def _update_thread_run(self):
# update type_combo_box
message_type_names = []
try:
# this only works on fuerte and up
packages = sorted([
pkg_tuple[0] for pkg_tuple in rosmsg.iterate_packages(
self._rospack, rosmsg.MODE_MSG)
])
except:
# this works up to electric
packages = sorted(rosmsg.list_packages())
for package in packages:
for base_type_str in rosmsg.list_msgs(package,
rospack=self._rospack):
message_class = roslib.message.get_message_class(base_type_str)
if message_class is not None:
message_type_names.append(base_type_str)
# TODO: get all ROS packages and launch files here instead
#self.type_combo_box.setItems.emit(sorted(message_type_names))
packages = sorted([
pkg_tuple[0]
for pkg_tuple in RqtRoscommUtil.iterate_packages('launch')
])
self.package_combo_box.setItems.emit(packages)
def _refresh_launchfiles(self, package=None):
"""
Inspired by rqt_msg.MessageWidget._refresh_msgs
"""
if package is None or len(package) == 0 or self._package_update:
return
self._launchfile_update = True
previous_launchfile = self._settings.value('launchfile_name', '')
self._settings.setValue('package', package)
self._settings.sync()
self._launchfile_instances = [] # Launch[]
# TODO: RqtRoscommUtil.list_files's 2nd arg 'subdir' should NOT be
# hardcoded later.
_launch_instance_list = RqtRoscommUtil.list_files(package, 'launch')
rospy.logdebug(
'_refresh_launches package={} instance_list={}'.format(
package, _launch_instance_list
)
)
self._launchfile_instances = [
x.split('/')[1] for x in _launch_instance_list
]
self._combobox_launchfile_name.clear()
self._combobox_launchfile_name.addItems(self._launchfile_instances)
if previous_launchfile in self._launchfile_instances:
index = self._launchfile_instances.index(previous_launchfile)
else:
index = 0
self._launchfile_update = False
self._combobox_launchfile_name.setCurrentIndex(index)
def on_package_combo_box_currentIndexChanged(self, package):
#if topic_name in self._topic_dict:
# self.type_combo_box.setEditText(self._topic_dict[topic_name])
#pass
_launch_instance_list = RqtRoscommUtil.list_files(package, 'launch')
_launchfile_instances = [
x.split('/')[1] for x in _launch_instance_list
]
self.file_combo_box.setItems.emit(_launchfile_instances)
def _refresh_packages(self, mode=message_helpers.MSG_MODE):
packages = sorted([
pkg_tuple[0]
for pkg_tuple in RqtRoscommUtil.iterate_packages(self._mode)
])
self._package_list = packages
self._logger.debug('pkgs={}'.format(self._package_list))
self._package_combo.clear()
self._package_combo.addItems(self._package_list)
self._package_combo.setCurrentIndex(0)
def _update_pkgs_contain_launchfiles(self):
'''
Inspired by rqt_msg.MessageWidget._update_pkgs_contain_launchfiles
'''
packages = sorted([pkg_tuple[0]
for pkg_tuple
in RqtRoscommUtil.iterate_packages('launch')])
self._package_list = packages
rospy.logdebug('pkgs={}'.format(self._package_list))
self._combobox_pkg.clear()
self._combobox_pkg.addItems(self._package_list)
self._combobox_pkg.setCurrentIndex(0)
def test_iterate_packages(self):
"""
Not a very good test because the right answer that is hardcoded varies
depending on the system where this unittest runs.
"""
pkg_num_sum = 0
for pkg in RqtRoscommUtil.iterate_packages('launch'):
pkg_num_sum += 1
print('pkg={}'.format(pkg))
print(pkg_num_sum)
self.assertEqual(pkg_num_sum, self._totalnum_pkg_contains_launch)
def _update_pkgs_contain_launchfiles(self):
'''
Inspired by rqt_msg.MessageWidget._update_pkgs_contain_launchfiles
'''
packages = sorted([pkg_tuple[0]
for pkg_tuple
in RqtRoscommUtil.iterate_packages('launch')])
self._package_list = packages
rospy.logdebug('pkgs={}'.format(self._package_list))
self._combobox_pkg.clear()
self._combobox_pkg.addItems(self._package_list)
self._combobox_pkg.setCurrentIndex(0)
def test_list_files(self):
"""
Not a very good test because the right answer that is hardcoded varies
depending on the system where this unittest runs.
"""
file_num = 0
pkg_name = 'pr2_moveit_config'
_totalnum_launches_pkg_contains = 15
subdir = 'launch'
file_ext = '.launch'
files = RqtRoscommUtil.list_files(pkg_name, subdir, file_ext)
for file in files:
file_num += 1
print('file={}'.format(file))
print(file_num)
self.assertEqual(file_num, _totalnum_launches_pkg_contains)
def _refresh_launchfiles(self, package=None):
'''
Inspired by rqt_msg.MessageWidget._refresh_msgs
'''
if package is None or len(package) == 0:
return
self._launchfile_instances = [] # Launch[]
#TODO: RqtRoscommUtil.list_files's 2nd arg 'subdir' should NOT be
# hardcoded later.
_launch_instance_list = RqtRoscommUtil.list_files(package, 'launch')
rospy.logdebug('_refresh_launches package={} instance_list={}'.format(
package, _launch_instance_list))
self._launchfile_instances = [
x.split('/')[1] for x in _launch_instance_list
]
self._combobox_launchfile_name.clear()
self._combobox_launchfile_name.addItems(self._launchfile_instances)
def _refresh_launchfiles(self, package=None):
'''
Inspired by rqt_msg.MessageWidget._refresh_msgs
'''
if package is None or len(package) == 0:
return
self._launchfile_instances = [] # Launch[]
#TODO: RqtRoscommUtil.list_files's 2nd arg 'subdir' should NOT be
# hardcoded later.
_launch_instance_list = RqtRoscommUtil.list_files(package,
'launch')
rospy.logdebug('_refresh_launches package={} instance_list={}'.format(
package,
_launch_instance_list))
self._launchfile_instances = [x.split('/')[1]
for x in _launch_instance_list]
self._combobox_launchfile_name.clear()
self._combobox_launchfile_name.addItems(self._launchfile_instances)
def _update_pkgs_contain_launchfiles(self):
"""
Inspired by rqt_msg.MessageWidget._update_pkgs_contain_launchfiles
"""
self._package_update = True
packages = sorted(
[
pkg_tuple[0]
for pkg_tuple in RqtRoscommUtil.iterate_packages('launch')
]
)
self._package_list = packages
rospy.logdebug('pkgs={}'.format(self._package_list))
previous_package = self._settings.value('package', '')
self._combobox_pkg.clear()
self._combobox_pkg.addItems(self._package_list)
if previous_package in self._package_list:
index = self._package_list.index(previous_package)
else:
index = 0
self._package_update = False
self._combobox_pkg.setCurrentIndex(index)
def _check_params_alive(self, signal, params_monitored, stop_event):
"""
Working as a callback of Thread class, this method keeps looping to
watch if the params whose names are passed exist and emits signal per
each node.
Notice that what MoveitWidget._check_nodes_alive &
MoveitWidget._check_params_alive do is very similar, but since both of
them are supposed to be passed to Thread class, there might not be
a way to generalize these 2.
@type signal: Signal(bool, str)
@param_name signal: emitting a name of the parameter that's found.
@type params_monitored: str[]
@type stop_event: Event()
"""
while True:
has_param = False
for param_name in params_monitored:
is_rosmaster_running = RqtRoscommUtil.is_roscore_running()
try:
if is_rosmaster_running:
# Only if rosmaster is running, check if the parameter
# exists or not.
has_param = rospy.has_param(param_name)
except rospy.exceptions.ROSException as e:
rospy.logerr('Exception upon rospy.has_param {}'.format(
e.message))
self.sig_sysmsg.emit(
'Exception upon rospy.has_param {}'.format(e.message))
signal.emit(has_param, param_name)
rospy.logdebug('has_param {}, check_param_alive: {}'.format(
has_param, param_name))
if stop_event.wait(self._refresh_rate):
return
def _check_params_alive(self, signal, params_monitored):
"""
Working as a callback of Thread class, this method keeps looping to
watch if the params whose names are passed exist and emits signal per
each node.
Notice that what MoveitWidget._check_nodes_alive &
MoveitWidget._check_params_alive do is very similar, but since both of
them are supposed to be passed to Thread class, there might not be
a way to generalize these 2.
@type signal: Signal(bool, str)
@param_name signal: emitting a name of the parameter that's found.
@type params_monitored: str[]
"""
while self._is_checking_params:
# self._is_checking_params only turns to false when the plugin
# shuts down.
has_param = False
for param_name in params_monitored:
is_rosmaster_running = RqtRoscommUtil.is_roscore_running()
try:
if is_rosmaster_running:
# Only if rosmaster is running, check if the parameter
# exists or not.
has_param = rospy.has_param(param_name)
except rospy.exceptions.ROSException as e:
self.sig_sysmsg.emit(
'Exception upon rospy.has_param {}'.format(e.message))
signal.emit(has_param, param_name)
rospy.loginfo('has_param {}, check_param_alive: {}'.format(
has_param, param_name))
time.sleep(self._refresh_rate)
