def _on_plans(self, msg):
if self._plans == msg.plans:
return
self._plans = msg.plans
mission_tree = self._widget.findChild(QTreeWidget, "missionTreeWidget")
mission_tree.clear()
contigency_combo = self._widget.findChild(QComboBox, "contigencyCombo")
contigency_combo.clear()
for plan in sorted(self._plans, key=lambda plan: plan.name):
item = QTreeWidgetItem([plan.name])
for entry in plan.entries:
contigency = entry.contigency_plan
if len(contigency) == 0:
contigency = "none"
dist = str(entry.dist) if entry.dist != 0 else ""
subitem = QTreeWidgetItem([entry.mission, str(entry.timeout.secs), contigency, entry.path, dist])
item.setFlags(item.flags() | Qt.ItemIsEditable)
item.addChild(subitem)
mission_tree.addTopLevelItem(item)
item.setExpanded(True)
if plan.name != "main":
contigency_combo.addItem(plan.name)
contigency_combo.addItem("none")
mission_combo = self._widget.findChild(QComboBox, "missionCombo")
mission_combo.clear()
mission_combo.addItems(sorted(msg.available_missions))
def _recursive_create_widget_items(self, parent, topic_name, type_name, message, is_editable=True):
item = QTreeWidgetItem(parent)
if is_editable:
item.setFlags(item.flags() | Qt.ItemIsEditable)
else:
item.setFlags(item.flags() & (~Qt.ItemIsEditable))
if parent is None:
# show full topic name with preceding namespace on toplevel item
topic_text = topic_name
else:
topic_text = topic_name.split('/')[-1]
item.setText(self._column_index['service'], topic_text)
item.setText(self._column_index['type'], type_name)
item.setData(0, Qt.UserRole, topic_name)
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name, type_name in zip(message.__slots__, message._slot_types):
self._recursive_create_widget_items(item, topic_name + '/' + slot_name, type_name, getattr(message, slot_name), is_editable)
elif type(message) in (list, tuple) and (len(message) > 0) and hasattr(message[0], '__slots__'):
type_name = type_name.split('[', 1)[0]
for index, slot in enumerate(message):
self._recursive_create_widget_items(item, topic_name + '[%d]' % index, type_name, slot, is_editable)
else:
item.setText(self._column_index['expression'], repr(message))
return item
def refresh_tree(self):
self.select_tree.itemChanged.disconnect()
self.select_tree.clear()
for joint_name in self.joint_names:
item = QTreeWidgetItem(self.select_tree)
item.setText(0, joint_name)
item.setCheckState(0, Qt.Unchecked)
item.setFlags(Qt.ItemIsUserCheckable | Qt.ItemIsEnabled)
for traj_name in ['position', 'velocity', 'acceleration', 'effort']:
sub_item = QTreeWidgetItem(item)
sub_item.setText(0, traj_name)
sub_item.setCheckState(0, Qt.Unchecked)
sub_item.setFlags(Qt.ItemIsUserCheckable | Qt.ItemIsEnabled)
self.select_tree.itemChanged.connect(self.update_checkbox)
def refresh_tree(self):
self.select_tree.itemChanged.disconnect()
self.select_tree.clear()
for joint_name in self.joint_names:
item = QTreeWidgetItem(self.select_tree)
item.setText(0, joint_name)
item.setCheckState(0, Qt.Unchecked)
item.setFlags(Qt.ItemIsUserCheckable | Qt.ItemIsEnabled)
for traj_name in [
'position', 'velocity', 'acceleration', 'effort'
]:
sub_item = QTreeWidgetItem(item)
sub_item.setText(0, traj_name)
sub_item.setCheckState(0, Qt.Unchecked)
sub_item.setFlags(Qt.ItemIsUserCheckable | Qt.ItemIsEnabled)
self.select_tree.itemChanged.connect(self.update_checkbox)
def _recursive_create_widget_items(self,
parent,
topic_name,
type_name,
message,
is_editable=True):
item = QTreeWidgetItem(parent)
if is_editable:
item.setFlags(item.flags() | Qt.ItemIsEditable)
else:
item.setFlags(item.flags() & (~Qt.ItemIsEditable))
if parent is None:
# show full topic name with preceding namespace on toplevel item
topic_text = topic_name
else:
topic_text = topic_name.split('/')[-1]
item.setText(self._column_index['service'], topic_text)
item.setText(self._column_index['type'], type_name)
item.setData(0, Qt.UserRole, topic_name)
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name, type_name in zip(message.__slots__,
message._slot_types):
self._recursive_create_widget_items(
item, topic_name + '/' + slot_name, type_name,
getattr(message, slot_name), is_editable)
elif type(message) in (list, tuple) and (len(message) > 0) and hasattr(
message[0], '__slots__'):
type_name = type_name.split('[', 1)[0]
for index, slot in enumerate(message):
self._recursive_create_widget_items(
item, topic_name + '[%d]' % index, type_name, slot,
is_editable)
else:
item.setText(self._column_index['expression'], repr(message))
return item
