText(1, statusmsg)
statusitem.setIcon(0, Util.IMG_DICT[statlevel])
statitem_list.append(statusitem)
tree.addTopLevelItem(statusitem)
rospy.logdebug(' _add_statitem statitem_list length=%d',
len(statitem_list))
def _get_statitem(self, item_index, item_list, tree=None, mode=2):
"""
:param mode: 1 = remove from given list, 2 = w/o removing.
"""
statitem_existing = item_list[item_index]
if 1 == mode:
tree.takeTopLevelItem(tree.indexOfTopLevelItem(statitem_existing))
item_list.pop(item_index)
return statitem_existing
def _on_new_message_received(self, msg):
"""
Called whenever a new message is received by the timeline.
Different from new_message in that it is called even if the timeline is
_paused, and only when a new message is received, not when the timeline
is scrubbed
"""
self._last_message_time = rospy.get_time()
def _update_message_state(self):
current_time = rospy.get_time()
time_diff = current_time - self._last_message_time
rospy.logdebug('_update_message_state time_diff= %s ' +
'self._last_message_time=%s', time_diff,
self._last_message_time)
previous_stale_state = self._is_stale
if (time_diff > 10.0):
self.timeline_pane._msg_label.setText("Last message received " +
"%s seconds ago"
% (int(time_diff)))
self._is_stale = True
else:
seconds_string = "seconds"
if (int(time_diff) == 1):
seconds_string = "second"
self.timeline_pane._msg_label.setText(
"Last message received %s %s ago" % (int(time_diff),
seconds_string))
self._is_stale = False
if previous_stale_state != self._is_stale:
self._update_background_color()
def _update_background_color(self):
p = self.tree_all_devices.palette()
if self._is_stale:
p.setColor(QPalette.Base, Qt.darkGray)
p.setColor(QPalette.AlternateBase, Qt.lightGray)
else:
p.setColor(QPalette.Base, self._original_base_color)
p.setColor(QPalette.AlternateBase, self._original_alt_base_color)
self.tree_all_devices.setPalette(p)
self.warn_flattree.setPalette(p)
self.err_flattree.setPalette(p)
def shutdown(self):
"""
This needs to be called whenever this class terminates.
This closes all the instances on all trees.
Also unregisters ROS' subscriber, stops timer.
"""
rospy.logdebug('RobotMonitorWidget in shutdown')
# Close all StatusItem (and each associated InspectWidget)
# self.tree_all_devices.clear() # Doesn't work for the purpose
# (inspector windows don't get closed)
for item in self._err_statusitems:
item.close()
for item in self._warn_statusitems:
item.close()
for item in self._toplevel_statitems:
item.close()
self._sub.unregister()
self._timer.stop()
del self._timer
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self.splitter.saveState())
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.contains('splitter'):
self.splitter.restoreState(instance_settings.value('splitter'))
else:
self.splitter.setSizes([100, 100, 200])
def _clear(self):
rospy.logdebug(' RobotMonitorWidget _clear called ')
self.err_flattree.clear()
self.warn_flattree.clear()
def get_color_for_value(self, queue_diagnostic, color_index):
"""
Overridden from AbstractStatusWidget.
:type color_index: int
"""
len_q = len(queue_diagnostic)
rospy.logdebug(' get_color_for_value color_index=%d len_q=%d',
color_index, len_q)
if (color_index == 1 and len_q == 0):
# TODO: Needs to be reverted back
return QColor('grey')
return Util._get_color_for_message(queue_diagnostic[color_index - 1])
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 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._rospack = rospkg.RosPack()
self._model = MessageDataModel()
self._proxy_model = MessageProxyModel()
self._proxy_model.setSourceModel(self._model)
self._widget = ConsoleWidget(self._proxy_model, self._rospack)
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_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 = 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.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
class ParamWidget(QWidget):
"""
main class inherits from the ui window class.
You can specify the topics that the topic pane.
ParamWidget.start must be called in order to update topic pane.
"""
SELECT_BY_NAME = 0
SELECT_BY_MSGTYPE = 1
# _column_names = ['topic', 'type', 'bandwidth', 'rate', 'value', 'checkbox']
_column_names = ['topic', 'type', 'min', 'value', 'max', 'checkbox']
selectionChanged = pyqtSignal(dict, name='selectionChanged')
def keyPressEvent(self, event):
event.ignore()
def keyReleaseEvent(self, event):
event.ignore()
def __init__(self,
plugin=None,
selected_topics=None,
select_topic_type=SELECT_BY_NAME):
"""
@type selected_topics: list of tuples.
@param selected_topics: [($NAME_TOPIC$, $TYPE_TOPIC$), ...]
@type select_topic_type: int
@param select_topic_type: Can specify either the name of topics or by
the type of topic, to filter the topics to
show. If 'select_topic_type' argument is
None, this arg shouldn't be meaningful.
"""
super(ParamWidget, self).__init__()
self._select_topic_type = select_topic_type
self.setFocusPolicy(Qt.StrongFocus)
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_dyn_tune'), 'resource',
'ParamWidget.ui')
loadUi(ui_file, self)
self._plugin = plugin
self.topics_tree_widget.sortByColumn(0, Qt.AscendingOrder)
header = self.topics_tree_widget.header()
try:
setSectionResizeMode = header.setSectionResizeMode # Qt5
except AttributeError:
setSectionResizeMode = header.setResizeMode # Qt4
setSectionResizeMode(QHeaderView.ResizeToContents)
header.customContextMenuRequested.connect(
self.handle_header_view_customContextMenuRequested)
header.setContextMenuPolicy(Qt.CustomContextMenu)
# for i in range(len(self._column_names)):
# setSectionResizeMode(i, QHeaderView.Stretch)
header.setStretchLastSection(False)
setSectionResizeMode(0, QHeaderView.Stretch)
setSectionResizeMode(self._column_names.index("value"),
QHeaderView.Stretch)
setSectionResizeMode(self._column_names.index("checkbox"),
QHeaderView.Fixed)
# Whether to get all topics or only the topics that are set in advance.
# Can be also set by the setter method "set_selected_topics".
self._selected_topics = selected_topics
self._selected_items = []
self._current_topic_list = []
self._topics = {}
self._tree_items = {}
self._column_index = {}
for column_name in self._column_names:
self._column_index[column_name] = len(self._column_index)
self.topics_tree_widget.itemExpanded.connect(self.expanded)
self.topics_tree_widget.itemCollapsed.connect(self.collapsed)
self.topics_tree_widget.itemChanged.connect(self.itemChanged)
self.topics_tree_widget.setAlternatingRowColors(True)
delegate = EditorDelegate()
self.topics_tree_widget.setItemDelegate(delegate)
self.topics_tree_widget.setEditTriggers(
QAbstractItemView.AnyKeyPressed | QAbstractItemView.DoubleClicked)
hitem = self.topics_tree_widget.headerItem()
hitem.setTextAlignment(self._column_names.index("min"),
Qt.AlignRight | Qt.AlignVCenter)
hitem.setTextAlignment(self._column_names.index("max"),
Qt.AlignLeft | Qt.AlignVCenter)
hitem.setTextAlignment(self._column_names.index("value"),
Qt.AlignHCenter | Qt.AlignVCenter)
hitem.setTextAlignment(self._column_names.index("type"),
Qt.AlignHCenter | Qt.AlignVCenter)
# init and start update timer
self._timer_refresh_topics = QTimer(self)
self._timer_refresh_topics.timeout.connect(self.refresh_topics)
@Slot(dict)
def selection_changed(data):
print "#\n#\n#\nthe selcted items are:", data, "\n\n"
self.selectionChanged.connect(selection_changed)
def set_topic_specifier(self, specifier):
self._select_topic_type = specifier
def start(self):
"""
This method needs to be called to start updating topic pane.
"""
self._timer_refresh_topics.start(1000)
@Slot('QTreeWidgetItem', int)
def itemChanged(self, item, column):
# print "<<<<<<<<<<<<<<<<<<<<<<<<<< item changed >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>"
selected = self.get_selected()
if item._topic_name in selected and self._column_names[column] in [
"min", "max", "value"
]:
self.selectionChanged.emit(selected)
@Slot('QTreeWidgetItem')
def expanded(self, item):
name = item.data(0, Qt.UserRole)
if not isinstance(item, TreeWidgetItem) or not item._is_topic:
return
print "expanded", name
self._topics[item._topic_name]['info'].start_monitoring()
@Slot('QTreeWidgetItem')
def collapsed(self, item):
name = item.data(0, Qt.UserRole)
if not isinstance(item, TreeWidgetItem) or not item._is_topic:
return
print "collapsed", name
self._topics[item._topic_name]['info'].stop_monitoring()
_items_param = {}
def get_desc(self, item):
desc = {}
if item._topic_name in self._current_params:
desc = self._current_params[item._topic_name]
vmin = item.data(self._column_names.index("min"), Qt.EditRole)
vmax = item.data(self._column_names.index("max"), Qt.EditRole)
val = item.data(self._column_names.index("value"), Qt.EditRole)
def tryFloat(s):
try:
return float(s)
except:
return None
vmin = tryFloat(vmin)
vmax = tryFloat(vmax)
val = tryFloat(val)
desc["min"] = vmin
desc["max"] = vmax
desc["default"] = val
return desc
def get_selected(self):
# param_name:desc
return {
param: self.get_desc(self._tree_items[param])
for param in self._selected_items if param in self._current_params
}
pass
def insert_param(self, param_name, param_desc, parent=None):
if parent == None:
parent = self.topics_tree_widget
pnames = param_name.split("/")
ns = ""
item = parent
for name in pnames:
if name == "":
continue
_name = "/" + name
ns = ns + _name
if ns not in self._tree_items:
_item = TreeWidgetItem(self._toggle_monitoring, ns, item)
_item.setText(self._column_index['topic'], _name)
_item.setData(0, Qt.UserRole, "name_space")
_item.setFlags(Qt.ItemIsEnabled | Qt.ItemIsUserCheckable
| Qt.ItemIsTristate)
self._tree_items[ns] = _item
item = self._tree_items[ns]
item.setFlags(Qt.ItemIsEditable | Qt.ItemIsEnabled
| Qt.ItemIsSelectable | Qt.ItemIsUserCheckable)
item.setData(self._column_index['min'], Qt.EditRole,
str(param_desc["min"]))
item.setData(self._column_index['max'], Qt.EditRole,
str(param_desc["max"]))
item.setData(self._column_index['value'], Qt.EditRole,
str(param_desc["default"]))
item.setData(self._column_index['type'], Qt.EditRole,
str(param_desc["type"]))
self._items_param[item] = param_name
print param_name, " added"
pass
_current_params = {}
# TODO: implement the delete mechanism
def delete_param(self, param_name, parent=None):
pass
@Slot()
def refresh_topics(self):
"""
refresh tree view items
"""
nodes = dynamic_reconfigure.find_reconfigure_services()
# dparams = []
dparams = {}
for node in nodes:
client = dynamic_reconfigure.client.Client(node, timeout=3)
gdesc = client.get_group_descriptions()
for pdesc in gdesc["parameters"]:
param = node + "/" + pdesc["name"]
dparams[param] = pdesc
for param, desc in self._current_params.items():
if param not in dparams:
del self._current_params[param]
# TODO: delete the tree widget item
for param, desc in dparams.items():
if param not in self._current_params:
self._current_params[param] = desc
self.insert_param(param, desc)
def _update_topics_data(self):
selected_dict = {
self._selected_items[index]: index
for index in range(len(self._selected_items))
}
print selected_dict
for topic in self._topics.values():
topic_info = topic['info']
if topic_info.monitoring:
# update rate
rate, _, _, _ = topic_info.get_hz()
rate_text = '%1.2f' % rate if rate != None else 'unknown'
# update bandwidth
bytes_per_s, _, _, _ = topic_info.get_bw()
if bytes_per_s is None:
bandwidth_text = 'unknown'
elif bytes_per_s < 1000:
bandwidth_text = '%.2fB/s' % bytes_per_s
elif bytes_per_s < 1000000:
bandwidth_text = '%.2fKB/s' % (bytes_per_s / 1000.)
else:
bandwidth_text = '%.2fMB/s' % (bytes_per_s / 1000000.)
# update values
value_text = ''
self.update_value(topic_info._topic_name,
topic_info.last_message)
else:
rate_text = ''
bandwidth_text = ''
value_text = 'not monitored' if topic_info.error is None else topic_info.error
self._tree_items[topic_info._topic_name].setText(
self._column_index['value'], value_text)
def update_value(self, topic_name, message):
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name in message.__slots__:
self.update_value(topic_name + '/' + slot_name,
getattr(message, slot_name))
elif type(message) in (list, tuple) and (len(message) > 0) and hasattr(
message[0], '__slots__'):
for index, slot in enumerate(message):
if topic_name + '[%d]' % index in self._tree_items:
self.update_value(topic_name + '[%d]' % index, slot)
else:
base_type_str, _ = self._extract_array_info(
self._tree_items[topic_name].text(
self._column_index['type']))
self._recursive_create_widget_items(
self._tree_items[topic_name],
topic_name + '[%d]' % index, base_type_str, slot)
# remove obsolete children
if len(message) < self._tree_items[topic_name].childCount():
for i in range(len(message),
self._tree_items[topic_name].childCount()):
item_topic_name = topic_name + '[%d]' % i
self._recursive_delete_widget_items(
self._tree_items[item_topic_name])
else:
if topic_name in self._tree_items:
self._tree_items[topic_name].setText(
self._column_index['value'], repr(message))
def _extract_array_info(self, type_str):
array_size = None
if '[' in type_str and type_str[-1] == ']':
type_str, array_size_str = type_str.split('[', 1)
array_size_str = array_size_str[:-1]
if len(array_size_str) > 0:
array_size = int(array_size_str)
else:
array_size = 0
return type_str, array_size
def _recursive_create_widget_items(self, parent, topic_name, type_name,
message):
if parent is self.topics_tree_widget:
# show full topic name with preceding namespace on toplevel item
topic_text = topic_name
_item = parent
topic_names = topic_name.split('/')
name_space = ""
for name in topic_names:
if name == "":
continue
_name = "/" + name
name_space = name_space + _name
if name_space not in self._tree_items:
is_topic = False
if name_space == topic_name:
is_topic = True
_item = TreeWidgetItem(self._toggle_monitoring,
name_space,
_item,
is_topic=is_topic)
_item.setText(self._column_index['topic'], _name)
_item.setText(self._column_index['type'], type_name)
_item.setData(0, Qt.UserRole, name_space)
self._tree_items[name_space] = _item
_item = self._tree_items[name_space]
item = _item
else:
topic_text = topic_name.split('/')[-1]
if '[' in topic_text:
topic_text = topic_text[topic_text.index('['):]
item = TreeWidgetItem(self._toggle_monitoring, topic_name, parent)
item.setText(self._column_index['topic'], topic_text)
item.setText(self._column_index['type'], type_name)
item.setData(0, Qt.UserRole, topic_name)
self._tree_items[topic_name] = item
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name, type_name in zip(message.__slots__,
message._slot_types):
self._recursive_create_widget_items(
item, topic_name + '/' + slot_name, type_name,
getattr(message, slot_name))
else:
base_type_str, array_size = self._extract_array_info(type_name)
try:
base_instance = roslib.message.get_message_class(
base_type_str)()
except (ValueError, TypeError):
base_instance = None
if array_size is not None and hasattr(base_instance, '__slots__'):
for index in range(array_size):
self._recursive_create_widget_items(
item, topic_name + '[%d]' % index, base_type_str,
base_instance)
return item
def _toggle_monitoring(self, topic_name):
item = self._tree_items[topic_name]
if item.checkState(CHECK_COLUMN):
print "start %s" % topic_name
if topic_name not in self._selected_items and topic_name in self._current_params:
self._selected_items.append(topic_name)
else:
print "stop %s" % topic_name
if topic_name in self._selected_items:
self._selected_items.remove(topic_name)
item.setText(CHECK_COLUMN, '')
self.selectionChanged.emit(self.get_selected())
def _recursive_delete_widget_items(self, item):
def _recursive_remove_items_from_tree(item):
for index in reversed(range(item.childCount())):
_recursive_remove_items_from_tree(item.child(index))
topic_name = item.data(0, Qt.UserRole)
del self._tree_items[topic_name]
_recursive_remove_items_from_tree(item)
item.parent().removeChild(item)
@Slot('QPoint')
def handle_header_view_customContextMenuRequested(self, pos):
header = self.topics_tree_widget.header()
# show context menu
menu = QMenu(self)
action_toggle_auto_resize = menu.addAction('Toggle Auto-Resize')
action = menu.exec_(header.mapToGlobal(pos))
# evaluate user action
if action is action_toggle_auto_resize:
if header.resizeMode(0) == QHeaderView.ResizeToContents:
header.setResizeMode(QHeaderView.Interactive)
else:
header.setResizeMode(QHeaderView.ResizeToContents)
@Slot('QPoint')
def on_topics_tree_widget_customContextMenuRequested(self, pos):
item = self.topics_tree_widget.itemAt(pos)
if item is None:
return
# show context menu
menu = QMenu(self)
action_item_expand = menu.addAction(QIcon.fromTheme('zoom-in'),
'Expand All Children')
action_item_collapse = menu.addAction(QIcon.fromTheme('zoom-out'),
'Collapse All Children')
action = menu.exec_(self.topics_tree_widget.mapToGlobal(pos))
# evaluate user action
if action in (action_item_expand, action_item_collapse):
expanded = (action is action_item_expand)
def recursive_set_expanded(item):
item.setExpanded(expanded)
for index in range(item.childCount()):
recursive_set_expanded(item.child(index))
recursive_set_expanded(item)
def shutdown_plugin(self):
for topic in self._topics.values():
topic['info'].stop_monitoring()
self._timer_refresh_topics.stop()
def set_selected_topics(self, selected_topics):
"""
@param selected_topics: list of tuple. [(topic_name, topic_type)]
@type selected_topics: []
"""
rospy.logdebug('set_selected_topics topics={}'.format(
len(selected_topics)))
self._selected_topics = selected_topics
# TODO(Enhancement) Save/Restore tree expansion state
def save_settings(self, plugin_settings, instance_settings):
header_state = self.topics_tree_widget.header().saveState()
instance_settings.set_value('tree_widget_header_state', header_state)
def restore_settings(self, pluggin_settings, instance_settings):
if instance_settings.contains('tree_widget_header_state'):
header_state = instance_settings.value('tree_widget_header_state')
if not self.topics_tree_widget.header().restoreState(header_state):
rospy.logwarn("rqt_dyn_tune: Failed to restore header state.")
class HistogramPlotWidget(QWidget):
_redraw_interval = 40
def __init__(self, topics):
super(HistogramPlotWidget, self).__init__()
self.setObjectName('HistogramPlotWidget')
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('jsk_rqt_plugins'),
'resource', 'plot_histogram.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.data_plot = MatHistogramPlot(self)
self.data_plot_layout.addWidget(self.data_plot)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
self._start_time = rospy.get_time()
self._rosdata = None
if len(topics) != 0:
self.subscribe_topic(topics)
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
@Slot('QDropEvent*')
def dropEvent(self, event):
print "hello"
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.subscribe_topic(topic_name)
@Slot()
def on_topic_edit_returnPressed(self):
if self.subscribe_topic_button.isEnabled():
self.subscribe_topic(str(self.topic_edit.text()))
@Slot()
def on_subscribe_topic_button_clicked(self):
self.subscribe_topic(str(self.topic_edit.text()))
def subscribe_topic(self, topic_name):
if not self._rosdata:
self._rosdata = ROSData(topic_name, self._start_time)
else:
if self._rosdata != topic_name:
self._rosdata.close()
self.data_plot.clear()
self._rosdata = ROSData(topic_name, self._start_time)
else:
rospy.logwarn("%s is already subscribed", topic_name)
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()
@Slot()
def on_clear_button_clicked(self):
self.data_plot.clear()
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
def update_plot(self):
if not self._rosdata:
return
data_x, data_y = self._rosdata.next()
if len(data_y) == 0:
return
xs = data_y[-1]
axes = self.data_plot._canvas.axes
axes.cla()
axes.set_xlim(xmin=0, xmax=len(xs))
pos = np.arange(len(xs))
#axes.xticks(range(5))
for p, x in zip(pos, xs):
axes.bar(p, x, color='r', align='center')
self.data_plot._canvas.draw()
class MobrobDashboardWidget(QWidget):
column_names = ['service', 'type', 'expression']
def __init__(self):
super(MobrobDashboardWidget, self).__init__()
self.setObjectName('MobrobDashboardWidget')
# create context for the expression eval statement
self._eval_locals = {}
for module in (math, random, time):
self._eval_locals.update(module.__dict__)
self._eval_locals['genpy'] = genpy
del self._eval_locals['__name__']
del self._eval_locals['__doc__']
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('mobrob_robin_rqt'), 'resource', 'MobrobDashboard.ui')
loadUi(ui_file, self, {'ExtendedComboBox': ExtendedComboBox})
self._column_index = {}
for column_name in self.column_names:
self._column_index[column_name] = len(self._column_index)
self._twist = Twist()
self.base_activated = False
self._pub = rospy.Publisher('/mobrob_robin/base/drives/control/cmd_vel', Twist, queue_size = 1)
self._timer_refresh_state = QTimer(self)
self._timer_refresh_state.timeout.connect(self._timer_update)
self.start()
def start(self):
self._timer_refresh_state.start(10)
#def save_settings(self, plugin_settings, instance_settings):
def shutdown_plugin(self):
self._timer_refresh_state.stop()
self._sub_lwa_state.unregister()
self._sub_gripper_state.unregister()
self._sub_pan_tilt_state.unregister()
#def restore_settings(self, plugin_settings, instance_settings):
#def trigger_configuration(self):
def _timer_update(self):
self._publish_twist()
self._update_goals()
def _publish_twist(self):
if self.base_activated:
self._pub.publish(self._twist)
@Slot()
def refresh_state(self):
self.test_label.setText('test')
def call_service( self, string ):
service_name = string
service_class = rosservice.get_service_class_by_name( service_name )
service = rospy.ServiceProxy(service_name, service_class)
request = service_class._request_class()
try:
response = service()
except rospy.ServiceException as e:
qWarning('service_caller: request:\n%r' % (request))
qWarning('service_caller: error calling service "%s":\n%s' % (self._service_info['service_name'], e))
#else:
#print(response)
##### Base
def _base_move(self, x, y, yaw):
twist = Twist()
twist.linear.x = x;
twist.linear.y = y;
twist.angular.x = 0.0;
twist.angular.y = 0.0;
twist.angular.z = yaw;
self._twist = twist
def _base_stop_motion(self):
self.base_activated = False
self._base_move(0.0, 0.0, 0.0)
self._pub.publish(self._twist)
@Slot()
def on_base_reference_clicked(self):
self.call_service( '/mobrob_robin/base/drives/control/reference' )
@Slot()
def on_base_start_clicked(self):
self.call_service( '/mobrob_robin/base/drives/control/start' )
@Slot()
def on_base_stop_clicked(self):
self.call_service( '/mobrob_robin/base/drives/control/stop' )
@Slot()
def on_base_forward_pressed(self):
self._base_move(0.3, 0.0, 0.0)
self.base_activated = True
@Slot()
def on_base_forward_released(self):
self._base_stop_motion()
@Slot()
def on_base_back_pressed(self):
self._base_move(-0.3, 0.0, 0.0)
self.base_activated = True
@Slot()
def on_base_back_released(self):
self._base_stop_motion()
@Slot()
def on_base_left_pressed(self):
self._base_move(0.0, 0.3, 0.0)
self.base_activated = True
@Slot()
def on_base_left_released(self):
self._base_stop_motion()
@Slot()
def on_base_right_pressed(self):
self._base_move(0.0, -0.3, 0.0)
self.base_activated = True
@Slot()
def on_base_right_released(self):
self._base_stop_motion()
@Slot()
def on_base_turn_left_pressed(self):
self._base_move(0.0, 0.0, 0.5)
self.base_activated = True
@Slot()
def on_base_turn_left_released(self):
self._base_stop_motion()
@Slot()
def on_base_turn_right_pressed(self):
self._base_move(0.0, 0.0, -0.5)
self.base_activated = True
@Slot()
def on_base_turn_right_released(self):
self._base_stop_motion()
#diagonal
@Slot()
def on_base_forward_left_pressed(self):
self._base_move(0.2, 0.2, 0.0)
self.base_activated = True
@Slot()
def on_base_forward_left_released(self):
self._base_stop_motion()
@Slot()
def on_base_forward_right_pressed(self):
self._base_move(0.2, -0.2, 0.0)
self.base_activated = True
@Slot()
def on_base_forward_right_released(self):
self._base_stop_motion()
@Slot()
def on_base_back_left_pressed(self):
self._base_move(-0.2, 0.2, 0.0)
self.base_activated = True
@Slot()
def on_base_back_left_released(self):
self._base_stop_motion()
@Slot()
def on_base_back_right_pressed(self):
self._base_move(-0.2, -0.2, 0.0)
self.base_activated = True
@Slot()
def on_base_back_right_released(self):
self._base_stop_motion()
class RobotSteering(Plugin):
slider_factor = 1000.0
def __init__(self, context):
super(RobotSteering, self).__init__(context)
self.setObjectName('RobotSteering')
self._publisher = None
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_steering'), 'resource', 'RobotSteering.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RobotSteeringUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._widget.topic_line_edit.textChanged.connect(self._on_topic_changed)
self._widget.stop_push_button.pressed.connect(self._on_stop_pressed)
self._widget.x_linear_slider.valueChanged.connect(self._on_x_linear_slider_changed)
self._widget.z_angular_slider.valueChanged.connect(self._on_z_angular_slider_changed)
self._widget.increase_x_linear_push_button.pressed.connect(self._on_strong_increase_x_linear_pressed)
self._widget.reset_x_linear_push_button.pressed.connect(self._on_reset_x_linear_pressed)
self._widget.decrease_x_linear_push_button.pressed.connect(self._on_strong_decrease_x_linear_pressed)
self._widget.increase_z_angular_push_button.pressed.connect(self._on_strong_increase_z_angular_pressed)
self._widget.reset_z_angular_push_button.pressed.connect(self._on_reset_z_angular_pressed)
self._widget.decrease_z_angular_push_button.pressed.connect(self._on_strong_decrease_z_angular_pressed)
self._widget.max_x_linear_double_spin_box.valueChanged.connect(self._on_max_x_linear_changed)
self._widget.min_x_linear_double_spin_box.valueChanged.connect(self._on_min_x_linear_changed)
self._widget.max_z_angular_double_spin_box.valueChanged.connect(self._on_max_z_angular_changed)
self._widget.min_z_angular_double_spin_box.valueChanged.connect(self._on_min_z_angular_changed)
self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
self.shortcut_w.setContext(Qt.ApplicationShortcut)
self.shortcut_w.activated.connect(self._on_increase_x_linear_pressed)
self.shortcut_x = QShortcut(QKeySequence(Qt.Key_X), self._widget)
self.shortcut_x.setContext(Qt.ApplicationShortcut)
self.shortcut_x.activated.connect(self._on_reset_x_linear_pressed)
self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
self.shortcut_s.setContext(Qt.ApplicationShortcut)
self.shortcut_s.activated.connect(self._on_decrease_x_linear_pressed)
self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
self.shortcut_a.setContext(Qt.ApplicationShortcut)
self.shortcut_a.activated.connect(self._on_increase_z_angular_pressed)
self.shortcut_z = QShortcut(QKeySequence(Qt.Key_Z), self._widget)
self.shortcut_z.setContext(Qt.ApplicationShortcut)
self.shortcut_z.activated.connect(self._on_reset_z_angular_pressed)
self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
self.shortcut_d.setContext(Qt.ApplicationShortcut)
self.shortcut_d.activated.connect(self._on_decrease_z_angular_pressed)
self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W), self._widget)
self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_w.activated.connect(self._on_strong_increase_x_linear_pressed)
self.shortcut_shift_x = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_X), self._widget)
self.shortcut_shift_x.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_x.activated.connect(self._on_reset_x_linear_pressed)
self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S), self._widget)
self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_s.activated.connect(self._on_strong_decrease_x_linear_pressed)
self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A), self._widget)
self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_a.activated.connect(self._on_strong_increase_z_angular_pressed)
self.shortcut_shift_z = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Z), self._widget)
self.shortcut_shift_z.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_z.activated.connect(self._on_reset_z_angular_pressed)
self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D), self._widget)
self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_d.activated.connect(self._on_strong_decrease_z_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self._widget.stop_push_button.setToolTip(self._widget.stop_push_button.toolTip() + ' ' + self.tr('([Shift +] Space)'))
self._widget.increase_x_linear_push_button.setToolTip(self._widget.increase_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] W)'))
self._widget.reset_x_linear_push_button.setToolTip(self._widget.reset_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] X)'))
self._widget.decrease_x_linear_push_button.setToolTip(self._widget.decrease_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] S)'))
self._widget.increase_z_angular_push_button.setToolTip(self._widget.increase_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] A)'))
self._widget.reset_z_angular_push_button.setToolTip(self._widget.reset_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] Z)'))
self._widget.decrease_z_angular_push_button.setToolTip(self._widget.decrease_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] D)'))
# timer to consecutively send twist messages
self._update_parameter_timer = QTimer(self)
self._update_parameter_timer.timeout.connect(self._on_parameter_changed)
self._update_parameter_timer.start(100)
self.zero_cmd_sent = False
@Slot(str)
def _on_topic_changed(self, topic):
topic = str(topic)
self._unregister_publisher()
self._publisher = rospy.Publisher(topic, Twist)
self._publisher_heat = rospy.Publisher('tempeture', Int16)
self._sub = rospy.Subscriber("tempeture", Int16, self.heat_callback)
def heat_callback(self, data):
self._widget.current_z_angular_label.setText('%0.2f rad/s' % data.data)
self._on_parameter_changed()
def _on_stop_pressed(self):
self._widget.x_linear_slider.setValue(0)
self._widget.z_angular_slider.setValue(0)
def _on_x_linear_slider_changed(self):
self._widget.current_x_linear_label.setText('%0.2f m/s' % (self._widget.x_linear_slider.value() / RobotSteering.slider_factor))
self._on_parameter_changed()
def _on_z_angular_slider_changed(self):
self._widget.current_z_angular_label.setText('%0.2f rad/s' % (self._widget.z_angular_slider.value() / RobotSteering.slider_factor))
self._on_parameter_changed()
def _on_increase_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.singleStep())
def _on_reset_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(0)
def _on_decrease_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.singleStep())
def _on_increase_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.singleStep())
def _on_reset_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(0)
def _on_decrease_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.singleStep())
def _on_max_x_linear_changed(self, value):
self._widget.x_linear_slider.setMaximum(value * RobotSteering.slider_factor)
def _on_min_x_linear_changed(self, value):
self._widget.x_linear_slider.setMinimum(value * RobotSteering.slider_factor)
def _on_max_z_angular_changed(self, value):
self._widget.z_angular_slider.setMaximum(value * RobotSteering.slider_factor)
def _on_min_z_angular_changed(self, value):
self._widget.z_angular_slider.setMinimum(value * RobotSteering.slider_factor)
def _on_strong_increase_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.pageStep())
def _on_strong_decrease_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.pageStep())
def _on_strong_increase_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.pageStep())
def _on_strong_decrease_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.pageStep())
def _on_parameter_changed(self):
self._send_twist(self._widget.x_linear_slider.value() / RobotSteering.slider_factor, self._widget.z_angular_slider.value() / RobotSteering.slider_factor)
def _send_twist(self, x_linear, z_angular):
if self._publisher is None:
return
twist = Twist()
twist.linear.x = x_linear
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = z_angular
heat = Int16()
heat.data = x_linear
# Only send the zero command once so other devices can take control
if x_linear == 0 and z_angular == 0:
if not self.zero_cmd_sent:
self.zero_cmd_sent = True
self._publisher.publish(twist)
self._publisher_heat.publish(heat)
else:
self.zero_cmd_sent = False
self._publisher.publish(twist)
self._publisher_heat.publish(heat)
def _unregister_publisher(self):
if self._publisher is not None:
self._publisher.unregister()
self._publisher = None
def shutdown_plugin(self):
self._update_parameter_timer.stop()
self._unregister_publisher()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('topic' , self._widget.topic_line_edit.text())
instance_settings.set_value('vx_max', self._widget.max_x_linear_double_spin_box.value())
instance_settings.set_value('vx_min', self._widget.min_x_linear_double_spin_box.value())
instance_settings.set_value('vw_max', self._widget.max_z_angular_double_spin_box.value())
instance_settings.set_value('vw_min', self._widget.min_z_angular_double_spin_box.value())
def restore_settings(self, plugin_settings, instance_settings):
value = instance_settings.value('topic', "/cmd_vel")
value = rospy.get_param("~default_topic", value)
self._widget.topic_line_edit.setText(value)
value = self._widget.max_x_linear_double_spin_box.value()
value = instance_settings.value( 'vx_max', value)
value = rospy.get_param("~default_vx_max", value)
self._widget.max_x_linear_double_spin_box.setValue(float(value))
value = self._widget.min_x_linear_double_spin_box.value()
value = instance_settings.value( 'vx_min', value)
value = rospy.get_param("~default_vx_min", value)
self._widget.min_x_linear_double_spin_box.setValue(float(value))
value = self._widget.max_z_angular_double_spin_box.value()
value = instance_settings.value( 'vw_max', value)
value = rospy.get_param("~default_vw_max", value)
self._widget.max_z_angular_double_spin_box.setValue(float(value))
value = self._widget.min_z_angular_double_spin_box.value()
value = instance_settings.value( 'vw_min', value)
value = rospy.get_param("~default_vw_min", value)
self._widget.min_z_angular_double_spin_box.setValue(float(value))
class EchoDialog(QDialog):
MESSAGE_CHARS_LIMIT = 1000
MESSAGE_LINE_LIMIT = 80
MESSAGE_HZ_LIMIT = 10
MAX_DISPLAY_MSGS = 25
STATISTIC_QUEUE_LEN = 1000
SHOW_BYTES = True
SHOW_JITTER = True
SHOW_STD_DEV = False
SHOW_WINDOW_SIZE = False
'''
This dialog shows the output of a topic.
'''
finished_signal = Signal(str)
'''
finished_signal has as parameter the name of the topic and is emitted, if this
dialog was closed.
'''
msg_signal = Signal(object, bool)
'''
msg_signal is a signal, which is emitted, if a new message was received.
'''
text_hz_signal = Signal(str)
text_signal = Signal(str)
'''
text_signal is a signal, which is emitted, if a new text to display was received.
'''
text_error_signal = Signal(str)
'''
text_error_signal is a signal, which is emitted, if a new error text to display was received.
'''
request_pw = Signal(object)
def __init__(self,
topic,
msg_type,
show_only_rate=False,
masteruri=None,
use_ssh=False,
parent=None):
'''
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
'''
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = '' if masteruri is None else '[%s]' % masteruri
echo_dialog_file = os.path.join(
os.path.dirname(os.path.realpath(__file__)), 'EchoDialog.ui')
loadUi(echo_dialog_file, self)
self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('%s %s %s' %
('Echo --- ' if not show_only_rate else 'Hz --- ',
topic, masteruri_str))
self.resize(900, 512)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.
self.msg_tn = 0
self.times = []
self.bytes = []
self.message_count = 0
self._state_message = ''
self._state_size_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.chars_limit = self.MESSAGE_CHARS_LIMIT
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self.digits_after_in_array = 2
self.enabled_message_filter = True
self.field_filter_fn = None
self._latched = False
self._msgs = []
self.filterFrame.setVisible(False)
self.topicControlButton.clicked.connect(
self.on_topic_control_btn_clicked)
self.clearButton.clicked.connect(self.on_clear_btn_clicked)
if show_only_rate:
self.filterButton.setVisible(False)
else:
self.filterButton.clicked.connect(self.on_filter_clicked)
self.showStringsCheckBox.toggled.connect(
self.on_no_str_checkbox_toggled)
self.maxLenStringComboBox.activated[str].connect(
self.combobox_reduce_ch_activated)
self.showArraysCheckBox.toggled.connect(
self.on_no_arr_checkbox_toggled)
self.maxDigitsComboBox.activated[str].connect(
self.combobox_reduce_digits_activated)
self.enableMsgFilterCheckBox.toggled.connect(
self.on_enable_msg_filter_checkbox_toggled)
self.maxLenComboBox.activated[str].connect(
self.on_combobox_chars_activated)
self.maxHzComboBox.activated[str].connect(
self.on_combobox_hz_activated)
self.displayCountComboBox.activated[str].connect(
self.on_combobox_count_activated)
self.combobox_reduce_ch_activated(self.MESSAGE_LINE_LIMIT)
self.on_combobox_chars_activated(self.MESSAGE_CHARS_LIMIT)
self.on_combobox_hz_activated(self.MESSAGE_HZ_LIMIT)
self.on_combobox_count_activated(self.MAX_DISPLAY_MSGS)
self.filterButton.setFocus()
self.display.setReadOnly(True)
self.display.document().setMaximumBlockCount(500)
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
# subscribe to the topic
errmsg = ''
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (
msg_type, utf8(e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ''
self._current_errmsg = ''
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg)
self.display.setText('<a href="%s">open using SSH</a>' %
(masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
self._start_time = time.time()
# print "======== create", self.objectName()
#
# def __del__(self):
# print "******* destroy", self.objectName()
# def hideEvent(self, event):
# self.close()
def closeEvent(self, event):
self.print_hz_timer.stop()
if self.sub is not None:
self.sub.unregister()
del self.sub
try:
self.ssh_output_file.close()
self.ssh_error_file.close()
# send Ctrl+C to remote process
self.ssh_input_file.write('%s\n' % chr(3))
self.ssh_input_file.close()
except Exception:
pass
self.finished_signal.emit(self.topic)
if self.parent() is None:
QApplication.quit()
def create_field_filter(self, echo_nostr, echo_noarr):
def field_filter(val):
try:
# fields = val.__slots__
# field_types = val._slot_types
for f, t in zip(val.__slots__, val._slot_types):
if echo_noarr and '[' in t:
continue
elif echo_nostr and 'string' in t:
continue
yield f
except Exception:
pass
return field_filter
def on_filter_clicked(self, checked):
self.filterFrame.setVisible(checked)
def on_no_str_checkbox_toggled(self, state):
self.maxLenStringComboBox.setEnabled(state)
self.field_filter_fn = self.create_field_filter(
not state, not self.showArraysCheckBox.isChecked())
def on_no_arr_checkbox_toggled(self, state):
self.maxDigitsComboBox.setEnabled(state)
self.field_filter_fn = self.create_field_filter(
not self.showStringsCheckBox.isChecked(), not state)
def combobox_reduce_ch_activated(self, ch_txt):
try:
self.line_limit = int(ch_txt)
except ValueError:
try:
self.line_limit = float(ch_txt)
except ValueError:
self.maxLenStringComboBox.setEditText(str(self.line_limit))
self.display.clear()
with self.lock:
for msg, current_time in self._msgs:
self._append_message(msg, self._latched, current_time, False)
def combobox_reduce_digits_activated(self, ch_txt):
try:
self.digits_after_in_array = int(ch_txt)
except ValueError:
self.digits_after_in_array = None
self.maxDigitsComboBox.setEditText('')
self.display.clear()
with self.lock:
for msg, current_time in self._msgs:
self._append_message(msg, self._latched, current_time, False)
def on_enable_msg_filter_checkbox_toggled(self, state):
self.enabled_message_filter = state
self.maxLenComboBox.setEnabled(state)
self.maxHzComboBox.setEnabled(state)
if self.enabled_message_filter:
self.on_combobox_chars_activated(self.maxLenComboBox.currentText(),
False)
self.on_combobox_hz_activated(self.maxHzComboBox.currentText(),
False)
else:
self.chars_limit = 0
self.receiving_hz = 0
self.display.clear()
with self.lock:
for msg, current_time in self._msgs:
self._append_message(msg, self._latched, current_time, False)
def on_combobox_chars_activated(self, chars_txt, update_display=True):
if not self.enabled_message_filter:
return
try:
self.chars_limit = int(chars_txt)
except ValueError:
try:
self.chars_limit = float(chars_txt)
except ValueError:
self.maxLenComboBox.setEditText(str(self.chars_limit))
if update_display:
self.display.clear()
with self.lock:
for msg, current_time in self._msgs:
self._append_message(msg, self._latched, current_time,
False)
def on_combobox_hz_activated(self, hz_txt, update_display=True):
if not self.enabled_message_filter:
return
try:
self.receiving_hz = int(hz_txt)
except ValueError:
try:
self.receiving_hz = float(hz_txt)
except ValueError:
self.maxHzComboBox.setEditText(str(self.receiving_hz))
if update_display:
self.display.clear()
with self.lock:
for msg, current_time in self._msgs:
self._append_message(msg, self._latched, current_time,
False)
def on_combobox_count_activated(self, count_txt):
try:
self.max_displayed_msgs = int(count_txt)
self._blocks_in_msg = None
except ValueError:
self.displayCountComboBox.setEditText(str(self.max_displayed_msgs))
def on_clear_btn_clicked(self):
self.display.clear()
with self.lock:
del self._msgs[:]
self.message_count = 0
self._scrapped_msgs = 0
del self.times[:]
del self.bytes[:]
def on_topic_control_btn_clicked(self):
try:
if self.sub is None and self.ssh_output_file is None:
if self.__msg_class:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
self._start_time = time.time()
else:
self._on_display_anchorClicked(QUrl(self._masteruri))
self.topicControlButton.setIcon(
QIcon(':/icons/sekkyumu_stop.png'))
else:
if self.sub is not None:
self.sub.unregister()
self.sub = None
elif self.ssh_output_file is not None:
self.ssh_output_file.close()
self.ssh_error_file.close()
self.ssh_output_file = None
self.topicControlButton.setIcon(
QIcon(':/icons/sekkyumu_play.png'))
except Exception as e:
rospy.logwarn('Error while stop/play echo for topic %s: %s' %
(self.topic, utf8(e)))
def _msg_handle(self, data):
self.msg_signal.emit(data,
(data._connection_header['latching'] != '0'))
def _append_message(self, msg, latched, current_time=None, store=True):
'''
Adds a label to the dialog's layout and shows the given text.
@param msg: the text to add to the dialog
@type msg: message object
'''
if current_time is None:
current_time = time.time()
self._latched = latched
if store:
with self.lock:
self._msgs.append((msg, current_time))
if len(self._msgs) > 25:
self._msgs.pop()
msg_len = -1
if (self.SHOW_BYTES or self.show_only_rate):
buff = None
try:
from cStringIO import StringIO # Python 2.x
buff = StringIO()
import os
msg.serialize(buff)
buff.seek(0, os.SEEK_END)
msg_len = buff.tell()
except ImportError:
from io import BytesIO # Python 3.x
buff = BytesIO()
msg.serialize(buff)
msg_len = buff.getbuffer().nbytes
self._count_messages(current_time, msg_len)
# skip messages, if they are received often then MESSAGE_HZ_LIMIT
if self._last_received_ts != 0 and self.receiving_hz != 0:
if current_time - self._last_received_ts < 1.0 / self.receiving_hz:
if (not latched or
(latched and current_time - self._start_time > 3.0)):
self._scrapped_msgs += 1
self._scrapped_msgs_sl += 1
return
self._last_received_ts = current_time
if not self.show_only_rate:
# convert message to string and reduce line width to current limit
msg = self.strify_message(
msg,
field_filter=self.field_filter_fn,
fixed_numeric_width=self.digits_after_in_array)
if isinstance(msg, tuple):
msg = msg[0]
msg = self._trim_width(msg)
msg = msg.replace('<', '<').replace('>', '>')
msg_cated = False
if self.chars_limit != 0 and len(msg) > self.chars_limit:
msg = msg[0:self.chars_limit]
msg_cated = True
# create a notification about scrapped messages
if self._scrapped_msgs_sl > 0:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">scrapped %s message because of Hz-settings</pre>' % self._scrapped_msgs_sl
self.display.append(txt)
self._scrapped_msgs_sl = 0
txt = '<pre style="background-color:#FFFCCC; color:#000000;font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % (
datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), msg)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
if msg_cated:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">message has been cut off</pre>'
self.display.append(txt)
if store:
self._print_status()
def _count_messages(self, ts=time.time(), msg_len=-1):
'''
Counts the received messages. Call this method only on receive message.
'''
current_time = ts
with self.lock:
# time reset
if self.msg_t0 < 0 or self.msg_t0 > current_time:
self.msg_t0 = current_time
self.msg_tn = current_time
self.times = []
self.bytes = []
else:
self.times.append(current_time - self.msg_tn)
if msg_len > -1:
self.bytes.append(msg_len)
self.msg_tn = current_time
# keep only statistics for the last 5000 messages so as not to run out of memory
if len(self.times) > self.STATISTIC_QUEUE_LEN:
self.times.pop(0)
if len(self.bytes) > self.STATISTIC_QUEUE_LEN:
self.bytes.pop(0)
self.message_count += 1
def _trim_width(self, msg):
'''
reduce line width to current limit
:param msg: the message
:type msg: str
:return: trimmed message
'''
result = msg
if self.line_limit != 0:
a = ''
for l in msg.splitlines():
a = a + (l if len(l) <= self.line_limit else
l[0:self.line_limit - 3] + '...') + '\n'
result = a
return result
def _update_max_msg_count(self, txt):
'''
set the count of the displayed messages on receiving the first message
:param txt: text of the message, which will be added to the document
:type txt: str
'''
if self._blocks_in_msg is None:
td = QTextDocument(txt)
self._blocks_in_msg = td.blockCount()
self.display.document().setMaximumBlockCount(
self._blocks_in_msg * self.max_displayed_msgs)
def _on_calc_hz(self):
if rospy.is_shutdown():
self.close()
return
if not self.show_only_rate and time.time() - self._last_received_ts > 1:
# create a notification about scrapped messages
if self._scrapped_msgs_sl > 0:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">scrapped %s message because of Hz-settings</pre>' % self._scrapped_msgs_sl
self._scrapped_msgs_sl = 0
self.display.append(txt)
if self.message_count == self.last_printed_count:
return
with self.lock:
message_rate = ''
message_bytes = ''
message_jitter = ''
message_window = ''
message_std_dev = ''
message_scrapped = ''
sum_times = sum(self.times)
if sum_times == 0:
sum_times = 1
if (self.SHOW_BYTES or self.show_only_rate) and self.bytes:
sum_bytes = sum(self.bytes)
avg = sum_bytes / len(self.bytes)
last = self.bytes[-1]
if avg != last:
message_bytes = "size[ last: %s, avg: %s ]" % (
self._normilize_size_print(last),
self._normilize_size_print(avg))
else:
message_bytes = "size: %s" % (
self._normilize_size_print(last))
byte_rate = float(sum_bytes) / float(sum_times)
message_bytes += " bw: %s/s" % (
self._normilize_size_print(byte_rate))
# the code from ROS rostopic
n = len(self.times)
if n < 2:
return
mean = sum_times / n
rate = 1. / mean if mean > 0. else 0
message_rate = "average rate: %.3f" % rate
# min and max
if self.SHOW_JITTER or self.show_only_rate:
max_delta = max(self.times)
min_delta = min(self.times)
message_jitter = "jitter[ min: %.3fs max: %.3fs ]" % (
min_delta, max_delta)
# std dev
self.last_printed_count = self.message_count
if self.SHOW_STD_DEV or self.show_only_rate:
std_dev = math.sqrt(sum((x - mean)**2 for x in self.times) / n)
message_std_dev = "std dev: %.5fs" % (std_dev)
if self.SHOW_WINDOW_SIZE or self.show_only_rate:
message_window = "window: %s" % (n + 1)
if self._scrapped_msgs > 0:
message_scrapped += "scrapped msgs: %s" % self._scrapped_msgs
self._state_message = ''
self._state_size_message = message_bytes
for msg in [
message_rate, message_jitter, message_std_dev,
message_window, message_scrapped
]:
if msg:
if self._state_message:
self._state_message += ' '
self._state_message += msg
self._print_status()
if self.show_only_rate:
self.display.append("%s %s" %
(self._state_message, message_bytes))
def _normilize_size_print(self, size):
if size > 999999:
return "%.2fMiB" % (size / 1048576.0)
if size > 999:
return "%.2fKiB" % (size / 1024.0)
return "%dB" % size
def _print_status(self):
text = '%s messages %s' % (self.message_count, self._state_message)
if self._latched:
text = "[latched] %s" % text
self.statusLabel.setText(text)
self.statusSizeLabel.setText(self._state_size_message)
def _append_text(self, text):
'''
Append echo text received through the SSH.
'''
with self.lock:
self._current_msg += text
if self._current_msg.find('---') != -1:
messages = self._current_msg.split('---')
for m in messages[:-1]:
current_time = time.time()
self._count_messages(current_time)
# limit the displayed text width
m = self._trim_width(m)
txt = '<pre style="background-color:#FFFCCC; color:#000000;font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % (
datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), m)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._current_msg = messages[-1]
self._print_status()
def _append_error_text(self, text):
'''
Append error text received through the SSH.
'''
with self.lock:
self._current_errmsg += text
if self._current_errmsg.find('\n') != -1:
messages = self._current_errmsg.split('\n')
for m in messages[:-1]:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">%s</pre>' % m
self.display.append(txt)
self._current_errmsg = messages[-1]
def _append_text_hz(self, text):
'''
Append text received through the SSH for hz view.
'''
with self.lock:
self._current_msg += text
if self._current_msg.find('\n') != -1:
messages = self._current_msg.split('\n')
for m in messages[:-1]:
txt = '<div style="font-family:Fixedsys,Courier;">%s</div>' % (
m)
self.display.append(txt)
self._current_msg = messages[-1]
def _on_display_anchorClicked(self, url, user=None, pw=None):
try:
ok = False
if self.show_only_rate:
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh(
).ssh_exec(url.host(), ['rostopic hz %s' % (self.topic)],
user,
pw,
auto_pw_request=True,
get_pty=True)
self.statusLabel.setText('connected to %s over SSH' %
url.host())
else:
nostr = '--nostr' if not self.showStringsCheckBox.isChecked(
) else ''
noarr = '--noarr' if not self.showArraysCheckBox.isChecked(
) else ''
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh(
).ssh_exec(
url.host(),
['rostopic echo %s %s %s' % (nostr, noarr, self.topic)],
user,
pw,
auto_pw_request=True,
get_pty=True)
if ok:
self.display.clear()
target = self._read_output_hz if self.show_only_rate else self._read_output
thread = threading.Thread(target=target,
args=((self.ssh_output_file, )))
thread.setDaemon(True)
thread.start()
thread = threading.Thread(target=self._read_error,
args=((self.ssh_error_file, )))
thread.setDaemon(True)
thread.start()
elif self.ssh_output_file:
self.ssh_output_file.close()
self.ssh_error_file.close()
except Exception as e:
self._append_error_text('%s\n' % e)
def _read_output_hz(self, output_file):
try:
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_hz_signal.emit(text)
except Exception:
pass
def _read_output(self, output_file):
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_signal.emit(text)
def _read_error(self, error_file):
try:
while not error_file.closed:
text = error_file.read(1)
if text:
self.text_error_signal.emit(text)
except Exception:
pass
# #############################################################################
# PARTS OF genpy/messages.py
# #############################################################################
@classmethod
def strify_message(cls,
val,
indent='',
time_offset=None,
current_time=None,
field_filter=None,
fixed_numeric_width=None,
digits_after_in_array=None):
"""
Convert value to string representation
:param val: to convert to string representation. Most likely a Message. ``Value``
:param indent: indentation. If indent is set, then the return value will have a leading \n, ``str``
:param time_offset: if not None, time fields will be displayed
as deltas from time_offset, ``Time``
:param current_time: currently not used. Only provided for API
compatibility. current_time passes in the current time with
respect to the message, ``Time``
:param field_filter: filter the fields that are strified for Messages, ``fn(Message)->iter(str)``
:returns: string (YAML) representation of message, ``str``
"""
type_ = type(val)
if type_ in (int, long, float) and fixed_numeric_width is not None:
if type_ is float:
return ('%.' + str(fixed_numeric_width) + 'f') % val
else:
return ('%d') % val
elif type_ in (int, long, float, bool):
return utf8(val)
elif isstring(val):
# TODO: need to escape strings correctly
if not val:
return "''"
return val
elif isinstance(val, TVal):
if time_offset is not None and isinstance(val, Time):
val = val - time_offset
if fixed_numeric_width is not None:
format_str = '%d'
sec_str = '\n%ssecs: ' % indent + (format_str % val.secs)
nsec_str = '\n%snsecs: ' % indent + (format_str % val.nsecs)
return sec_str + nsec_str
else:
return '\n%ssecs: %s\n%snsecs: %9d' % (indent, val.secs,
indent, val.nsecs)
elif type_ in (list, tuple):
if len(val) == 0:
return "[]"
val0 = val[0]
if type(val0) in (int,
float) and digits_after_in_array is not None:
list_str = '[' + ''.join(
cls.strify_message(v, indent, time_offset, current_time,
field_filter, digits_after_in_array) +
', ' for v in val).rstrip(', ') + ']'
return list_str
elif type(val0) in (int, float, str, bool):
# TODO: escape strings properly
return utf8(list(val))
else:
pref = indent + '- '
indent = indent + ' '
return '\n' + '\n'.join([
pref +
cls.strify_message(v, indent, time_offset, current_time,
field_filter, digits_after_in_array)
for v in val
])
elif isinstance(val, message.Message):
# allow caller to select which fields of message are strified
if field_filter is not None:
fields = list(field_filter(val))
else:
fields = val.__slots__
p = '%s%%s: %%s' % (indent)
ni = ' ' + indent
python_zip = None
if sys.hexversion > 0x03000000: # Python3
python_zip = zip
else: # Python2
python_zip = itertools.izip
slots = []
for f, t in python_zip(val.__slots__, val._slot_types):
if f in fields:
cval = _convert_getattr(val, f, t)
slot_name = f
if isinstance(cval, (list, tuple)):
slot_name = "%s[%d]" % (f, len(cval))
slots.append(p %
(utf8(slot_name),
cls.strify_message(
cval, ni, time_offset, current_time,
field_filter, fixed_numeric_width)))
vals = '\n'.join(slots)
if indent:
return '\n' + vals
else:
return vals
else:
return utf8(val) # punt
class Plot2DWidget(QWidget):
_redraw_interval = 10
def __init__(self, topics):
super(Plot2DWidget, self).__init__()
self.setObjectName('Plot2DWidget')
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('jsk_rqt_plugins'),
'resource', 'plot_histogram.ui')
loadUi(ui_file, self)
self.cv_bridge = CvBridge()
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.data_plot = MatPlot2D(self)
self.data_plot_layout.addWidget(self.data_plot)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
self._start_time = rospy.get_time()
self._rosdata = None
if len(topics) != 0:
self.subscribe_topic(topics)
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
@Slot('QDropEvent*')
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.subscribe_topic(topic_name)
@Slot()
def on_topic_edit_returnPressed(self):
"callback function when form is entered"
if self.subscribe_topic_button.isEnabled():
self.subscribe_topic(str(self.topic_edit.text()))
@Slot()
def on_subscribe_topic_button_clicked(self):
self.subscribe_topic(str(self.topic_edit.text()))
def subscribe_topic(self, topic_name):
rospy.loginfo("subscribe topic")
self.topic_with_field_name = topic_name
self.pub_image = rospy.Publisher(topic_name + "/plot_image", Image)
if not self._rosdata:
self._rosdata = ROSData(topic_name, self._start_time)
else:
if self._rosdata != topic_name:
self._rosdata.close()
self.data_plot.clear()
self._rosdata = ROSData(topic_name, self._start_time)
else:
rospy.logwarn("%s is already subscribed", topic_name)
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()
@Slot()
def on_clear_button_clicked(self):
self.data_plot.clear()
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
def plot_one(self, msg, axes):
concatenated_data = zip(msg.xs, msg.ys)
if self.sort_x:
concatenated_data.sort(key=lambda x: x[0])
xs = [d[0] for d in concatenated_data]
ys = [d[1] for d in concatenated_data]
if self.is_line or msg.type is PlotData.LINE:
axes.plot(xs, ys,
label=msg.label or self.topic_with_field_name)
else:
axes.scatter(xs, ys,
label=msg.label or self.topic_with_field_name)
if msg.fit_line or self.fit_line:
X = np.array(msg.xs)
Y = np.array(msg.ys)
A = np.array([X,np.ones(len(X))])
A = A.T
a,b = np.linalg.lstsq(A,Y)[0]
axes.plot(X,(a*X+b),"g--", label="{0} x + {1}".format(a, b))
if msg.fit_line_ransac or self.fit_line_ransac:
model_ransac = linear_model.RANSACRegressor(
linear_model.LinearRegression(), min_samples=2,
residual_threshold=self.fit_line_ransac_outlier)
X = np.array(msg.xs).reshape((len(msg.xs), 1))
Y = np.array(msg.ys)
model_ransac.fit(X, Y)
line_X = X
line_y_ransac = model_ransac.predict(line_X)
axes.plot(line_X, line_y_ransac, "r--",
label="{0} x + {1}".format(model_ransac.estimator_.coef_[0][0],
model_ransac.estimator_.intercept_[0]))
def update_plot(self):
if not self._rosdata:
return
try:
data_x, data_y = self._rosdata.next()
except RosPlotException, e:
rospy.logerr("Exception in subscribing topic")
rospy.logerr(e.message)
return
if len(data_y) == 0:
return
axes = self.data_plot._canvas.axes
axes.cla()
# matplotlib
# concatenate x and y in order to sort
latest_msg = data_y[-1]
min_x = None
max_x = None
min_y = None
max_y = None
if isinstance(latest_msg, PlotData):
data = [latest_msg]
legend_size = 8
no_legend = False
elif isinstance(latest_msg, PlotDataArray):
data = latest_msg.data
legend_size = latest_msg.legend_font_size or 8
no_legend = latest_msg.no_legend
if latest_msg.min_x != latest_msg.max_x:
min_x = latest_msg.min_x
max_x = latest_msg.max_x
if latest_msg.min_y != latest_msg.max_y:
min_y = latest_msg.min_y
max_y = latest_msg.max_y
else:
rospy.logerr("Topic should be jsk_recognition_msgs/PlotData or jsk_recognition_msgs/PlotDataArray")
for d in data:
self.plot_one(d, axes)
xs = add_list([d.xs for d in data])
ys = add_list([d.ys for d in data])
if min_x is None:
min_x = min(xs)
if max_x is None:
max_x = max(xs)
if min_y is None:
min_y = min(ys)
if max_y is None:
max_y = max(ys)
axes.set_xlim(min_x, max_x)
axes.set_ylim(min_y, max_y)
# line fitting
if not no_legend and not self.no_legend:
axes.legend(prop={'size': legend_size})
axes.grid()
if self.xtitle:
axes.set_xlabel(self.xtitle)
if self.ytitle:
axes.set_ylabel(self.ytitle)
self.data_plot._canvas.draw()
buffer = StringIO()
self.data_plot._canvas.figure.savefig(buffer, format="png")
buffer.seek(0)
img_array = np.asarray(bytearray(buffer.read()), dtype=np.uint8)
img = cv2.imdecode(img_array, cv2.CV_LOAD_IMAGE_COLOR)
self.pub_image.publish(self.cv_bridge.cv2_to_imgmsg(img, "bgr8"))
class CommandWidget(QWidget):
def __init__(self, node):
super(CommandWidget, self).__init__()
self.setObjectName('CommandWidget')
self.node = node
self.REDRAW_INTERVAL = 30
self.PUBLISH_INTERVAL = 100
self.CMD_VEL_X_FACTOR = 1000.0
self.CMD_VEL_YAW_FACTOR = -10.0
pkg_name = 'oroca_rqt_command'
ui_filename = 'rqt_command.ui'
topic_name = 'cmd_vel'
service_name = 'led_control'
_, package_path = get_resource('packages', pkg_name)
ui_file = os.path.join(package_path, 'share', pkg_name, 'resource',
ui_filename)
loadUi(ui_file, self)
self.pub_velocity = Twist()
self.pub_velocity.linear.x = 0.0
self.pub_velocity.angular.z = 0.0
self.sub_velocity = Twist()
self.sub_velocity.linear.x = 0.0
self.sub_velocity.angular.z = 0.0
self.slider_x.setValue(0)
self.lcd_number_x.display(0.0)
self.lcd_number_yaw.display(0.0)
qos = QoSProfile(depth=10)
self.publisher = self.node.create_publisher(Twist, topic_name, qos)
self.subscriber = self.node.create_subscription(
Twist, topic_name, self.get_velocity, qos)
self.service_server = self.node.create_service(SetBool, service_name,
self.set_led_status)
self.service_client = self.node.create_client(SetBool, service_name)
self.publish_timer = QTimer(self)
self.publish_timer.timeout.connect(self.send_velocity)
self.publish_timer.start(self.PUBLISH_INTERVAL)
self.update_timer = QTimer(self)
self.update_timer.timeout.connect(self.update_indicators)
self.update_timer.start(self.REDRAW_INTERVAL)
self.push_button_w.pressed.connect(self.increase_linear_x)
self.push_button_x.pressed.connect(self.decrease_linear_x)
self.push_button_a.pressed.connect(self.increase_angular_z)
self.push_button_d.pressed.connect(self.decrease_angular_z)
self.push_button_s.pressed.connect(self.set_stop)
self.push_button_w.setShortcut('w')
self.push_button_x.setShortcut('x')
self.push_button_a.setShortcut('a')
self.push_button_d.setShortcut('d')
self.push_button_s.setShortcut('s')
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space), self)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self.push_button_s.pressed)
self.radio_button_led_on.clicked.connect(self.call_led_service)
self.radio_button_led_off.clicked.connect(self.call_led_service)
self.radio_button_led_on.setShortcut('o')
self.radio_button_led_off.setShortcut('f')
def get_velocity(self, msg):
self.sub_velocity = msg
def set_led_status(self, request, response):
if request.data:
self.push_button_led_status.setText('ON')
self.push_button_led_status.setStyleSheet(
'color: rgb(255, 170, 0);')
response.success = True
response.message = 'LED ON'
elif not request.data:
self.push_button_led_status.setText('OFF')
self.push_button_led_status.setStyleSheet('')
response.success = True
response.message = 'LED OFF'
else:
response.success = False
return response
def increase_linear_x(self):
self.pub_velocity.linear.x += 0.1
def decrease_linear_x(self):
self.pub_velocity.linear.x -= 0.1
def increase_angular_z(self):
self.pub_velocity.angular.z += 0.1
def decrease_angular_z(self):
self.pub_velocity.angular.z -= 0.1
def set_stop(self):
self.pub_velocity.linear.x = 0.0
self.pub_velocity.angular.z = 0.0
def call_led_service(self):
request = SetBool.Request()
if self.radio_button_led_on.isChecked():
request.data = True
elif self.radio_button_led_off.isChecked():
request.data = False
wait_count = 1
while not self.service_client.wait_for_service(timeout_sec=0.5):
if wait_count > 5:
return
self.node.get_logger().error(
'Service not available #{0}'.format(wait_count))
wait_count += 1
future = self.service_client.call_async(request)
while rclpy.ok():
if future.done():
if future.result() is not None:
response = future.result()
self.node.get_logger().info(
'Result of service call: {0}'.format(response.message))
else:
self.node.get_logger().error('Error calling service')
break
def send_velocity(self):
twist = Twist()
twist.linear.x = self.pub_velocity.linear.x
twist.linear.y = 0.0
twist.linear.z = 0.0
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = self.pub_velocity.angular.z
self.publisher.publish(twist)
def update_indicators(self):
self.slider_x.setValue(self.sub_velocity.linear.x *
self.CMD_VEL_X_FACTOR)
self.dial_yaw.setValue(self.sub_velocity.angular.z *
self.CMD_VEL_YAW_FACTOR)
self.lcd_number_x.display(self.sub_velocity.linear.x)
self.lcd_number_yaw.display(self.sub_velocity.angular.z)
def shutdown_widget(self):
self.update_timer.stop()
self.publish_timer.stop()
self.node.destroy_client(self.service_client)
self.node.destroy_service(self.service_server)
self.node.destroy_subscription(self.subscriber)
self.node.destroy_publisher(self.publisher)
class TopicDataWidget(QWidget):
def __init__(self, widget):
super(TopicDataWidget, self).__init__()
rospkgPack = rospkg.RosPack()
uiFile = os.path.join(rospkgPack.get_path('my_topic_viewer'), 'resource', 'TopicViewer.ui')
loadUi(uiFile, self)
self._updateTimer = QTimer(self)
self._updateTimer.timeout.connect(self.timeoutCallback)
self._widget = widget
self._topicName = TOPIC_NAME
self._subscriber = None
self.subscribeTopic(self._topicName)
def start(self):
self._updateTimer.start(1000)
def stop(self):
self._updateTimer.stop()
def timeoutCallback(self):
pass
# print 'time out'
# rqt override
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('topic_name', self._topicName)
def restore_settings(self, plugin_settings, instance_settings):
topicName = instance_settings.value('topic_name')
try:
self._topicName = eval(topicName)
except Exception:
topicName = None
def shutdown_plugin(self):
self.unregisterTopic()
self.stop()
# subscribe topic
def subscribeTopic(self, topicName):
# msgClass, self._topicName, _ = get_topic_class(topicName)
self._subscriber = rospy.Subscriber(TOPIC_NAME, MSG_CLASS, self.messageCallback)
def messageCallback(self, msg):
self.setDisplayedData(msg.data, TOPIC_NAME)
def unregisterTopic(self):
if self._subscriber:
self._subscriber.unregister()
def setDisplayedData(self, data, name):
if isinstance(data, dict):
self.displayData(data)
else:
dictData = {}
if name is None:
dictData['unknown'] = data
elif isinstance(data, list):
dictData = dict(zip(name, data))
else:
dictData[name] = data
self.displayData(dictData)
def displayData(self, dictData):
for key in dictData.keys():
self.topicLabel.setText(key+': ')
self.topicDataLine.setText(str(dictData[key]))
class BagTimeline(QGraphicsScene):
"""
BagTimeline contains bag files, all information required to display the bag data visualization on the screen
Also handles events
"""
status_bar_changed_signal = Signal()
selected_region_changed = Signal(rospy.Time, rospy.Time)
def __init__(self, context, publish_clock):
"""
:param context: plugin context hook to enable adding rqt_bag plugin widgets as ROS_GUI snapin panes, ''PluginContext''
"""
super(BagTimeline, self).__init__()
self._bags = []
self._bag_lock = threading.RLock()
self.background_task = None # Display string
self.background_task_cancel = False
# Playing / Recording
self._playhead_lock = threading.RLock()
self._max_play_speed = 1024.0 # fastest X play speed
self._min_play_speed = 1.0 / 1024.0 # slowest X play speed
self._play_speed = 0.0
self._play_all = False
self._playhead_positions_cvs = {}
self._playhead_positions = {} # topic -> (bag, position)
self._message_loaders = {}
self._messages_cvs = {}
self._messages = {} # topic -> (bag, msg_data)
self._message_listener_threads = {
} # listener -> MessageListenerThread
self._player = False
self._publish_clock = publish_clock
self.last_frame = None
self.last_playhead = None
self.desired_playhead = None
self.wrap = True # should the playhead wrap when it reaches the end?
self.stick_to_end = False # should the playhead stick to the end?
self._play_timer = QTimer()
self._play_timer.timeout.connect(self.on_idle)
self._play_timer.setInterval(3)
# Plugin popup management
self._context = context
self.popups = {}
self._views = []
self._listeners = {}
# Initialize scene
# the timeline renderer fixes use of black pens and fills, so ensure we fix white here for contrast.
# otherwise a dark qt theme will default it to black and the frame render pen will be unreadable
self.setBackgroundBrush(Qt.white)
self._timeline_frame = TimelineFrame(self)
self._timeline_frame.setPos(0, 0)
self.addItem(self._timeline_frame)
self.background_progress = 0
self.__closed = False
def get_context(self):
"""
:returns: the ROS_GUI context, 'PluginContext'
"""
return self._context
def handle_close(self):
"""
Cleans up the timeline, bag and any threads
"""
if self.__closed:
return
else:
self.__closed = True
self._play_timer.stop()
for topic in self._get_topics():
self.stop_publishing(topic)
self._message_loaders[topic].stop()
if self._player:
self._player.stop()
if self.background_task is not None:
self.background_task_cancel = True
self._timeline_frame.handle_close()
for bag in self._bags:
bag.close()
for frame in self._views:
if frame.parent():
self._context.remove_widget(frame)
# Bag Management and access
def add_bag(self, bag):
"""
creates an indexing thread for each new topic in the bag
fixes the boarders and notifies the indexing thread to index the new items bags
:param bag: ros bag file, ''rosbag.bag''
"""
self._bags = [
bag
] # actually, only *one* bag can be used at a time (contrary to original rqt_bag)
bag_topics = bag_helper.get_topics(bag)
new_topics = set(bag_topics) - set(self._timeline_frame.topics)
for topic in new_topics:
qWarning("Adding topic %s" % topic)
self._playhead_positions_cvs[topic] = threading.Condition()
self._messages_cvs[topic] = threading.Condition()
self._message_loaders[topic] = MessageLoaderThread(self, topic)
self._timeline_frame._start_stamp = self._get_start_stamp()
self._timeline_frame._end_stamp = self._get_end_stamp()
self._timeline_frame.topics = self._get_topics()
self._timeline_frame._topics_by_datatype = self._get_topics_by_datatype(
)
self._timeline_frame.set_renderers_active(
True) # enable the thumbnails for image streams
# If this is the first bag, reset the timeline
if self._timeline_frame._stamp_left is None:
self._timeline_frame.reset_timeline()
# Invalidate entire index cache for all topics in this bag
with self._timeline_frame.index_cache_cv:
for topic in bag_topics:
self._timeline_frame.invalidated_caches.add(topic)
if topic in self._timeline_frame.index_cache:
del self._timeline_frame.index_cache[topic]
self._timeline_frame.index_cache_cv.notify()
def file_size(self):
with self._bag_lock:
return sum(b.size for b in self._bags)
#TODO Rethink API and if these need to be visible
def _get_start_stamp(self):
"""
:return: first stamp in the bags, ''rospy.Time''
"""
with self._bag_lock:
start_stamp = None
for bag in self._bags:
bag_start_stamp = bag_helper.get_start_stamp(bag)
if bag_start_stamp is not None and (
start_stamp is None or bag_start_stamp < start_stamp):
start_stamp = bag_start_stamp
return start_stamp
def _get_end_stamp(self):
"""
:return: last stamp in the bags, ''rospy.Time''
"""
with self._bag_lock:
end_stamp = None
for bag in self._bags:
bag_end_stamp = bag_helper.get_end_stamp(bag)
if bag_end_stamp is not None and (end_stamp is None or
bag_end_stamp > end_stamp):
end_stamp = bag_end_stamp
return end_stamp
def _get_topics(self):
"""
:return: sorted list of topic names, ''list(str)''
"""
with self._bag_lock:
topics = set()
for bag in self._bags:
for topic in bag_helper.get_topics(bag):
topics.add(topic)
return sorted(topics)
def _get_topics_by_datatype(self):
"""
:return: dict of list of topics for each datatype, ''dict(datatype:list(topic))''
"""
with self._bag_lock:
topics_by_datatype = {}
for bag in self._bags:
for datatype, topics in bag_helper.get_topics_by_datatype(
bag).items():
topics_by_datatype.setdefault(datatype, []).extend(topics)
return topics_by_datatype
def get_datatype(self, topic):
"""
:return: datatype associated with a topic, ''str''
:raises: if there are multiple datatypes assigned to a single topic, ''Exception''
"""
with self._bag_lock:
datatype = None
for bag in self._bags:
bag_datatype = bag_helper.get_datatype(bag, topic)
if datatype and bag_datatype and (bag_datatype != datatype):
raise Exception(
'topic %s has multiple datatypes: %s and %s' %
(topic, datatype, bag_datatype))
if bag_datatype:
datatype = bag_datatype
return datatype
def get_entries(self, topics, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: entries the bag file, ''msg''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort
bag_entries = []
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topics))
bag_entries.append(
b._get_entries(connections, start_stamp, end_stamp))
for entry, _ in bag._mergesort(bag_entries,
key=lambda entry: entry.time):
yield entry
def get_entries_with_bags(self, topic, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: tuple of (bag, entry) for the entries in the bag file, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort
bag_entries = []
bag_by_iter = {}
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topic))
it = iter(b._get_entries(connections, start_stamp, end_stamp))
bag_by_iter[it] = b
bag_entries.append(it)
for entry, it in bag._mergesort(bag_entries,
key=lambda entry: entry.time):
yield bag_by_iter[it], entry
def get_entry(self, t, topic):
"""
Access a bag entry
:param t: time, ''rospy.Time''
:param topic: the topic to be accessed, ''str''
:return: tuple of (bag, entry) corisponding to time t and topic, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
entry_bag, entry = None, None
for bag in self._bags:
bag_entry = bag._get_entry(t, bag._get_connections(topic))
if bag_entry and (not entry or bag_entry.time > entry.time):
entry_bag, entry = bag, bag_entry
return entry_bag, entry
def get_entry_before(self, t):
"""
Access a bag entry
:param t: time, ''rospy.Time''
:return: tuple of (bag, entry) corresponding to time t, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
entry_bag, entry = None, None
for bag in self._bags:
bag_entry = bag._get_entry(t - rospy.Duration(0, 1),
bag._get_connections())
if bag_entry and (not entry or bag_entry.time < entry.time):
entry_bag, entry = bag, bag_entry
return entry_bag, entry
def get_entry_after(self, t):
"""
Access a bag entry
:param t: time, ''rospy.Time''
:return: tuple of (bag, entry) corisponding to time t, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
entry_bag, entry = None, None
for bag in self._bags:
bag_entry = bag._get_entry_after(t, bag._get_connections())
if bag_entry and (not entry or bag_entry.time < entry.time):
entry_bag, entry = bag, bag_entry
return entry_bag, entry
def get_next_message_time(self):
"""
:return: time of the next message after the current playhead position,''rospy.Time''
"""
if self._timeline_frame.playhead is None:
return None
_, entry = self.get_entry_after(self._timeline_frame.playhead)
if entry is None:
return self._timeline_frame._start_stamp
return entry.time
def get_previous_message_time(self):
"""
:return: time of the next message before the current playhead position,''rospy.Time''
"""
if self._timeline_frame.playhead is None:
return None
_, entry = self.get_entry_before(self._timeline_frame.playhead)
if entry is None:
return self._timeline_frame._end_stamp
return entry.time
def resume(self):
if (self._player):
self._player.resume()
### Copy messages to...
def start_background_task(self, background_task):
"""
Verify that a background task is not currently running before starting a new one
:param background_task: name of the background task, ''str''
"""
if self.background_task is not None:
QMessageBox(
QMessageBox.Warning, 'Exclamation',
'Background operation already running:\n\n%s' %
self.background_task, QMessageBox.Ok).exec_()
return False
self.background_task = background_task
self.background_task_cancel = False
return True
def stop_background_task(self):
self.background_task = None
def copy_region_to_bag(self, filename):
if len(self._bags) > 0:
self._export_region(filename, self._timeline_frame.topics,
self._timeline_frame.play_region[0],
self._timeline_frame.play_region[1])
def _export_region(self, path, topics, start_stamp, end_stamp):
"""
Starts a thread to save the current selection to a new bag file
:param path: filesystem path to write to, ''str''
:param topics: topics to write to the file, ''list(str)''
:param start_stamp: start of area to save, ''rospy.Time''
:param end_stamp: end of area to save, ''rospy.Time''
"""
if not self.start_background_task('Copying messages to "%s"' % path):
return
# TODO implement a status bar area with information on the current save status
bag_entries = list(
self.get_entries_with_bags(topics, start_stamp, end_stamp))
if self.background_task_cancel:
return
# Get the total number of messages to copy
total_messages = len(bag_entries)
# If no messages, prompt the user and return
if total_messages == 0:
QMessageBox(QMessageBox.Warning, 'rqt_bag', 'No messages found',
QMessageBox.Ok).exec_()
self.stop_background_task()
return
# Open the path for writing
try:
export_bag = rosbag.Bag(path, 'w')
except Exception:
QMessageBox(QMessageBox.Warning, 'rqt_bag',
'Error opening bag file [%s] for writing' % path,
QMessageBox.Ok).exec_()
self.stop_background_task()
return
# Run copying in a background thread
self._export_thread = threading.Thread(target=self._run_export_region,
args=(export_bag, topics,
start_stamp, end_stamp,
bag_entries))
self._export_thread.start()
def _run_export_region(self, export_bag, topics, start_stamp, end_stamp,
bag_entries):
"""
Threaded function that saves the current selection to a new bag file
:param export_bag: bagfile to write to, ''rosbag.bag''
:param topics: topics to write to the file, ''list(str)''
:param start_stamp: start of area to save, ''rospy.Time''
:param end_stamp: end of area to save, ''rospy.Time''
"""
total_messages = len(bag_entries)
update_step = max(1, total_messages / 100)
message_num = 1
progress = 0
# Write out the messages
for bag, entry in bag_entries:
if self.background_task_cancel:
break
try:
topic, msg, t = self.read_message(bag, entry.position)
export_bag.write(topic, msg, t)
except Exception as ex:
qWarning('Error exporting message at position %s: %s' %
(str(entry.position), str(ex)))
export_bag.close()
self.stop_background_task()
return
if message_num % update_step == 0 or message_num == total_messages:
new_progress = int(100.0 *
(float(message_num) / total_messages))
if new_progress != progress:
progress = new_progress
if not self.background_task_cancel:
self.background_progress = progress
self.status_bar_changed_signal.emit()
message_num += 1
# Close the bag
try:
self.background_progress = 0
self.status_bar_changed_signal.emit()
export_bag.close()
except Exception as ex:
QMessageBox(
QMessageBox.Warning, 'rqt_bag',
'Error closing bag file [%s]: %s' %
(export_bag.filename, str(ex)), QMessageBox.Ok).exec_()
self.stop_background_task()
def read_message(self, bag, position):
with self._bag_lock:
return bag._read_message(position)
### Mouse events
def on_mouse_down(self, event):
if event.buttons() == Qt.LeftButton:
self._timeline_frame.on_left_down(event)
elif event.buttons() == Qt.MidButton:
self._timeline_frame.on_middle_down(event)
elif event.buttons() == Qt.RightButton:
topic = self._timeline_frame.map_y_to_topic(
self.views()[0].mapToScene(event.pos()).y())
TimelinePopupMenu(self, event, topic)
def on_mouse_up(self, event):
self._timeline_frame.on_mouse_up(event)
def on_mouse_move(self, event):
self._timeline_frame.on_mouse_move(event)
def on_mousewheel(self, event):
self._timeline_frame.on_mousewheel(event)
# Zooming
def zoom_in(self):
self._timeline_frame.zoom_in()
def zoom_out(self):
self._timeline_frame.zoom_out()
def reset_zoom(self):
self._timeline_frame.reset_zoom()
def translate_timeline_left(self):
self._timeline_frame.translate_timeline_left()
def translate_timeline_right(self):
self._timeline_frame.translate_timeline_right()
### Publishing
def is_publishing(self, topic):
return self._player and self._player.is_publishing(topic)
def start_publishing(self, topic):
if not self._player and not self._create_player():
return False
self._player.start_publishing(topic)
return True
def stop_publishing(self, topic):
if not self._player:
return False
self._player.stop_publishing(topic)
return True
def _create_player(self):
if not self._player:
try:
self._player = Player(self)
if self._publish_clock:
self._player.start_clock_publishing()
except Exception as ex:
qWarning('Error starting player; aborting publish: %s' %
str(ex))
return False
return True
def set_publishing_state(self, start_publishing):
if start_publishing:
for topic in self._timeline_frame.topics:
if not self.start_publishing(topic):
break
else:
for topic in self._timeline_frame.topics:
self.stop_publishing(topic)
# property: play_all
def _get_play_all(self):
return self._play_all
def _set_play_all(self, play_all):
if play_all == self._play_all:
return
self._play_all = not self._play_all
self.last_frame = None
self.last_playhead = None
self.desired_playhead = None
play_all = property(_get_play_all, _set_play_all)
def toggle_play_all(self):
self.play_all = not self.play_all
### Playing
def on_idle(self):
self._step_playhead()
def _step_playhead(self):
"""
moves the playhead to the next position based on the desired position
"""
# Reset when the playing mode switchs
if self._timeline_frame.playhead != self.last_playhead:
self.last_frame = None
self.last_playhead = None
self.desired_playhead = None
if self._play_all:
self.step_next_message()
else:
self.step_fixed()
def step_fixed(self):
"""
Moves the playhead a fixed distance into the future based on the current play speed
"""
if self.play_speed == 0.0 or not self._timeline_frame.playhead:
self.last_frame = None
self.last_playhead = None
return
now = rospy.Time.from_sec(time.time())
if self.last_frame:
# Get new playhead
if self.stick_to_end:
new_playhead = self.end_stamp
else:
new_playhead = self._timeline_frame.playhead + rospy.Duration.from_sec(
(now - self.last_frame).to_sec() * self.play_speed)
start_stamp, end_stamp = self._timeline_frame.play_region
if new_playhead > end_stamp:
if self.wrap:
if self.play_speed > 0.0:
new_playhead = start_stamp
else:
new_playhead = end_stamp
else:
new_playhead = end_stamp
if self.play_speed > 0.0:
self.stick_to_end = True
elif new_playhead < start_stamp:
if self.wrap:
if self.play_speed < 0.0:
new_playhead = end_stamp
else:
new_playhead = start_stamp
else:
new_playhead = start_stamp
# Update the playhead
self._timeline_frame.playhead = new_playhead
self.last_frame = now
self.last_playhead = self._timeline_frame.playhead
def step_next_message(self):
"""
Move the playhead to the next message
"""
if self.play_speed <= 0.0 or not self._timeline_frame.playhead:
self.last_frame = None
self.last_playhead = None
return
if self.last_frame:
if not self.desired_playhead:
self.desired_playhead = self._timeline_frame.playhead
else:
delta = rospy.Time.from_sec(time.time()) - self.last_frame
if delta > rospy.Duration.from_sec(0.1):
delta = rospy.Duration.from_sec(0.1)
self.desired_playhead += delta
# Get the occurrence of the next message
next_message_time = self.get_next_message_time()
if next_message_time < self.desired_playhead:
self._timeline_frame.playhead = next_message_time
else:
self._timeline_frame.playhead = self.desired_playhead
self.last_frame = rospy.Time.from_sec(time.time())
self.last_playhead = self._timeline_frame.playhead
### Views / listeners
def add_view(self, topic, frame):
self._views.append(frame)
def has_listeners(self, topic):
return topic in self._listeners
def add_listener(self, topic, listener):
self._listeners.setdefault(topic, []).append(listener)
self._message_listener_threads[(topic,
listener)] = MessageListenerThread(
self, topic, listener)
# Notify the message listeners
self._message_loaders[topic].reset()
with self._playhead_positions_cvs[topic]:
self._playhead_positions_cvs[topic].notify_all()
self.update()
def remove_listener(self, topic, listener):
topic_listeners = self._listeners.get(topic)
if topic_listeners is not None and listener in topic_listeners:
topic_listeners.remove(listener)
if len(topic_listeners) == 0:
del self._listeners[topic]
# Stop the message listener thread
if (topic, listener) in self._message_listener_threads:
self._message_listener_threads[(topic, listener)].stop()
del self._message_listener_threads[(topic, listener)]
self.update()
### Playhead
# property: play_speed
def _get_play_speed(self):
if self._timeline_frame._paused:
return 0.0
return self._play_speed
def _set_play_speed(self, play_speed):
if play_speed == self._play_speed:
return
if play_speed > 0.0:
self._play_speed = min(self._max_play_speed,
max(self._min_play_speed, play_speed))
elif play_speed < 0.0:
self._play_speed = max(-self._max_play_speed,
min(-self._min_play_speed, play_speed))
else:
self._play_speed = play_speed
if self._play_speed < 1.0:
self.stick_to_end = False
self.update()
play_speed = property(_get_play_speed, _set_play_speed)
def toggle_play(self):
if self._play_speed != 0.0:
self.play_speed = 0.0
else:
self.play_speed = 1.0
def navigate_play(self):
self.play_speed = 1.0
self.last_frame = rospy.Time.from_sec(time.time())
self.last_playhead = self._timeline_frame.playhead
self._play_timer.start()
def navigate_stop(self):
self.play_speed = 0.0
self._play_timer.stop()
def navigate_previous(self):
self.navigate_stop()
self._timeline_frame.playhead = self.get_previous_message_time()
self.last_playhead = self._timeline_frame.playhead
def navigate_next(self):
self.navigate_stop()
self._timeline_frame.playhead = self.get_next_message_time()
self.last_playhead = self._timeline_frame.playhead
def navigate_rewind(self):
if self._play_speed < 0.0:
new_play_speed = self._play_speed * 2.0
elif self._play_speed == 0.0:
new_play_speed = -1.0
else:
new_play_speed = self._play_speed * 0.5
self.play_speed = new_play_speed
def navigate_fastforward(self):
if self._play_speed > 0.0:
new_play_speed = self._play_speed * 2.0
elif self._play_speed == 0.0:
new_play_speed = 2.0
else:
new_play_speed = self._play_speed * 0.5
self.play_speed = new_play_speed
def navigate_start(self):
self._timeline_frame.playhead = self._timeline_frame.play_region[0]
def navigate_end(self):
self._timeline_frame.playhead = self._timeline_frame.play_region[1]
class HistogramPlotWidget(QWidget):
_redraw_interval = 40
def __init__(self, topics):
super(HistogramPlotWidget, self).__init__()
self.setObjectName('HistogramPlotWidget')
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('jsk_rqt_plugins'),
'resource', 'plot_histogram.ui')
loadUi(ui_file, self)
self.cv_bridge = CvBridge()
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.data_plot = MatHistogramPlot(self)
self.data_plot_layout.addWidget(self.data_plot)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
self._start_time = rospy.get_time()
self._rosdata = None
if len(topics) != 0:
self.subscribe_topic(topics)
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
@Slot('QDropEvent*')
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.subscribe_topic(topic_name)
@Slot()
def on_topic_edit_returnPressed(self):
if self.subscribe_topic_button.isEnabled():
self.subscribe_topic(str(self.topic_edit.text()))
@Slot()
def on_subscribe_topic_button_clicked(self):
self.subscribe_topic(str(self.topic_edit.text()))
def subscribe_topic(self, topic_name):
self.topic_with_field_name = topic_name
self.pub_image = rospy.Publisher(topic_name + "/histogram_image", Image)
if not self._rosdata:
self._rosdata = ROSData(topic_name, self._start_time)
else:
if self._rosdata != topic_name:
self._rosdata.close()
self.data_plot.clear()
self._rosdata = ROSData(topic_name, self._start_time)
else:
rospy.logwarn("%s is already subscribed", topic_name)
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()
@Slot()
def on_clear_button_clicked(self):
self.data_plot.clear()
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
def update_plot(self):
if not self._rosdata:
return
data_x, data_y = self._rosdata.next()
if len(data_y) == 0:
return
axes = self.data_plot._canvas.axes
axes.cla()
if self._rosdata.sub.data_class is HistogramWithRange:
xs = [y.count for y in data_y[-1].bins]
pos = [y.min_value for y in data_y[-1].bins]
widths = [y.max_value - y.min_value for y in data_y[-1].bins]
axes.set_xlim(xmin=pos[0], xmax=pos[-1] + widths[-1])
else:
xs = data_y[-1]
pos = np.arange(len(xs))
widths = [1] * len(xs)
axes.set_xlim(xmin=0, xmax=len(xs))
#axes.xticks(range(5))
for p, x, w in zip(pos, xs, widths):
axes.bar(p, x, color='r', align='center', width=w)
axes.legend([self.topic_with_field_name], prop={'size': '8'})
self.data_plot._canvas.draw()
buffer = StringIO()
self.data_plot._canvas.figure.savefig(buffer, format="png")
buffer.seek(0)
img_array = np.asarray(bytearray(buffer.read()), dtype=np.uint8)
img = cv2.imdecode(img_array, cv2.CV_LOAD_IMAGE_COLOR)
self.pub_image.publish(self.cv_bridge.cv2_to_imgmsg(img, "bgr8"))
class MotionEditorWidget(QWidget):
position_renamed = Signal(QListWidgetItem)
def __init__(self, motion_publisher, robot_config):
super(MotionEditorWidget, self).__init__()
self.robot_config = robot_config
self._motion_publisher = motion_publisher
self._motion_data = MotionData(robot_config)
self._filter_pattern = ''
self._playback_marker = None
self._playback_timer = None
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'motion_editor.ui')
loadUi(ui_file, self)
self.list_widgets = {}
for group_type in robot_config.group_types():
list_widget = QListWidget()
list_widget.setSortingEnabled(True)
list_widget.setDragDropMode(QAbstractItemView.DragOnly)
list_widget.setContextMenuPolicy(Qt.CustomContextMenu)
list_widget.customContextMenuRequested.connect(
lambda pos, _group_type=group_type: self.
positions_list_context_menu(_group_type, pos))
list_widget.itemChanged.connect(self.on_list_item_changed)
self.position_lists_layout.addWidget(list_widget)
self.list_widgets[group_type] = list_widget
self._timeline_widget = TimelineWidget()
for track_name in self.robot_config.sorted_groups():
track_type = self.robot_config.groups[track_name].group_type
track = self._timeline_widget.add_track(track_name, track_type)
list_widget = self.list_widgets[track_type]
palette = list_widget.palette()
palette.setColor(QPalette.Base, track._colors['track'])
list_widget.setPalette(palette)
self.timeline_group.layout().addWidget(self._timeline_widget)
for group_type in robot_config.group_types():
label = QLabel(group_type)
label.setAlignment(Qt.AlignHCenter | Qt.AlignVCenter)
self.group_label_layout.addWidget(label)
self.update_motion_name_combo()
self.stop_motion_button.pressed.connect(self.on_motion_stop_pressed)
def on_list_item_changed(self, item):
print 'Position name changed from', item._text, 'to', item.text()
self.position_renamed.emit(item)
def on_motion_stop_pressed(self):
self._clear_playback_marker()
self._motion_publisher.stop_motion()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self.splitter.saveState())
instance_settings.set_value('filter_pattern',
self.filter_pattern_edit.text())
instance_settings.set_value('filter_motions_checked',
self.filter_motions_check.isChecked())
instance_settings.set_value('filter_positions_checked',
self.filter_positions_check.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.contains('splitter'):
self.splitter.restoreState(instance_settings.value('splitter'))
else:
self.splitter.setSizes([300, 100])
self.filter_pattern_edit.setText(
instance_settings.value('filter_pattern', ''))
self.filter_motions_check.setChecked(
instance_settings.value('filter_motions_checked', False) in (
1, True, 'true'))
self.filter_positions_check.setChecked(
instance_settings.value('filter_positions_checked', False) in (
1, True, 'true'))
@Slot()
def on_clear_motion_button_clicked(self):
self._timeline_widget.scene().clear()
@Slot()
def on_delete_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to delete.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(
self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self._motion_data.delete(motion_name)
self.update_motion_name_combo()
@Slot()
def on_save_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error',
'No name given to save this motion.')
return
self._motion_data.save(motion_name, self.get_motion_from_timeline())
self.update_motion_name_combo()
@Slot()
def on_load_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to load.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(
self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self.on_clear_motion_button_clicked()
motion = self._motion_data[motion_name]
for group_name, poses in motion.items():
for pose in poses:
data = self.robot_config.groups[group_name].adapt_to_side(
pose['positions'])
self._timeline_widget.scene().add_clip(group_name,
pose['name'],
pose['starttime'],
pose['duration'], data)
@Slot()
def on_null_motion_button_clicked(self):
self._clear_playback_marker()
for group_name in self.robot_config.groups:
target_position = [0] * len(
self.robot_config.groups[group_name].joints)
self._motion_publisher.move_to_position(
group_name, target_position, self.time_factor_spin.value())
@Slot()
def on_run_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to run.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(
self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self._clear_playback_marker()
self._motion_publisher.publish_motion(self._motion_data[motion_name],
self.time_factor_spin.value())
print '[Motion Editor] Running motion:', motion_name
@Slot(str)
def on_filter_pattern_edit_textChanged(self, pattern):
self._filter_pattern = pattern
self._apply_filter_to_position_lists()
self.update_motion_name_combo()
def _apply_filter_to_position_lists(self):
for group_type in self.robot_config.group_types():
list_widget = self.list_widgets[group_type]
for row in range(list_widget.count()):
item = list_widget.item(row)
hidden = self.filter_positions_check.isChecked() and re.search(
self._filter_pattern, item.text()) is None
item.setHidden(hidden)
@Slot(bool)
def on_filter_positions_check_toggled(self, checked):
self._apply_filter_to_position_lists()
@Slot(bool)
def on_filter_motions_check_toggled(self, checked):
self.update_motion_name_combo()
def update_motion_name_combo(self):
combo = self.motion_name_combo
# remember selected motion name
motion_name = str(combo.currentText())
# update motion names
combo.clear()
motion_names = self._motion_data.keys()
if self.filter_motions_check.isChecked():
motion_names = [
name for name in motion_names
if re.search(self._filter_pattern, name) is not None
]
combo.addItems(sorted(motion_names))
# restore previously selected motion name
motion_index = combo.findText(motion_name)
combo.setCurrentIndex(motion_index)
def update_positions_lists(self, positions):
for group_type in self.robot_config.group_types():
list_widget = self.list_widgets[group_type]
list_widget.clear()
for name, position in positions[group_type].items():
item = QListWidgetItem(name)
item._data = position
item._text = name
item._type = group_type
item.setFlags(item.flags() | Qt.ItemIsEditable)
list_widget.addItem(item)
self._apply_filter_to_position_lists()
def positions_list_context_menu(self, group_type, pos):
list_widget = self.list_widgets[group_type]
list_item = list_widget.itemAt(pos)
if list_item is None:
return
menu = QMenu()
move_to = {}
for group in self.robot_config.group_list():
if list_item._type == group.group_type:
move_to[menu.addAction('move "%s"' %
group.name)] = [group.name]
# move_to[menu.addAction('move all')] = list(move_to.itervalues())
move_to[menu.addAction('move all')] = [
group_list[0] for group_list in list(move_to.itervalues())
]
result = menu.exec_(list_widget.mapToGlobal(pos))
if result in move_to:
group_names = move_to[result]
for group_name in group_names:
target_positions = self.robot_config.groups[
group_name].adapt_to_side(list_item._data)
self._motion_publisher.move_to_position(
group_name, target_positions,
self.time_factor_spin.value())
print '[Motion Editor] Moving %s to: %s' % (
group_name,
zip(self.robot_config.groups[group_name].joints_sorted(),
target_positions))
def get_motion_from_timeline(self):
motion = {}
for group_name, clips in self._timeline_widget.scene().clips().items():
motion[group_name] = []
for clip in clips:
pose = {
'name':
clip.text(),
'starttime':
clip.starttime(),
'duration':
clip.duration(),
'positions':
self.robot_config.groups[group_name].adapt_to_side(
clip.data()),
}
motion[group_name].append(pose)
return motion
@Slot()
def on_run_timeline_button_clicked(self):
print '[Motion Editor] Running timeline.'
self._playback_duration = 0.0
for clips in self._timeline_widget.scene().clips().values():
if len(clips) > 0 and self._playback_duration < clips[-1].endtime(
):
self._playback_duration = clips[-1].endtime()
self._playback_time_factor = self.time_factor_spin.value()
self._clear_playback_marker()
self._playback_marker = self._timeline_widget.scene().add_marker(0.0)
self._playback_timer = QTimer()
self._playback_timer.setInterval(30)
self._playback_timer.timeout.connect(self._playback_update)
self._playback_start = rospy.get_time()
self._motion_publisher.publish_motion(self.get_motion_from_timeline(),
self.time_factor_spin.value())
self._playback_timer.start()
def _clear_playback_marker(self):
if self._playback_timer is not None:
self._playback_timer.stop()
if self._playback_marker is not None:
self._playback_marker.remove()
@Slot()
def _playback_update(self):
duration = (rospy.get_time() -
self._playback_start) / self._playback_time_factor
if duration > self._playback_duration:
self._clear_playback_marker()
else:
self._playback_marker.set_time(duration)
class View(QWidget):
def __init__(self, parent=None):
super(View, self).__init__()
self.unit = 'deg'
self.timer = QTimer(self)
self.timer.timeout.connect(lambda: self.publishRequested.emit())
pkg_path = rospkg.RosPack().get_path('rqt_tf_rot')
ui_file_path = os.path.join(pkg_path, 'res', 'PluginUI.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file_path, self)
self.initUI()
publishRequested = Signal()
def initUI(self):
btnPublish = self.findChild(QAbstractButton, 'btnPublish')
btnPublish.clicked.connect(lambda: self.publishRequested.emit())
self.txtChild = self.findChild(QLineEdit, 'txtChild')
self.cboParent = self.findChild(QComboBox, 'cboParent')
self.spnRollRad = self.findChild(QDoubleSpinBox, 'spnRollRad')
self.spnPitchRad = self.findChild(QDoubleSpinBox, 'spnPitchRad')
self.spnYawRad = self.findChild(QDoubleSpinBox, 'spnYawRad')
spnTimeout = self.findChild(QSpinBox, 'spnTimeout')
spnTimeout.valueChanged.connect(
lambda timeout: self.timer.setInterval(timeout))
chkTimer = self.findChild(QCheckBox, 'chkTimer')
chkTimer.stateChanged.connect(self.onChkTimerChanged)
for suffix in ['Yaw', 'Pitch', 'Roll']:
degSpin = self.findChild(QDoubleSpinBox, 'spn'+suffix+'Deg')
radSpin = self.findChild(QDoubleSpinBox, 'spn'+suffix+'Rad')
dial = self.findChild(QDial, 'dial'+suffix)
# May the Python gods forgive me
# The lambda default parameters are there only to simulate
# what would happen if lambdas remembered what objects
# they were trying to capture instead of just the names of
# the variables in the closure
dial.valueChanged.connect(
lambda value, degSpin=degSpin, radSpin=radSpin:
self.onDialChanged(value,
deg_spinbox=degSpin,
rad_spinbox=radSpin))
degSpin.valueChanged.connect(
lambda value, dial=dial, radSpin=radSpin:
self.onDegSpinChanged(
value,
slider=dial,
rad_spinbox=radSpin))
radSpin.valueChanged.connect(
lambda value, dial=dial, degSpin=degSpin:
self.onRadSpinChanged(value,
slider=dial,
deg_spinbox=degSpin))
# --- Slots (not all strictly Qt slots)
def onDialChanged(self, value, deg_spinbox=None, rad_spinbox=None):
setValueWithoutSignals(deg_spinbox, float(value))
setValueWithoutSignals(rad_spinbox,
convertUnit(float(value), 'deg', 'rad'))
def onDegSpinChanged(self, value, slider=None, rad_spinbox=None):
setValueWithoutSignals(slider, int(value))
setValueWithoutSignals(rad_spinbox,
convertUnit(float(value), 'deg', 'rad'))
def onRadSpinChanged(self, value, slider=None, deg_spinbox=None):
setValueWithoutSignals(slider, int(value))
setValueWithoutSignals(deg_spinbox,
convertUnit(float(value), 'rad', 'deg'))
def onChkTimerChanged(self, state):
if state == Qt.Checked:
self.timer.start()
else:
self.timer.stop()
@Slot(str)
def addLinkToList(self, child_id):
if self.cboParent != None:
self.cboParent.addItem(child_id)
# --- Accessors
def childName(self):
if self.txtChild != None:
return self.txtChild.text()
else:
return ''
def parentName(self):
if self.cboParent != None:
return self.cboParent.currentText()
else:
return ''
def roll(self):
return self.spnRollRad.value()
def pitch(self):
return self.spnPitchRad.value()
def yaw(self):
return self.spnYawRad.value()
class MonitorDashWidget(IconToolButton):
"""
A widget which brings up the rqt_robot_monitor.
Times out after certain period of time (set as 5 sec as of Apr 2013)
without receiving diagnostics msg ('/diagnostics_toplevel_state' of
DiagnosticStatus type), status becomes as 'stale'.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
_msg_trigger = Signal()
def __init__(self, context, icon_paths=[]):
self._graveyard = []
ok_icon = ['bg-green.svg', 'ic-diagnostics.svg']
warn_icon = ['bg-yellow.svg', 'ic-diagnostics.svg',
'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-diagnostics.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-diagnostics.svg',
'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(MonitorDashWidget, self).__init__('MonitorWidget', icons,
icon_paths=icon_paths)
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._monitor = None
self._close_mutex = QMutex()
self._show_mutex = QMutex()
self._last_update = rospy.Time.now()
self.context = context
self.clicked.connect(self._show_monitor)
self._monitor_shown = False
self.setToolTip('Diagnostics')
self._diagnostics_toplevel_state_sub = rospy.Subscriber(
'diagnostics_toplevel_state',
DiagnosticStatus, self.toplevel_state_callback)
self._top_level_state = -1
self._stall_timer = QTimer()
self._stall_timer.timeout.connect(self._stalled)
self._stalled()
self._plugin_settings = None
self._instance_settings = None
self._msg_trigger.connect(self._handle_msg_trigger)
def toplevel_state_callback(self, msg):
self._is_stale = False
self._msg_trigger.emit()
if self._top_level_state != msg.level:
if (msg.level >= 2):
self.update_state(2)
self.setToolTip("Diagnostics: Error")
elif (msg.level == 1):
self.update_state(1)
self.setToolTip("Diagnostics: Warning")
else:
self.update_state(0)
self.setToolTip("Diagnostics: OK")
self._top_level_state = msg.level
def _handle_msg_trigger(self):
self._stall_timer.start(5000)
def _stalled(self):
self._stall_timer.stop()
self._is_stale = True
self.update_state(3)
self._top_level_state = 3
self.setToolTip("Diagnostics: Stale\nNo message received on "
"/diagnostics_agg in the last 5 seconds")
def _show_monitor(self):
with QMutexLocker(self._show_mutex):
try:
if self._monitor_shown:
self.context.remove_widget(self._monitor)
self._monitor_close()
self._monitor_shown = False
else:
self._monitor = RobotMonitorWidget(self.context,
'/diagnostics_agg')
if self._plugin_settings:
self._monitor.restore_settings(self._plugin_settings,
self._instance_settings)
self.context.add_widget(self._monitor)
self._monitor_shown = True
except Exception:
if self._monitor_shown == False:
raise
#TODO: when closeEvents is available fix this hack
# (It ensures the button will toggle correctly)
self._monitor_shown = False
self._show_monitor()
def _monitor_close(self):
if self._monitor_shown:
with QMutexLocker(self._close_mutex):
if self._plugin_settings:
self._monitor.save_settings(self._plugin_settings,
self._instance_settings)
self._monitor.shutdown()
self._monitor.close()
self._graveyard.append(self._monitor)
self._monitor = None
def shutdown_widget(self):
self._stall_timer.stop()
if self._monitor:
self._monitor.shutdown()
self._diagnostics_toplevel_state_sub.unregister()
def save_settings(self, plugin_settings, instance_settings):
if self._monitor_shown:
self._monitor.save_settings(self._plugin_settings,
self._instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._plugin_settings = plugin_settings
self._instance_settings = instance_settings
class RuntimeMonitorWidget(QWidget):
def __init__(self, topic="diagnostics"):
super(RuntimeMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_runtime_monitor'), 'resource', 'runtime_monitor_widget.ui')
loadUi(ui_file, self)
self.setObjectName('RuntimeMonitorWidget')
self._mutex = threading.Lock()
self._error_icon = QIcon.fromTheme('dialog-error')
self._warning_icon = QIcon.fromTheme('dialog-warning')
self._ok_icon = QIcon.fromTheme('dialog-information')
self._stale_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Stale (0)'])
self._stale_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._stale_node)
self._error_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Errors (0)'])
self._error_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._error_node)
self._warning_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
self._warning_node.setIcon(0, self._warning_icon)
self.tree_widget.addTopLevelItem(self._warning_node)
self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Ok (0)'])
self._ok_node.setIcon(0, self._ok_icon)
self.tree_widget.addTopLevelItem(self._ok_node)
self.tree_widget.itemSelectionChanged.connect(self._refresh_selection)
self.keyPressEvent = self._on_key_press
self._name_to_item = {}
self._new_errors_callback = None
self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._diagnostics_callback)
self._previous_ros_time = rospy.Time.now()
self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(1000)
self._msg_timer = QTimer()
self._msg_timer.timeout.connect(self._update_messages)
self._msg_timer.start(100)
self._messages = []
self._used_items = 0
def __del__(self):
self.shutdown()
def shutdown(self):
"""
Unregisters subscriber and stops timers
"""
self._msg_timer.stop()
self._timer.stop()
if rospy.is_shutdown():
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = None
def change_diagnostic_topic(self, topic):
"""
Changes diagnostics topic name. Must be of type diagnostic_msgs/DiagnosticArray
"""
if not topic:
self.reset_monitor()
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = rospy.Subscriber(str(topic), DiagnosticArray, self._diagnostics_callback)
self.reset_monitor()
def reset_monitor(self):
"""
Removes all values from monitor display, resets buffers
"""
self._name_to_item = {} # Reset all stale topics
self._messages = []
self._clear_tree()
def _clear_tree(self):
for index in range(self._stale_node.childCount()):
self._stale_node.removeChild(self._stale_node.child(index))
for index in range(self._error_node.childCount()):
self._error_node.removeChild(self._error_node.child(index))
for index in range(self._warning_node.childCount()):
self._warning_node.removeChild(self._warning_node.child(index))
for index in range(self._ok_node.childCount()):
self._ok_node.removeChild(self._ok_node.child(index))
self._update_root_labels()
# Diagnostics callbacks (subscriber thread)
def _diagnostics_callback(self, message):
with self._mutex:
self._messages.append(message)
# Update display of messages from main thread
def _update_messages(self):
with self._mutex:
messages = self._messages[:]
self._messages = []
had_errors = False
for message in messages:
for status in message.status:
was_selected = False
if (self._name_to_item.has_key(status.name)):
item = self._name_to_item[status.name]
if item.tree_node.isSelected():
was_selected = True
if (item.status.level == DiagnosticStatus.ERROR and status.level != DiagnosticStatus.ERROR):
had_errors = True
self._update_item(item, status, was_selected)
else:
self._create_item(status, was_selected, True)
if (status.level == DiagnosticStatus.ERROR):
had_errors = True
if (had_errors and self._new_errors_callback != None):
self._new_errors_callback()
self._update_root_labels()
self.update()
self._refresh_selection()
def _update_item(self, item, status, was_selected):
change_parent = False
if (item.status.level != status.level):
change_parent = True
if (change_parent):
if (item.status.level == DiagnosticStatus.OK):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == DiagnosticStatus.WARN):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1) or (item.status.level == DiagnosticStatus.STALE):
self._stale_node.removeChild(item.tree_node)
else: # ERROR
self._error_node.removeChild(item.tree_node)
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == DiagnosticStatus.STALE):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item.tree_node.setText(0, status.name + ": " + status.message)
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
# expand errors automatically
if (status.level > 1 or status.level == -1):
parent_node.setExpanded(True)
parent_node.sortChildren(0, Qt.AscendingOrder)
if (was_selected):
self.tree_widget.setCurrentItem(item.tree_node)
else:
item.tree_node.setText(0, status.name + ": " + status.message)
item.status = status
if (was_selected):
self._fillout_info(item.tree_node)
item.mark = True
def _create_item(self, status, select, expand_if_error):
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == DiagnosticStatus.STALE):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item = TreeItem(status, QTreeWidgetItem(parent_node, [status.name + ": " + status.message]))
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
self._name_to_item[status.name] = item
parent_node.sortChildren(0, Qt.AscendingOrder)
if (select):
item.tree_node.setSelected(True)
if (expand_if_error and (status.level > 1 or status.level == -1)):
parent_node.setExpanded(True)
item.mark = True
return item
def _fillout_info(self, node):
item = node.data(0, Qt.UserRole)
if not item:
return
scroll_value = self.html_browser.verticalScrollBar().value()
status = item.status
s = cStringIO.StringIO()
s.write("<html><body>")
s.write("<b>Component</b>: %s<br>\n" % (status.name))
s.write("<b>Message</b>: %s<br>\n" % (status.message))
s.write("<b>Hardware ID</b>: %s<br><br>\n\n" % (status.hardware_id))
s.write('<table border="1" cellpadding="2" cellspacing="0">')
for value in status.values:
value.value = value.value.replace("\n", "<br>")
s.write("<tr><td><b>%s</b></td> <td>%s</td></tr>\n" % (value.key, value.value))
s.write("</table></body></html>")
self.html_browser.setHtml(s.getvalue())
if self.html_browser.verticalScrollBar().maximum() < scroll_value:
scroll_value = self.html_browser.verticalScrollBar().maximum()
self.html_browser.verticalScrollBar().setValue(scroll_value)
def _refresh_selection(self):
current_item = self.tree_widget.selectedItems()
if current_item:
self._fillout_info(current_item[0])
def _on_key_press(self, event):
key = event.key()
if key == Qt.Key_Delete:
nodes = self.tree_widget.selectedItems()
if (nodes != [] and nodes[0] not in (self._ok_node, self._warning_node, self._stale_node, self._error_node)):
item = nodes[0].data(0, Qt.UserRole)
if (item.status.level == 0):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == 1):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1) or (item.status.level == DiagnosticStatus.STALE):
self._stale_node.removeChild(item.tree_node)
else:
self._error_node.removeChild(item.tree_node)
del self._name_to_item[item.status.name]
self._update_root_labels()
self.update()
event.accept()
else:
event.ignore()
def _on_timer(self):
if self._previous_ros_time + rospy.Duration(5) > rospy.Time.now():
return
self._previous_ros_time = rospy.Time.now()
for name, item in self._name_to_item.iteritems():
node = item.tree_node
if (item != None):
if (not item.mark):
was_selected = False
selected = self.tree_widget.selectedItems()
if selected != [] and selected[0] == node:
was_selected = True
new_status = copy.deepcopy(item.status)
new_status.level = -1 # mark stale
self._update_item(item, new_status, was_selected)
item.mark = False
self._update_root_labels()
self.update()
def set_new_errors_callback(self, callback):
self._new_errors_callback = callback
def _update_root_labels(self):
self._stale_node.setText(0, "Stale (%s)" % (self._stale_node.childCount()))
self._error_node.setText(0, "Errors (%s)" % (self._error_node.childCount()))
self._warning_node.setText(0, "Warnings (%s)" % (self._warning_node.childCount()))
self._ok_node.setText(0, "Ok (%s)" % (self._ok_node.childCount()))
class EnhancedLineEdit(QLineEdit):
stop_signal = Signal()
''' stop button was pressed '''
refresh_signal = Signal(str)
''' sends a refresh signal with current text. This signal is emmited if text was changed or button was pressed '''
def __init__(self, parent=None):
QLineEdit.__init__(self, parent=None)
self.process_active = False
# create a reload button with icon
self.button_reload = button_reload = QToolButton(self)
icon = QIcon.fromTheme("view-refresh",
QIcon(":/icons/oxygen_view_refresh.png"))
button_reload.setIcon(icon)
button_reload.setCursor(Qt.ArrowCursor)
button_reload.setStyleSheet(
"QToolButton { border: none; padding: 0px; }")
# create a stop button with icon
self.button_stop = button_stop = QToolButton(self)
icon = QIcon.fromTheme("process-stop",
QIcon(":/icons/oxygen_view_refresh.png"))
button_stop.setIcon(icon)
button_stop.setCursor(Qt.ArrowCursor)
button_stop.setStyleSheet(
"QToolButton { border: none; padding: 0px; }")
button_stop.hide()
# signals, clear lineEdit if btn pressed; change btn visibility on input
button_reload.clicked.connect(self._emit_refresh_text)
self.textChanged[str].connect(self.update_close_button)
button_stop.clicked.connect(self._process_stop)
frameWidth = self.style().pixelMetric(QStyle.PM_DefaultFrameWidth)
self.setStyleSheet("QLineEdit { padding-right: %dpx; } " %
(button_reload.sizeHint().width() + frameWidth + 1))
msz = self.minimumSizeHint()
self.setMinimumSize(
max(msz.width(),
button_reload.sizeHint().height() + frameWidth * 2 + 2),
max(msz.height(),
button_reload.sizeHint().height() + frameWidth * 2 + 2))
self._timer = QTimer(self)
self._timer.setSingleShot(True)
self._timer.setInterval(500)
self._timer.timeout.connect(self._emit_refresh_text)
def resizeEvent(self, event):
sz = self.button_reload.sizeHint()
frameWidth = self.style().pixelMetric(QStyle.PM_DefaultFrameWidth)
self.button_reload.move(self.rect().right() - frameWidth - sz.width(),
(self.rect().bottom() + 1 - sz.height()) / 2)
self.button_stop.move(self.rect().right() - frameWidth - sz.width(),
(self.rect().bottom() + 1 - sz.height()) / 2)
def update_close_button(self, text):
self._timer.stop()
self._timer.start()
# self.button_reload.setVisible(True if text else False)
def set_process_active(self, state):
if self.process_active != state:
self.process_active = state
self.button_reload.setVisible(not state)
self.button_stop.setVisible(state)
def _process_stop(self):
self.stop_signal.emit()
def _emit_refresh_text(self):
self.set_process_active(True)
self.refresh_signal.emit(self.text())
def keyPressEvent(self, event):
'''
Enable the ESC handling
'''
if event.key() == Qt.Key_Escape and self.text():
self.setText('')
self._timer.stop()
elif event.key() in [Qt.Key_Return, Qt.Key_Enter]:
self._timer.stop()
self._emit_refresh_text()
else:
event.accept()
QLineEdit.keyPressEvent(self, event)
class TopicWidget(QWidget):
"""
main class inherits from the ui window class.
You can specify the topics that the topic pane.
TopicWidget.start must be called in order to update topic pane.
"""
SELECT_BY_NAME = 0
SELECT_BY_MSGTYPE = 1
_column_names = ['topic', 'type', 'bandwidth', 'rate', 'value']
def __init__(self, plugin=None, selected_topics=None, select_topic_type=SELECT_BY_NAME):
"""
@type selected_topics: list of tuples.
@param selected_topics: [($NAME_TOPIC$, $TYPE_TOPIC$), ...]
@type select_topic_type: int
@param select_topic_type: Can specify either the name of topics or by
the type of topic, to filter the topics to
show. If 'select_topic_type' argument is
None, this arg shouldn't be meaningful.
"""
super(TopicWidget, self).__init__()
self._select_topic_type = select_topic_type
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_topic'), 'resource', 'TopicWidget.ui')
loadUi(ui_file, self)
self._plugin = plugin
self.topics_tree_widget.sortByColumn(0, Qt.AscendingOrder)
header = self.topics_tree_widget.header()
header.setResizeMode(QHeaderView.ResizeToContents)
header.customContextMenuRequested.connect(self.handle_header_view_customContextMenuRequested)
header.setContextMenuPolicy(Qt.CustomContextMenu)
# Whether to get all topics or only the topics that are set in advance.
# Can be also set by the setter method "set_selected_topics".
self._selected_topics = selected_topics
self._current_topic_list = []
self._topics = {}
self._tree_items = {}
self._column_index = {}
for column_name in self._column_names:
self._column_index[column_name] = len(self._column_index)
# self.refresh_topics()
# init and start update timer
self._timer_refresh_topics = QTimer(self)
self._timer_refresh_topics.timeout.connect(self.refresh_topics)
def set_topic_specifier(self, specifier):
self._select_topic_type = specifier
def start(self):
"""
This method needs to be called to start updating topic pane.
"""
self._timer_refresh_topics.start(1000)
@Slot()
def refresh_topics(self):
"""
refresh tree view items
"""
if self._selected_topics is None:
topic_list = rospy.get_published_topics()
if topic_list is None:
rospy.logerr('Not even a single published topic found. Check network configuration')
return
else: # Topics to show are specified.
topic_list = self._selected_topics
topic_specifiers_server_all = None
topic_specifiers_required = None
rospy.logdebug('refresh_topics) self._selected_topics=%s' % (topic_list,))
if self._select_topic_type == self.SELECT_BY_NAME:
topic_specifiers_server_all = [name for name, type in rospy.get_published_topics()]
topic_specifiers_required = [name for name, type in topic_list]
elif self._select_topic_type == self.SELECT_BY_MSGTYPE:
# The topics that are required (by whoever uses this class).
topic_specifiers_required = [type for name, type in topic_list]
# The required topics that match with published topics.
topics_match = [(name, type) for name, type in rospy.get_published_topics() if type in topic_specifiers_required]
topic_list = topics_match
rospy.logdebug('selected & published topic types=%s' % (topic_list,))
rospy.logdebug('server_all=%s\nrequired=%s\ntlist=%s' % (topic_specifiers_server_all, topic_specifiers_required, topic_list))
if len(topic_list) == 0:
rospy.logerr('None of the following required topics are found.\n(NAME, TYPE): %s' % (self._selected_topics,))
return
if self._current_topic_list != topic_list:
self._current_topic_list = topic_list
# start new topic dict
new_topics = {}
for topic_name, topic_type in topic_list:
# if topic is new or has changed its type
if topic_name not in self._topics or \
self._topics[topic_name]['type'] != topic_type:
# create new TopicInfo
topic_info = TopicInfo(topic_name, topic_type)
message_instance = None
if topic_info.message_class is not None:
message_instance = topic_info.message_class()
# add it to the dict and tree view
topic_item = self._recursive_create_widget_items(self.topics_tree_widget, topic_name, topic_type, message_instance)
new_topics[topic_name] = {
'item': topic_item,
'info': topic_info,
'type': topic_type,
}
else:
# if topic has been seen before, copy it to new dict and
# remove it from the old one
new_topics[topic_name] = self._topics[topic_name]
del self._topics[topic_name]
# clean up old topics
for topic_name in self._topics.keys():
self._topics[topic_name]['info'].stop_monitoring()
index = self.topics_tree_widget.indexOfTopLevelItem(
self._topics[topic_name]['item'])
self.topics_tree_widget.takeTopLevelItem(index)
del self._topics[topic_name]
# switch to new topic dict
self._topics = new_topics
self._update_topics_data()
def _update_topics_data(self):
for topic in self._topics.values():
topic_info = topic['info']
if topic_info.monitoring:
# update rate
rate, _, _, _ = topic_info.get_hz()
rate_text = '%1.2f' % rate if rate != None else 'unknown'
# update bandwidth
bytes_per_s, _, _, _ = topic_info.get_bw()
if bytes_per_s is None:
bandwidth_text = 'unknown'
elif bytes_per_s < 1000:
bandwidth_text = '%.2fB/s' % bytes_per_s
elif bytes_per_s < 1000000:
bandwidth_text = '%.2fKB/s' % (bytes_per_s / 1000.)
else:
bandwidth_text = '%.2fMB/s' % (bytes_per_s / 1000000.)
# update values
value_text = ''
self.update_value(topic_info._topic_name, topic_info.last_message)
else:
rate_text = ''
bandwidth_text = ''
value_text = 'not monitored' if topic_info.error is None else topic_info.error
self._tree_items[topic_info._topic_name].setText(self._column_index['rate'], rate_text)
self._tree_items[topic_info._topic_name].setText(self._column_index['bandwidth'], bandwidth_text)
self._tree_items[topic_info._topic_name].setText(self._column_index['value'], value_text)
def update_value(self, topic_name, message):
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name in message.__slots__:
self.update_value(topic_name + '/' + slot_name, getattr(message, slot_name))
elif type(message) in (list, tuple) and (len(message) > 0) and hasattr(message[0], '__slots__'):
for index, slot in enumerate(message):
if topic_name + '[%d]' % index in self._tree_items:
self.update_value(topic_name + '[%d]' % index, slot)
else:
base_type_str, _ = self._extract_array_info(self._tree_items[topic_name].text(self._column_index['type']))
self._recursive_create_widget_items(self._tree_items[topic_name], topic_name + '[%d]' % index, base_type_str, slot)
# remove obsolete children
if len(message) < self._tree_items[topic_name].childCount():
for i in range(len(message), self._tree_items[topic_name].childCount()):
item_topic_name = topic_name + '[%d]' % i
self._recursive_delete_widget_items(self._tree_items[item_topic_name])
else:
if topic_name in self._tree_items:
self._tree_items[topic_name].setText(self._column_index['value'], repr(message))
def _extract_array_info(self, type_str):
array_size = None
if '[' in type_str and type_str[-1] == ']':
type_str, array_size_str = type_str.split('[', 1)
array_size_str = array_size_str[:-1]
if len(array_size_str) > 0:
array_size = int(array_size_str)
else:
array_size = 0
return type_str, array_size
def _recursive_create_widget_items(self, parent, topic_name, type_name, message):
if parent is self.topics_tree_widget:
# show full topic name with preceding namespace on toplevel item
topic_text = topic_name
item = TreeWidgetItem(self._toggle_monitoring, topic_name, parent)
else:
topic_text = topic_name.split('/')[-1]
if '[' in topic_text:
topic_text = topic_text[topic_text.index('['):]
item = QTreeWidgetItem(parent)
item.setText(self._column_index['topic'], topic_text)
item.setText(self._column_index['type'], type_name)
item.setData(0, Qt.UserRole, topic_name)
self._tree_items[topic_name] = item
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name, type_name in zip(message.__slots__, message._slot_types):
self._recursive_create_widget_items(item, topic_name + '/' + slot_name, type_name, getattr(message, slot_name))
else:
base_type_str, array_size = self._extract_array_info(type_name)
try:
base_instance = roslib.message.get_message_class(base_type_str)()
except (ValueError, TypeError):
base_instance = None
if array_size is not None and hasattr(base_instance, '__slots__'):
for index in range(array_size):
self._recursive_create_widget_items(item, topic_name + '[%d]' % index, base_type_str, base_instance)
return item
def _toggle_monitoring(self, topic_name):
item = self._tree_items[topic_name]
if item.checkState(0):
self._topics[topic_name]['info'].start_monitoring()
else:
self._topics[topic_name]['info'].stop_monitoring()
def _recursive_delete_widget_items(self, item):
def _recursive_remove_items_from_tree(item):
for index in reversed(range(item.childCount())):
_recursive_remove_items_from_tree(item.child(index))
topic_name = item.data(0, Qt.UserRole)
del self._tree_items[topic_name]
_recursive_remove_items_from_tree(item)
item.parent().removeChild(item)
@Slot('QPoint')
def handle_header_view_customContextMenuRequested(self, pos):
header = self.topics_tree_widget.header()
# show context menu
menu = QMenu(self)
action_toggle_auto_resize = menu.addAction('Toggle Auto-Resize')
action = menu.exec_(header.mapToGlobal(pos))
# evaluate user action
if action is action_toggle_auto_resize:
if header.resizeMode(0) == QHeaderView.ResizeToContents:
header.setResizeMode(QHeaderView.Interactive)
else:
header.setResizeMode(QHeaderView.ResizeToContents)
@Slot('QPoint')
def on_topics_tree_widget_customContextMenuRequested(self, pos):
item = self.topics_tree_widget.itemAt(pos)
if item is None:
return
# show context menu
menu = QMenu(self)
action_item_expand = menu.addAction(QIcon.fromTheme('zoom-in'), 'Expand All Children')
action_item_collapse = menu.addAction(QIcon.fromTheme('zoom-out'), 'Collapse All Children')
action = menu.exec_(self.topics_tree_widget.mapToGlobal(pos))
# evaluate user action
if action in (action_item_expand, action_item_collapse):
expanded = (action is action_item_expand)
def recursive_set_expanded(item):
item.setExpanded(expanded)
for index in range(item.childCount()):
recursive_set_expanded(item.child(index))
recursive_set_expanded(item)
def shutdown_plugin(self):
for topic in self._topics.values():
topic['info'].stop_monitoring()
self._timer_refresh_topics.stop()
def set_selected_topics(self, selected_topics):
"""
@param selected_topics: list of tuple. [(topic_name, topic_type)]
@type selected_topics: []
"""
rospy.logdebug('set_selected_topics topics={}'.format(
len(selected_topics)))
self._selected_topics = selected_topics
class PlotWidget(QWidget):
_redraw_interval = 40
def __init__(self, arguments=None, initial_topics=None):
super(PlotWidget, self).__init__()
self.setObjectName('PlotWidget')
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'plot.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.remove_topic_button.setIcon(QIcon.fromTheme('remove'))
self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.data_plot = None
self.subscribe_topic_button.setEnabled(False)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self._start_time = rospy.get_time()
self._rosdata = {}
self._remove_topic_menu = QMenu()
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
# save command line arguments
self._arguments = arguments
self._initial_topics = initial_topics
def switch_data_plot_widget(self, data_plot):
self.enable_timer(enabled=False)
self.data_plot_layout.removeWidget(self.data_plot)
if self.data_plot is not None:
self.data_plot.close()
self.data_plot = data_plot
self.data_plot_layout.addWidget(self.data_plot)
# setup drag 'n drop
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
if self._initial_topics:
for topic_name in self._initial_topics:
self.add_topic(topic_name)
self._initial_topics = None
else:
for topic_name, rosdata in self._rosdata.items():
data_x, data_y = rosdata.next()
self.data_plot.add_curve(topic_name, topic_name, data_x,
data_y)
self._subscribed_topics_changed()
@Slot('QDragEnterEvent*')
def dragEnterEvent(self, event):
# get topic name
if not event.mimeData().hasText():
if not hasattr(event.source(), 'selectedItems') or len(
event.source().selectedItems()) == 0:
qWarning(
'Plot.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0'
)
return
item = event.source().selectedItems()[0]
topic_name = item.data(0, Qt.UserRole)
if topic_name == None:
qWarning(
'Plot.dragEnterEvent(): not hasattr(item, ros_topic_name_)'
)
return
else:
topic_name = str(event.mimeData().text())
# check for numeric field type
is_numeric, is_array, message = is_slot_numeric(topic_name)
if is_numeric and not is_array:
event.acceptProposedAction()
else:
qWarning('Plot.dragEnterEvent(): rejecting: "%s"' % (message))
@Slot('QDropEvent*')
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.add_topic(topic_name)
@Slot(str)
def on_topic_edit_textChanged(self, topic_name):
# on empty topic name, update topics
if topic_name in ('', '/'):
self._topic_completer.update_topics()
is_numeric, is_array, message = is_slot_numeric(topic_name)
self.subscribe_topic_button.setEnabled(is_numeric and not is_array)
self.subscribe_topic_button.setToolTip(message)
@Slot()
def on_subscribe_topic_button_clicked(self):
self.add_topic(str(self.topic_edit.text()))
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
@Slot()
def on_clear_button_clicked(self):
self.clean_up_subscribers()
def update_plot(self):
if self.data_plot is not None:
for topic_name, rosdata in self._rosdata.items():
try:
data_x, data_y = rosdata.next()
self.data_plot.update_values(topic_name, data_x, data_y)
except RosPlotException as e:
qWarning('PlotWidget.update_plot(): error in rosplot: %s' %
e)
self.data_plot.redraw()
def _subscribed_topics_changed(self):
self._update_remove_topic_menu()
if self._arguments:
if self._arguments.start_paused:
self.pause_button.setChecked(True)
if not self.pause_button.isChecked():
# if pause button is not pressed, enable timer based on subscribed topics
self.enable_timer(self._rosdata)
def _update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' %
topic_name)
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
self._subscribed_topics_changed()
def remove_topic(self, topic_name):
self._rosdata[topic_name].close()
del self._rosdata[topic_name]
self.data_plot.remove_curve(topic_name)
self._subscribed_topics_changed()
def clean_up_subscribers(self):
for topic_name, rosdata in self._rosdata.items():
rosdata.close()
self.data_plot.remove_curve(topic_name)
self._rosdata = {}
self._subscribed_topics_changed()
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()
class JointTrajectoryController(Plugin):
"""
Graphical frontend for a C{JointTrajectoryController}.
There are two modes for interacting with a controller:
1. B{Monitor mode} Joint displays are updated with the state reported
by the controller. This is a read-only mode and does I{not} send
control commands. Every time a new controller is selected, it starts
in monitor mode for safety reasons.
2. B{Control mode} Joint displays update the control command that is
sent to the controller. Commands are sent periodically evan if the
displays are not being updated by the user.
To control the aggressiveness of the motions, the maximum speed of the
sent commands can be scaled down using the C{Speed scaling control}
This plugin is able to detect and keep track of all active controller
managers, as well as the JointTrajectoryControllers that are I{running}
in each controller manager.
For a controller to be compatible with this plugin, it must comply with
the following requisites:
- The controller type contains the C{JointTrajectoryController}
substring, e.g., C{position_controllers/JointTrajectoryController}
- The controller exposes the C{command} and C{state} topics in its
ROS interface.
Additionally, there must be a URDF loaded with a valid joint limit
specification, namely position (when applicable) and velocity limits.
A reference implementation of the C{JointTrajectoryController} is
available in the C{joint_trajectory_controller} ROS package.
"""
_cmd_pub_freq = 10.0 # Hz
_widget_update_freq = 30.0 # Hz
_ctrlrs_update_freq = 1 # Hz
_min_traj_dur = 5.0 / _cmd_pub_freq # Minimum trajectory duration
jointStateChanged = Signal([dict])
def __init__(self, context):
super(JointTrajectoryController, self).__init__(context)
self.setObjectName('JointTrajectoryController')
# Create QWidget and extend it with all the attributes and children
# from the UI file
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_joint_trajectory_controller'),
'resource',
'joint_trajectory_controller.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('JointTrajectoryControllerUi')
# Setup speed scaler
speed_scaling = DoubleEditor(1.0, 100.0)
speed_scaling.spin_box.setSuffix('%')
speed_scaling.spin_box.setValue(50.0)
speed_scaling.spin_box.setDecimals(0)
speed_scaling.setEnabled(False)
self._widget.speed_scaling_layout.addWidget(speed_scaling)
self._speed_scaling_widget = speed_scaling
speed_scaling.valueChanged.connect(self._on_speed_scaling_change)
self._on_speed_scaling_change(speed_scaling.value())
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# 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()))
# Add widget to the user interface
context.add_widget(self._widget)
# Initialize members
self._jtc_name = [] # Name of selected joint trajectory controller
self._cm_ns = [] # Namespace of the selected controller manager
self._joint_pos = {} # name->pos map for joints of selected controller
self._joint_names = [] # Ordered list of selected controller joints
self._robot_joint_limits = {} # Lazily evaluated on first use
# Timer for sending commands to active controller
self._update_cmd_timer = QTimer(self)
self._update_cmd_timer.setInterval(1000.0 / self._cmd_pub_freq)
self._update_cmd_timer.timeout.connect(self._update_cmd_cb)
# Timer for updating the joint widgets from the controller state
self._update_act_pos_timer = QTimer(self)
self._update_act_pos_timer.setInterval(1000.0 /
self._widget_update_freq)
self._update_act_pos_timer.timeout.connect(self._update_joint_widgets)
# Timer for controller manager updates
self._list_cm = ControllerManagerLister()
self._update_cm_list_timer = QTimer(self)
self._update_cm_list_timer.setInterval(1000.0 /
self._ctrlrs_update_freq)
self._update_cm_list_timer.timeout.connect(self._update_cm_list)
self._update_cm_list_timer.start()
# Timer for running controller updates
self._update_jtc_list_timer = QTimer(self)
self._update_jtc_list_timer.setInterval(1000.0 /
self._ctrlrs_update_freq)
self._update_jtc_list_timer.timeout.connect(self._update_jtc_list)
self._update_jtc_list_timer.start()
# Signal connections
w = self._widget
w.enable_button.toggled.connect(self._on_jtc_enabled)
w.jtc_combo.currentIndexChanged[str].connect(self._on_jtc_change)
w.cm_combo.currentIndexChanged[str].connect(self._on_cm_change)
self._cmd_pub = None # Controller command publisher
self._state_sub = None # Controller state subscriber
self._list_controllers = None
def shutdown_plugin(self):
self._update_cmd_timer.stop()
self._update_act_pos_timer.stop()
self._update_cm_list_timer.stop()
self._update_jtc_list_timer.stop()
self._unregister_state_sub()
self._unregister_cmd_pub()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('cm_ns', self._cm_ns)
instance_settings.set_value('jtc_name', self._jtc_name)
def restore_settings(self, plugin_settings, instance_settings):
# Restore last session's controller_manager, if present
self._update_cm_list()
cm_ns = instance_settings.value('cm_ns')
cm_combo = self._widget.cm_combo
cm_list = [cm_combo.itemText(i) for i in range(cm_combo.count())]
try:
idx = cm_list.index(cm_ns)
cm_combo.setCurrentIndex(idx)
# Resore last session's controller, if running
self._update_jtc_list()
jtc_name = instance_settings.value('jtc_name')
jtc_combo = self._widget.jtc_combo
jtc_list = [jtc_combo.itemText(i) for i in range(jtc_combo.count())]
try:
idx = jtc_list.index(jtc_name)
jtc_combo.setCurrentIndex(idx)
except (ValueError):
pass
except (ValueError):
pass
# def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget
# title bar
# Usually used to open a modal configuration dialog
def _update_cm_list(self):
update_combo(self._widget.cm_combo, self._list_cm())
def _update_jtc_list(self):
# Clear controller list if no controller information is available
if not self._list_controllers:
self._widget.jtc_combo.clear()
return
# List of running controllers with a valid joint limits specification
# for _all_ their joints
running_jtc = self._running_jtc_info()
if running_jtc and not self._robot_joint_limits:
self._robot_joint_limits = get_joint_limits() # Lazy evaluation
valid_jtc = []
for jtc_info in running_jtc:
has_limits = all(name in self._robot_joint_limits
for name in _jtc_joint_names(jtc_info))
if has_limits:
valid_jtc.append(jtc_info);
valid_jtc_names = [data.name for data in valid_jtc]
# Update widget
update_combo(self._widget.jtc_combo, sorted(valid_jtc_names))
def _on_speed_scaling_change(self, val):
self._speed_scale = val / self._speed_scaling_widget.slider.maximum()
def _on_joint_state_change(self, actual_pos):
assert(len(actual_pos) == len(self._joint_pos))
for name in actual_pos.keys():
self._joint_pos[name]['position'] = actual_pos[name]
def _on_cm_change(self, cm_ns):
self._cm_ns = cm_ns
if cm_ns:
self._list_controllers = ControllerLister(cm_ns)
# NOTE: Clear below is important, as different controller managers
# might have controllers with the same name but different
# configurations. Clearing forces controller re-discovery
self._widget.jtc_combo.clear()
self._update_jtc_list()
else:
self._list_controllers = None
def _on_jtc_change(self, jtc_name):
self._unload_jtc()
self._jtc_name = jtc_name
if self._jtc_name:
self._load_jtc()
def _on_jtc_enabled(self, val):
# Don't allow enabling if there are no controllers selected
if not self._jtc_name:
self._widget.enable_button.setChecked(False)
return
# Enable/disable joint displays
for joint_widget in self._joint_widgets():
joint_widget.setEnabled(val)
# Enable/disable speed scaling
self._speed_scaling_widget.setEnabled(val)
if val:
# Widgets send desired position commands to controller
self._update_act_pos_timer.stop()
self._update_cmd_timer.start()
else:
# Controller updates widgets with actual position
self._update_cmd_timer.stop()
self._update_act_pos_timer.start()
def _load_jtc(self):
# Initialize joint data corresponding to selected controller
running_jtc = self._running_jtc_info()
self._joint_names = next(_jtc_joint_names(x) for x in running_jtc
if x.name == self._jtc_name)
for name in self._joint_names:
self._joint_pos[name] = {}
# Update joint display
try:
layout = self._widget.joint_group.layout()
for name in self._joint_names:
limits = self._robot_joint_limits[name]
joint_widget = DoubleEditor(limits['min_position'],
limits['max_position'])
layout.addRow(name, joint_widget)
# NOTE: Using partial instead of a lambda because lambdas
# "will not evaluate/look up the argument values before it is
# effectively called, breaking situations like using a loop
# variable inside it"
from functools import partial
par = partial(self._update_single_cmd_cb, name=name)
joint_widget.valueChanged.connect(par)
except:
# TODO: Can we do better than swallow the exception?
from sys import exc_info
print 'Unexpected error:', exc_info()[0]
# Enter monitor mode (sending commands disabled)
self._on_jtc_enabled(False)
# Setup ROS interfaces
jtc_ns = _resolve_controller_ns(self._cm_ns, self._jtc_name)
state_topic = jtc_ns + '/state'
cmd_topic = jtc_ns + '/command'
self._state_sub = rospy.Subscriber(state_topic,
JointTrajectoryControllerState,
self._state_cb,
queue_size=1)
self._cmd_pub = rospy.Publisher(cmd_topic,
JointTrajectory,
queue_size=1)
# Start updating the joint positions
self.jointStateChanged.connect(self._on_joint_state_change)
def _unload_jtc(self):
# Stop updating the joint positions
try:
self.jointStateChanged.disconnect(self._on_joint_state_change)
except:
pass
# Reset ROS interfaces
self._unregister_state_sub()
self._unregister_cmd_pub()
# Clear joint widgets
# NOTE: Implementation is a workaround for:
# https://bugreports.qt-project.org/browse/QTBUG-15990 :(
layout = self._widget.joint_group.layout()
if layout is not None:
while layout.count():
layout.takeAt(0).widget().deleteLater()
# Delete existing layout by reparenting to temporary
QWidget().setLayout(layout)
self._widget.joint_group.setLayout(QFormLayout())
# Reset joint data
self._joint_names = []
self._joint_pos = {}
# Enforce monitor mode (sending commands disabled)
self._widget.enable_button.setChecked(False)
def _running_jtc_info(self):
from controller_manager_msgs.utils\
import filter_by_type, filter_by_state
controller_list = self._list_controllers()
jtc_list = filter_by_type(controller_list,
'JointTrajectoryController',
match_substring=True)
running_jtc_list = filter_by_state(jtc_list, 'running')
return running_jtc_list
def _unregister_cmd_pub(self):
if self._cmd_pub is not None:
self._cmd_pub.unregister()
self._cmd_pub = None
def _unregister_state_sub(self):
if self._state_sub is not None:
self._state_sub.unregister()
self._state_sub = None
def _state_cb(self, msg):
actual_pos = {}
for i in range(len(msg.joint_names)):
joint_name = msg.joint_names[i]
joint_pos = msg.actual.positions[i]
actual_pos[joint_name] = joint_pos
self.jointStateChanged.emit(actual_pos)
def _update_single_cmd_cb(self, val, name):
self._joint_pos[name]['command'] = val
def _update_cmd_cb(self):
dur = []
traj = JointTrajectory()
traj.joint_names = self._joint_names
point = JointTrajectoryPoint()
for name in traj.joint_names:
pos = self._joint_pos[name]['position']
cmd = pos
try:
cmd = self._joint_pos[name]['command']
except (KeyError):
pass
max_vel = self._robot_joint_limits[name]['max_velocity']
dur.append(max(abs(cmd - pos) / max_vel, self._min_traj_dur))
point.positions.append(cmd)
point.time_from_start = rospy.Duration(max(dur) / self._speed_scale)
traj.points.append(point)
self._cmd_pub.publish(traj)
def _update_joint_widgets(self):
joint_widgets = self._joint_widgets()
for id in range(len(joint_widgets)):
joint_name = self._joint_names[id]
try:
joint_pos = self._joint_pos[joint_name]['position']
joint_widgets[id].setValue(joint_pos)
except (KeyError):
pass # Can happen when first connected to controller
def _joint_widgets(self): # TODO: Cache instead of compute every time?
widgets = []
layout = self._widget.joint_group.layout()
for row_id in range(layout.rowCount()):
widgets.append(layout.itemAt(row_id,
QFormLayout.FieldRole).widget())
return widgets
class Control(Plugin):
def __init__(self, context):
super(Control, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Control')
# 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('robosub'),
'src/rqt/rqt_control/resource', 'Control.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
self.control_timer = QTimer(self)
self.control_timer.timeout.connect(self.control_missed)
self.control_timer.start(1000)
self.control_status_timer = QTimer(self)
self.control_status_timer.timeout.connect(self.control_status_missed)
self.control_status_timer.start(1000)
# Give QObjects reasonable names
self._widget.setObjectName('Control')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
self._widget.statusActive.hide()
self._widget.controlActive.hide()
self.con_sub = rospy.Subscriber('control', control,
self.control_callback, queue_size=1)
self.cs_sub = rospy.Subscriber('control_status', control_status,
self.control_status_callback,
queue_size=1)
img_file = os.path.join(rospkg.RosPack().get_path('robosub'),
'src/rqt/resource/robosub_logo.png')
self._widget.setStyleSheet(".QWidget {background-image: url(" +
img_file +
"); background-repeat: no-repeat;" +
"background-position:bottom right}")
def control_missed(self):
if not self._widget.controlStale.isVisible():
self._widget.controlStale.show()
self._widget.controlActive.hide()
def control_status_missed(self):
if not self._widget.statusStale.isVisible():
self._widget.statusStale.show()
self._widget.statusActive.hide()
def control_status_callback(self, m):
try:
self.control_status_timer.stop()
except RuntimeError:
pass
if self._widget.statusStale.isVisible():
self._widget.statusStale.setVisible(False)
self._widget.statusActive.setVisible(True)
# Set the states
self._widget.forwardStatusState.setText(m.forward_state)
self._widget.strafeStatusState.setText(m.strafe_left_state)
self._widget.diveStatusState.setText(m.dive_state)
self._widget.rollStatusState.setText(m.roll_right_state)
self._widget.pitchStatusState.setText(m.pitch_down_state)
self._widget.yawStatusState.setText(m.yaw_left_state)
self._widget.forwardGoal.setText("{:.4f}".format(m.forward_goal))
self._widget.strafeGoal.setText("{:.4f}".format(m.strafe_left_goal))
self._widget.diveGoal.setText("{:.4f}".format(m.dive_goal))
self._widget.rollGoal.setText("{:.4f}".format(m.roll_right_goal))
self._widget.pitchGoal.setText("{:.4f}".format(m.pitch_down_goal))
self._widget.yawGoal.setText("{:.4f}".format(m.yaw_left_goal))
self.control_status_timer.start(1000)
def control_callback(self, m):
try:
self.control_timer.stop()
except RuntimeError:
pass
if self._widget.controlStale.isVisible():
self._widget.controlStale.hide()
self._widget.controlActive.show()
# Set the states
self._widget.forwardState.setText(state_types[m.forward_state])
self._widget.strafeState.setText(state_types[m.strafe_state])
self._widget.diveState.setText(state_types[m.dive_state])
self._widget.rollState.setText(state_types[m.roll_state])
self._widget.pitchState.setText(state_types[m.pitch_state])
self._widget.yawState.setText(state_types[m.yaw_state])
self._widget.forwardValue.setText("{:.4f}".format(m.forward))
self._widget.strafeValue.setText("{:.4f}".format(m.strafe_left))
self._widget.diveValue.setText("{:.4f}".format(m.dive))
self._widget.rollValue.setText("{:.4f}".format(m.roll_right))
self._widget.pitchValue.setText("{:.4f}".format(m.pitch_down))
self._widget.yawValue.setText("{:.4f}".format(m.yaw_left))
self.control_timer.start(1000)
def shutdown_plugin(self):
self.cs_sub.unregister()
self.con_sub.unregister()
self.control_timer.stop()
self.control_status_timer.stop()
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
class MonitorDashWidget(IconToolButton):
"""
A widget which brings up the rqt_robot_monitor.
Times out after certain period of time (set as 5 sec as of Apr 2013)
without receiving diagnostics msg ('/diagnostics_toplevel_state' of
DiagnosticStatus type), status becomes as 'stale'.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
def __init__(self, context, icon_paths=[]):
self._graveyard = []
ok_icon = ['bg-green.svg', 'ic-diagnostics.svg']
warn_icon = ['bg-yellow.svg', 'ic-diagnostics.svg',
'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-diagnostics.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-diagnostics.svg',
'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(MonitorDashWidget, self).__init__('MonitorWidget', icons,
icon_paths=icon_paths)
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._monitor = None
self._close_mutex = QMutex()
self._show_mutex = QMutex()
self._last_update = rospy.Time.now()
self.context = context
self.clicked.connect(self._show_monitor)
self._monitor_shown = False
self.setToolTip('Diagnostics')
self._diagnostics_toplevel_state_sub = rospy.Subscriber(
'diagnostics_toplevel_state',
DiagnosticStatus, self.toplevel_state_callback)
self._top_level_state = -1
self._stall_timer = QTimer()
self._stall_timer.timeout.connect(self._stalled)
self._stalled()
self._plugin_settings = None
self._instance_settings = None
def toplevel_state_callback(self, msg):
self._is_stale = False
self._stall_timer.start(5000)
if self._top_level_state != msg.level:
if (msg.level >= 2):
self.update_state(2)
self.setToolTip("Diagnostics: Error")
elif (msg.level == 1):
self.update_state(1)
self.setToolTip("Diagnostics: Warning")
else:
self.update_state(0)
self.setToolTip("Diagnostics: OK")
self._top_level_state = msg.level
def _stalled(self):
self._stall_timer.stop()
self._is_stale = True
self.update_state(3)
self._top_level_state = 3
self.setToolTip("Diagnostics: Stale\nNo message received on " +
"dashboard_agg in the last 5 seconds")
def _show_monitor(self):
with QMutexLocker(self._show_mutex):
try:
if self._monitor_shown:
self.context.remove_widget(self._monitor)
self._monitor_close()
self._monitor_shown = False
else:
self._monitor = RobotMonitorWidget(self.context,
'/diagnostics_agg')
if self._plugin_settings:
self._monitor.restore_settings(self._plugin_settings,
self._instance_settings)
self.context.add_widget(self._monitor)
self._monitor_shown = True
except Exception:
if self._monitor_shown == False:
raise
#TODO: when closeEvents is available fix this hack
# (It ensures the button will toggle correctly)
self._monitor_shown = False
self._show_monitor()
def _monitor_close(self):
if self._monitor_shown:
with QMutexLocker(self._close_mutex):
if self._plugin_settings:
self._monitor.save_settings(self._plugin_settings,
self._instance_settings)
self._monitor.shutdown()
self._monitor.close()
self._graveyard.append(self._monitor)
self._monitor = None
def shutdown_widget(self):
self._stall_timer.stop()
if self._monitor:
self._monitor.shutdown()
self._diagnostics_toplevel_state_sub.unregister()
def save_settings(self, plugin_settings, instance_settings):
if self._monitor_shown:
self._monitor.save_settings(self._plugin_settings,
self._instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._plugin_settings = plugin_settings
self._instance_settings = instance_settings
class RqtParamManagerPlugin(Plugin):
"""UIのメインクラス"""
def __init__(self, context):
"""初期化処理"""
super(RqtParamManagerPlugin, self).__init__(context)
# クラス変数初期化
self._title = "rqt_param_manager"
self._get_interval = 1000
self._monitor_timer = QTimer()
self._conf_file_path_list = FILE_DEFAULT_PM_CONFS
self._dump_yaml_file_path = ""
self._config_items = []
self._ros_namespace = os.environ.get(KEY_ENV_ROS_NAMESPACE, "")
self._table_input_item_map = {}
self._topic_listeners = []
self._topic_data_map = {}
self._prm_writer = None
self._monitor_param_nms = []
self._param_values = {}
self.setObjectName('RqtParamManagerPlugin')
args = {}
self._parse_args(sys.argv, args)
if (ARG_CONF in args):
self._conf_file_path_list = args[ARG_CONF]
if (len(self._ros_namespace) > 0 and self._ros_namespace[:-1] != "/"):
self._ros_namespace = self._ros_namespace + "/"
# Create QWidget
self._widget = QWidget()
self.ui = Ui_rqt_param_manager_main()
self.ui.setupUi(self._widget)
context.add_widget(self._widget)
tblMon = self.ui.tblMonitor
tblMon.initUI()
tblMon.invoke_topic_pub.connect(self._on_topic_publish_invoke)
self._initEnv(args)
result_load_conf = self._parse_conf_file(self._conf_file_path_list,
self._config_items,
self._topic_data_map)
QTimer.singleShot(0, self._update_window_title)
self.ui.btnClose.clicked.connect(self._app_close)
if not result_load_conf:
self.ui.btnSave.setEnabled(False)
else:
self.ui.btnSave.clicked.connect(self._on_exec_save)
self._monitor_timer.timeout.connect(self._on_period_monitoring)
tblMon.load_items(self._config_items)
self._monitor_param_nms = tblMon.get_monitor_param_nms()
# 定期監視処理の開始
if self._get_interval > 0:
self._on_period_monitoring()
rospy.loginfo("start monitor. interval =%d sec",
self._get_interval)
self._monitor_timer.start(self._get_interval)
self._start_topic_listen(self._config_items)
def _initEnv(self, args):
if (ARG_DUMP in args):
self._dump_yaml_file_path = args[ARG_DUMP]
else:
self.ui.btnSave.setVisible(False)
if (ARG_WINDOW_SIZE in args):
val = args[ARG_WINDOW_SIZE]
result = re.match("([\d]+)[xX,-:]([\d]+)", val)
if (result):
win_width = int(result.group(1))
win_height = int(result.group(2))
parentWid = self._widget.parentWidget()
while True:
wkParentWid = parentWid.parentWidget()
if (wkParentWid is None):
break
parentWid = wkParentWid
parentWid.resize(win_width, win_height)
if (ARG_COLUMN_WIDTH_LABEL in args):
val = args[ARG_COLUMN_WIDTH_LABEL]
try:
table = self.ui.tblMonitor
if (val.endswith("px")):
table.colLabelWidthFixed = int(val[:-2])
elif (val.endswith("%")):
table.colLabelWidthRatio = int(val[:-1]) / 100.0
else:
table.colLabelWidthFixed = int(val)
except Exception as e:
rospy.logerr("label column width set failed. val=%s. cause=%s",
val, e)
def _update_window_title(self):
"""ウィンドウタイトルを変更する処理"""
# 初期化処理内でsetWindowTitleを呼んでも変更されないので
self._widget.setWindowTitle(self._title)
def _app_close(self):
self._monitor_timer.stop()
QCoreApplication.quit()
def shutdown_plugin(self):
"""シャットダウン処理"""
for listener in self._topic_listeners:
listener.doCancel()
self._monitor_timer.stop()
def _parse_args(self, argv, args):
"""引数パース処理"""
for arg in sys.argv:
tokens = arg.split(":=")
if len(tokens) == 2:
key = tokens[0]
if (ARG_CONF == key):
args[ARG_CONF] = [tokens[1]]
else:
args[key] = tokens[1]
def _parse_conf_file(self, conf_file_path_list, items, topic_data_map):
"""PM設定ファイル解析処理"""
result = False
for conf_file_path in conf_file_path_list:
rospy.loginfo("load conf file. path =%s", conf_file_path)
try:
file = open(conf_file_path, 'r')
set_title = False
for line in file:
line = line.strip()
if (len(line) == 0 or line[0] == "#"):
continue
item = ConfigItem()
item.prefix = self._ros_namespace
if (not item.parse(line, topic_data_map)):
rospy.logerr("conf file wrong line. %s", line)
else:
if (ITEM_TYPE_TITLE == item.type and len(items) == 0
and not set_title):
self._title = item.label
set_title = True
continue
items.append(item)
file.close()
result = True
except IOError as e:
rospy.logerr("conf file load failed. %s", e)
if result:
break
return result
def _on_period_monitoring(self):
"""定期監視処理"""
table = self.ui.tblMonitor
param_values = {}
for param_nm in self._monitor_param_nms:
param_values[param_nm] = None
try:
val = rospy.get_param(param_nm)
param_values[param_nm] = val
except Exception as err:
pass
table.update_param_values(param_values)
self._param_values = param_values
def _start_topic_listen(self, items):
listened_topics = []
for item in items:
if (ITEM_TYPE_ECHO == item.type):
try:
listened_topics.index(item.topic)
# もうすでに購読済みなので何もしない
except ValueError as ve:
# 未購読
listened_topics.append(item.topic)
thread = RosTopicListener(item.topic)
self._topic_listeners.append(thread)
thread.received_topic_values.connect(
self.ui.tblMonitor._on_update_topic_values)
thread.start()
print "thread start and sleep"
sleep(0.001)
except Except as err:
rospy.logerr("conf file load failed. %s", e)
def _on_exec_save(self):
"""パラメータ保存実行処理"""
if (self._prm_writer is not None):
QMessageBox.warning(self._widget, "警告", "パラメータ保存実行中です")
return
if (not os.path.isfile(self._dump_yaml_file_path)):
QMessageBox.warning(self._widget, "警告", "出力対象のファイルが見つかりません")
return
param_config_items = []
for item in self._config_items:
if (ITEM_TYPE_NUMBER == item.type or ITEM_TYPE_TEXT == item.type):
param_config_items.append(item)
if (len(self._dump_yaml_file_path) == 0):
QMessageBox.information(self._widget, "お知らせ", "保存先が指定されていません")
return
if (len(param_config_items) == 0):
QMessageBox.information(self._widget, "お知らせ", "保存対象がありません")
return
self._monitor_timer.stop()
self._widget.setEnabled(False)
self._prm_writer = RosParamWriter()
self._prm_writer.work_finished.connect(
self._on_param_writer_work_finished)
self._prm_writer.finished.connect(self._prm_writer.deleteLater)
self._prm_writer.param_config_items = param_config_items
self._prm_writer.dump_file_path = self._dump_yaml_file_path
self._prm_writer.start()
def _on_param_writer_work_finished(self, result):
self._prm_writer = None
self._monitor_timer.start()
self._widget.setEnabled(True)
if (not result):
QMessageBox.warning(self._widget, "警告", "パラメータが正常に保存できませんでした")
else:
QMessageBox.information(self._widget, "お知らせ", "パラメータを保存しました")
def _on_topic_publish_invoke(self, topic_nm, val):
try:
confirm_msg = "トピック「{}」のパブリッシュを実行しますか？".format(topic_nm)
if (not self._showdialog("確認", confirm_msg)):
return
# pub = rospy.Publisher(
# topic_nm,
# std_msgs.msg.Bool,
# queue_size=1,
# latch=False)
# pub.publish(val)
ret = subprocess.call(
["rostopic", "pub", "-1", topic_nm, "std_msgs/Bool",
str(val)])
print("ret=%d" % ret)
# QMessageBox.information(
# self._widget,
# "お知らせ",
# "トピック「{}」のパブリッシュを実行しました。".format(topic_nm))
except Exception as err:
print("err=%s" % err)
rospy.logerr("topic publish failed. topic=%s err=%s", topic_nm,
err)
QMessageBox.critical(self._widget, "エラー",
"トピック「{}」のパブリッシュに失敗しました。".format(topic_nm))
def _showdialog(self, title, msg):
mbox = QMessageBox(self._widget)
mbox.setIcon(QMessageBox.Question)
mbox.setText(msg)
mbox.setWindowTitle(title)
mbox.setStandardButtons(QMessageBox.Ok | QMessageBox.Cancel)
retval = mbox.exec_()
return QMessageBox.Ok == retval
