def dasherr(msg, obj, title='Error'):
"""
Logs a message with ``rospy.logerr`` and displays a ``QMessageBox`` to the user
:param msg: Message to display.
:type msg: str
:param obj: Parent object for the ``QMessageBox``
:type obj: QObject
:param title: An optional title for the `QMessageBox``
:type title: str
"""
rospy.logerr(msg)
box = QMessageBox()
box.setText(msg)
box.setWindowTitle(title)
box.show()
obj._message_box = box
def dasherr(msg, obj, title='Error'):
"""
Logs a message with ``rospy.logerr`` and displays a ``QMessageBox`` to the user
:param msg: Message to display.
:type msg: str
:param obj: Parent object for the ``QMessageBox``
:type obj: QObject
:param title: An optional title for the `QMessageBox``
:type title: str
"""
rospy.logerr(msg)
box = QMessageBox()
box.setText(msg)
box.setWindowTitle(title)
box.show()
obj._message_box = box
class Switcher(QObject):
# PySide signals are always defined as class attributes (GPL Pyqt4 Signals use pyqtSignal)
signal_master_changed_state = Signal(bool)
def __init__(self, rqt_plugin_name):
super(Switcher, self).__init__()
self._rqt_plugin_name = rqt_plugin_name
self._rqt_subprocess = None
self._no_ros_master_dialog = QMessageBox(
QMessageBox.Warning, self.tr(self._rqt_plugin_name),
self.tr("Waiting for the ROS Master to become available."))
self._no_ros_master_abort_button = self._no_ros_master_dialog.addButton(
QMessageBox.Abort)
self._no_ros_master_abort_button.clicked.connect(self.shutdown)
self.signal_master_changed_state.connect(self.switch_state,
type=Qt.QueuedConnection)
self._ros_master_monitor = RosMasterMonitor(
period=1, callback_function=self._master_changed_state)
self._rqt_subprocess_shutdown_by_us = False
@Slot(bool)
def switch_state(self, new_master_found):
'''
:param bool new_master_found: true when a new master is detected, false when a master has disappeared.
'''
if new_master_found:
self._no_ros_master_dialog.hide()
self._launch_rocon_remocon()
else:
self._no_ros_master_dialog.show()
self._no_ros_master_dialog.raise_()
if self._rqt_subprocess is not None:
self._rqt_subprocess_shutdown_by_us = True
self._rqt_subprocess.send_signal(signal.SIGINT)
# self._rqt_subprocess.terminate() # this is SIGTERM
self._rqt_subprocess = None
def shutdown(self):
'''
Shutdowns from external signals or the abort button while waiting for a master.
'''
print("Shutting down the ros master monitor")
self._ros_master_monitor.shutdown()
if self._rqt_subprocess is not None:
print("Terminating subprocess")
self._rqt_subprocess.send_signal(signal.SIGINT)
# self._rqt_subprocess.terminate() # this is SIGTERM
self._rqt_subprocess = None
QCoreApplication.instance().quit()
def _rqt_shutdown(self):
'''
Shutdown handler coming from the rqt subprocess shutting down. This needs
to be handled differently depending on whether it's us shutting it down
because a ros master shut down (in which case we need to stay alive)
or otherwise.
'''
if not self._rqt_subprocess_shutdown_by_us:
self._ros_master_monitor.shutdown()
QCoreApplication.instance().quit()
else:
self._rqt_subprocess_shutdown_by_us = False
def _master_changed_state(self, available):
'''
:param bool available: whether the ros master is available or not.
'''
self.signal_master_changed_state.emit(available)
def _launch_rocon_remocon(self):
script = '''
#!/usr/bin/env python
import sys
from rqt_gui.main import Main
main = Main()
sys.exit(main.main(sys.argv, standalone='%s'))
''' % self._rqt_plugin_name
executable_file = tempfile.NamedTemporaryFile(mode='w+t', delete=False)
executable_file.write(script)
executable_file.flush()
self._rqt_subprocess = rocon_python_utils.system.Popen(
['python', executable_file.name], postexec_fn=self._rqt_shutdown)
