def __init__(self, parent=None, logger=Logger()):
QTreeWidget.__init__(self, parent)
self.set_logger(logger)
# init tree
self.setHeaderLabels(["Name", "Type", "Value"])
self.sortItems(0, Qt.AscendingOrder)
#self.setSelectionMode(QAbstractItemView.NoSelection)
self.setContextMenuPolicy(Qt.CustomContextMenu)
self.itemActivated.connect(self.edit_item)
self.currentItemChanged.connect(self.current_item_changed)
# context menu
self.customContextMenuRequested.connect(self.context_menu_request)
self._action_item_expand = QAction(QIcon.fromTheme('zoom-in'),
'Expand Selected', self)
self._action_item_expand.triggered.connect(
self._handle_action_item_expand)
self._action_item_collapse = QAction(QIcon.fromTheme('zoom-out'),
'Collapse Selected', self)
self._action_item_collapse.triggered.connect(
self._handle_action_item_collapse)
self._action_item_add = QAction(QIcon.fromTheme('list-add'), 'Add',
self)
self._action_item_add.setEnabled(False) # TODO
self._action_item_remove = QAction(QIcon.fromTheme('list-remove'),
'Remove', self)
self._action_item_remove.setEnabled(False) # TODO
def __init__(self, topic):
super(RobotMonitor, self).__init__()
self.setObjectName('Robot Monitor')
self.top_items = []
layout = QVBoxLayout()
self.err = QTreeWidget()
self.err.setHeaderLabel("Errors")
self.warn = QTreeWidget()
self.warn.setHeaderLabel("Warnings")
self.sig_clear.connect(self.clear)
self.sig_err.connect(self.disp_err)
self.sig_warn.connect(self.disp_warn)
self.comp = QTreeWidget()
self.comp.setHeaderLabel("All")
self.comp.itemDoubleClicked.connect(self.tree_clicked)
self.time = TimelineWidget(self)
layout.addWidget(self.err)
layout.addWidget(self.warn)
layout.addWidget(self.comp, 1)
layout.addWidget(self.time, 0)
self.setLayout(layout)
self.paused = False
self.topic = topic
self.sub = rospy.Subscriber(self.topic, DiagnosticArray, self.cb)
self.setWindowTitle('Robot Monitor')
def _create_found_frame(self):
ff_frame = QFrame(self)
self.found_files_vbox_layout = QVBoxLayout(ff_frame)
self.found_files_vbox_layout.setContentsMargins(0, 0, 0, 0)
self.recursive_search_box = QCheckBox("recursive search")
self.found_files_vbox_layout.addWidget(self.recursive_search_box)
self.found_files_list = QTreeWidget(ff_frame)
self.found_files_list.setColumnCount(1)
self.found_files_list.setFrameStyle(QFrame.StyledPanel)
self.found_files_list.setHeaderHidden(True)
self.found_files_list.itemActivated.connect(self.on_itemActivated)
self.found_files_list.setStyleSheet("QTreeWidget {"
"background-color:transparent;"
"}"
"QTreeWidget::item {"
"background-color:transparent;"
"}"
"QTreeWidget::item:selected {"
"background-color: darkgray;"
"}")
self.found_files_vbox_layout.addWidget(self.found_files_list)
self.recursive_search_box.setChecked(False)
return ff_frame
def _create_found_frame(self):
ff_frame = QFrame(self)
self.found_files_vbox_layout = QVBoxLayout(ff_frame)
self.found_files_vbox_layout.setContentsMargins(0, 0, 0, 0)
self.recursive_search_box = QCheckBox("recursive search")
self.found_files_vbox_layout.addWidget(self.recursive_search_box)
self.found_files_list = QTreeWidget(ff_frame)
self.found_files_list.setColumnCount(1)
self.found_files_list.setFrameStyle(QFrame.StyledPanel)
self.found_files_list.setHeaderHidden(True)
self.found_files_list.itemActivated.connect(self.on_itemActivated)
self.found_files_list.setStyleSheet(
"QTreeWidget {"
"background-color:transparent;"
"}"
"QTreeWidget::item {"
"background-color:transparent;"
"}"
"QTreeWidget::item:selected {"
"background-color: darkgray;"
"}")
self.found_files_vbox_layout.addWidget(self.found_files_list)
self.recursive_search_box.setChecked(False)
return ff_frame
class TextSearchFrame(QDockWidget):
'''
A frame to find text in the Editor.
'''
search_result_signal = Signal(str, bool, str, int)
''' @ivar: A signal emitted after search_threaded was started.
(search text, found or not, file, position in text)
for each result a signal will be emitted.
'''
replace_signal = Signal(str, str, int, str)
''' @ivar: A signal emitted to replace string at given position.
(search text, file, position in text, replaced by text)
'''
def __init__(self, tabwidget, parent=None):
QDockWidget.__init__(self, "Find", parent)
self.setObjectName('SearchFrame')
self.setFeatures(QDockWidget.DockWidgetMovable
| QDockWidget.DockWidgetFloatable)
self._dockwidget = QFrame(self)
self.vbox_layout = QVBoxLayout(self._dockwidget)
self.layout().setContentsMargins(0, 0, 0, 0)
self.layout().setSpacing(1)
# frame with two rows for find and replace
find_replace_frame = QFrame(self)
find_replace_vbox_layout = QVBoxLayout(find_replace_frame)
find_replace_vbox_layout.setContentsMargins(0, 0, 0, 0)
find_replace_vbox_layout.setSpacing(1)
# find_replace_vbox_layout.addSpacerItem(QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding))
# create frame with find row
find_frame = self._create_find_frame()
find_replace_vbox_layout.addWidget(find_frame)
rplc_frame = self._create_replace_frame()
find_replace_vbox_layout.addWidget(rplc_frame)
# frame for find&replace and search results
self.vbox_layout.addWidget(find_replace_frame)
self.vbox_layout.addWidget(self._create_found_frame())
# self.vbox_layout.addStretch(2024)
self.setWidget(self._dockwidget)
# intern search parameters
self._tabwidget = tabwidget
self.current_search_text = ''
self.search_results = []
self.search_results_fileset = set()
self._search_result_index = -1
self._search_recursive = False
self._search_thread = None
def _create_find_frame(self):
find_frame = QFrame(self)
find_hbox_layout = QHBoxLayout(find_frame)
find_hbox_layout.setContentsMargins(0, 0, 0, 0)
find_hbox_layout.setSpacing(1)
self.search_field = EnchancedLineEdit(find_frame)
self.search_field.setPlaceholderText('search text')
self.search_field.textChanged.connect(self.on_search_text_changed)
self.search_field.returnPressed.connect(self.on_search)
find_hbox_layout.addWidget(self.search_field)
self.search_result_label = QLabel(find_frame)
self.search_result_label.setText(' ')
find_hbox_layout.addWidget(self.search_result_label)
self.find_button_back = QPushButton("<")
self.find_button_back.setFixedWidth(44)
self.find_button_back.clicked.connect(self.on_search_back)
find_hbox_layout.addWidget(self.find_button_back)
self.find_button = QPushButton(">")
self.find_button.setDefault(True)
# self.find_button.setFlat(True)
self.find_button.setFixedWidth(44)
self.find_button.clicked.connect(self.on_search)
find_hbox_layout.addWidget(self.find_button)
return find_frame
def _create_replace_frame(self):
# create frame with replace row
self.rplc_frame = rplc_frame = QFrame(self)
rplc_hbox_layout = QHBoxLayout(rplc_frame)
rplc_hbox_layout.setContentsMargins(0, 0, 0, 0)
rplc_hbox_layout.setSpacing(1)
self.replace_field = EnchancedLineEdit(rplc_frame)
self.replace_field.setPlaceholderText('replace text')
self.replace_field.returnPressed.connect(self.on_replace)
rplc_hbox_layout.addWidget(self.replace_field)
self.replace_result_label = QLabel(rplc_frame)
self.replace_result_label.setText(' ')
rplc_hbox_layout.addWidget(self.replace_result_label)
self.replace_button = replace_button = QPushButton("> &Replace >")
replace_button.setFixedWidth(90)
replace_button.clicked.connect(self.on_replace_click)
rplc_hbox_layout.addWidget(replace_button)
rplc_frame.setVisible(False)
return rplc_frame
def _create_found_frame(self):
ff_frame = QFrame(self)
self.found_files_vbox_layout = QVBoxLayout(ff_frame)
self.found_files_vbox_layout.setContentsMargins(0, 0, 0, 0)
self.recursive_search_box = QCheckBox("recursive search")
self.found_files_vbox_layout.addWidget(self.recursive_search_box)
self.found_files_list = QTreeWidget(ff_frame)
self.found_files_list.setColumnCount(1)
self.found_files_list.setFrameStyle(QFrame.StyledPanel)
self.found_files_list.setHeaderHidden(True)
self.found_files_list.itemActivated.connect(self.on_itemActivated)
self.found_files_list.setStyleSheet("QTreeWidget {"
"background-color:transparent;"
"}"
"QTreeWidget::item {"
"background-color:transparent;"
"}"
"QTreeWidget::item:selected {"
"background-color: darkgray;"
"}")
self.found_files_vbox_layout.addWidget(self.found_files_list)
self.recursive_search_box.setChecked(False)
return ff_frame
def keyPressEvent(self, event):
'''
Enable the shortcats for search and replace
'''
self.parent().keyPressEvent(event)
def on_search(self):
'''
Initiate the new search or request a next search result.
'''
if self.current_search_text != self.search_field.text(
) or self._search_recursive != self.recursive_search_box.isChecked():
# clear current search results
self._reset()
self.current_search_text = self.search_field.text()
if self.current_search_text:
path_text = {}
self._wait_for_result = True
for i in range(self._tabwidget.count()):
path_text[self._tabwidget.widget(
i).filename] = self._tabwidget.widget(
i).document().toPlainText()
self._search_recursive = self.recursive_search_box.isChecked()
self._search_thread = TextSearchThread(
self.current_search_text,
self._tabwidget.currentWidget().filename,
path_text=path_text,
recursive=self._search_recursive)
self._search_thread.search_result_signal.connect(
self.on_search_result)
self._search_thread.warning_signal.connect(
self.on_warning_result)
self._search_thread.start()
elif self.search_results:
self._check_position()
if self.search_results:
if self._search_result_index + 1 >= len(self.search_results):
self._search_result_index = -1
self._search_result_index += 1
(id, search_text, found, path, index, linenr,
line) = self.search_results[self._search_result_index]
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
self._update_label()
def on_search_back(self):
'''
Slot to handle the search back function.
'''
self._check_position(False)
if self.search_results:
self._search_result_index -= 1
if self._search_result_index < 0:
self._search_result_index = len(self.search_results) - 1
self._update_label()
(id, search_text, found, path, index, linenr,
line) = self.search_results[self._search_result_index]
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
def _check_position(self, forward=True):
try:
# if the position of the textCursor was changed by the user, move the search index
cur_pos = self._tabwidget.currentWidget().textCursor().position()
id, st, _f, pa, idx, lnr, ltxt = self.search_results[
self._search_result_index]
sear_pos = idx + len(st)
if cur_pos != sear_pos:
first_idx = self._get_current_index_for_current_file()
if first_idx != -1:
id, st, _f, pa, idx, lnr, ltxt = self.search_results[
first_idx]
sear_pos = idx + len(st)
while cur_pos > sear_pos and self._tabwidget.currentWidget(
).filename == pa:
first_idx += 1
id, st, _f, pa, idx, lnr, ltxt = self.search_results[
first_idx]
sear_pos = idx + len(st)
self._search_result_index = first_idx
if forward:
self._search_result_index -= 1
else:
self._reset(True)
except:
pass
def _get_current_index_for_current_file(self):
for index in range(len(self.search_results)):
id, _st, _f, pa, _idx = self.search_results[index]
if self._tabwidget.currentWidget().filename == pa:
return index
return -1
def on_search_result(self, search_text, found, path, index, linenr, line):
'''
Slot to handle the signals for search result. This signals are forwarded used
search_result_signal.
'''
if found and search_text == self.current_search_text:
id = "%d:%s" % (index, path)
self.search_results_fileset.add(path)
item = (search_text, found, path, index)
if item not in self.search_results:
self.search_results.append(
(id, search_text, found, path, index, linenr, line))
if self._wait_for_result:
self._search_result_index += 1
if index >= self._tabwidget.currentWidget().textCursor(
).position() or self._tabwidget.currentWidget(
).filename != path:
self._wait_for_result = False
self.search_result_signal.emit(search_text, found, path,
index)
self.replace_button.setEnabled(True)
pkg, rpath = package_name(os.path.dirname(path))
itemstr = '%s [%s]' % (os.path.basename(path), pkg)
if not self.found_files_list.findItems(itemstr, Qt.MatchExactly):
list_item = QTreeWidgetItem(self.found_files_list)
list_item.setText(0, itemstr)
list_item.setToolTip(0, path)
self.found_files_list.insertTopLevelItem(0, list_item)
self.found_files_list.expandAll()
for i in range(self.found_files_list.topLevelItemCount()):
top_item = self.found_files_list.topLevelItem(i)
if top_item.text(0) == itemstr:
sub_item_str = "%d: %s" % (linenr, line)
list_item2 = QTreeWidgetItem()
list_item2.setText(0, sub_item_str)
list_item2.setWhatsThis(0, id)
top_item.addChild(list_item2)
#self.found_files_list.setVisible(len(self.search_results_fileset) > 0)
self._update_label()
def on_warning_result(self, text):
rospy.logwarn(text)
def on_replace_click(self):
self.on_replace()
self.on_search()
def on_replace(self):
'''
Emits the replace signal, but only if currently selected text is equal to the searched one.
'''
if self.search_results:
try:
id, search_text, _found, path, index, linenr, line_text = self.search_results[
self._search_result_index]
cursor = self._tabwidget.currentWidget().textCursor()
if cursor.selectedText() == search_text:
rptxt = self.replace_field.text()
for rindex in range(self._search_result_index + 1,
len(self.search_results)):
iid, st, _f, pa, idx, lnr, ltxt = self.search_results[
rindex]
if path == pa:
self.search_results.pop(rindex)
self.search_results.insert(
rindex,
(iid, st, _f, pa, idx + len(rptxt) - len(st),
lnr, ltxt))
else:
break
self._remove_search_result(self._search_result_index)
self._search_result_index -= 1
self.replace_signal.emit(search_text, path, index, rptxt)
else:
self.replace_button.setEnabled(False)
except:
import traceback
print traceback.format_exc()
pass
def on_itemActivated(self, item):
'''
Go to the results for the selected file entry in the list.
'''
splits = item.whatsThis(0).split(':')
if len(splits) == 2:
item_index = int(splits[0])
item_path = splits[1]
new_search_index = -1
tmp_index = -1
search_index = -1
tmp_search_text = ''
for id, search_text, found, path, index, linenr, line_text in self.search_results:
new_search_index += 1
if item_path == path and item_index == index:
self._search_result_index = new_search_index
self.search_result_signal.emit(search_text, found, path,
index)
self._update_label()
def on_search_text_changed(self, _text):
'''
Clear search result if the text was changed.
'''
self._reset()
def _update_label(self, clear_label=False):
'''
Updates the status label for search results. The info is created from search result lists.
'''
msg = ' '
if self.search_results:
count_files = len(self.search_results_fileset)
msg = '%d/%d' % (self._search_result_index + 1,
len(self.search_results))
if count_files > 1:
msg = '%s(%d)' % (msg, count_files)
if self._search_thread is not None and self._search_thread.is_alive():
msg = 'searching..%s' % msg
elif not msg.strip() and self.current_search_text:
msg = '0 found'
self.current_search_text = ''
if clear_label:
msg = ' '
self.search_result_label.setText(msg)
self.find_button_back.setEnabled(len(self.search_results))
self._select_current_item_in_box(self._search_result_index)
def file_changed(self, path):
'''
Clears search results if for changed file are some search results are available
:param path: changed file path
:type path: str
'''
if path in self.search_results_fileset:
self._reset()
def set_replace_visible(self, value):
self.rplc_frame.setVisible(value)
self.raise_()
self.activateWindow()
if value:
self.replace_field.setFocus()
self.replace_field.selectAll()
self.setWindowTitle("Find / Replace")
else:
self.setWindowTitle("Find")
self.search_field.setFocus()
def is_replace_visible(self):
return self.rplc_frame.isVisible()
def _reset(self, force_new_search=False):
# clear current search results
if self._search_thread is not None:
self._search_thread.search_result_signal.disconnect()
self._search_thread.stop()
self._search_thread = None
self.current_search_text = ''
self.search_results = []
self.search_results_fileset = set()
self.found_files_list.clear()
# self.found_files_list.setVisible(False)
self._update_label(True)
self._search_result_index = -1
self.find_button_back.setEnabled(False)
if force_new_search:
self.on_search()
def enable(self):
self.setVisible(True)
# self.show()
self.raise_()
self.activateWindow()
self.search_field.setFocus()
self.search_field.selectAll()
def _select_current_item_in_box(self, index):
try:
(id, search_text, found, path, index, linenr,
line) = self.search_results[index]
for topidx in range(self.found_files_list.topLevelItemCount()):
topitem = self.found_files_list.topLevelItem(topidx)
for childdx in range(topitem.childCount()):
child = topitem.child(childdx)
if child.whatsThis(0) == id:
child.setSelected(True)
elif child.isSelected():
child.setSelected(False)
except:
pass
def _remove_search_result(self, index):
try:
(id, search_text, found, path, index, linenr,
line) = self.search_results.pop(index)
pkg, rpath = package_name(os.path.dirname(path))
itemstr = '%s [%s]' % (os.path.basename(path), pkg)
found_items = self.found_files_list.findItems(
itemstr, Qt.MatchExactly)
for item in found_items:
for chi in range(item.childCount()):
child = item.child(chi)
if child.whatsThis(0) == id:
item.removeChild(child)
break
# delete top level item if it is now empty
for topidx in range(self.found_files_list.topLevelItemCount()):
if self.found_files_list.topLevelItem(
topidx).childCount() == 0:
self.found_files_list.takeTopLevelItem(topidx)
break
# create new set with files contain the search text
new_path_set = set(path for _id, _st, _fd, path, _idx, lnr, lntxt
in self.search_results)
self.search_results_fileset = new_path_set
# self.found_files_list.setVisible(len(self.search_results_fileset) > 0)
except:
import traceback
print traceback.format_exc()
def __init__(self, context):
super(Top, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Top')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
# if not args.quiet:
# print 'arguments: ', args
# print 'unknowns: ', unknowns
self._selected_node = ''
self._selected_node_lock = RLock()
# Setup the toolbar
self._toolbar = QToolBar()
self._filter_box = QLineEdit()
self._regex_box = QCheckBox()
self._regex_box.setText('regex')
self._toolbar.addWidget(QLabel('Filter'))
self._toolbar.addWidget(self._filter_box)
self._toolbar.addWidget(self._regex_box)
self._filter_box.returnPressed.connect(self.update_filter)
self._regex_box.stateChanged.connect(self.update_filter)
# Create a container widget and give it a layout
self._container = QWidget()
self._container.setWindowTitle('Process Monitor')
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Create the table widget
self._table_widget = QTreeWidget()
self._table_widget.setObjectName('TopTable')
self._table_widget.setColumnCount(len(self.NODE_LABELS))
self._table_widget.setHeaderLabels(self.NODE_LABELS)
self._table_widget.itemClicked.connect(self._tableItemClicked)
self._table_widget.setSortingEnabled(True)
self._table_widget.setAlternatingRowColors(True)
self._layout.addWidget(self._table_widget)
context.add_widget(self._container)
# Add a button for killing nodes
self._kill_button = QPushButton('Kill Node')
self._layout.addWidget(self._kill_button)
self._kill_button.clicked.connect(self._kill_node)
# Update twice since the first cpu% lookup will always return 0
self.update_table()
self.update_table()
self._table_widget.resizeColumnToContents(0)
# Start a timer to trigger updates
self._update_timer = QTimer()
self._update_timer.setInterval(1000)
self._update_timer.timeout.connect(self.update_table)
self._update_timer.start()
class Top(Plugin):
NODE_FIELDS = [ 'pid', 'get_cpu_percent', 'get_memory_percent', 'get_num_threads']
OUT_FIELDS = ['node_name', 'pid', 'cpu_percent', 'memory_percent', 'num_threads' ]
FORMAT_STRS = ['%s', '%s', '%0.2f', '%0.2f', '%s' ]
NODE_LABELS = ['Node', 'PID', 'CPU %', 'Mem %', 'Num Threads' ]
SORT_TYPE = [str, str, float, float, float ]
TOOLTIPS = {
0: ('cmdline', lambda x: '\n'.join(textwrap.wrap(' '.join(x)))),
3: ('memory_info', lambda x: ('Resident: %0.2f MiB, Virtual: %0.2f MiB' % (x[0]/2**20, x[1]/2**20)))
}
_node_info = NodeInfo()
name_filter = re.compile('')
def __init__(self, context):
super(Top, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Top')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
# if not args.quiet:
# print 'arguments: ', args
# print 'unknowns: ', unknowns
self._selected_node = ''
self._selected_node_lock = RLock()
# Setup the toolbar
self._toolbar = QToolBar()
self._filter_box = QLineEdit()
self._regex_box = QCheckBox()
self._regex_box.setText('regex')
self._toolbar.addWidget(QLabel('Filter'))
self._toolbar.addWidget(self._filter_box)
self._toolbar.addWidget(self._regex_box)
self._filter_box.returnPressed.connect(self.update_filter)
self._regex_box.stateChanged.connect(self.update_filter)
# Create a container widget and give it a layout
self._container = QWidget()
self._container.setWindowTitle('Process Monitor')
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Create the table widget
self._table_widget = QTreeWidget()
self._table_widget.setObjectName('TopTable')
self._table_widget.setColumnCount(len(self.NODE_LABELS))
self._table_widget.setHeaderLabels(self.NODE_LABELS)
self._table_widget.itemClicked.connect(self._tableItemClicked)
self._table_widget.setSortingEnabled(True)
self._table_widget.setAlternatingRowColors(True)
self._layout.addWidget(self._table_widget)
context.add_widget(self._container)
# Add a button for killing nodes
self._kill_button = QPushButton('Kill Node')
self._layout.addWidget(self._kill_button)
self._kill_button.clicked.connect(self._kill_node)
# Update twice since the first cpu% lookup will always return 0
self.update_table()
self.update_table()
self._table_widget.resizeColumnToContents(0)
# Start a timer to trigger updates
self._update_timer = QTimer()
self._update_timer.setInterval(1000)
self._update_timer.timeout.connect(self.update_table)
self._update_timer.start()
def _tableItemClicked(self, item, column):
with self._selected_node_lock:
self._selected_node = item.text(0)
def update_filter(self, *args):
if self._regex_box.isChecked():
expr = self._filter_box.text()
else:
expr = re.escape(self._filter_box.text())
self.name_filter = re.compile(expr)
self.update_table()
def _kill_node(self):
self._node_info.kill_node(self._selected_node)
def update_one_item(self, row, info):
twi = TopWidgetItem()
for col, field in enumerate(self.OUT_FIELDS):
val = info[field]
twi.setText(col, self.FORMAT_STRS[col] % val)
self._table_widget.insertTopLevelItem(row, twi)
for col, (key, func) in self.TOOLTIPS.iteritems():
twi.setToolTip(col, func(info[key]))
with self._selected_node_lock:
if twi.text(0) == self._selected_node:
twi.setSelected(True)
self._table_widget.setItemHidden(twi, len(self.name_filter.findall(info['node_name'])) == 0)
def update_table(self):
self._table_widget.clear()
infos = self._node_info.get_all_node_fields(self.NODE_FIELDS)
for nx, info in enumerate(infos):
self.update_one_item(nx, info)
def shutdown_plugin(self):
self._update_timer.stop()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('filter_text', self._filter_box.text())
instance_settings.set_value('is_regex', int(self._regex_box.checkState()))
def restore_settings(self, plugin_settings, instance_settings):
self._filter_box.setText(instance_settings.value('filter_text'))
is_regex_int = instance_settings.value('is_regex')
if is_regex_int:
self._regex_box.setCheckState(Qt.CheckState(is_regex_int))
else:
self._regex_box.setCheckState(Qt.CheckState(0))
self.update_filter()
class RobotMonitor(QWidget):
sig_err = pyqtSignal(str)
sig_warn = pyqtSignal(str)
sig_clear = pyqtSignal()
def __init__(self, topic):
super(RobotMonitor, self).__init__()
self.setObjectName('Robot Monitor')
self.top_items = []
layout = QVBoxLayout()
self.err = QTreeWidget()
self.err.setHeaderLabel("Errors")
self.warn = QTreeWidget()
self.warn.setHeaderLabel("Warnings")
self.sig_clear.connect(self.clear)
self.sig_err.connect(self.disp_err)
self.sig_warn.connect(self.disp_warn)
self.comp = QTreeWidget()
self.comp.setHeaderLabel("All")
self.comp.itemDoubleClicked.connect(self.tree_clicked)
self.time = TimelineWidget(self)
layout.addWidget(self.err)
layout.addWidget(self.warn)
layout.addWidget(self.comp, 1)
layout.addWidget(self.time, 0)
self.setLayout(layout)
self.paused = False
self.topic = topic
self.sub = rospy.Subscriber(self.topic, DiagnosticArray, self.cb)
self.setWindowTitle('Robot Monitor')
def cb(self, msg):
if not self.paused:
self.sig_clear.emit()
self.update_tree(msg)
self.update_we(msg)
self.time.add_message(msg)
def tree_clicked(self, item, yes):
item.on_click()
def update_tree(self, msg):
#Update the tree from the bottom
names = [get_nice_name(k.name) for k in self.top_items]
add = []
for i in self._top_level(msg):
name = get_nice_name(i.name)
if name in names:
self.top_items[names.index(name)].update(i, msg)
else:
nw = StatusItem(i)
nw.update(i, msg)
self.top_items.append(nw)
add.append(nw)
self.comp.addTopLevelItems(add)
def _top_level(self, msg):
ret = []
for i in msg.status:
if len(i.name.split('/')) == 2:
ret.append(i)
return ret
def update_we(self, msg):
"""Update the warning and error boxes"""
for status in msg.status:
if status.level == status.WARN:
txt = "%s : %s"%(status.name, status.message)
self.sig_warn.emit(txt)
elif status.level == status.ERROR:
txt = "%s : %s"%(status.name, status.message)
self.sig_err.emit(txt)
def pause(self, msg):
self.paused = True
self.sig_clear.emit()
self.update_we(msg)
self.update_tree(msg)
def unpause(self):
self.paused = False
def clear(self):
self.err.clear()
self.warn.clear()
def disp_err(self, msg):
i = QTreeWidgetItem()
i.setText(0, msg)
self.err.addTopLevelItem(i)
def disp_warn(self,msg):
i = QTreeWidgetItem()
i.setText(0, msg)
self.warn.addTopLevelItem(i)
def close(self):
if self.sub:
self.sub.unregister()
self.sub = None
class TextSearchFrame(QDockWidget):
'''
A frame to find text in the Editor.
'''
search_result_signal = Signal(str, bool, str, int)
''' @ivar: A signal emitted after search_threaded was started.
(search text, found or not, file, position in text)
for each result a signal will be emitted.
'''
replace_signal = Signal(str, str, int, str)
''' @ivar: A signal emitted to replace string at given position.
(search text, file, position in text, replaced by text)
'''
def __init__(self, tabwidget, parent=None):
QDockWidget.__init__(self, "Find", parent)
self.setObjectName('SearchFrame')
self.setFeatures(QDockWidget.DockWidgetMovable | QDockWidget.DockWidgetFloatable)
self._dockwidget = QFrame(self)
self.vbox_layout = QVBoxLayout(self._dockwidget)
self.layout().setContentsMargins(0, 0, 0, 0)
self.layout().setSpacing(1)
# frame with two rows for find and replace
find_replace_frame = QFrame(self)
find_replace_vbox_layout = QVBoxLayout(find_replace_frame)
find_replace_vbox_layout.setContentsMargins(0, 0, 0, 0)
find_replace_vbox_layout.setSpacing(1)
# find_replace_vbox_layout.addSpacerItem(QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding))
# create frame with find row
find_frame = self._create_find_frame()
find_replace_vbox_layout.addWidget(find_frame)
rplc_frame = self._create_replace_frame()
find_replace_vbox_layout.addWidget(rplc_frame)
# frame for find&replace and search results
self.vbox_layout.addWidget(find_replace_frame)
self.vbox_layout.addWidget(self._create_found_frame())
# self.vbox_layout.addStretch(2024)
self.setWidget(self._dockwidget)
# intern search parameters
self._tabwidget = tabwidget
self.current_search_text = ''
self.search_results = []
self.search_results_fileset = set()
self._search_result_index = -1
self._search_recursive = False
self._search_thread = None
def _create_find_frame(self):
find_frame = QFrame(self)
find_hbox_layout = QHBoxLayout(find_frame)
find_hbox_layout.setContentsMargins(0, 0, 0, 0)
find_hbox_layout.setSpacing(1)
self.search_field = EnchancedLineEdit(find_frame)
self.search_field.setPlaceholderText('search text')
self.search_field.textChanged.connect(self.on_search_text_changed)
self.search_field.returnPressed.connect(self.on_search)
find_hbox_layout.addWidget(self.search_field)
self.search_result_label = QLabel(find_frame)
self.search_result_label.setText(' ')
find_hbox_layout.addWidget(self.search_result_label)
self.find_button_back = QPushButton("<")
self.find_button_back.setFixedWidth(44)
self.find_button_back.clicked.connect(self.on_search_back)
find_hbox_layout.addWidget(self.find_button_back)
self.find_button = QPushButton(">")
self.find_button.setDefault(True)
# self.find_button.setFlat(True)
self.find_button.setFixedWidth(44)
self.find_button.clicked.connect(self.on_search)
find_hbox_layout.addWidget(self.find_button)
return find_frame
def _create_replace_frame(self):
# create frame with replace row
self.rplc_frame = rplc_frame = QFrame(self)
rplc_hbox_layout = QHBoxLayout(rplc_frame)
rplc_hbox_layout.setContentsMargins(0, 0, 0, 0)
rplc_hbox_layout.setSpacing(1)
self.replace_field = EnchancedLineEdit(rplc_frame)
self.replace_field.setPlaceholderText('replace text')
self.replace_field.returnPressed.connect(self.on_replace)
rplc_hbox_layout.addWidget(self.replace_field)
self.replace_result_label = QLabel(rplc_frame)
self.replace_result_label.setText(' ')
rplc_hbox_layout.addWidget(self.replace_result_label)
self.replace_button = replace_button = QPushButton("> &Replace >")
replace_button.setFixedWidth(90)
replace_button.clicked.connect(self.on_replace_click)
rplc_hbox_layout.addWidget(replace_button)
rplc_frame.setVisible(False)
return rplc_frame
def _create_found_frame(self):
ff_frame = QFrame(self)
self.found_files_vbox_layout = QVBoxLayout(ff_frame)
self.found_files_vbox_layout.setContentsMargins(0, 0, 0, 0)
self.recursive_search_box = QCheckBox("recursive search")
self.found_files_vbox_layout.addWidget(self.recursive_search_box)
self.found_files_list = QTreeWidget(ff_frame)
self.found_files_list.setColumnCount(1)
self.found_files_list.setFrameStyle(QFrame.StyledPanel)
self.found_files_list.setHeaderHidden(True)
self.found_files_list.itemActivated.connect(self.on_itemActivated)
self.found_files_list.setStyleSheet(
"QTreeWidget {"
"background-color:transparent;"
"}"
"QTreeWidget::item {"
"background-color:transparent;"
"}"
"QTreeWidget::item:selected {"
"background-color: darkgray;"
"}")
self.found_files_vbox_layout.addWidget(self.found_files_list)
self.recursive_search_box.setChecked(False)
return ff_frame
def keyPressEvent(self, event):
'''
Enable the shortcats for search and replace
'''
self.parent().keyPressEvent(event)
def on_search(self):
'''
Initiate the new search or request a next search result.
'''
if self.current_search_text != self.search_field.text() or self._search_recursive != self.recursive_search_box.isChecked():
# clear current search results
self._reset()
self.current_search_text = self.search_field.text()
if self.current_search_text:
path_text = {}
self._wait_for_result = True
for i in range(self._tabwidget.count()):
path_text[self._tabwidget.widget(i).filename] = self._tabwidget.widget(i).document().toPlainText()
self._search_recursive = self.recursive_search_box.isChecked()
self._search_thread = TextSearchThread(self.current_search_text, self._tabwidget.currentWidget().filename, path_text=path_text, recursive=self._search_recursive)
self._search_thread.search_result_signal.connect(self.on_search_result)
self._search_thread.warning_signal.connect(self.on_warning_result)
self._search_thread.start()
elif self.search_results:
self._check_position()
if self.search_results:
if self._search_result_index + 1 >= len(self.search_results):
self._search_result_index = -1
self._search_result_index += 1
(id, search_text, found, path, index, linenr, line) = self.search_results[self._search_result_index]
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
self._update_label()
def on_search_back(self):
'''
Slot to handle the search back function.
'''
self._check_position(False)
if self.search_results:
self._search_result_index -= 1
if self._search_result_index < 0:
self._search_result_index = len(self.search_results) - 1
self._update_label()
(id, search_text, found, path, index, linenr, line) = self.search_results[self._search_result_index]
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
def _check_position(self, forward=True):
try:
# if the position of the textCursor was changed by the user, move the search index
cur_pos = self._tabwidget.currentWidget().textCursor().position()
id, st, _f, pa, idx, lnr, ltxt = self.search_results[self._search_result_index]
sear_pos = idx + len(st)
if cur_pos != sear_pos:
first_idx = self._get_current_index_for_current_file()
if first_idx != -1:
id, st, _f, pa, idx, lnr, ltxt = self.search_results[first_idx]
sear_pos = idx + len(st)
while cur_pos > sear_pos and self._tabwidget.currentWidget().filename == pa:
first_idx += 1
id, st, _f, pa, idx, lnr, ltxt = self.search_results[first_idx]
sear_pos = idx + len(st)
self._search_result_index = first_idx
if forward:
self._search_result_index -= 1
else:
self._reset(True)
except:
pass
def _get_current_index_for_current_file(self):
for index in range(len(self.search_results)):
id, _st, _f, pa, _idx = self.search_results[index]
if self._tabwidget.currentWidget().filename == pa:
return index
return -1
def on_search_result(self, search_text, found, path, index, linenr, line):
'''
Slot to handle the signals for search result. This signals are forwarded used
search_result_signal.
'''
if found and search_text == self.current_search_text:
id = "%d:%s" % (index, path)
self.search_results_fileset.add(path)
item = (search_text, found, path, index)
if item not in self.search_results:
self.search_results.append((id, search_text, found, path, index, linenr, line))
if self._wait_for_result:
self._search_result_index += 1
if index >= self._tabwidget.currentWidget().textCursor().position() or self._tabwidget.currentWidget().filename != path:
self._wait_for_result = False
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
pkg, rpath = package_name(os.path.dirname(path))
itemstr = '%s [%s]' % (os.path.basename(path), pkg)
if not self.found_files_list.findItems(itemstr, Qt.MatchExactly):
list_item = QTreeWidgetItem(self.found_files_list)
list_item.setText(0, itemstr)
list_item.setToolTip(0, path)
self.found_files_list.insertTopLevelItem(0, list_item)
self.found_files_list.expandAll()
for i in range(self.found_files_list.topLevelItemCount()):
top_item = self.found_files_list.topLevelItem(i)
if top_item.text(0) == itemstr:
sub_item_str = "%d: %s" % (linenr, line)
list_item2 = QTreeWidgetItem()
list_item2.setText(0, sub_item_str)
list_item2.setWhatsThis(0, id)
top_item.addChild(list_item2)
#self.found_files_list.setVisible(len(self.search_results_fileset) > 0)
self._update_label()
def on_warning_result(self, text):
rospy.logwarn(text)
def on_replace_click(self):
self.on_replace()
self.on_search()
def on_replace(self):
'''
Emits the replace signal, but only if currently selected text is equal to the searched one.
'''
if self.search_results:
try:
id, search_text, _found, path, index, linenr, line_text = self.search_results[self._search_result_index]
cursor = self._tabwidget.currentWidget().textCursor()
if cursor.selectedText() == search_text:
rptxt = self.replace_field.text()
for rindex in range(self._search_result_index + 1, len(self.search_results)):
iid, st, _f, pa, idx, lnr, ltxt = self.search_results[rindex]
if path == pa:
self.search_results.pop(rindex)
self.search_results.insert(rindex, (iid, st, _f, pa, idx + len(rptxt) - len(st), lnr, ltxt))
else:
break
self._remove_search_result(self._search_result_index)
self._search_result_index -= 1
self.replace_signal.emit(search_text, path, index, rptxt)
else:
self.replace_button.setEnabled(False)
except:
import traceback
print traceback.format_exc()
pass
def on_itemActivated(self, item):
'''
Go to the results for the selected file entry in the list.
'''
splits = item.whatsThis(0).split(':')
if len(splits) == 2:
item_index = int(splits[0])
item_path = splits[1]
new_search_index = -1
tmp_index = -1
search_index = -1
tmp_search_text = ''
for id, search_text, found, path, index, linenr, line_text in self.search_results:
new_search_index += 1
if item_path == path and item_index == index:
self._search_result_index = new_search_index
self.search_result_signal.emit(search_text, found, path, index)
self._update_label()
def on_search_text_changed(self, _text):
'''
Clear search result if the text was changed.
'''
self._reset()
def _update_label(self, clear_label=False):
'''
Updates the status label for search results. The info is created from search result lists.
'''
msg = ' '
if self.search_results:
count_files = len(self.search_results_fileset)
msg = '%d/%d' % (self._search_result_index + 1, len(self.search_results))
if count_files > 1:
msg = '%s(%d)' % (msg, count_files)
if self._search_thread is not None and self._search_thread.is_alive():
msg = 'searching..%s' % msg
elif not msg.strip() and self.current_search_text:
msg = '0 found'
self.current_search_text = ''
if clear_label:
msg = ' '
self.search_result_label.setText(msg)
self.find_button_back.setEnabled(len(self.search_results))
self._select_current_item_in_box(self._search_result_index)
def file_changed(self, path):
'''
Clears search results if for changed file are some search results are available
:param path: changed file path
:type path: str
'''
if path in self.search_results_fileset:
self._reset()
def set_replace_visible(self, value):
self.rplc_frame.setVisible(value)
self.raise_()
self.activateWindow()
if value:
self.replace_field.setFocus()
self.replace_field.selectAll()
self.setWindowTitle("Find / Replace")
else:
self.setWindowTitle("Find")
self.search_field.setFocus()
def is_replace_visible(self):
return self.rplc_frame.isVisible()
def _reset(self, force_new_search=False):
# clear current search results
if self._search_thread is not None:
self._search_thread.search_result_signal.disconnect()
self._search_thread.stop()
self._search_thread = None
self.current_search_text = ''
self.search_results = []
self.search_results_fileset = set()
self.found_files_list.clear()
# self.found_files_list.setVisible(False)
self._update_label(True)
self._search_result_index = -1
self.find_button_back.setEnabled(False)
if force_new_search:
self.on_search()
def enable(self):
self.setVisible(True)
# self.show()
self.raise_()
self.activateWindow()
self.search_field.setFocus()
self.search_field.selectAll()
def _select_current_item_in_box(self, index):
try:
(id, search_text, found, path, index, linenr, line) = self.search_results[index]
for topidx in range(self.found_files_list.topLevelItemCount()):
topitem = self.found_files_list.topLevelItem(topidx)
for childdx in range(topitem.childCount()):
child = topitem.child(childdx)
if child.whatsThis(0) == id:
child.setSelected(True)
elif child.isSelected():
child.setSelected(False)
except:
pass
def _remove_search_result(self, index):
try:
(id, search_text, found, path, index, linenr, line) = self.search_results.pop(index)
pkg, rpath = package_name(os.path.dirname(path))
itemstr = '%s [%s]' % (os.path.basename(path), pkg)
found_items = self.found_files_list.findItems(itemstr, Qt.MatchExactly)
for item in found_items:
for chi in range(item.childCount()):
child = item.child(chi)
if child.whatsThis(0) == id:
item.removeChild(child)
break
# delete top level item if it is now empty
for topidx in range(self.found_files_list.topLevelItemCount()):
if self.found_files_list.topLevelItem(topidx).childCount() == 0:
self.found_files_list.takeTopLevelItem(topidx)
break
# create new set with files contain the search text
new_path_set = set(path for _id, _st, _fd, path, _idx, lnr, lntxt in self.search_results)
self.search_results_fileset = new_path_set
# self.found_files_list.setVisible(len(self.search_results_fileset) > 0)
except:
import traceback
print traceback.format_exc()
def __init__(self, context):
super(Top, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Top')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
# if not args.quiet:
# print 'arguments: ', args
# print 'unknowns: ', unknowns
self._selected_node = ''
self._selected_node_lock = RLock()
# Setup the toolbar
self._toolbar = QToolBar()
self._filter_box = QLineEdit()
self._regex_box = QCheckBox()
self._regex_box.setText('regex')
self._toolbar.addWidget(QLabel('Filter'))
self._toolbar.addWidget(self._filter_box)
self._toolbar.addWidget(self._regex_box)
self._filter_box.returnPressed.connect(self.update_filter)
self._regex_box.stateChanged.connect(self.update_filter)
# Create a container widget and give it a layout
self._container = QWidget()
self._container.setWindowTitle('Process Monitor')
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Create the table widget
self._table_widget = QTreeWidget()
self._table_widget.setObjectName('TopTable')
self._table_widget.setColumnCount(len(self.NODE_LABELS))
self._table_widget.setHeaderLabels(self.NODE_LABELS)
self._table_widget.itemClicked.connect(self._tableItemClicked)
self._table_widget.setSortingEnabled(True)
self._table_widget.setAlternatingRowColors(True)
self._layout.addWidget(self._table_widget)
context.add_widget(self._container)
# Add a button for killing nodes
self._kill_button = QPushButton('Kill Node')
self._layout.addWidget(self._kill_button)
self._kill_button.clicked.connect(self._kill_node)
# Update twice since the first cpu% lookup will always return 0
self.update_table()
self.update_table()
self._table_widget.resizeColumnToContents(0)
# Start a timer to trigger updates
self._update_timer = QTimer()
self._update_timer.setInterval(1000)
self._update_timer.timeout.connect(self.update_table)
self._update_timer.start()
class Top(Plugin):
NODE_FIELDS = [
'pid', 'get_cpu_percent', 'get_memory_percent', 'get_num_threads'
]
OUT_FIELDS = [
'node_name', 'pid', 'cpu_percent', 'memory_percent', 'num_threads'
]
FORMAT_STRS = ['%s', '%s', '%0.2f', '%0.2f', '%s']
NODE_LABELS = ['Node', 'PID', 'CPU %', 'Mem %', 'Num Threads']
SORT_TYPE = [str, str, float, float, float]
TOOLTIPS = {
0: ('cmdline', lambda x: '\n'.join(textwrap.wrap(' '.join(x)))),
3: ('memory_info', lambda x:
('Resident: %0.2f MiB, Virtual: %0.2f MiB' %
(x[0] / 2**20, x[1] / 2**20)))
}
_node_info = NodeInfo()
name_filter = re.compile('')
def __init__(self, context):
super(Top, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Top')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
# if not args.quiet:
# print 'arguments: ', args
# print 'unknowns: ', unknowns
self._selected_node = ''
self._selected_node_lock = RLock()
# Setup the toolbar
self._toolbar = QToolBar()
self._filter_box = QLineEdit()
self._regex_box = QCheckBox()
self._regex_box.setText('regex')
self._toolbar.addWidget(QLabel('Filter'))
self._toolbar.addWidget(self._filter_box)
self._toolbar.addWidget(self._regex_box)
self._filter_box.returnPressed.connect(self.update_filter)
self._regex_box.stateChanged.connect(self.update_filter)
# Create a container widget and give it a layout
self._container = QWidget()
self._container.setWindowTitle('Process Monitor')
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Create the table widget
self._table_widget = QTreeWidget()
self._table_widget.setObjectName('TopTable')
self._table_widget.setColumnCount(len(self.NODE_LABELS))
self._table_widget.setHeaderLabels(self.NODE_LABELS)
self._table_widget.itemClicked.connect(self._tableItemClicked)
self._table_widget.setSortingEnabled(True)
self._table_widget.setAlternatingRowColors(True)
self._layout.addWidget(self._table_widget)
context.add_widget(self._container)
# Add a button for killing nodes
self._kill_button = QPushButton('Kill Node')
self._layout.addWidget(self._kill_button)
self._kill_button.clicked.connect(self._kill_node)
# Update twice since the first cpu% lookup will always return 0
self.update_table()
self.update_table()
self._table_widget.resizeColumnToContents(0)
# Start a timer to trigger updates
self._update_timer = QTimer()
self._update_timer.setInterval(1000)
self._update_timer.timeout.connect(self.update_table)
self._update_timer.start()
def _tableItemClicked(self, item, column):
with self._selected_node_lock:
self._selected_node = item.text(0)
def update_filter(self, *args):
if self._regex_box.isChecked():
expr = self._filter_box.text()
else:
expr = re.escape(self._filter_box.text())
self.name_filter = re.compile(expr)
self.update_table()
def _kill_node(self):
self._node_info.kill_node(self._selected_node)
def update_one_item(self, row, info):
twi = TopWidgetItem()
for col, field in enumerate(self.OUT_FIELDS):
val = info[field]
twi.setText(col, self.FORMAT_STRS[col] % val)
self._table_widget.insertTopLevelItem(row, twi)
for col, (key, func) in self.TOOLTIPS.iteritems():
twi.setToolTip(col, func(info[key]))
with self._selected_node_lock:
if twi.text(0) == self._selected_node:
twi.setSelected(True)
self._table_widget.setItemHidden(
twi,
len(self.name_filter.findall(info['node_name'])) == 0)
def update_table(self):
self._table_widget.clear()
infos = self._node_info.get_all_node_fields(self.NODE_FIELDS)
for nx, info in enumerate(infos):
self.update_one_item(nx, info)
def shutdown_plugin(self):
self._update_timer.stop()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('filter_text', self._filter_box.text())
instance_settings.set_value('is_regex',
int(self._regex_box.checkState()))
def restore_settings(self, plugin_settings, instance_settings):
self._filter_box.setText(instance_settings.value('filter_text'))
is_regex_int = instance_settings.value('is_regex')
if is_regex_int:
self._regex_box.setCheckState(Qt.CheckState(is_regex_int))
else:
self._regex_box.setCheckState(Qt.CheckState(0))
self.update_filter()
