def __init__(self, parent=None):
QWidget.__init__(self, parent)
self.setObjectName("MainBox")
self.__on_intern_change = False
boxLayout = QFormLayout()
boxLayout.setVerticalSpacing(0)
self.setLayout(boxLayout)
def __init__(self, parent=None):
QWidget.__init__(self, parent)
self.setObjectName("MainBox")
self.__on_intern_change = False
boxLayout = QFormLayout()
boxLayout.setVerticalSpacing(0)
self.setLayout(boxLayout)
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 _unload_jtc(self):
# Stop updating the joint positions
try:
self.jointStateChanged.disconnect(self._on_joint_state_change)
except:
pass
# Reset ROS interfaces
self._unregister_state_sub()
self._unregister_cmd_pub()
# Clear joint widgets
# NOTE: Implementation is a workaround for:
# https://bugreports.qt-project.org/browse/QTBUG-15990 :(
layout = self._widget.joint_group.layout()
if layout is not None:
while layout.count():
layout.takeAt(0).widget().deleteLater()
# Delete existing layout by reparenting to temporary
QWidget().setLayout(layout)
self._widget.joint_group.setLayout(QFormLayout())
# Reset joint data
self._joint_names = []
self._joint_pos = {}
# Enforce monitor mode (sending commands disabled)
self._widget.enable_button.setChecked(False)
def __init__(self):
super(DataDialog, self).__init__()
rp = rospkg.RosPack()
uiFile = os.path.join(rp.get_path('my_topic_viewer'), 'resource', 'TopicViewer.ui')
loadUi(uiFile, self)
self._displayedData = None
self._displayedName = None
self._groupBox = QGroupBox()
self._layout = QFormLayout()
self._mainLayout = QVBoxLayout();
self._mainLayout.addWidget(self._groupBox)
class DataDialog(QWidget):
TOPIC_NAME = 'chatter'
MSG_CLASS = Float32
def __init__(self):
super(DataDialog, self).__init__()
rp = rospkg.RosPack()
uiFile = os.path.join(rp.get_path('my_topic_viewer'), 'resource', 'TopicViewer.ui')
loadUi(uiFile, self)
self._displayedData = None
self._displayedName = None
self._groupBox = QGroupBox()
self._layout = QFormLayout()
self._mainLayout = QVBoxLayout();
self._mainLayout.addWidget(self._groupBox)
# self.setLayout(self._mainLayout);
def setDisplayedData(self, data, name):
if isinstance(data, dict):
self.displayData(data)
else:
dictData = {}
if name is None:
dictData['unknown'] = data
elif isinstance(data, list):
dictData = dict(zip(name, data))
else:
dictData[name] = data
self.displayData(dictData)
def displayData(self, dictData):
for key in dictData.keys():
self._layout.addRow(QLabel(key+': '), QLineEdit(str(dictData[key])))
def __init__(self, updater, config):
"""
:param config: defined in dynamic_reconfigure.client.Client
:type config: Dictionary?
"""
super(GroupWidget, self).__init__()
self.state = config['state']
self.name = config['name']
self.tab_bar = None # Every group can have one tab bar
self.tab_bar_shown = False
#self.grid = QGridLayout()
self.grid = QFormLayout()
self.updater = updater
self.editor_widgets = []
self.add_widgets(config)
# Labels should not stretch
#self.grid.setColumnStretch(1, 1)
self.setLayout(self.grid)
def __init__(self, updater, config, nodename):
'''
:param config:
:type config: Dictionary? defined in dynamic_reconfigure.client.Client
:type nodename: str
'''
#TODO figure out what data type 'config' is. It is afterall returned
# from dynamic_reconfigure.client.get_parameter_descriptions()
# ros.org/doc/api/dynamic_reconfigure/html/dynamic_reconfigure.client-pysrc.html#Client
super(GroupWidget, self).__init__()
self.state = config['state']
self.name = config['name']
self._toplevel_treenode_name = nodename
# TODO: .ui file needs to be back into usage in later phase.
# ui_file = os.path.join(rp.get_path('rqt_reconfigure'),
# 'resource', 'singlenode_parameditor.ui')
# loadUi(ui_file, self)
verticalLayout = QVBoxLayout(self)
verticalLayout.setContentsMargins(QMargins(0, 0, 0, 0))
_widget_nodeheader = QWidget()
_h_layout_nodeheader = QHBoxLayout(_widget_nodeheader)
_h_layout_nodeheader.setContentsMargins(QMargins(0, 0, 0, 0))
self.nodename_qlabel = QLabel(self)
font = QFont('Trebuchet MS, Bold')
font.setUnderline(True)
font.setBold(True)
# Button to close a node.
_icon_disable_node = QIcon.fromTheme('window-close')
_bt_disable_node = QPushButton(_icon_disable_node, '', self)
_bt_disable_node.setToolTip('Hide this node')
_bt_disable_node_size = QSize(36, 24)
_bt_disable_node.setFixedSize(_bt_disable_node_size)
_bt_disable_node.pressed.connect(self._node_disable_bt_clicked)
_h_layout_nodeheader.addWidget(self.nodename_qlabel)
_h_layout_nodeheader.addWidget(_bt_disable_node)
self.nodename_qlabel.setAlignment(Qt.AlignCenter)
font.setPointSize(10)
self.nodename_qlabel.setFont(font)
grid_widget = QWidget(self)
self.grid = QFormLayout(grid_widget)
verticalLayout.addWidget(_widget_nodeheader)
verticalLayout.addWidget(grid_widget, 1)
# Again, these UI operation above needs to happen in .ui file.
self.tab_bar = None # Every group can have one tab bar
self.tab_bar_shown = False
self.updater = updater
self.editor_widgets = []
self._param_names = []
self._create_node_widgets(config)
rospy.logdebug('Groups node name={}'.format(nodename))
self.nodename_qlabel.setText(nodename)
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)
class PackageDialog(QDialog):
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 on_package_selected(self, package):
getnew = False
if self._request_bin_thread is None:
getnew = True
else:
if self._request_bin_thread.pkgname != package:
self._request_bin_thread.cancel()
getnew = True
if self._request_bin_thread is not None and self._request_bin_thread.pkgname == package:
# use already got data
self._request_bin_thread.reemit()
elif getnew:
self.binary_field.clear()
if self.packages and package in self.packages:
self.binary_field.setEnabled(True)
self._request_bin_thread = RequestBinariesThread(
package, nmdurl.nmduri(self.masteruri))
self._request_bin_thread.binaries_signal.connect(
self._on_new_binaries)
self._request_bin_thread.start()
def _on_new_binaries(self, pkgname, binaries):
# update the binaries
binaries = [os.path.basename(item) for item in binaries.keys()]
binaries = list(set(binaries))
binaries.sort()
self.binary_field.addItems(binaries)
self.package = pkgname
self.binary = self.binary_field.currentText()
def on_binary_selected(self, binary):
self.binary = binary
class PackageDialog(QDialog):
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 _fill_packages(self, packages):
# fill the input fields
self.packages = packages
packages = packages.keys()
packages.sort()
self.package_field.clear()
self.package_field.clearEditText()
self.package_field.addItems(packages)
def _getBinaries(self, path):
result = {}
if os.path.isdir(path):
fileList = os.listdir(path)
for f in fileList:
if f and f[0] != '.' and f not in ['build'] and not f.endswith('.cfg') and not f.endswith('.so'):
ret = self._getBinaries(os.path.join(path, f))
result = dict(ret.items() + result.items())
elif os.path.isfile(path) and os.access(path, os.X_OK):
# create a selection for binaries
return {os.path.basename(path): path}
return result
def on_package_selected(self, package):
self.binary_field.clear()
if self.packages and package in self.packages:
self.binary_field.setEnabled(True)
path = self.packages[package]
binaries = self._getBinaries(path).keys()
try:
# find binaries in catkin workspace
from catkin.find_in_workspaces import find_in_workspaces as catkin_find
search_paths = catkin_find(search_dirs=['libexec', 'share'], project=package, first_matching_workspace_only=True)
for p in search_paths:
binaries += self._getBinaries(p).keys()
except:
pass
binaries = list(set(binaries))
binaries.sort()
self.binary_field.addItems(binaries)
self.package = package
self.binary = self.binary_field.currentText()
def on_binary_selected(self, binary):
self.binary = binary
