class LaunchFilesWidget(QDockWidget):
'''
Launch file browser.
'''
load_signal = Signal(str)
''' load the launch file '''
load_as_default_signal = Signal(str, str)
''' load the launch file as default (path, host) '''
edit_signal = Signal(list)
''' list of paths to open in an editor '''
transfer_signal = Signal(list)
''' list of paths selected for transfer '''
def __init__(self, parent=None):
'''
Creates the window, connects the signals and init the class.
'''
QDockWidget.__init__(self, parent)
# initialize parameter
self.__current_path = os.path.expanduser('~')
# load the UI file
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'LaunchFilesDockWidget.ui')
loadUi(ui_file, self)
# initialize the view for the launch files
self.launchlist_model = LaunchListModel()
self.launchlist_proxyModel = QSortFilterProxyModel(self)
self.launchlist_proxyModel.setSourceModel(self.launchlist_model)
self.xmlFileView.setModel(self.launchlist_proxyModel)
self.xmlFileView.setAlternatingRowColors(True)
self.xmlFileView.activated.connect(self.on_launch_selection_activated)
self.xmlFileView.setDragDropMode(QAbstractItemView.DragOnly)
self.xmlFileView.setDragEnabled(True)
sm = self.xmlFileView.selectionModel()
sm.selectionChanged.connect(self.on_xmlFileView_selection_changed)
# self.searchPackageLine.setVisible(False)
self.searchPackageLine.textChanged.connect(self.set_package_filter)
self.searchPackageLine.focusInEvent = self._searchline_focusInEvent
# connect to the button signals
self.refreshXmlButton.clicked.connect(self.on_refresh_xml_clicked)
self.editXmlButton.clicked.connect(self.on_edit_xml_clicked)
self.newXmlButton.clicked.connect(self.on_new_xml_clicked)
self.openXmlButton.clicked.connect(self.on_open_xml_clicked)
self.transferButton.clicked.connect(self.on_transfer_file_clicked)
self.loadXmlButton.clicked.connect(self.on_load_xml_clicked)
self.loadXmlAsDefaultButton.clicked.connect(self.on_load_as_default)
# creates a default config menu
start_menu = QMenu(self)
self.loadDeafaultAtHostAct = QAction("&Load default config on host", self, statusTip="Loads the default config at given host", triggered=self.on_load_as_default_at_host)
start_menu.addAction(self.loadDeafaultAtHostAct)
self.loadXmlAsDefaultButton.setMenu(start_menu)
# initialize the progress queue
self.progress_queue = ProgressQueue(self.progressFrame_cfg, self.progressBar_cfg, self.progressCancelButton_cfg)
def stop(self):
'''
Cancel the executing queued actions. This method must be
called at the exit!
'''
self.progress_queue.stop()
def on_launch_selection_activated(self, activated):
'''
Tries to load the launch file, if one was activated.
'''
selected = self._launchItemsFromIndexes(self.xmlFileView.selectionModel().selectedIndexes(), False)
for item in selected:
try:
lfile = self.launchlist_model.expandItem(item.name, item.path, item.id)
self.searchPackageLine.setText('')
if lfile is not None:
if item.isLaunchFile():
self.launchlist_model.add2LoadHistory(item.path)
key_mod = QApplication.keyboardModifiers()
if key_mod & Qt.ShiftModifier:
self.load_as_default_signal.emit(item.path, None)
elif key_mod & Qt.ControlModifier:
self.launchlist_model.setPath(os.path.dirname(item.path))
else:
self.load_signal.emit(item.path)
elif item.isConfigFile():
self.edit_signal.emit([lfile])
except Exception as e:
rospy.logwarn("Error while load launch file %s: %s" % (item, e))
WarningMessageBox(QMessageBox.Warning, "Load error",
'Error while load launch file:\n%s' % item.name,
"%s" % e).exec_()
# self.launchlist_model.reloadCurrentPath()
def on_xmlFileView_selection_changed(self, selected, deselected):
'''
On selection of a launch file, the buttons are enabled otherwise disabled.
'''
selected = self._launchItemsFromIndexes(self.xmlFileView.selectionModel().selectedIndexes(), False)
for item in selected:
islaunch = item.isLaunchFile()
isconfig = item.isConfigFile()
self.editXmlButton.setEnabled(islaunch or isconfig)
self.loadXmlButton.setEnabled(islaunch)
self.transferButton.setEnabled(islaunch or isconfig)
self.loadXmlAsDefaultButton.setEnabled(islaunch)
def set_package_filter(self, text):
self.launchlist_proxyModel.setFilterRegExp(QRegExp(text,
Qt.CaseInsensitive,
QRegExp.Wildcard))
def on_refresh_xml_clicked(self):
'''
Reload the current path.
'''
self.launchlist_model.reloadCurrentPath()
self.launchlist_model.reloadPackages()
self.editXmlButton.setEnabled(False)
self.loadXmlButton.setEnabled(False)
self.transferButton.setEnabled(False)
self.loadXmlAsDefaultButton.setEnabled(False)
def on_edit_xml_clicked(self):
'''
Opens an XML editor to edit the launch file.
'''
selected = self._launchItemsFromIndexes(self.xmlFileView.selectionModel().selectedIndexes(), False)
for item in selected:
path = self.launchlist_model.expandItem(item.name, item.path, item.id)
if path is not None:
self.edit_signal.emit([path])
def on_new_xml_clicked(self):
'''
Creates a new launch file.
'''
# get new file from open dialog, use last path if one exists
open_path = self.__current_path
if self.launchlist_model.currentPath is not None:
open_path = self.launchlist_model.currentPath
(fileName, _) = QFileDialog.getSaveFileName(self,
"New launch file",
open_path,
"Config files (*.launch *.yaml);;All files (*)")
if fileName:
try:
(pkg, _) = package_name(os.path.dirname(fileName)) # _:=pkg_path
if pkg is None:
WarningMessageBox(QMessageBox.Warning, "New File Error",
'The new file is not in a ROS package').exec_()
return
with open(fileName, 'w+') as f:
f.write("<launch>\n"
" <arg name=\"robot_ns\" default=\"my_robot\"/>\n"
" <group ns=\"$(arg robot_ns)\">\n"
" <param name=\"tf_prefix\" value=\"$(arg robot_ns)\"/>\n"
"\n"
" <node pkg=\"my_pkg\" type=\"my_node\" name=\"my_name\" >\n"
" <param name=\"capability_group\" value=\"MY_GROUP\"/>\n"
" </node>\n"
" </group>\n"
"</launch>\n"
)
self.__current_path = os.path.dirname(fileName)
self.launchlist_model.setPath(self.__current_path)
self.edit_signal.emit([fileName])
except EnvironmentError as e:
WarningMessageBox(QMessageBox.Warning, "New File Error",
'Error while create a new file',
'%s' % e).exec_()
def on_open_xml_clicked(self):
(fileName, _) = QFileDialog.getOpenFileName(self,
"Load launch file",
self.__current_path,
"Config files (*.launch);;All files (*)")
if fileName:
self.__current_path = os.path.dirname(fileName)
self.launchlist_model.add2LoadHistory(fileName)
self.load_signal.emit(fileName)
def on_transfer_file_clicked(self):
'''
Emit the signal to copy the selected file to a remote host.
'''
selected = self._launchItemsFromIndexes(self.xmlFileView.selectionModel().selectedIndexes(), False)
paths = list()
for item in selected:
path = self.launchlist_model.expandItem(item.name, item.path, item.id)
if path is not None:
paths.append(path)
if paths:
self.transfer_signal.emit(paths)
def on_load_xml_clicked(self):
'''
Tries to load the selected launch file. The button is only enabled and this
method is called, if the button was enabled by on_launch_selection_clicked()
'''
selected = self._launchItemsFromIndexes(self.xmlFileView.selectionModel().selectedIndexes(), False)
for item in selected:
path = self.launchlist_model.expandItem(item.name, item.path, item.id)
if path is not None:
self.launchlist_model.add2LoadHistory(path)
self.load_signal.emit(path)
def on_load_as_default_at_host(self):
'''
Tries to load the selected launch file as default configuration. The button
is only enabled and this method is called, if the button was enabled by
on_launch_selection_clicked()
'''
selected = self._launchItemsFromIndexes(self.xmlFileView.selectionModel().selectedIndexes(), False)
for item in selected:
path = self.launchlist_model.expandItem(item.name, item.path, item.id)
if path is not None:
params = {'Host': ('string', 'localhost')}
dia = ParameterDialog(params)
dia.setFilterVisible(False)
dia.setWindowTitle('Start node on...')
dia.resize(350, 120)
dia.setFocusField('Host')
if dia.exec_():
try:
params = dia.getKeywords()
host = params['Host']
rospy.loginfo("LOAD the launch file on host %s as default: %s" % (host, path))
self.launchlist_model.add2LoadHistory(path)
self.load_as_default_signal.emit(path, host)
except Exception, e:
WarningMessageBox(QMessageBox.Warning, "Load default config error",
'Error while parse parameter',
'%s' % e).exec_()
def setFilterRegExp(self, string):
self.invalidateFilter()
QSortFilterProxyModel.setFilterRegExp(self, string)
def setFilterRegExp(self, string):
self.invalidateFilter()
QSortFilterProxyModel.setFilterRegExp(self, string)
