def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
self.cancel_autoclose()
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
def _requestPW(self, user, host):
'''
Open the dialog to input the user name and password to open an SSH connection.
'''
from python_qt_binding.QtCore import Qt
from python_qt_binding import loadUi
try:
from python_qt_binding.QtGui import QDialog
except:
from python_qt_binding.QtWidgets import QDialog
result = False
pw = None
pwInput = QDialog()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'PasswordInput.ui')
loadUi(ui_file, pwInput)
pwInput.setWindowTitle(''.join(
['Enter the password for user ', user, ' on ', host]))
pwInput.userLine.setText(str(user))
pwInput.pwLine.setText("")
pwInput.pwLine.setFocus(Qt.OtherFocusReason)
if pwInput.exec_():
result = True
user = pwInput.userLine.text()
pw = pwInput.pwLine.text()
return result, user, pw
def __init__(self, robot_name, subsystem_id, settings, parent=None):
QDialog.__init__(self, parent)
self._settings = settings
self.name = robot_name
self.subsystem_id = subsystem_id
self._handoff_requests = list()
self._has_insufficient_authority = False
self._has_requests = False
self._on_request = False
self._insufficient_authority_warnings = dict()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'handoff_dialog.ui')
loadUi(ui_file, self)
self.resize(400, 450)
self.setWindowTitle("Handoff for %s[%d]" %
(self.name, self.subsystem_id))
self.setWindowIcon(QIcon.fromTheme("dialog-question"))
self.lineEdit_explanation.setText(self._settings.handoff_explanation)
self.checkBox_autorequest.setChecked(
self._settings.handoff_autorequest)
self.button_request_handoff.clicked.connect(self.request_handoff)
self.button_cancel_handoff.clicked.connect(self.cancel_handoff)
self.button_close.clicked.connect(self.hide)
self._client = None
self.on_access = False
# emit a signal `button_blink` to emulate the blinking button
self._blink_timer = rospy.Timer(rospy.Duration(self.BLINK_DURATION),
self._update_blink_timer)
self._blink_last_state = True
self._blink_count_on = self.BLINK_ON_OFF_REL
self.frame_own_request.setEnabled(True)
def __init__(self, content_widget, parent=None):
QDialog.__init__(self, parent)
self.tab_widget = DetachableTabWidget(self)
layout = QVBoxLayout(self)
layout.setContentsMargins(3, 3, 3, 3)
layout.addWidget(self.tab_widget)
self.setWindowFlags(Qt.Window)
tab_index = self.tab_widget.addTab(content_widget, content_widget.name())
self.tab_widget.setCurrentIndex(tab_index)
self.tab_widget.empty_tabbar_signal.connect(self._close_if_empty)
def __init__(self,
default_mcast_group,
default_port,
networks_count,
parent=None):
'''
Creates an input dialog.
@param default_port: the default discovery port
@type default_port: C{int}
@param networks_count: the count of discovering ports
@type networks_count: C{int}
'''
QDialog.__init__(self, parent=parent)
threading.Thread.__init__(self)
self.default_port = default_port
self.setObjectName('NetworkDiscoveryDialog')
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('Network Discovery')
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display_clear_signal.connect(self.display.clear)
self.display_append_signal.connect(self.display.append)
self.display.anchorClicked.connect(self.on_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
self.status_text_signal.connect(self.status_label.setText)
self._msg_counts = dict()
self._networks_count = networks_count
self._running = True
self._received_msgs = 0
self._discovered = dict()
self._hosts = dict() # resolution for hostname and address
self.mutex = threading.RLock()
self.sockets = []
with self.mutex:
try:
for p in range(networks_count):
msock = DiscoverSocket(default_port + p,
default_mcast_group)
self.sockets.append(msock)
msock.settimeout(self.TIMEOUT)
except Exception as e:
self.display.setText(utf8(e))
self.setDaemon(True)
self.start()
def __init__(self, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QWidget()
self.contentLayout = QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
package_label = QLabel("Package:", self.content)
self.package_field = QComboBox(self.content)
self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QLabel("Binary:", self.content)
self.binary_field = QComboBox(self.content)
# self.binary_field.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self.binary_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(Qt.TabFocusReason)
self.package = ''
self.binary = ''
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
self._fill_packages_thread = PackagesThread()
self._fill_packages_thread.packages.connect(self._fill_packages)
self._fill_packages_thread.start()
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.textChanged.connect(self.on_binary_selected)
else:
self.package_field.editTextChanged.connect(self.on_package_selected)
self.binary_field.editTextChanged.connect(self.on_binary_selected)
def __init__(self, default_mcast_group, default_port, networks_count, parent=None):
'''
Creates an input dialog.
@param default_port: the default discovery port
@type default_port: C{int}
@param networks_count: the count of discovering ports
@type networks_count: C{int}
'''
QDialog.__init__(self, parent=parent)
threading.Thread.__init__(self)
self.default_port = default_port
self.setObjectName('NetworkDiscoveryDialog')
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('Network Discovery')
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display_clear_signal.connect(self.display.clear)
self.display_append_signal.connect(self.display.append)
self.display.anchorClicked.connect(self.on_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
self.status_text_signal.connect(self.status_label.setText)
self._networks_count = networks_count
self._running = True
self._received_msgs = 0
self._discovered = dict()
self._hosts = dict() # resolution for hostname and address
self.mutex = threading.RLock()
self.sockets = []
with self.mutex:
for p in range(networks_count):
msock = DiscoverSocket(default_port + p, default_mcast_group)
self.sockets.append(msock)
msock.settimeout(self.TIMEOUT)
msock.set_message_callback(self.on_heartbeat_received)
self.setDaemon(True)
self.start()
def _create_warning_dialog(self):
diag = QDialog(self._widget)
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'warning_info.ui')
loadUi(ui_file, diag)
diag.resize(600, 250)
diag.setWindowTitle("Warning for %s[%d]" %
(self.name, self.subsystem_id))
diag.setWindowIcon(QIcon.fromTheme("dialog-warning"))
return diag
def accept(self):
if self.textedit.isVisible():
try:
tmp_file = os.path.join(nm.screen().LOG_PATH,
'tmp_sync_interface.sync')
with open(tmp_file, 'w+') as f:
f.write(self.textedit.toPlainText())
from master_discovery_fkie.common import read_interface
read_interface(tmp_file)
if not self._new_iface and self.interface_field.currentText(
) in self._interfaces_files:
fileName = self._interfaces_files[
self.interface_field.currentText()]
else:
fileName, _ = QFileDialog.getSaveFileName(
self, 'Save sync interface', '/home',
"Sync Files (*.sync)")
if fileName:
with open(fileName, 'w+') as f:
self._interface_filename = fileName
f.write(self.textedit.toPlainText())
if self._new_iface:
self.interface_field.clear()
self._interfaces_files = None
self._on_select_interface_clicked()
# QDialog.accept(self)
# self.resetView()
except Exception as e:
WarningMessageBox(QMessageBox.Warning, "Create sync interface",
"Error while create interface",
str(e)).exec_()
elif self.interface_field.isVisible():
interface = self.interface_field.currentText()
if self._interfaces_files and interface in self._interfaces_files:
self._interface_filename = self._interfaces_files[interface]
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=',
interface]))
QDialog.accept(self)
self.resetView()
else:
QDialog.accept(self)
self.resetView()
def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure it
# Usually used to open a configuration dialog
self.dialog_config = QDialog()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'iop_rqt_velocity_config.ui')
loadUi(ui_file, self.dialog_config)
self.dialog_config.accepted.connect(self.on_dialog_config_accepted)
# fill configuration dialog
ti = TopicInfo()
ti.fill_published_topics(self.dialog_config.comboBox_listTopic, "sensor_msgs/JointState", self._topic_list)
# ti.fill_subscribed_topics(self.dialog_config.comboBox_commandTopic, "std_msgs/Float64MultiArray", self._topic_command)
# stop on cancel pressed
if not self.dialog_config.exec_():
return
def _create_detailed_dialog(self):
diag = QDialog(self._widget)
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'system_info.ui')
loadUi(ui_file, diag)
diag.treewidget_components.setHeaderLabel(
"%s [%d]" % (self.name, self.subsystem_id))
diag.resize(500, 300)
diag.setWindowTitle("subsystem %s[%d]" %
(self.name, self.subsystem_id))
diag.setWindowIcon(QIcon.fromTheme("help-about"))
return diag
def accept(self):
if self.textedit.isVisible():
try:
tmp_file = os.path.join(nm.screen().LOG_PATH, 'tmp_sync_interface.sync')
with open(tmp_file, 'w+') as f:
f.write(self.textedit.toPlainText())
from master_discovery_fkie.common import read_interface
read_interface(tmp_file)
if not self._new_iface and self.interface_field.currentText() in self._interfaces_files:
fileName = self._interfaces_files[self.interface_field.currentText()]
else:
fileName, _ = QFileDialog.getSaveFileName(self, 'Save sync interface', '/home', "Sync Files (*.sync)")
if fileName:
with open(fileName, 'w+') as f:
self._interface_filename = fileName
f.write(self.textedit.toPlainText())
if self._new_iface:
self.interface_field.clear()
self._interfaces_files = None
self._on_select_interface_clicked()
# QDialog.accept(self)
# self.resetView()
except Exception as e:
MessageBox.warning(self, "Create sync interface",
"Error while create interface",
utf8(e))
elif self.interface_field.isVisible():
interface = self.interface_field.currentText()
if self._interfaces_files and interface in self._interfaces_files:
self._interface_filename = self._interfaces_files[interface]
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', interface]))
QDialog.accept(self)
self.resetView()
else:
QDialog.accept(self)
self.resetView()
def _requestPW(self, user, host):
'''
Open the dialog to input the user name and password to open an SSH connection.
'''
from python_qt_binding.QtCore import Qt
from python_qt_binding import loadUi
try:
from python_qt_binding.QtGui import QDialog
except:
from python_qt_binding.QtWidgets import QDialog
result = False
pw = None
pwInput = QDialog()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'PasswordInput.ui')
loadUi(ui_file, pwInput)
pwInput.setWindowTitle(''.join(['Enter the password for user ', user, ' on ', host]))
pwInput.userLine.setText(str(user))
pwInput.pwLine.setText("")
pwInput.pwLine.setFocus(Qt.OtherFocusReason)
if pwInput.exec_():
result = True
user = pwInput.userLine.text()
pw = pwInput.pwLine.text()
return result, user, pw
def __init__(self, parent=None, mirrored=True, stand_alone=False, sound_effect_labels=None):
super(SpeakEasyGUI, self).__init__(parent);
self.stand_alone = stand_alone;
self.sound_effect_labels = sound_effect_labels;
if (sound_effect_labels is None):
raise ValueError("Must pass in non-null array of sound effect button labels.");
#self.setMaximumWidth(1360);
#self.setMaximumHeight(760);
# Vertical box to hold all top level widget groups
appLayout = QVBoxLayout();
appWidget = QDialog();
appWidget.setStyleSheet(SpeakEasyGUI.defaultStylesheet);
# Activate the window resize handle in the lower right corner
# of the app window:
appWidget.setSizeGripEnabled(True);
self.setCentralWidget(appWidget);
self.addTitle(appLayout);
self.addTxtInputFld(appLayout);
self.buildTapeRecorderButtons(appLayout);
self.addOnceOrRepeat_And_VoiceRadioButtons(appLayout);
self.buildHorizontalDivider(appLayout);
self.buildProgramButtons(appLayout);
self.buildSoundButtons(appLayout);
self.buildButtonSetControls(appLayout);
self.buildOptionsRadioButtons(appLayout);
appWidget.setLayout(appLayout);
#*******self.connectEvents();
self.show();
def reject(self):
if self.textedit.isVisible():
self._on_select_interface_clicked()
else:
QDialog.reject(self)
self.resetView()
def __init__(self, icon, title, text, detailed_text="", buttons=Cancel | Ok, parent=None):
QDialog.__init__(self, parent=parent)
self.setWindowFlags(self.windowFlags() & ~Qt.WindowTitleHint)
self.setWindowFlags(self.windowFlags() & ~Qt.WindowContextHelpButtonHint & ~Qt.WindowMinimizeButtonHint)
self.setObjectName('MessageBox')
self._use_checkbox = True
self.text = text
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.horizontalLayout = QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
self.horizontalLayout.setContentsMargins(1, 1, 1, 1)
# create icon
pixmap = None
if icon == self.NoIcon:
pass
elif icon == self.Question:
pixmap = QApplication.style().standardPixmap(QStyle.SP_MessageBoxQuestion)
elif icon == self.Information:
pixmap = QApplication.style().standardPixmap(QStyle.SP_MessageBoxInformation)
elif icon == self.Warning:
pixmap = QPixmap(":icons/crystal_clear_warning_56.png")
elif icon == self.Critical:
pixmap = QApplication.style().standardPixmap(QStyle.SP_MessageBoxCritical)
spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
self.icon_label = QLabel()
if pixmap is not None:
self.icon_label.setPixmap(pixmap)
self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.horizontalLayout.addWidget(self.icon_label)
spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add message
self.message_label = QLabel(text)
self.message_label.setWordWrap(True)
self.message_label.setScaledContents(True)
self.message_label.setOpenExternalLinks(True)
self.horizontalLayout.addWidget(self.message_label)
self.verticalLayout.addLayout(self.horizontalLayout)
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self._accept_button = None
self._reject_button = None
self._buttons = buttons
self._create_buttons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
if detailed_text:
self.btn_show_details = QPushButton(self.tr('Details...'))
self.btn_show_details.setCheckable(True)
self.btn_show_details.setChecked(True)
self.btn_show_details.toggled.connect(self.on_toggled_details)
self.buttonBox.addButton(self.btn_show_details, QDialogButtonBox.ActionRole)
# create area for detailed text
self.textEdit = textEdit = QTextEdit(self)
textEdit.setObjectName("textEdit")
textEdit.setReadOnly(True)
textEdit.setText(detailed_text)
# textEdit.setVisible(False)
self.verticalLayout.addWidget(self.textEdit)
self.resize(480, self.verticalLayout.totalSizeHint().height())
buttons_in_box = self.buttonBox.buttons()
if buttons_in_box:
self.buttonBox.buttons()[0].setFocus()
def _set_add_rocon_master(self):
if self._connect_dlg_isValid:
console.logdebug("Dialog is live!!")
self._connect_dlg.done(0)
#dialog
self._connect_dlg = QDialog(self._widget_main)
self._connect_dlg.setWindowTitle("Add Ros Master")
self._connect_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
self._connect_dlg.setMinimumSize(350, 0)
# dlg_rect = self._connect_dlg.geometry()
#dialog layout
ver_layout = QVBoxLayout(self._connect_dlg)
ver_layout.setContentsMargins(9, 9, 9, 9)
#param layout
text_grid_sub_widget = QWidget()
text_grid_layout = QGridLayout(text_grid_sub_widget)
text_grid_layout.setColumnStretch(1, 0)
text_grid_layout.setRowStretch(2, 0)
#param 1
title_widget1 = QLabel("MASTER_URI: ")
context_widget1 = QTextEdit()
context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget1.setMinimumSize(0, 30)
context_widget1.append(self.master_uri)
#param 2
title_widget2 = QLabel("HOST_NAME: ")
context_widget2 = QTextEdit()
context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget2.setMinimumSize(0, 30)
context_widget2.append(self.host_name)
#add param
text_grid_layout.addWidget(title_widget1)
text_grid_layout.addWidget(context_widget1)
text_grid_layout.addWidget(title_widget2)
text_grid_layout.addWidget(context_widget2)
#add param layout
ver_layout.addWidget(text_grid_sub_widget)
#button layout
button_hor_sub_widget = QWidget()
button_hor_layout = QHBoxLayout(button_hor_sub_widget)
uri_text_widget = context_widget1
host_name_text_widget = context_widget2
#check box
use_env_var_check = QCheckBox("Use environment variables")
use_env_var_check.setCheckState(Qt.Unchecked)
def set_use_env_var(data, text_widget1, text_widget2):
if data == Qt.Unchecked:
text_widget1.setText(self.master_uri)
text_widget2.setText(self.host_name)
elif data == Qt.Checked:
self.master_uri = str(text_widget1.toPlainText())
self.host_name = str(text_widget2.toPlainText())
text_widget1.setText(self.env_master_uri)
text_widget2.setText(self.env_host_name)
def check_event(data):
set_use_env_var(data, context_widget1, context_widget2)
use_env_var_check.stateChanged.connect(check_event)
ver_layout.addWidget(use_env_var_check)
#button
btn_call = QPushButton("Add")
btn_cancel = QPushButton("Cancel")
btn_call.clicked.connect(lambda: self._connect_dlg.done(0))
btn_call.clicked.connect(lambda: self._add_rocon_master(
uri_text_widget, host_name_text_widget))
btn_cancel.clicked.connect(lambda: self._connect_dlg.done(0))
#add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
#add button layout
ver_layout.addWidget(button_hor_sub_widget)
self._connect_dlg.setVisible(True)
self._connect_dlg.finished.connect(self._destroy_connect_dlg)
self._connect_dlg_isValid = True
class QMasterChooser(QMainWindow):
rocon_remocon_script = utils.find_rocon_remocon_script('rocon_remocon')
rocon_remocon_sub_script = utils.find_rocon_remocon_script(
'rocon_remocon_sub')
def __init__(self, parent, title, application):
self._context = parent
super(QMasterChooser, self).__init__()
self.initialised = False
self.setObjectName('Remocon')
self.host_name = "localhost"
self.master_uri = "http://%s:11311" % (self.host_name)
self.env_host_name = os.getenv("ROS_HOSTNAME")
self.env_master_uri = os.getenv("ROS_MASTER_URI")
if self.env_host_name == None:
self.env_host_name = 'localhost'
if self.env_master_uri == None:
self.env_master_uri = "http://%s:11311" % (self.env_host_name)
self.application = application
self._widget_main = QWidget()
self.rocon_masters = RoconMasters()
self.cur_selected_rocon_master = None
self.is_init = False
path = os.path.join(os.path.dirname(os.path.abspath(__file__)),
"../../ui/remocon.ui")
loadUi(path, self._widget_main)
utils.setup_home_dirs()
self.icon_paths = {}
try:
self.icon_paths[
'unknown'] = rocon_python_utils.ros.find_resource_from_string(
'rocon_icons/unknown', extension='png')
except (rospkg.ResourceNotFound, ValueError):
console.logerror(
"Remocon : couldn't find icons on the ros package path (install rocon_icons and rocon_bubble_icons"
)
sys.exit(1)
#main widget
self._widget_main.list_widget.setIconSize(QSize(50, 50))
self._widget_main.list_widget.itemDoubleClicked.connect(
self._connect_rocon_master) # list item double click event
self._widget_main.list_widget.itemClicked.connect(
self._select_rocon_master) # list item double click event
self._widget_main.add_concert_btn.pressed.connect(
self._set_add_rocon_master) # add button event
self._widget_main.delete_btn.pressed.connect(
self._delete_rocon_master) # delete button event
self._widget_main.delete_all_btn.pressed.connect(
self._delete_all_rocon_masters) # delete all button event
self._widget_main.refresh_btn.pressed.connect(
self._refresh_all_rocon_master_list) # refresh all button event
#init
self._init()
self._widget_main.show()
self._widget_main.activateWindow() # give it the focus
self._widget_main.raise_() # make sure it is on top
def __del__(self):
console.loginfo("RemoconMain: Destroy")
def _init(self):
self._connect_dlg_isValid = False
self.cur_selected_rocon_master = None
self._refresh_all_rocon_master_list()
self.is_init = True
def _delete_all_rocon_masters(self):
self.rocon_masters.clear()
self._update_rocon_master_list()
self._widget_main.list_info_widget.clear()
def _delete_rocon_master(self):
if self.cur_selected_rocon_master in self.rocon_masters.keys():
self.rocon_masters.delete(self.cur_selected_rocon_master)
self._update_rocon_master_list()
self._widget_main.list_info_widget.clear()
def _add_rocon_master(self, uri_text_widget, host_name_text_widget):
rocon_master = self.rocon_masters.add(
uri_text_widget.toPlainText(), host_name_text_widget.toPlainText())
self._refresh_rocon_master(rocon_master)
def _set_add_rocon_master(self):
if self._connect_dlg_isValid:
console.logdebug("Dialog is live!!")
self._connect_dlg.done(0)
#dialog
self._connect_dlg = QDialog(self._widget_main)
self._connect_dlg.setWindowTitle("Add Ros Master")
self._connect_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
self._connect_dlg.setMinimumSize(350, 0)
# dlg_rect = self._connect_dlg.geometry()
#dialog layout
ver_layout = QVBoxLayout(self._connect_dlg)
ver_layout.setContentsMargins(9, 9, 9, 9)
#param layout
text_grid_sub_widget = QWidget()
text_grid_layout = QGridLayout(text_grid_sub_widget)
text_grid_layout.setColumnStretch(1, 0)
text_grid_layout.setRowStretch(2, 0)
#param 1
title_widget1 = QLabel("MASTER_URI: ")
context_widget1 = QTextEdit()
context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget1.setMinimumSize(0, 30)
context_widget1.append(self.master_uri)
#param 2
title_widget2 = QLabel("HOST_NAME: ")
context_widget2 = QTextEdit()
context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget2.setMinimumSize(0, 30)
context_widget2.append(self.host_name)
#add param
text_grid_layout.addWidget(title_widget1)
text_grid_layout.addWidget(context_widget1)
text_grid_layout.addWidget(title_widget2)
text_grid_layout.addWidget(context_widget2)
#add param layout
ver_layout.addWidget(text_grid_sub_widget)
#button layout
button_hor_sub_widget = QWidget()
button_hor_layout = QHBoxLayout(button_hor_sub_widget)
uri_text_widget = context_widget1
host_name_text_widget = context_widget2
#check box
use_env_var_check = QCheckBox("Use environment variables")
use_env_var_check.setCheckState(Qt.Unchecked)
def set_use_env_var(data, text_widget1, text_widget2):
if data == Qt.Unchecked:
text_widget1.setText(self.master_uri)
text_widget2.setText(self.host_name)
elif data == Qt.Checked:
self.master_uri = str(text_widget1.toPlainText())
self.host_name = str(text_widget2.toPlainText())
text_widget1.setText(self.env_master_uri)
text_widget2.setText(self.env_host_name)
def check_event(data):
set_use_env_var(data, context_widget1, context_widget2)
use_env_var_check.stateChanged.connect(check_event)
ver_layout.addWidget(use_env_var_check)
#button
btn_call = QPushButton("Add")
btn_cancel = QPushButton("Cancel")
btn_call.clicked.connect(lambda: self._connect_dlg.done(0))
btn_call.clicked.connect(lambda: self._add_rocon_master(
uri_text_widget, host_name_text_widget))
btn_cancel.clicked.connect(lambda: self._connect_dlg.done(0))
#add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
#add button layout
ver_layout.addWidget(button_hor_sub_widget)
self._connect_dlg.setVisible(True)
self._connect_dlg.finished.connect(self._destroy_connect_dlg)
self._connect_dlg_isValid = True
def _refresh_rocon_master(self, rocon_master):
rocon_master.check()
self._widget_main.list_info_widget.clear()
self._update_rocon_master_list()
def _refresh_all_rocon_master_list(self):
if self.is_init:
self.rocon_masters.check()
self._widget_main.list_info_widget.clear()
self._update_rocon_master_list()
def _update_rocon_master_list(self):
self._widget_main.list_widget.clear()
for rocon_master in self.rocon_masters.values():
self._add_rocon_master_list_item(rocon_master)
self.rocon_masters.dump()
def _add_rocon_master_list_item(self, rocon_master):
rocon_master.current_row = str(self._widget_main.list_widget.count())
display_name = str(rocon_master.name) + "\n" + "[" + str(
rocon_master.uri) + "]"
self._widget_main.list_widget.insertItem(
self._widget_main.list_widget.count(), display_name)
#setting the list font
font = self._widget_main.list_widget.item(
self._widget_main.list_widget.count() - 1).font()
font.setPointSize(13)
self._widget_main.list_widget.item(
self._widget_main.list_widget.count() - 1).setFont(font)
#setToolTip
rocon_master_info = ""
rocon_master_info += "rocon_master_index: " + str(
rocon_master.index) + "\n"
rocon_master_info += "rocon_master_name: " + str(
rocon_master.name) + "\n"
rocon_master_info += "master_uri: " + str(rocon_master.uri) + "\n"
rocon_master_info += "host_name: " + str(
rocon_master.host_name) + "\n"
rocon_master_info += "description: " + str(rocon_master.description)
self._widget_main.list_widget.item(
self._widget_main.list_widget.count() -
1).setToolTip(rocon_master_info)
#set icon
if rocon_master.icon == "unknown.png":
icon = QIcon(self.icon_paths['unknown'])
self._widget_main.list_widget.item(
self._widget_main.list_widget.count() - 1).setIcon(icon)
elif len(rocon_master.icon):
icon = QIcon(
os.path.join(utils.get_icon_cache_home(), rocon_master.icon))
self._widget_main.list_widget.item(
self._widget_main.list_widget.count() - 1).setIcon(icon)
else:
console.logdebug("%s : No icon" % rocon_master.name)
pass
def _select_rocon_master(self, Item):
list_widget = Item.listWidget()
for k in self.rocon_masters.values():
if k.current_row == str(list_widget.currentRow()):
self.cur_selected_rocon_master = k.index
break
self._widget_main.list_info_widget.clear()
info_text = "<html>"
info_text += "<p>-------------------------------------------</p>"
info_text += "<p><b>name: </b>" + str(
self.rocon_masters[self.cur_selected_rocon_master].name) + "</p>"
info_text += "<p><b>master_uri: </b>" + str(
self.rocon_masters[self.cur_selected_rocon_master].uri) + "</p>"
info_text += "<p><b>host_name: </b>" + str(self.rocon_masters[
self.cur_selected_rocon_master].host_name) + "</p>"
info_text += "<p><b>description: </b>" + str(self.rocon_masters[
self.cur_selected_rocon_master].description) + "</p>"
info_text += "<p>-------------------------------------------</p>"
info_text += "</html>"
self._widget_main.list_info_widget.appendHtml(info_text)
def _destroy_connect_dlg(self):
self._connect_dlg_isValid = False
def _connect_rocon_master(self):
rocon_master_name = str(
self.rocon_masters[self.cur_selected_rocon_master].name)
rocon_master_uri = str(
self.rocon_masters[self.cur_selected_rocon_master].uri)
rocon_master_host_name = str(
self.rocon_masters[self.cur_selected_rocon_master].host_name)
rocon_master_index = str(self.cur_selected_rocon_master)
self.rocon_masters[rocon_master_index].check()
# Todo this use of flags is spanky
if self.rocon_masters[rocon_master_index].flag == '0':
QMessageBox.warning(
self, 'Rocon Master Connection Error',
"Could not find a rocon master at %s" %
self.rocon_masters[rocon_master_index].uri, QMessageBox.Ok)
return
if self.rocon_masters[rocon_master_index].flag == '1':
QMessageBox.warning(
self, 'Rocon Master Communication Error',
"Found a rocon master at %s but cannot communicate with it (are ROS_IP/ROS_MASTER_URI correctly configured locally and remotely?)"
% self.rocon_masters[rocon_master_index].uri, QMessageBox.Ok)
return
self._widget_main.hide()
arguments = [
"", rocon_master_index, rocon_master_name, rocon_master_uri,
rocon_master_host_name
]
os.execv(QMasterChooser.rocon_remocon_sub_script, arguments)
console.logdebug("Spawning: %s with args %s" %
(QMasterChooser.rocon_remocon_sub_script, arguments))
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(
self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(self._translate("Sync All"))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
# self.toolButton_SyncAllAnyMsg = QToolButton(self)
# sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
# sizePolicy.setHorizontalStretch(0)
# sizePolicy.setVerticalStretch(1)
# sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
# self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
# self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
# self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
# self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)"))
# self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName(
"toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(
self._translate("Sync only topics on demand"))
self.toolButton_SyncTopicOnDemand.clicked.connect(
self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName(
"toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(
self._translate("Select an interface"))
self.toolButton_SelectInterface.clicked.connect(
self._on_select_interface_clicked)
self.interface_field = QComboBox(self)
self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(
self._on_interface_selected)
self.toolButton_EditInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(
self._translate("Edit selected interface"))
self.toolButton_EditInterface.clicked.connect(
self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName(
"toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(
self._translate("Create an interface"))
self.toolButton_CreateInterface.clicked.connect(
self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = TextEdit('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self._new_iface = True
def __init__(self,
icon,
title,
text,
detailed_text="",
buttons=Cancel | Ok,
parent=None):
QDialog.__init__(self, parent=parent)
self.setWindowFlags(self.windowFlags() & ~Qt.WindowTitleHint)
self.setWindowFlags(self.windowFlags()
& ~Qt.WindowContextHelpButtonHint
& ~Qt.WindowMinimizeButtonHint)
self.setObjectName('MessageBox')
self._use_checkbox = True
self.text = text
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.horizontalLayout = QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
self.horizontalLayout.setContentsMargins(1, 1, 1, 1)
# create icon
pixmap = None
if icon == self.NoIcon:
pass
elif icon == self.Question:
pixmap = QPixmap(
QImage(":icons/question.png").scaled(56, 56,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation))
elif icon == self.Information:
pixmap = QPixmap(
QImage(":icons/info.png").scaled(56, 56, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation))
elif icon == self.Warning:
pixmap = QPixmap(
QImage(":icons/warning.png").scaled(56, 56,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation))
elif icon == self.Critical:
pixmap = QPixmap(
QImage(":icons/critical.png").scaled(56, 56,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation))
spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum,
QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
self.icon_label = QLabel()
if pixmap is not None:
self.icon_label.setPixmap(pixmap)
self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.horizontalLayout.addWidget(self.icon_label)
spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum,
QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add message
self.message_label = QLabel(text)
self.message_label.setWordWrap(True)
self.message_label.setScaledContents(True)
self.message_label.setOpenExternalLinks(True)
self.horizontalLayout.addWidget(self.message_label)
self.verticalLayout.addLayout(self.horizontalLayout)
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self._accept_button = None
self._reject_button = None
self._buttons = buttons
self._create_buttons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
if detailed_text:
self.btn_show_details = QPushButton(self.tr('Details...'))
self.btn_show_details.setCheckable(True)
self.btn_show_details.setChecked(True)
self.btn_show_details.toggled.connect(self.on_toggled_details)
self.buttonBox.addButton(self.btn_show_details,
QDialogButtonBox.ActionRole)
# create area for detailed text
self.textEdit = textEdit = QTextEdit(self)
textEdit.setObjectName("textEdit")
textEdit.setReadOnly(True)
textEdit.setText(detailed_text)
# textEdit.setVisible(False)
self.verticalLayout.addWidget(self.textEdit)
self.resize(480, self.verticalLayout.totalSizeHint().height())
buttons_in_box = self.buttonBox.buttons()
if buttons_in_box:
self.buttonBox.buttons()[0].setFocus()
def exec_(self):
if self.text in IGNORED_ERRORS:
self.accept()
return self.result()
return QDialog.exec_(self)
def closeEvent(self, event):
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
def _create_add_rocon_master_dialog(self):
# dialog
connect_dlg = QDialog(self._widget_main)
connect_dlg.setWindowTitle("Add Ros Master")
connect_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
connect_dlg.setMinimumSize(350, 0)
# dlg_rect = self._connect_dlg.geometry()
# dialog layout
ver_layout = QVBoxLayout(connect_dlg)
ver_layout.setContentsMargins(9, 9, 9, 9)
# param layout
text_grid_sub_widget = QWidget()
text_grid_layout = QGridLayout(text_grid_sub_widget)
text_grid_layout.setColumnStretch(1, 0)
text_grid_layout.setRowStretch(2, 0)
# param 1
title_widget1 = QLabel("MASTER_URI: ")
context_widget1 = QTextEdit()
context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget1.setMinimumSize(0, 30)
context_widget1.append(self.master_uri)
# param 2
title_widget2 = QLabel("HOST_NAME: ")
context_widget2 = QTextEdit()
context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget2.setMinimumSize(0, 30)
context_widget2.append(self.host_name)
# add param
text_grid_layout.addWidget(title_widget1)
text_grid_layout.addWidget(context_widget1)
text_grid_layout.addWidget(title_widget2)
text_grid_layout.addWidget(context_widget2)
# add param layout
ver_layout.addWidget(text_grid_sub_widget)
# button layout
button_hor_sub_widget = QWidget()
button_hor_layout = QHBoxLayout(button_hor_sub_widget)
uri_text_widget = context_widget1
host_name_text_widget = context_widget2
# button
btn_call = QPushButton("Add")
btn_cancel = QPushButton("Cancel")
btn_call.clicked.connect(lambda: connect_dlg.done(0))
btn_call.clicked.connect(lambda: self._add_rocon_master(
uri_text_widget, host_name_text_widget))
btn_cancel.clicked.connect(lambda: connect_dlg.done(0))
# add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
# add button layout
ver_layout.addWidget(button_hor_sub_widget)
return connect_dlg
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
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(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
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.message_count = 0
self._rate_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox('Hide strings')
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox('Hide arrays')
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems(
[str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024'])
self.combobox_reduce_ch.activated[str].connect(
self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip(
"Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([
str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100',
'1000'
])
self.combobox_displ_hz.activated[str].connect(
self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel('Hz', self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems(
[str(self.MAX_DISPLAY_MSGS), '0', '50', '100'])
self.combobox_msgs_count.activated[str].connect(
self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip(
"Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel('#', self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_stop.png'))
self.topic_control_button.clicked.connect(
self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText('clear')
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
# 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
# raise Exception("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, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, 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)
def __init__(self, items=list(), buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok, exclusive=False,
preselect_all=False, title='', description='', icon='', parent=None, select_if_single=True,
checkitem1='', checkitem2=''):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', str(items)]))
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QFrame(self)
filterLayout = QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QLabel("Filter:", self.filter_frame)
self.filter_field = EnchancedLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QFrame(self)
descriptionLayout = QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QLabel(self.description_frame)
self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.icon_label.setPixmap(QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.content = MainBox(self)
if items:
self.scroll_area = QScrollArea(self)
self.scroll_area.setFocusPolicy(Qt.NoFocus)
self.scroll_area.setObjectName("scroll_area")
self.scroll_area.setWidgetResizable(True)
self.scroll_area.setWidget(self.content)
self.verticalLayout.addWidget(self.scroll_area)
self.checkitem1 = checkitem1
self.checkitem1_result = False
self.checkitem2 = checkitem2
self.checkitem2_result = False
# add select all option
if not exclusive and items:
self._ignore_next_toggle = False
self.select_all_checkbox = QCheckBox('all entries')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(self._on_select_all_checkbox_stateChanged)
self.verticalLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
if self.checkitem1:
self.checkitem1_checkbox = QCheckBox(self.checkitem1)
self.checkitem1_checkbox.stateChanged.connect(self._on_select_checkitem1_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem1_checkbox)
if self.checkitem2:
self.checkitem2_checkbox = QCheckBox(self.checkitem2)
self.checkitem2_checkbox.stateChanged.connect(self._on_select_checkitem2_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem2_checkbox)
if not items:
spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding)
self.verticalLayout.addItem(spacerItem)
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(Qt.Checked)
if not items or len(items) < 7:
self.filter_frame.setVisible(False)
def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(self._translate("Sync All"))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
# self.toolButton_SyncAllAnyMsg = QToolButton(self)
# sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
# sizePolicy.setHorizontalStretch(0)
# sizePolicy.setVerticalStretch(1)
# sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
# self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
# self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
# self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
# self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)"))
# self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName("toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(self._translate("Sync only topics on demand"))
self.toolButton_SyncTopicOnDemand.clicked.connect(self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName("toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(self._translate("Select an interface"))
self.toolButton_SelectInterface.clicked.connect(self._on_select_interface_clicked)
self.interface_field = QComboBox(self)
self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(self._on_interface_selected)
self.toolButton_EditInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(self._translate("Edit selected interface"))
self.toolButton_EditInterface.clicked.connect(self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName("toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(self._translate("Create an interface"))
self.toolButton_CreateInterface.clicked.connect(self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = TextEdit('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self._new_iface = True
def closeEvent(self, event):
self.stop()
QDialog.closeEvent(self, event)
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.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.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, 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()
def _setting_service(self):
if self.is_setting_dlg_live:
print "Dialog is live!!"
self._setting_dlg.done(0)
#dialog
self._setting_dlg = QDialog(self._widget)
self._setting_dlg.setWindowTitle("Seting Configuration")
self._setting_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
self._setting_dlg.setMinimumSize(500, 0)
dlg_rect = self._setting_dlg.geometry()
#dialog layout
ver_layout = QVBoxLayout(self._setting_dlg)
ver_layout.setContentsMargins(9, 9, 9, 9)
#param layout
text_grid_sub_widget = QWidget()
text_grid_layout = QGridLayout(text_grid_sub_widget)
text_grid_layout.setColumnStretch(1, 0)
text_grid_layout.setRowStretch(2, 0)
#param 1
name = u""
title_widget1 = QLabel("Param1: ")
context_widget1 = QTextEdit()
context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget1.setMinimumSize(0, 30)
context_widget1.append("")
#param 2
cancel = False
title_widget2 = QLabel("Param2: ")
context_widget2 = QTextEdit()
context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget2.setMinimumSize(0, 30)
context_widget2.append("")
#param 3
cancel = False
title_widget3 = QLabel("Param2: ")
context_widget3 = QTextEdit()
context_widget3.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget3.setMinimumSize(0, 30)
context_widget3.append("")
#add param
text_grid_layout.addWidget(title_widget1)
text_grid_layout.addWidget(context_widget1)
text_grid_layout.addWidget(title_widget2)
text_grid_layout.addWidget(context_widget2)
text_grid_layout.addWidget(title_widget3)
text_grid_layout.addWidget(context_widget3)
#add param layout
ver_layout.addWidget(text_grid_sub_widget)
#button layout
button_hor_sub_widget = QWidget()
button_hor_layout = QHBoxLayout(button_hor_sub_widget)
params = {}
params['param1'] = context_widget1
params['param2'] = context_widget2
params['param3'] = context_widget3
#button
btn_call = QPushButton("Set")
btn_cancel = QPushButton("Cancel")
btn_call.clicked.connect(lambda: self._setting_dlg.done(0))
btn_call.clicked.connect(lambda: self._set_configuration(params))
btn_cancel.clicked.connect(lambda: self._setting_dlg.done(0))
#add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
#add button layout
ver_layout.addWidget(button_hor_sub_widget)
self._setting_dlg.setVisible(True)
self._setting_dlg.finished.connect(self._destroy_setting_dlg)
self.is_setting_dlg_live = True
pass
def closeEvent(self, event):
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
class AdminApp(Plugin):
_refresh_service_list_signal = Signal()
def __init__(self, context):
self._context = context
super(AdminApp, self).__init__(context)
self.initialised = False
self.setObjectName('Admin App')
self.is_setting_dlg_live = False
self._widget = QWidget()
rospack = rospkg.RosPack()
ui_file = os.path.join(rospack.get_path('rocon_admin_app'), 'ui',
'admin_app.ui')
self._widget.setObjectName('AdminApphUi')
loadUi(ui_file, self._widget, {})
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._widget.enable_btn.pressed.connect(self._enable_service)
self._widget.disable_btn.pressed.connect(self._disable_service)
self._widget.setting_btn.pressed.connect(self._setting_service)
self._widget.refresh_btn.pressed.connect(self._refresh_service)
self._widget.clear_btn.pressed.connect(self._clear_service_list)
self._widget.service_tree_widget.itemClicked.connect(
self._select_service_tree_item) #concert item click event
self._refresh_service_list_signal.connect(self._update_service_list)
#Not implementation
self._widget.clear_btn.setDisabled(True)
self._widget.setting_btn.setDisabled(True)
self._widget.setting_btn.setToolTip("Not yet")
self._widget.clear_btn.setToolTip("Not yet")
context.add_widget(self._widget)
#init
self.admin_app_info = AdminAppInfo()
self.admin_app_info._reg_event_callback(self._refresh_service)
self.current_service = ""
self._widget.client_tab_widget.clear()
self._update_service_list()
def _refresh_service(self):
self._refresh_service_list_signal.emit()
pass
def _clear_service_list(self):
print "[_clear_service_list]: widget clear start"
self._widget.service_tree_widget.clear()
pass
def _update_service_list(self):
self._widget.service_tree_widget.clear()
self._widget.service_info_text.clear()
self._widgetitem_service_pair = {}
service_list = self.admin_app_info.service_list
for k in service_list.values():
#Top service
service_item = QTreeWidgetItem(self._widget.service_tree_widget)
#service_item=QTreeWidgetItem()
service_item.setText(0, k['name'])
#set Top Level Font
font = service_item.font(0)
font.setPointSize(20)
font.setBold(True)
service_item.setFont(0, font)
#set client item
for l in k["client_list"]:
client_item = QTreeWidgetItem()
client_item.setText(0, l)
font = client_item.font(0)
font.setPointSize(15)
client_item.setFont(0, font)
service_item.addChild(client_item)
self._widgetitem_service_pair[service_item] = k
#self._widget.service_tree_widget.addTopLevelItem(service_item)
pass
def _update_client_list(self, service_name):
service_list = self.admin_app_info.service_list
client_list = service_list[service_name]["client_list"]
self._widget.client_tab_widget.clear()
for k in client_list.values():
client_name = k["name"]
k["index"] = self._widget.client_tab_widget.count()
main_widget = QWidget()
ver_layout = QVBoxLayout(main_widget)
ver_layout.setContentsMargins(9, 9, 9, 9)
ver_layout.setSizeConstraint(ver_layout.SetDefaultConstraint)
sub_widget = QWidget()
sub_widget.setAccessibleName('sub_widget')
ver_layout.addWidget(sub_widget)
client_context_widget = QPlainTextEdit()
client_context_widget.setObjectName(client_name + '_' +
'app_context_widget')
client_context_widget.setAccessibleName('app_context_widget')
client_context_widget.appendPlainText("client name is " +
client_name)
#ap><b>uuidp_context_widget.appendHtml(k["app_context"])
ver_layout.addWidget(client_context_widget)
#add tab
self._widget.client_tab_widget.addTab(main_widget, client_name)
pass
def _set_service_info(self, service_name):
service_list = self.admin_app_info.service_list
self._widget.service_info_text.clear()
self._widget.service_info_text.appendHtml(
service_list[service_name]['context'])
pass
def _set_client_info(self, client_name):
#self._widget.service_info_text.clear()
#self._widget.service_info_text.appendPlainText(client_name)
pass
def _select_service_tree_item(self, item):
if item.parent() == None:
selected_service = self._widgetitem_service_pair[item]
print '_select_service: ' + selected_service['name']
self._set_service_info(selected_service['name'])
self.current_service = selected_service
self._update_client_list(self.current_service['name'])
else:
selected_service = self._widgetitem_service_pair[item.parent()]
print '_select_service: ' + selected_service['name']
print '_select_client: ' + item.text(0)
self._set_service_info(selected_service['name'])
self._set_client_info(item.text(0))
for k in range(self._widget.client_tab_widget.count()):
tab_text = self._widget.client_tab_widget.tabText(k)
if tab_text == Item.text(0):
self._widget.client_tab_widget.setCurrentIndex(k)
break
pass
def _get_client_list(self, service_name):
##function call
client_list = []
##function call
if service_name == "Delivery Service":
client_list.append("client1")
client_list.append("client2")
client_list.append("client3")
elif service_name == "Clean Service":
client_list.append("client4")
client_list.append("client5")
client_list.append("client6")
return client_list
pass
def _get_client_info(self):
pass
def _setting_service(self):
if self.is_setting_dlg_live:
print "Dialog is live!!"
self._setting_dlg.done(0)
#dialog
self._setting_dlg = QDialog(self._widget)
self._setting_dlg.setWindowTitle("Seting Configuration")
self._setting_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
self._setting_dlg.setMinimumSize(500, 0)
dlg_rect = self._setting_dlg.geometry()
#dialog layout
ver_layout = QVBoxLayout(self._setting_dlg)
ver_layout.setContentsMargins(9, 9, 9, 9)
#param layout
text_grid_sub_widget = QWidget()
text_grid_layout = QGridLayout(text_grid_sub_widget)
text_grid_layout.setColumnStretch(1, 0)
text_grid_layout.setRowStretch(2, 0)
#param 1
name = u""
title_widget1 = QLabel("Param1: ")
context_widget1 = QTextEdit()
context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget1.setMinimumSize(0, 30)
context_widget1.append("")
#param 2
cancel = False
title_widget2 = QLabel("Param2: ")
context_widget2 = QTextEdit()
context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget2.setMinimumSize(0, 30)
context_widget2.append("")
#param 3
cancel = False
title_widget3 = QLabel("Param2: ")
context_widget3 = QTextEdit()
context_widget3.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget3.setMinimumSize(0, 30)
context_widget3.append("")
#add param
text_grid_layout.addWidget(title_widget1)
text_grid_layout.addWidget(context_widget1)
text_grid_layout.addWidget(title_widget2)
text_grid_layout.addWidget(context_widget2)
text_grid_layout.addWidget(title_widget3)
text_grid_layout.addWidget(context_widget3)
#add param layout
ver_layout.addWidget(text_grid_sub_widget)
#button layout
button_hor_sub_widget = QWidget()
button_hor_layout = QHBoxLayout(button_hor_sub_widget)
params = {}
params['param1'] = context_widget1
params['param2'] = context_widget2
params['param3'] = context_widget3
#button
btn_call = QPushButton("Set")
btn_cancel = QPushButton("Cancel")
btn_call.clicked.connect(lambda: self._setting_dlg.done(0))
btn_call.clicked.connect(lambda: self._set_configuration(params))
btn_cancel.clicked.connect(lambda: self._setting_dlg.done(0))
#add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
#add button layout
ver_layout.addWidget(button_hor_sub_widget)
self._setting_dlg.setVisible(True)
self._setting_dlg.finished.connect(self._destroy_setting_dlg)
self.is_setting_dlg_live = True
pass
def _enable_service(self):
print "Enable Service: %s" % self.current_service['name']
service = "/concert/services/enable"
service_handle = rospy.ServiceProxy(service, EnableService)
call_result = service_handle(self.current_service['name'], True)
print call_result
pass
def _disable_service(self):
print "Disable Service: %s" % self.current_service['name']
service = "/concert/services/enable"
service_handle = rospy.ServiceProxy(service, EnableService)
call_result = service_handle(self.current_service['name'], False)
print call_result
pass
def _destroy_setting_dlg(self):
print "Distory!!!"
self.is_setting_dlg_live = False
pass
def _set_configuration(self, params):
print self.current_service['name'] + " set param: "
print "param1: " + params['param1'].toPlainText()
print "param2: " + params['param2'].toPlainText()
print "param3: " + params['param3'].toPlainText()
pass
def __init__(self, masteruri, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QWidget()
self.contentLayout = QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
package_label = QLabel("Package:", self.content)
self.package_field = QComboBox(self.content)
self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QLabel("Binary:", self.content)
self.binary_field = QComboBox(self.content)
self.binary_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok
| QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(Qt.TabFocusReason)
self.package = ''
self.binary = ''
self._request_bin_thread = None
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
# fill the input fields
self.packages = {
name: path
for path, name in nm.nmd().file.get_packages(
nmdurl.nmduri(masteruri)).items()
}
packages = self.packages.keys()
packages.sort()
self.package_field.clear()
self.package_field.clearEditText()
self.package_field.addItems(packages)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.textChanged.connect(self.on_binary_selected)
else:
self.package_field.editTextChanged.connect(
self.on_package_selected)
self.binary_field.editTextChanged.connect(self.on_binary_selected)
def reject(self):
if self.textedit.isVisible():
self._on_select_interface_clicked()
else:
QDialog.reject(self)
self.resetView()
def closeEvent(self, event):
self.stop()
QDialog.closeEvent(self, event)
def __init__(self,
items=list(),
buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok,
exclusive=False,
preselect_all=False,
title='',
description='',
icon='',
parent=None,
select_if_single=True,
checkitem1='',
checkitem2='',
closein=0):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', utf8(items)]))
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QFrame(self)
filterLayout = QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QLabel("Filter:", self.filter_frame)
self.filter_field = EnchancedLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QFrame(self)
descriptionLayout = QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QLabel(self.description_frame)
self.icon_label.setSizePolicy(QSizePolicy.Fixed,
QSizePolicy.Fixed)
self.icon_label.setPixmap(
QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.content = MainBox(self)
if items:
self.scroll_area = QScrollArea(self)
self.scroll_area.setFocusPolicy(Qt.NoFocus)
self.scroll_area.setObjectName("scroll_area")
self.scroll_area.setWidgetResizable(True)
self.scroll_area.setWidget(self.content)
self.verticalLayout.addWidget(self.scroll_area)
self.checkitem1 = checkitem1
self.checkitem1_result = False
self.checkitem2 = checkitem2
self.checkitem2_result = False
# add select all option
if not exclusive and items:
self._ignore_next_toggle = False
self.select_all_checkbox = QCheckBox('all entries')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(
self._on_select_all_checkbox_stateChanged)
self.verticalLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
if self.checkitem1:
self.checkitem1_checkbox = QCheckBox(self.checkitem1)
self.checkitem1_checkbox.stateChanged.connect(
self._on_select_checkitem1_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem1_checkbox)
if self.checkitem2:
self.checkitem2_checkbox = QCheckBox(self.checkitem2)
self.checkitem2_checkbox.stateChanged.connect(
self._on_select_checkitem2_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem2_checkbox)
if not items:
spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.verticalLayout.addItem(spacerItem)
self._close_timer = None
self._closein = closein - 1
if closein > 0:
self.closein_label = QLabel("OK in %d sec..." % closein)
self.closein_label.setAlignment(Qt.AlignRight)
self.verticalLayout.addWidget(self.closein_label)
self._close_timer = threading.Timer(1.0, self._on_close_timer)
self._close_timer.start()
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(Qt.Checked)
if not items or len(items) < 7:
self.filter_frame.setVisible(False)
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
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(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.0
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ""
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox("Hide strings")
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox("Hide arrays")
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems([str(self.MESSAGE_LINE_LIMIT), "0", "80", "256", "1024"])
self.combobox_reduce_ch.activated[str].connect(self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip("Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([str(self.MESSAGE_HZ_LIMIT), "0", "0.1", "1", "50", "100", "1000"])
self.combobox_displ_hz.activated[str].connect(self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel("Hz", self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems([str(self.MAX_DISPLAY_MSGS), "0", "50", "100"])
self.combobox_msgs_count.activated[str].connect(self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip("Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel("#", self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText("stop")
self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png"))
self.topic_control_button.clicked.connect(self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText("clear")
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel("0 messages", self)
self.verticalLayout.addWidget(self.status_label)
# 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
# raise Exception("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, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, 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)
def exec_(self):
if self.text in IGNORED_ERRORS:
self.accept()
return self.result()
return QDialog.exec_(self)
class VelocityControl(Plugin):
signal_topic = Signal(JointState)
def __init__(self, context):
super(VelocityControl, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('VelocityControl')
# 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())
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
#ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'MyPlugin.ui')
# Extend the widget with all attributes and children from UI file
#loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('VelocityControlUi')
vLayout = QVBoxLayout(self._widget)
vLayout.setContentsMargins(0, 0, 0, 0)
vLayout.setSpacing(0)
self._widget.setLayout(vLayout)
self._widget.layout().setSpacing(0)
self._widget.setWindowTitle("VelocityControl");
# 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)
self.context = context
self._topic_list = ''
self._topic_commands = {}
self._jointgroups = {}
self.signal_topic.connect( self.signal_callback_list )
rospy.on_shutdown(self.on_ros_shutdown) #handle the ROS shutdown commands
def on_ros_shutdown(self, *args):
from python_qt_binding.QtGui import QApplication
QApplication.exit(0)
def shutdown_plugin(self):
# TODO unregister all publishers here
self.shutdownRosComm()
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
self._topic_commands.clear()
for caller, joint_frame in self._jointgroups.items():
self._topic_commands[caller] = joint_frame.get_command_topic()
instance_settings.set_value('topic_commands', self._topic_commands)
instance_settings.set_value('topic_list', self._topic_list)
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
self.shutdownRosComm()
self._topic_commands = instance_settings.value('topic_commands', {})
self._topic_list = instance_settings.value('topic_list', 'joint_state')
self.fill_widget()
self.reinitRosComm()
def reinitRosComm(self):
# if self._topic_command:
# self._topic_command = rosgraph.names.script_resolve_name('rostopic', self._topic_command)
# if (self._topic_command):
# self._publisher_command = rospy.Publisher(self._topic_command, PowerSwitch, queue_size=1)
if self._topic_list:
self._topic_list = rosgraph.names.script_resolve_name('rostopic', self._topic_list)
if self._topic_list:
self._subscriber_list = rospy.Subscriber(self._topic_list, JointState, self.callback_jointstate)
def clearstuff(self):
pass
# for name,p in self._devices.items():
# self._widget.layout().removeWidget(p)
# p.clearParent()
# self._devices.clear();
def shutdownRosComm(self):
self.clearstuff()
# if self._topic_command:
# self._publisher_command.unregister()
# self._publisher_command = None
if self._topic_list:
self._subscriber_list.unregister()
self._subscriber_list = None
def fill_widget(self):
# for i in range(len(self._topics)):
self._widget.layout().addItem(QSpacerItem(1,1,QSizePolicy.Expanding, QSizePolicy.Expanding))
def callback_jointstate(self, msg):
self.signal_topic.emit(msg)
def signal_callback_list( self, msg ):
# update
caller = msg._connection_header['callerid']
if caller not in self._jointgroups:
stored_topic = None
if caller in self._topic_commands:
stored_topic = self._topic_commands[caller]
group_frame = JointStateGroup(caller, msg, stored_topic=stored_topic)
self._widget.layout().insertWidget(self._widget.layout().count() - 1, group_frame)
self._jointgroups[caller] = group_frame
else:
# update the values
self._jointgroups[caller].update(msg)
def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure it
# Usually used to open a configuration dialog
self.dialog_config = QDialog()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'iop_rqt_velocity_config.ui')
loadUi(ui_file, self.dialog_config)
self.dialog_config.accepted.connect(self.on_dialog_config_accepted)
# fill configuration dialog
ti = TopicInfo()
ti.fill_published_topics(self.dialog_config.comboBox_listTopic, "sensor_msgs/JointState", self._topic_list)
# ti.fill_subscribed_topics(self.dialog_config.comboBox_commandTopic, "std_msgs/Float64MultiArray", self._topic_command)
# stop on cancel pressed
if not self.dialog_config.exec_():
return
def on_dialog_config_accepted(self):
self.shutdownRosComm()
# self._topic_command = self.dialog_config.comboBox_commandTopic.currentText()
self._topic_list = self.dialog_config.comboBox_listTopic.currentText()
self.reinitRosComm()
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()
