class ParamWidget(QWidget):
_TITLE_PLUGIN = 'Dynamic Reconfigure'
# To be connected to PluginContainerWidget
sig_sysmsg = Signal(str)
sig_sysprogress = Signal(str)
# To make selections from CLA
sig_selected = Signal(str, bool)
def __init__(self, context, node=None):
"""
This class is intended to be called by rqt plugin framework class.
Currently (12/12/2012) the whole widget is splitted into 2 panes:
one on left allows you to choose the node(s) you work on. Right side
pane lets you work with the parameters associated with the node(s) you
select on the left.
(12/27/2012) Despite the pkg name is changed to rqt_reconfigure to
reflect the available functionality, file & class names remain
'param', expecting all the parameters will become handle-able.
"""
super(ParamWidget, self).__init__()
self.setObjectName(self._TITLE_PLUGIN)
self.setWindowTitle(self._TITLE_PLUGIN)
rp = rospkg.RosPack()
# TODO: .ui file needs to replace the GUI components declaration
# below. For unknown reason, referring to another .ui files
# from a .ui that is used in this class failed. So for now,
# I decided not use .ui in this class.
# If someone can tackle this I'd appreciate.
_hlayout_top = QHBoxLayout(self)
_hlayout_top.setContentsMargins(QMargins(0, 0, 0, 0))
self._splitter = QSplitter(self)
_hlayout_top.addWidget(self._splitter)
_vlayout_nodesel_widget = QWidget()
_vlayout_nodesel_side = QVBoxLayout()
_hlayout_filter_widget = QWidget(self)
_hlayout_filter = QHBoxLayout()
self._text_filter = TextFilter()
self.filter_lineedit = TextFilterWidget(self._text_filter, rp)
self.filterkey_label = QLabel('&Filter key:')
self.filterkey_label.setBuddy(self.filter_lineedit)
_hlayout_filter.addWidget(self.filterkey_label)
_hlayout_filter.addWidget(self.filter_lineedit)
_hlayout_filter_widget.setLayout(_hlayout_filter)
self._nodesel_widget = NodeSelectorWidget(
self, rp, self.sig_sysmsg
)
_vlayout_nodesel_side.addWidget(_hlayout_filter_widget)
_vlayout_nodesel_side.addWidget(self._nodesel_widget)
_vlayout_nodesel_side.setSpacing(1)
_vlayout_nodesel_widget.setLayout(_vlayout_nodesel_side)
self._param_edit_widget = ParameditWidget(rp)
self._splitter.insertWidget(0, _vlayout_nodesel_widget)
self._splitter.insertWidget(1, self._param_edit_widget)
# 1st column, _vlayout_nodesel_widget, to minimize width.
# 2nd col to keep the possible max width.
self._splitter.setStretchFactor(0, 0)
self._splitter.setStretchFactor(1, 1)
# Signal from paramedit widget to node selector widget.
self._param_edit_widget.sig_node_disabled_selected.connect(
self._nodesel_widget.node_deselected
)
# Pass name of node to editor widget
self._nodesel_widget.sig_node_selected.connect(
self._param_edit_widget.show_reconf
)
if not node:
title = self._TITLE_PLUGIN
else:
title = self._TITLE_PLUGIN + ' %s' % node
self.setObjectName(title)
# Connect filter signal-slots.
self._text_filter.filter_changed_signal.connect(
self._filter_key_changed
)
# Signal from widget to open a new editor widget
self.sig_selected.connect(self._nodesel_widget.node_selected)
self._explicit_nodes_to_select = [rospy.resolve_name(c) for c in context.argv()]
def shutdown(self):
# TODO: Needs implemented. Trigger dynamic_reconfigure to unlatch
# subscriber.
pass
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('splitter', self._splitter.saveState())
self.filter_lineedit.save_settings(instance_settings)
self._nodesel_widget.save_settings(instance_settings)
instance_settings.set_value(
'selected_nodes', list(self._param_edit_widget.get_active_grns()))
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.contains('splitter'):
self._splitter.restoreState(instance_settings.value('splitter'))
else:
self._splitter.setSizes([100, 100, 200])
self.filter_lineedit.restore_settings(instance_settings)
self._nodesel_widget.restore_settings(instance_settings)
# Ignore previously open nodes if we were given an explicit list
if self._explicit_nodes_to_select:
nodes_to_select = self._explicit_nodes_to_select
explicit = True
else:
nodes_to_select = instance_settings.value('selected_nodes') or []
explicit = False
for rn in nodes_to_select:
if rn in self._nodesel_widget.get_paramitems():
self.sig_selected.emit(rn, explicit)
elif explicit:
logging.warn(
'Could not find a dynamic reconfigure client'
" named '{}'".format(str(rn))
)
def get_filter_text(self):
"""
:rtype: QString
"""
return self.filter_lineedit.text()
def _filter_key_changed(self):
self._nodesel_widget.set_filter(self._text_filter)
# TODO: This method should be integrated into common architecture. I just
# can't think of how to do so within current design.
def emit_sysmsg(self, msg_str):
self.sig_sysmsg.emit(msg_str)
