def _keyframeRecorded(self):
item = QTreeWidgetItem()
title = "(#{}) ".format(self.playbackTree.topLevelItemCount()) + time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
item.setText(0, title)
self.playbackTree.addTopLevelItem(item)
self.playbackTree.scrollToItem(item)
self.keyframeCount.setText("{} keyframe(s) recorded".format(self.playbackTree.topLevelItemCount()))
def on_search_result(self, search_text, found, path, index, linenr, line):
'''
Slot to handle the signals for search result. This signals are forwarded used
search_result_signal.
'''
if found and search_text == self.current_search_text:
id = "%d:%s" % (index, path)
self.search_results_fileset.add(path)
item = (search_text, found, path, index)
if item not in self.search_results:
self.search_results.append((id, search_text, found, path, index, linenr, line))
if self._wait_for_result:
self._search_result_index += 1
if index >= self._tabwidget.currentWidget().textCursor().position() or self._tabwidget.currentWidget().filename != path:
self._wait_for_result = False
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
pkg, rpath = package_name(os.path.dirname(path))
itemstr = '%s [%s]' % (os.path.basename(path), pkg)
if not self.found_files_list.findItems(itemstr, Qt.MatchExactly):
list_item = QTreeWidgetItem(self.found_files_list)
list_item.setText(0, itemstr)
list_item.setToolTip(0, path)
self.found_files_list.insertTopLevelItem(0, list_item)
self.found_files_list.expandAll()
for i in range(self.found_files_list.topLevelItemCount()):
top_item = self.found_files_list.topLevelItem(i)
if top_item.text(0) == itemstr:
sub_item_str = "%d: %s" % (linenr, line)
list_item2 = QTreeWidgetItem()
list_item2.setText(0, sub_item_str)
list_item2.setWhatsThis(0, id)
top_item.addChild(list_item2)
#self.found_files_list.setVisible(len(self.search_results_fileset) > 0)
self._update_label()
def _update_robot_list(self):
self._widget.robot_list_tree_widget.clear()
robot_list = self.teleop_app_info.robot_list
for k in robot_list.values():
robot_item = QTreeWidgetItem(self._widget.robot_list_tree_widget)
robot_item.setText(0, k["name"].string)
self.robot_item_list[robot_item] = k
def _update_implementation_tree(self, rapp):
self._widget.implementation_tree_widget.clear()
self.selected_impl = None
self.impls = {}
for impl in rapp['implementations']:
impl_item = QTreeWidgetItem(
self._widget.implementation_tree_widget)
impl_item.setText(0, impl)
self.impls[impl_item] = impl
def _keyframeRecorded(self):
item = QTreeWidgetItem()
title = "(#{}) ".format(
self.playbackTree.topLevelItemCount()) + time.strftime(
'%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
item.setText(0, title)
self.playbackTree.addTopLevelItem(item)
self.playbackTree.scrollToItem(item)
self.keyframeCount.setText("{} keyframe(s) recorded".format(
self.playbackTree.topLevelItemCount()))
def _refresh_resource_list(self, resource_list):
self._lock.acquire()
self.resource_list_tree_widget.clear()
self.resource_item_list = {}
for r in resource_list:
uri = rocon_uri.parse(r)
resource_item = QTreeWidgetItem(self.resource_list_tree_widget)
resource_item.setText(0, uri.name.string)
self.resource_item_list[resource_item] = r
self._lock.release()
def on_call_service_button_clicked(self):
self.response_tree_widget.clear()
request = self._service_info['service_class']._request_class()
self.fill_message_slots(request, self._service_info['service_name'],
self._service_info['expressions'],
self._service_info['counter'])
try:
response = self._service_info['service_proxy'](request)
except rospy.ServiceException as e:
qWarning(
'ServiceCaller.on_call_service_button_clicked(): request:\n%r'
% (request))
qWarning(
'ServiceCaller.on_call_service_button_clicked(): error calling service "%s":\n%s'
% (self._service_info['service_name'], e))
top_level_item = QTreeWidgetItem()
top_level_item.setText(self._column_index['service'], 'ERROR')
top_level_item.setText(self._column_index['type'],
'rospy.ServiceException')
top_level_item.setText(self._column_index['expression'], str(e))
else:
#qDebug('ServiceCaller.on_call_service_button_clicked(): response: %r' % (response))
top_level_item = self._recursive_create_widget_items(
None, '/', response._type, response, is_editable=False)
self.response_tree_widget.addTopLevelItem(top_level_item)
# resize columns
self.response_tree_widget.expandAll()
for i in range(self.response_tree_widget.columnCount()):
self.response_tree_widget.resizeColumnToContents(i)
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):
if parent is self.topics_tree_widget:
# show full topic name with preceding namespace on toplevel item
topic_text = topic_name
else:
topic_text = topic_name.split('/')[-1]
if '[' in topic_text:
topic_text = topic_text[topic_text.index('['):]
item = QTreeWidgetItem(parent)
item.setText(self._column_index['topic'], topic_text)
item.setText(self._column_index['type'], type_name)
item.setData(0, Qt.UserRole, topic_name)
self._tree_items[topic_name] = item
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))
else:
base_type_str, array_size = self._extract_array_info(type_name)
try:
base_instance = roslib.message.get_message_class(
base_type_str)()
except ValueError:
base_instance = None
if array_size is not None and hasattr(base_instance, '__slots__'):
for index in range(array_size):
self._recursive_create_widget_items(
item, topic_name + '[%d]' % index, base_type_str,
base_instance)
return item
def __init__(self,
parent=None,
logger=Logger(),
param=None,
name=str(),
namespace=str()):
QTreeWidgetItem.__init__(self, parent)
self.set_logger(logger)
if param is not None:
self.set_param(param)
elif len(name) > 0:
self.set_name(name)
self.namespace = namespace
def _handle_operator_name_change(self, operatorName, combo):
self.operatorView.clear()
root = self.operatorView.invisibleRootItem()
for i in range(len(self._parameter_label_list[operatorName])):
# fetch types for combo box
cmb = QComboBox()
instance_client = rospy.ServiceProxy('/kcl_rosplan/get_current_instances', GetInstanceService)
resp = instance_client(self._parameter_type_list[operatorName][i])
for instancename in resp.instances:
cmb.addItem(instancename,instancename)
# create row
item = QTreeWidgetItem(self.operatorView)
item.setText(0, self._parameter_label_list[operatorName][i])
item.setText(1, self._parameter_type_list[operatorName][i])
self.operatorView.setItemWidget(item, 2, cmb)
def _create_item(self, status, select, expand_if_error):
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == 3):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item = TreeItem(
status,
QTreeWidgetItem(parent_node,
[status.name + ": " + status.message]))
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
self._name_to_item[status.name] = item
parent_node.sortChildren(0, Qt.AscendingOrder)
if (select):
item.tree_node.setSelected(True)
if (expand_if_error and (status.level > 1 or status.level == -1)):
parent_node.setExpanded(True)
item.mark = True
return item
def __init__(self, topic="diagnostics"):
super(RuntimeMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_runtime_monitor'), 'resource', 'runtime_monitor_widget.ui')
loadUi(ui_file, self)
self.setObjectName('RuntimeMonitorWidget')
self._mutex = threading.Lock()
self._error_icon = QIcon.fromTheme('dialog-error')
self._warning_icon = QIcon.fromTheme('dialog-warning')
self._ok_icon = QIcon.fromTheme('dialog-information')
self._stale_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Stale (0)'])
self._stale_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._stale_node)
self._error_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Errors (0)'])
self._error_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._error_node)
self._warning_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
self._warning_node.setIcon(0, self._warning_icon)
self.tree_widget.addTopLevelItem(self._warning_node)
self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Ok (0)'])
self._ok_node.setIcon(0, self._ok_icon)
self.tree_widget.addTopLevelItem(self._ok_node)
self.tree_widget.itemSelectionChanged.connect(self._refresh_selection)
self.keyPressEvent = self._on_key_press
self._name_to_item = {}
self._new_errors_callback = None
self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._diagnostics_callback)
self._previous_ros_time = rospy.Time.now()
self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(1000)
self._msg_timer = QTimer()
self._msg_timer.timeout.connect(self._update_messages)
self._msg_timer.start(100)
self._messages = []
self._used_items = 0
def add_sensor(self, name, topic, ttype, freq):
sensor = QTreeWidgetItem()
sensor.setData(0, Qt.DisplayRole, name)
sensor.setData(1, Qt.DisplayRole, topic)
sensor.setData(2, Qt.DisplayRole, "0/" + str(freq))
sensor.setData(3, Qt.DecorationRole, self.abnormal_image)
self.sensors[name] = sensor
self._widget.sensor_list.addTopLevelItem(sensor)
self.ts_list[name] = []
self.freq[name] = freq
self.has_msg[name] = False
rospy.Subscriber(topic,
ttype,
self.callback, (name, topic),
queue_size=10)
def __init__(self, topic="diagnostics"):
super(RuntimeMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_runtime_monitor'), 'resource',
'runtime_monitor_widget.ui')
loadUi(ui_file, self)
self.setObjectName('RuntimeMonitorWidget')
self._mutex = threading.Lock()
self._error_icon = QIcon.fromTheme('dialog-error')
self._warning_icon = QIcon.fromTheme('dialog-warning')
self._ok_icon = QIcon.fromTheme('dialog-information')
self._stale_node = QTreeWidgetItem(
self.tree_widget.invisibleRootItem(), ['Stale (0)'])
self._stale_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._stale_node)
self._error_node = QTreeWidgetItem(
self.tree_widget.invisibleRootItem(), ['Errors (0)'])
self._error_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._error_node)
self._warning_node = QTreeWidgetItem(
self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
self._warning_node.setIcon(0, self._warning_icon)
self.tree_widget.addTopLevelItem(self._warning_node)
self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(),
['Ok (0)'])
self._ok_node.setIcon(0, self._ok_icon)
self.tree_widget.addTopLevelItem(self._ok_node)
self.tree_widget.itemSelectionChanged.connect(self._refresh_selection)
self.keyPressEvent = self._on_key_press
self._name_to_item = {}
self._new_errors_callback = None
self._subscriber = rospy.Subscriber(topic, DiagnosticArray,
self._diagnostics_callback)
self._previous_ros_time = rospy.Time.now()
self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(1000)
self._msg_timer = QTimer()
self._msg_timer.timeout.connect(self._update_messages)
self._msg_timer.start(100)
self._messages = []
self._used_items = 0
def update_one_item(self, row, info):
twi = QTreeWidgetItem()
for col, field in enumerate(self.out_fields):
val = info[field]
twi.setText(col, self.format_strs[col] % val)
self._table_widget.insertTopLevelItem(row, twi)
for col, (key, func) in self.tooltips.iteritems():
twi.setToolTip(col, func(info[key]))
with self._selected_node_lock:
if twi.text(0) == self._selected_node:
twi.setSelected(True)
self._table_widget.setItemHidden(
twi,
len(self.name_filter.findall(info['node_name'])) == 0)
def update_one_item(self, row, info):
twi = QTreeWidgetItem()
for col, field in enumerate(self.out_fields):
val = info[field]
twi.setText(col, self.format_strs[col] % val)
self._table_widget.insertTopLevelItem(row, twi)
for col, (key, func) in self.tooltips.iteritems():
twi.setToolTip(col, func(info[key]))
with self._selected_node_lock:
if twi.text(0) == self._selected_node:
twi.setSelected(True)
self._table_widget.setItemHidden(twi, len(self.name_filter.findall(info['node_name'])) == 0)
def _update_rapp_list(self):
self._widget.rapp_info_text.clear()
self._widget.rapp_tree_widget.clear()
self.rapps = {}
rapps = self.qt_rapp_manager_info.rapps
for k in rapps.values():
rapp = QTreeWidgetItem(self._widget.rapp_tree_widget)
rapp.setText(0, k["name"])
self.rapps[rapp] = k
self._widget.running_rapp_tree_widget.clear()
rapps = self.qt_rapp_manager_info.running_rapps
self._manage_buttons()
for k in rapps.values():
rapp = QTreeWidgetItem(self._widget.running_rapp_tree_widget)
rapp.setText(0, k["name"])
self.rapps[rapp] = k
def _handle_operator_name_change(self, operatorName, combo):
self.operatorView.clear()
root = self.operatorView.invisibleRootItem()
for i in range(len(self._parameter_label_list[operatorName])):
# fetch types for combo box
cmb = QComboBox()
instance_client = rospy.ServiceProxy('/kcl_rosplan/get_current_instances', GetInstanceService)
resp = instance_client(self._parameter_type_list[operatorName][i])
for instancename in resp.instances:
cmb.addItem(instancename,instancename)
# create row
item = QTreeWidgetItem(self.operatorView)
item.setText(0, self._parameter_label_list[operatorName][i])
item.setText(1, self._parameter_type_list[operatorName][i])
self.operatorView.setItemWidget(item, 2, cmb)
def _update_service_list(self):
self._widget.service_tree_widget.clear()
self._widget.service_info_text.clear()
self._widgetitem_service_pair = {}
service_list = self.admin_app_interface.service_list
for k in service_list.values():
# Top service
service_item = QTreeWidgetItem(self._widget.service_tree_widget)
# service_item=QTreeWidgetItem()
service_item.setText(0, k['name'])
# set Top Level Font
font = service_item.font(0)
font.setPointSize(20)
font.setBold(True)
service_item.setFont(0, font)
self._widgetitem_service_pair[service_item] = k
def on_call_service_button_clicked(self):
self.response_tree_widget.clear()
request = self._service_info['service_class']._request_class()
self.fill_message_slots(request, self._service_info['service_name'], self._service_info['expressions'], self._service_info['counter'])
try:
response = self._service_info['service_proxy'](request)
except rospy.ServiceException as e:
qWarning('ServiceCaller.on_call_service_button_clicked(): request:\n%r' % (request))
qWarning('ServiceCaller.on_call_service_button_clicked(): error calling service "%s":\n%s' % (self._service_info['service_name'], e))
top_level_item = QTreeWidgetItem()
top_level_item.setText(self._column_index['service'], 'ERROR')
top_level_item.setText(self._column_index['type'], 'rospy.ServiceException')
top_level_item.setText(self._column_index['expression'], str(e))
else:
#qDebug('ServiceCaller.on_call_service_button_clicked(): response: %r' % (response))
top_level_item = self._recursive_create_widget_items(None, '/', response._type, response, is_editable=False)
self.response_tree_widget.addTopLevelItem(top_level_item)
# resize columns
self.response_tree_widget.expandAll()
for i in range(self.response_tree_widget.columnCount()):
self.response_tree_widget.resizeColumnToContents(i)
def refresh_ctrlers(self):
if self.cm_namespace_combo.count() == 0:
# no controller managers found so there are no controllers to update
# remove old controllers
for old_ctrler_name in self._ctrlers.keys():
self.remove_ctrler_from_list(old_ctrler_name)
return
ctrlman_ns = self.cm_namespace_combo.currentText()
if self.ctrlman_ns_cur != ctrlman_ns:
# new controller manager selected
# remove old controllers from list from last CM
for old_ctrler_name in self._ctrlers.keys():
self.remove_ctrler_from_list(old_ctrler_name)
self.ctrlman_ns_cur = ctrlman_ns
rospy.wait_for_service(
ctrlman_ns + '/controller_manager/list_controllers', 0.2)
try:
resp = self.list_ctrlers[ctrlman_ns].call(ListControllersRequest())
except rospy.ServiceException as e:
# TODO: display warning somehow
return
controller_list = resp.controller
new_ctrlers = {}
for c in controller_list:
if c.name not in self._ctrlers:
# new controller
item = QTreeWidgetItem(self.ctrl_list_tree_widget)
item.setData(0, Qt.UserRole, c.name)
ctrler = {
'item': item,
'state': c.state,
'type': c.type,
'hw_iface': c.hardware_interface,
'resources': "[" + ", ".join(c.resources) + "]"
}
ctrler['item'].setText(self._column_index['name'], c.name)
update_type = True
update_state = True
else:
# controller already in list
ctrler = self._ctrlers[c.name]
update_type = False
update_state = False
if ctrler['type'] != c.type or ctrler[
'hw_iface'] != c.hardware_interface:
# total controller change
ctrler['state'] = c.state
ctrler['type'] = c.type
ctrler['hw_iface'] = c.hardware_interface
ctrler['resources'] = "[" + ", ".join(c.resources) + "]"
update_type = True
if ctrler['state'] != c.state:
# state change
ctrler['state'] = c.state
update_state = True
# update entries if needed
if update_type:
ctrler['item'].setText(self._column_index['type'],
ctrler['type'])
ctrler['item'].setText(self._column_index['hw_iface'],
ctrler['hw_iface'])
ctrler['item'].setText(self._column_index['resources'],
ctrler['resources'])
if update_state or update_type:
ctrler['item'].setText(self._column_index['state'],
ctrler['state'])
new_ctrlers[c.name] = ctrler
# remove missing controllers
for old_ctrler_name in self._ctrlers.keys():
if old_ctrler_name not in new_ctrlers:
self.remove_ctrler_from_list(old_ctrler_name)
# update current controllers
self._ctrlers = new_ctrlers
def _update_service_list(self):
self._widget.service_tree_widget.clear()
self._widget.service_info_text.clear()
self._widgetitem_service_pair = {}
service_list = self.admin_app_info.service_list
for k in service_list.values():
#Top service
service_item = QTreeWidgetItem(self._widget.service_tree_widget)
#service_item=QTreeWidgetItem()
service_item.setText(0, k['name'])
#set Top Level Font
font = service_item.font(0)
font.setPointSize(20)
font.setBold(True)
service_item.setFont(0, font)
#set client item
for l in k["client_list"]:
client_item = QTreeWidgetItem()
client_item.setText(0, l)
font = client_item.font(0)
font.setPointSize(15)
client_item.setFont(0, font)
service_item.addChild(client_item)
self._widgetitem_service_pair[service_item] = k
#self._widget.service_tree_widget.addTopLevelItem(service_item)
pass
def refresh_ctrlers(self):
if self.cm_namespace_combo.count() == 0:
# no controller managers found so there are no controllers to update
# remove old controllers
for old_ctrler_name in self._ctrlers.keys():
self.remove_ctrler_from_list(old_ctrler_name)
return
ctrlman_ns = self.cm_namespace_combo.currentText()
if self.ctrlman_ns_cur != ctrlman_ns:
# new controller manager selected
# remove old controllers from list from last CM
for old_ctrler_name in self._ctrlers.keys():
self.remove_ctrler_from_list(old_ctrler_name)
self.ctrlman_ns_cur = ctrlman_ns
rospy.wait_for_service(ctrlman_ns + '/controller_manager/list_controllers', 0.2)
try:
resp = self.list_ctrlers[ctrlman_ns].call(ListControllersRequest())
except rospy.ServiceException as e:
# TODO: display warning somehow
return
controller_list = resp.controller
new_ctrlers = {}
for c in controller_list:
if c.name not in self._ctrlers:
# new controller
item = QTreeWidgetItem(self.ctrl_list_tree_widget)
item.setData(0, Qt.UserRole, c.name)
ctrler = {'item' : item,
'state' : c.state,
'type' : c.type,
'hw_iface' : c.hardware_interface,
'resources' : "[" + ", ".join(c.resources) + "]"}
ctrler['item'].setText(self._column_index['name'], c.name)
update_type = True
update_state = True
else:
# controller already in list
ctrler = self._ctrlers[c.name]
update_type = False
update_state = False
if ctrler['type'] != c.type or ctrler['hw_iface'] != c.hardware_interface:
# total controller change
ctrler['state'] = c.state
ctrler['type'] = c.type
ctrler['hw_iface'] = c.hardware_interface
ctrler['resources'] = "[" + ", ".join(c.resources) + "]"
update_type = True
if ctrler['state'] != c.state:
# state change
ctrler['state'] = c.state
update_state = True
# update entries if needed
if update_type:
ctrler['item'].setText(self._column_index['type'], ctrler['type'])
ctrler['item'].setText(self._column_index['hw_iface'], ctrler['hw_iface'])
ctrler['item'].setText(self._column_index['resources'], ctrler['resources'])
if update_state or update_type:
ctrler['item'].setText(self._column_index['state'], ctrler['state'])
new_ctrlers[c.name] = ctrler
# remove missing controllers
for old_ctrler_name in self._ctrlers.keys():
if old_ctrler_name not in new_ctrlers:
self.remove_ctrler_from_list(old_ctrler_name)
# update current controllers
self._ctrlers = new_ctrlers
class RuntimeMonitorWidget(QWidget):
def __init__(self, topic="diagnostics"):
super(RuntimeMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_runtime_monitor'), 'resource',
'runtime_monitor_widget.ui')
loadUi(ui_file, self)
self.setObjectName('RuntimeMonitorWidget')
self._mutex = threading.Lock()
self._error_icon = QIcon.fromTheme('dialog-error')
self._warning_icon = QIcon.fromTheme('dialog-warning')
self._ok_icon = QIcon.fromTheme('dialog-information')
self._stale_node = QTreeWidgetItem(
self.tree_widget.invisibleRootItem(), ['Stale (0)'])
self._stale_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._stale_node)
self._error_node = QTreeWidgetItem(
self.tree_widget.invisibleRootItem(), ['Errors (0)'])
self._error_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._error_node)
self._warning_node = QTreeWidgetItem(
self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
self._warning_node.setIcon(0, self._warning_icon)
self.tree_widget.addTopLevelItem(self._warning_node)
self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(),
['Ok (0)'])
self._ok_node.setIcon(0, self._ok_icon)
self.tree_widget.addTopLevelItem(self._ok_node)
self.tree_widget.itemSelectionChanged.connect(self._refresh_selection)
self.keyPressEvent = self._on_key_press
self._name_to_item = {}
self._new_errors_callback = None
self._subscriber = rospy.Subscriber(topic, DiagnosticArray,
self._diagnostics_callback)
self._previous_ros_time = rospy.Time.now()
self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(1000)
self._msg_timer = QTimer()
self._msg_timer.timeout.connect(self._update_messages)
self._msg_timer.start(100)
self._messages = []
self._used_items = 0
def __del__(self):
self.shutdown()
def shutdown(self):
"""
Unregisters subscriber and stops timers
"""
self._msg_timer.stop()
self._timer.stop()
if rospy.is_shutdown():
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = None
def change_diagnostic_topic(self, topic):
"""
Changes diagnostics topic name. Must be of type diagnostic_msgs/DiagnosticArray
"""
if not topic:
self.reset_monitor()
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = rospy.Subscriber(str(topic), DiagnosticArray,
self._diagnostics_callback)
self.reset_monitor()
def reset_monitor(self):
"""
Removes all values from monitor display, resets buffers
"""
self._name_to_item = {} # Reset all stale topics
self._messages = []
self._clear_tree()
def _clear_tree(self):
for index in range(self._stale_node.childCount()):
self._stale_node.removeChild(self._stale_node.child(index))
for index in range(self._error_node.childCount()):
self._error_node.removeChild(self._error_node.child(index))
for index in range(self._warning_node.childCount()):
self._warning_node.removeChild(self._warning_node.child(index))
for index in range(self._ok_node.childCount()):
self._ok_node.removeChild(self._ok_node.child(index))
self._update_root_labels()
# Diagnostics callbacks (subscriber thread)
def _diagnostics_callback(self, message):
with self._mutex:
self._messages.append(message)
# Update display of messages from main thread
def _update_messages(self):
with self._mutex:
messages = self._messages[:]
self._messages = []
had_errors = False
for message in messages:
for status in message.status:
was_selected = False
if (self._name_to_item.has_key(status.name)):
item = self._name_to_item[status.name]
if self.tree_widget.isItemSelected(item.tree_node):
was_selected = True
if (item.status.level == DiagnosticStatus.ERROR
and status.level != DiagnosticStatus.ERROR):
had_errors = True
self._update_item(item, status, was_selected)
else:
self._create_item(status, was_selected, True)
if (status.level == DiagnosticStatus.ERROR):
had_errors = True
if (had_errors and self._new_errors_callback != None):
self._new_errors_callback()
self._update_root_labels()
self.update()
self._refresh_selection()
def _update_item(self, item, status, was_selected):
change_parent = False
if (item.status.level != status.level):
change_parent = True
if (change_parent):
if (item.status.level == DiagnosticStatus.OK):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == DiagnosticStatus.WARN):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1) or (item.status.level == 3):
self._stale_node.removeChild(item.tree_node)
else: # ERROR
self._error_node.removeChild(item.tree_node)
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == 3):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item.tree_node.setText(0, status.name + ": " + status.message)
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
# expand errors automatically
if (status.level > 1 or status.level == -1):
parent_node.setExpanded(True)
parent_node.sortChildren(0, Qt.AscendingOrder)
if (was_selected):
self.tree_widget.setCurrentItem(item.tree_node)
else:
item.tree_node.setText(0, status.name + ": " + status.message)
item.status = status
if (was_selected):
self._fillout_info(item.tree_node)
item.mark = True
def _create_item(self, status, select, expand_if_error):
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == 3):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item = TreeItem(
status,
QTreeWidgetItem(parent_node,
[status.name + ": " + status.message]))
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
self._name_to_item[status.name] = item
parent_node.sortChildren(0, Qt.AscendingOrder)
if (select):
item.tree_node.setSelected(True)
if (expand_if_error and (status.level > 1 or status.level == -1)):
parent_node.setExpanded(True)
item.mark = True
return item
def _fillout_info(self, node):
item = node.data(0, Qt.UserRole)
if not item:
return
scroll_value = self.html_browser.verticalScrollBar().value()
status = item.status
s = cStringIO.StringIO()
s.write("<html><body>")
s.write("<b>Component</b>: %s<br>\n" % (status.name))
s.write("<b>Message</b>: %s<br>\n" % (status.message))
s.write("<b>Hardware ID</b>: %s<br><br>\n\n" % (status.hardware_id))
s.write('<table border="1" cellpadding="2" cellspacing="0">')
for value in status.values:
value.value = value.value.replace("\n", "<br>")
s.write("<tr><td><b>%s</b></td> <td>%s</td></tr>\n" %
(value.key, value.value))
s.write("</table></body></html>")
self.html_browser.setHtml(s.getvalue())
if self.html_browser.verticalScrollBar().maximum() < scroll_value:
scroll_value = self.html_browser.verticalScrollBar().maximum()
self.html_browser.verticalScrollBar().setValue(scroll_value)
def _refresh_selection(self):
current_item = self.tree_widget.selectedItems()
if current_item:
self._fillout_info(current_item[0])
def _on_key_press(self, event):
key = event.key()
if key == Qt.Key_Delete:
nodes = self.tree_widget.selectedItems()
if (nodes != []
and nodes[0] not in (self._ok_node, self._warning_node,
self._stale_node, self._error_node)):
item = nodes[0].data(0, Qt.UserRole)
if (item.status.level == 0):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == 1):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1) or (item.status.level == 3):
self._stale_node.removeChild(item.tree_node)
else:
self._error_node.removeChild(item.tree_node)
del self._name_to_item[item.status.name]
self._update_root_labels()
self.update()
event.accept()
else:
event.ignore()
def _on_timer(self):
if self._previous_ros_time + rospy.Duration(5) > rospy.Time.now():
return
self._previous_ros_time = rospy.Time.now()
for name, item in self._name_to_item.iteritems():
node = item.tree_node
if (item != None):
if (not item.mark):
was_selected = False
selected = self.tree_widget.selectedItems()
if selected != [] and selected[0] == node:
was_selected = True
new_status = copy.deepcopy(item.status)
new_status.level = -1 # mark stale
self._update_item(item, new_status, was_selected)
item.mark = False
self._update_root_labels()
self.update()
def set_new_errors_callback(self, callback):
self._new_errors_callback = callback
def _update_root_labels(self):
self._stale_node.setText(
0, "Stale (%s)" % (self._stale_node.childCount()))
self._error_node.setText(
0, "Errors (%s)" % (self._error_node.childCount()))
self._warning_node.setText(
0, "Warnings (%s)" % (self._warning_node.childCount()))
self._ok_node.setText(0, "Ok (%s)" % (self._ok_node.childCount()))
def _add_msg_object(self, parent, path, name, obj, obj_type):
label = name
if hasattr(obj, '__slots__'):
subobjs = [(slot, getattr(obj, slot)) for slot in obj.__slots__]
elif type(obj) in [list, tuple]:
len_obj = len(obj)
if len_obj == 0:
subobjs = []
else:
w = int(math.ceil(math.log10(len_obj)))
subobjs = [('[%*d]' % (w, i), subobj) for (i, subobj) in enumerate(obj)]
else:
subobjs = []
plotitem=False
if type(obj) in [int, long, float]:
plotitem=True
if type(obj) == float:
obj_repr = '%.6f' % obj
else:
obj_repr = str(obj)
if obj_repr[0] == '-':
label += ': %s' % obj_repr
else:
label += ': %s' % obj_repr
elif type(obj) in [str, bool, int, long, float, complex, rospy.Time]:
# Ignore any binary data
obj_repr = codecs.utf_8_decode(str(obj), 'ignore')[0]
# Truncate long representations
if len(obj_repr) >= 50:
obj_repr = obj_repr[:50] + '...'
label += ': ' + obj_repr
item = QTreeWidgetItem([label])
if name == '':
pass
elif path.find('.') == -1 and path.find('[') == -1:
self.addTopLevelItem(item)
else:
parent.addChild(item)
if plotitem == True:
if path.replace(' ', '') in self._checked_states:
item.setCheckState (0, Qt.Checked)
else:
item.setCheckState (0, Qt.Unchecked)
item.setData(0, Qt.UserRole, (path, obj_type))
for subobj_name, subobj in subobjs:
if subobj is None:
continue
if path == '':
subpath = subobj_name # root field
elif subobj_name.startswith('['):
subpath = '%s%s' % (path, subobj_name) # list, dict, or tuple
else:
subpath = '%s.%s' % (path, subobj_name) # attribute (prefix with '.')
if hasattr(subobj, '_type'):
subobj_type = subobj._type
else:
subobj_type = type(subobj).__name__
self._add_msg_object(item, subpath, subobj_name, subobj, subobj_type)
def loadLocation(self):
self.startTrajectoryButton.setEnabled(False)
self.startButton.setEnabled(False)
self.addButton.setEnabled(False)
self.openHandButton.setEnabled(False)
self.closeHandButton.setEnabled(False)
self.endButton.setEnabled(False)
location = self.demoLocation.text()
if os.path.isdir(location):
locations = [os.path.join(location, f) for f in os.listdir(location) if os.path.isfile(os.path.join(location, f)) and f.split(".")[-1] == "bag"]
else:
locations = [location]
if len(locations) == 0 or len(locations[0]) == 0:
return
self.keyframeCount.setText("")
self.playbackTree.clear()
self.zeroMarker.clear()
self._showStatus("Parsing...")
totalFrames = 0
for location in sorted(locations):
try:
self.keyframeBagInterface = KeyframeBagInterface()
parsedData = self.keyframeBagInterface.parse(location)
objectsInScene = self.keyframeBagInterface.parseContainedObjects(location)
except (rosbag.bag.ROSBagException, ParseException) as err:
self._showStatus(str(err))
rospy.logwarn("[%s] %s", location, str(err))
self.playbackTree.clear()
return
totalFrames += len(parsedData)
objectLabels = []
for item in objectsInScene:
label = item.label
if objectLabels.count(label) > 0:
label = "{} #{}".format(label, objectLabels.count(label) + 1)
objectLabels.append(item.label)
if len(locations) > 1:
self.zeroMarker.addItem(u"{} → {}".format(label, os.path.basename(location)))
else:
self.zeroMarker.addItem(label)
items = []
for i, keyframe in enumerate(parsedData):
item = QTreeWidgetItem()
title = "(#{}) ".format(i) + time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(keyframe["time"]))
item.setText(0, title)
# Add children
for topic in sorted(keyframe["data"]):
data = keyframe["data"][topic]
topicItem = QTreeWidgetItem()
topicItem.setText(0, topic)
for attribute in sorted(data):
attributeValueItem = QTreeWidgetItem()
attributeValueItem.setText(0, attribute)
attributeValueItem.setText(1, str(data[attribute]))
topicItem.addChild(attributeValueItem)
item.addChild(topicItem)
items.append(item)
if len(locations) == 1:
self.playbackTree.addTopLevelItems(items)
else:
item = QTreeWidgetItem()
item.setText(0, location)
item.addChildren(items)
self.playbackTree.addTopLevelItem(item)
if len(locations) == 1:
self.demoName.setText(os.path.basename(locations[0]))
self.keyframeCount.setText("{} keyframe(s) loaded".format(totalFrames))
else:
self.demoName.setText(os.path.basename(self.demoLocation.text()) + os.path.sep)
self.keyframeCount.setText("{} keyframe(s) loaded from {} files".format(totalFrames, len(locations)))
self._showStatus("Parsed {} keyframe(s).".format(totalFrames))
self.playDemoButton.setEnabled(True)
if self.locateObjectsBox.isChecked():
self.zeroMarker.setEnabled(True)
def disp_err(self, msg):
i = QTreeWidgetItem()
i.setText(0, msg)
self.err.addTopLevelItem(i)
def disp_warn(self,msg):
i = QTreeWidgetItem()
i.setText(0, msg)
self.warn.addTopLevelItem(i)
def on_show_details(self):
'''
Shows the subsystem in a new dialog as tree view.
'''
twc = self._detailed_dialog.treewidget_components
twc.clear()
client_info = "OCU client: ---"
if self._ocu_client is not None:
add_info = ''
if self.ocu_client.subsystem_restricted == self.subsystem_id:
if self.ocu_client.only_monitor:
add_info = ' [restricted, only monitor]'
else:
add_info = ' [restricted]'
client_info = "OCU client: %s%s" % (self.ocu_client.address,
add_info)
self._detailed_dialog.label_info.setText(client_info)
if self.name == self._subsystem.ident.name:
for node in self._subsystem.nodes:
node_item = QTreeWidgetItem(twc)
node_name = node.ident.name if node.ident.name else "NODE"
node_item.setText(
0, "%s [id: %d]" % (node_name, node.ident.address.node_id))
for comp in node.components:
cmp_item = QTreeWidgetItem(node_item)
cmp_name = self._get_component_name(comp.address)
cmp_item.setText(
0, "%s [%d.%d.%d]" %
(cmp_name, comp.address.subsystem_id,
comp.address.node_id, comp.address.component_id))
twc.expandItem(node_item)
for srv in comp.services:
srv_item = QTreeWidgetItem(cmp_item)
srv_item.setText(
0, "%s v%d.%d" %
(srv.uri, srv.major_version, srv.minor_version))
if self._detailed_dialog.isVisible():
self._detailed_dialog.setFocus(Qt.ActiveWindowFocusReason)
else:
self._detailed_dialog.show()
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)
class RuntimeMonitorWidget(QWidget):
def __init__(self, topic="/diagnostics"):
super(RuntimeMonitorWidget, self).__init__()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'runtime_monitor_widget.ui')
loadUi(ui_file, self)
self.setObjectName('RuntimeMonitorWidget')
self._mutex = threading.Lock()
self._error_icon = QIcon.fromTheme('dialog-error')
self._warning_icon = QIcon.fromTheme('dialog-warning')
self._ok_icon = QIcon.fromTheme('dialog-information')
self._stale_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Stale (0)'])
self._stale_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._stale_node)
self._error_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Errors (0)'])
self._error_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._error_node)
self._warning_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
self._warning_node.setIcon(0, self._warning_icon)
self.tree_widget.addTopLevelItem(self._warning_node)
self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Ok (0)'])
self._ok_node.setIcon(0, self._ok_icon)
self.tree_widget.addTopLevelItem(self._ok_node)
self.tree_widget.itemSelectionChanged.connect(self._on_item_selected)
self.keyPressEvent = self._on_key_press
self._name_to_item = {}
self._new_errors_callback = None
self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._diagnostics_callback)
self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(5000)
self._messages = []
self._used_items = 0
def __del__(self):
if self._subscriber is not None:
self._subscriber.unregister()
self._subscriber = None
def shutdown(self):
"""
Unregisters diagnostics subscriber for clean shutdown
"""
if rospy.is_shutdown():
return
if self._subscriber is not None:
self._subscriber.unregister()
self._subscriber = None
def change_diagnostic_topic(self, topic):
"""
Changes diagnostics topic name. Must be of type diagnostic_msgs/DiagnosticArray
"""
if len(topic) == 0:
self.reset_monitor()
return
if self._subscriber is not None:
self._subscriber.unregister()
self._subscriber = rospy.Subscriber(str(topic), DiagnosticArray, self._diagnostics_callback)
self.reset_monitor()
def reset_monitor(self):
"""
Removes all values from monitor display, resets buffers
"""
self._name_to_item = {} # Reset all stale topics
self._messages = []
self._clear_tree()
def _clear_tree(self):
for index in range(self._stale_node.childCount()):
self._stale_node.removeChild(self._stale_node.child(index))
for index in range(self._error_node.childCount()):
self._error_node.removeChild(self._error_node.child(index))
for index in range(self._warning_node.childCount()):
self._warning_node.removeChild(self._warning_node.child(index))
for index in range(self._ok_node.childCount()):
self._ok_node.removeChild(self._ok_node.child(index))
self._update_root_labels()
def _diagnostics_callback(self, message):
with self._mutex:
self._messages.append(message)
self.new_message(rospy.get_rostime())
def new_message(self, stamp = None):
with self._mutex:
had_errors = False
for message in self._messages:
for status in message.status:
was_selected = False
had_item = False
if (self._name_to_item.has_key(status.name)):
item = self._name_to_item[status.name]
had_item = True
if self.tree_widget.selectedItems() != [] and self.tree_widget.selectedItems()[0] == item:
was_selected = True
if (item.status.level == 2 and status.level != 2):
had_errors = True
self._update_item(item, status, was_selected, stamp)
else:
self._create_item(status, was_selected, True, stamp)
if (status.level == 2):
had_errors = True
self._messages = []
if (had_errors and self._new_errors_callback != None):
self._new_errors_callback()
self._update_root_labels()
self.update()
def _update_item(self, item, status, was_selected, stamp):
change_parent = False
if (item.status.level != status.level):
change_parent = True
if (change_parent):
if (item.status.level == 0):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == 1):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1):
self._stale_node.removeChild(item.tree_node)
else:
self._error_node.removeChild(item.tree_node)
if (status.level == 0):
parent_node = self._ok_node
elif (status.level == 1):
parent_node = self._warning_node
elif (status.level == -1):
parent_node = self._stale_node
else:
parent_node = self._error_node
item.tree_node.setText(0, status.name + ": " + status.message)
item.stamp = stamp
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
if (status.level > 1 or status.level == -1):
parent_node.setExpanded(True)
parent_node.sortChildren(0, Qt.AscendingOrder)
if (was_selected):
item.tree_node.setSelected(True)
else:
item.tree_node.setText(0, status.name + ": " + status.message)
item.status = status
if (was_selected):
self._fillout_info(item.tree_node)
item.mark = True
def _create_item(self, status, select, expand_if_error, stamp):
if (status.level == 0):
parent_node = self._ok_node
elif (status.level == 1):
parent_node = self._warning_node
elif (status.level == -1):
parent_node = self._stale_node
else:
parent_node = self._error_node
item = TreeItem(status, QTreeWidgetItem(parent_node, [status.name + ": " + status.message]), stamp)
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
self._name_to_item[status.name] = item
parent_node.sortChildren(0, Qt.AscendingOrder)
if (select):
item.tree_node.setSelected(True)
if (expand_if_error and (status.level > 1 or status.level == -1)):
parent_node.setExpanded(True)
item.mark = True
return item
def _fillout_info(self, node):
item = node.data(0, Qt.UserRole)
if (item == None):
return
status = item.status
s = cStringIO.StringIO()
s.write("<html><body>")
s.write("<b>Component</b>: %s<br>\n" % (status.name))
s.write("<b>Message</b>: %s<br>\n" % (status.message))
s.write("<b>Hardware ID</b>: %s<br><br>\n\n" % (status.hardware_id))
s.write('<table border="1" cellpadding="2" cellspacing="0">')
for value in status.values:
value.value = value.value.replace("\n", "<br>")
s.write("<tr><td><b>%s</b></td> <td>%s</td></tr>\n" % (value.key, value.value))
s.write("</table></body></html>")
self.html_browser.setHtml(s.getvalue())
def _on_item_selected(self):
current_item = self.tree_widget.selectedItems()
if current_item is not None:
self._fillout_info(current_item[0])
def _on_key_press(self, event):
key = event.key()
if key == Qt.Key_Delete:
nodes = self.tree_widget.selectedItems()
if (nodes != [] and nodes[0] not in (self._ok_node, self._warning_node, self._stale_node, self._error_node)):
item = nodes[0].data(0, Qt.UserRole)
if (item.status.level == 0):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == 1):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1):
self._stale_node.removeChild(item.tree_node)
else:
self._error_node.removeChild(item.tree_node)
del self._name_to_item[item.status.name]
else:
event.Skip()
self._update_root_labels()
self.update()
def _on_timer(self ):
for name, item in self._name_to_item.iteritems():
node = item.tree_node
if (item != None):
if (not item.mark):
was_selected = False
selected = self.tree_widget.selectedItems()
if selected != [] and selected[0] == node:
was_selected = True
new_status = copy.deepcopy(item.status)
new_status.level = -1
self._update_item(item, new_status, was_selected, item.stamp)
item.mark = False
self._update_root_labels()
self.update()
def set_new_errors_callback(self, callback):
self._new_errors_callback = callback
def get_num_errors(self):
return self._error_node.childCount() + self._stale_node.childCount()
def get_num_warnings(self):
return self._warning_node.childCount()
def get_num_ok(self):
return self._ok_node.childCount()
def _update_root_labels(self):
self._stale_node.setText(0, "Stale (%s)" % (self._stale_node.childCount()))
self._error_node.setText(0, "Errors (%s)" % (self._error_node.childCount()))
self._warning_node.setText(0, "Warnings (%s)" % (self._warning_node.childCount()))
self._ok_node.setText(0, "Ok (%s)" % (self._ok_node.childCount()))
def loadLocation(self):
self.startTrajectoryButton.setEnabled(False)
self.startButton.setEnabled(False)
self.addButton.setEnabled(False)
self.openHandButton.setEnabled(False)
self.closeHandButton.setEnabled(False)
self.endButton.setEnabled(False)
location = self.demoLocation.text()
if os.path.isdir(location):
locations = [
os.path.join(location, f) for f in os.listdir(location)
if os.path.isfile(os.path.join(location, f))
and f.split(".")[-1] == "bag"
]
else:
locations = [location]
if len(locations) == 0 or len(locations[0]) == 0:
return
self.keyframeCount.setText("")
self.playbackTree.clear()
self.zeroMarker.clear()
self._showStatus("Parsing...")
totalFrames = 0
for location in sorted(locations):
try:
self.keyframeBagInterface = KeyframeBagInterface()
parsedData = self.keyframeBagInterface.parse(location)
objectsInScene = self.keyframeBagInterface.parseContainedObjects(
location)
except (rosbag.bag.ROSBagException, ParseException) as err:
self._showStatus(str(err))
rospy.logwarn("[%s] %s", location, str(err))
self.playbackTree.clear()
return
totalFrames += len(parsedData)
objectLabels = []
for item in objectsInScene:
label = item.label
if objectLabels.count(label) > 0:
label = "{} #{}".format(label,
objectLabels.count(label) + 1)
objectLabels.append(item.label)
if len(locations) > 1:
self.zeroMarker.addItem(u"{} → {}".format(
label, os.path.basename(location)))
else:
self.zeroMarker.addItem(label)
items = []
for i, keyframe in enumerate(parsedData):
item = QTreeWidgetItem()
title = "(#{}) ".format(i) + time.strftime(
'%Y-%m-%d %H:%M:%S', time.localtime(keyframe["time"]))
item.setText(0, title)
# Add children
for topic in sorted(keyframe["data"]):
data = keyframe["data"][topic]
topicItem = QTreeWidgetItem()
topicItem.setText(0, topic)
for attribute in sorted(data):
attributeValueItem = QTreeWidgetItem()
attributeValueItem.setText(0, attribute)
attributeValueItem.setText(1, str(data[attribute]))
topicItem.addChild(attributeValueItem)
item.addChild(topicItem)
items.append(item)
if len(locations) == 1:
self.playbackTree.addTopLevelItems(items)
else:
item = QTreeWidgetItem()
item.setText(0, location)
item.addChildren(items)
self.playbackTree.addTopLevelItem(item)
if len(locations) == 1:
self.demoName.setText(os.path.basename(locations[0]))
self.keyframeCount.setText(
"{} keyframe(s) loaded".format(totalFrames))
else:
self.demoName.setText(
os.path.basename(self.demoLocation.text()) + os.path.sep)
self.keyframeCount.setText(
"{} keyframe(s) loaded from {} files".format(
totalFrames, len(locations)))
self._showStatus("Parsed {} keyframe(s).".format(totalFrames))
self.playDemoButton.setEnabled(True)
if self.locateObjectsBox.isChecked():
self.zeroMarker.setEnabled(True)
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 _add_msg_object(self, parent, path, name, obj, obj_type):
label = name
if hasattr(obj, '__slots__'):
subobjs = [(slot, getattr(obj, slot)) for slot in obj.__slots__]
elif type(obj) in [list, tuple]:
len_obj = len(obj)
if len_obj == 0:
subobjs = []
else:
w = int(math.ceil(math.log10(len_obj)))
subobjs = [('[%*d]' % (w, i), subobj)
for (i, subobj) in enumerate(obj)]
else:
subobjs = []
if type(obj) in [int, long, float]:
if type(obj) == float:
obj_repr = '%.6f' % obj
else:
obj_repr = str(obj)
if obj_repr[0] == '-':
label += ': %s' % obj_repr
else:
label += ': %s' % obj_repr
elif type(obj) in [str, bool, int, long, float, complex, rospy.Time]:
# Ignore any binary data
obj_repr = codecs.utf_8_decode(str(obj), 'ignore')[0]
# Truncate long representations
if len(obj_repr) >= 50:
obj_repr = obj_repr[:50] + '...'
label += ': ' + obj_repr
item = QTreeWidgetItem([label])
if name == 'msg':
pass
elif path.find('.') == -1 and path.find('[') == -1:
self.addTopLevelItem(item)
else:
parent.addChild(item)
item.setData(0, Qt.UserRole, (path, obj_type))
for subobj_name, subobj in subobjs:
if subobj is None:
continue
if path == '':
subpath = subobj_name # root field
elif subobj_name.startswith('['):
subpath = '%s%s' % (path, subobj_name) # list, dict, or tuple
else:
subpath = '%s.%s' % (path, subobj_name
) # attribute (prefix with '.')
if hasattr(subobj, '_type'):
subobj_type = subobj._type
else:
subobj_type = type(subobj).__name__
self._add_msg_object(item, subpath, subobj_name, subobj,
subobj_type)
class RuntimeMonitorWidget(QWidget):
def __init__(self, topic="diagnostics"):
super(RuntimeMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_runtime_monitor'), 'resource', 'runtime_monitor_widget.ui')
loadUi(ui_file, self)
self.setObjectName('RuntimeMonitorWidget')
self._mutex = threading.Lock()
self._error_icon = QIcon.fromTheme('dialog-error')
self._warning_icon = QIcon.fromTheme('dialog-warning')
self._ok_icon = QIcon.fromTheme('dialog-information')
self._stale_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Stale (0)'])
self._stale_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._stale_node)
self._error_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Errors (0)'])
self._error_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._error_node)
self._warning_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
self._warning_node.setIcon(0, self._warning_icon)
self.tree_widget.addTopLevelItem(self._warning_node)
self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Ok (0)'])
self._ok_node.setIcon(0, self._ok_icon)
self.tree_widget.addTopLevelItem(self._ok_node)
self.tree_widget.itemSelectionChanged.connect(self._refresh_selection)
self.keyPressEvent = self._on_key_press
self._name_to_item = {}
self._new_errors_callback = None
self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._diagnostics_callback)
self._previous_ros_time = rospy.Time.now()
self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(1000)
self._msg_timer = QTimer()
self._msg_timer.timeout.connect(self._update_messages)
self._msg_timer.start(100)
self._messages = []
self._used_items = 0
def __del__(self):
self.shutdown()
def shutdown(self):
"""
Unregisters subscriber and stops timers
"""
self._msg_timer.stop()
self._timer.stop()
if rospy.is_shutdown():
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = None
def change_diagnostic_topic(self, topic):
"""
Changes diagnostics topic name. Must be of type diagnostic_msgs/DiagnosticArray
"""
if not topic:
self.reset_monitor()
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = rospy.Subscriber(str(topic), DiagnosticArray, self._diagnostics_callback)
self.reset_monitor()
def reset_monitor(self):
"""
Removes all values from monitor display, resets buffers
"""
self._name_to_item = {} # Reset all stale topics
self._messages = []
self._clear_tree()
def _clear_tree(self):
for index in range(self._stale_node.childCount()):
self._stale_node.removeChild(self._stale_node.child(index))
for index in range(self._error_node.childCount()):
self._error_node.removeChild(self._error_node.child(index))
for index in range(self._warning_node.childCount()):
self._warning_node.removeChild(self._warning_node.child(index))
for index in range(self._ok_node.childCount()):
self._ok_node.removeChild(self._ok_node.child(index))
self._update_root_labels()
# Diagnostics callbacks (subscriber thread)
def _diagnostics_callback(self, message):
with self._mutex:
self._messages.append(message)
# Update display of messages from main thread
def _update_messages(self):
with self._mutex:
messages = self._messages[:]
self._messages = []
had_errors = False
for message in messages:
for status in message.status:
was_selected = False
if (self._name_to_item.has_key(status.name)):
item = self._name_to_item[status.name]
if self.tree_widget.isItemSelected(item.tree_node):
was_selected = True
if (item.status.level == DiagnosticStatus.ERROR and status.level != DiagnosticStatus.ERROR):
had_errors = True
self._update_item(item, status, was_selected)
else:
self._create_item(status, was_selected, True)
if (status.level == DiagnosticStatus.ERROR):
had_errors = True
if (had_errors and self._new_errors_callback != None):
self._new_errors_callback()
self._update_root_labels()
self.update()
self._refresh_selection()
def _update_item(self, item, status, was_selected):
change_parent = False
if (item.status.level != status.level):
change_parent = True
if (change_parent):
if (item.status.level == DiagnosticStatus.OK):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == DiagnosticStatus.WARN):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1) or (item.status.level == DiagnosticStatus.STALE):
self._stale_node.removeChild(item.tree_node)
else: # ERROR
self._error_node.removeChild(item.tree_node)
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == DiagnosticStatus.STALE):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item.tree_node.setText(0, status.name + ": " + status.message)
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
# expand errors automatically
if (status.level > 1 or status.level == -1):
parent_node.setExpanded(True)
parent_node.sortChildren(0, Qt.AscendingOrder)
if (was_selected):
self.tree_widget.setCurrentItem(item.tree_node)
else:
item.tree_node.setText(0, status.name + ": " + status.message)
item.status = status
if (was_selected):
self._fillout_info(item.tree_node)
item.mark = True
def _create_item(self, status, select, expand_if_error):
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == DiagnosticStatus.STALE):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item = TreeItem(status, QTreeWidgetItem(parent_node, [status.name + ": " + status.message]))
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
self._name_to_item[status.name] = item
parent_node.sortChildren(0, Qt.AscendingOrder)
if (select):
item.tree_node.setSelected(True)
if (expand_if_error and (status.level > 1 or status.level == -1)):
parent_node.setExpanded(True)
item.mark = True
return item
def _fillout_info(self, node):
item = node.data(0, Qt.UserRole)
if not item:
return
scroll_value = self.html_browser.verticalScrollBar().value()
status = item.status
s = cStringIO.StringIO()
s.write("<html><body>")
s.write("<b>Component</b>: %s<br>\n" % (status.name))
s.write("<b>Message</b>: %s<br>\n" % (status.message))
s.write("<b>Hardware ID</b>: %s<br><br>\n\n" % (status.hardware_id))
s.write('<table border="1" cellpadding="2" cellspacing="0">')
for value in status.values:
value.value = value.value.replace("\n", "<br>")
s.write("<tr><td><b>%s</b></td> <td>%s</td></tr>\n" % (value.key, value.value))
s.write("</table></body></html>")
self.html_browser.setHtml(s.getvalue())
if self.html_browser.verticalScrollBar().maximum() < scroll_value:
scroll_value = self.html_browser.verticalScrollBar().maximum()
self.html_browser.verticalScrollBar().setValue(scroll_value)
def _refresh_selection(self):
current_item = self.tree_widget.selectedItems()
if current_item:
self._fillout_info(current_item[0])
def _on_key_press(self, event):
key = event.key()
if key == Qt.Key_Delete:
nodes = self.tree_widget.selectedItems()
if (nodes != [] and nodes[0] not in (self._ok_node, self._warning_node, self._stale_node, self._error_node)):
item = nodes[0].data(0, Qt.UserRole)
if (item.status.level == 0):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == 1):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1) or (item.status.level == DiagnosticStatus.STALE):
self._stale_node.removeChild(item.tree_node)
else:
self._error_node.removeChild(item.tree_node)
del self._name_to_item[item.status.name]
self._update_root_labels()
self.update()
event.accept()
else:
event.ignore()
def _on_timer(self):
if self._previous_ros_time + rospy.Duration(5) > rospy.Time.now():
return
self._previous_ros_time = rospy.Time.now()
for name, item in self._name_to_item.iteritems():
node = item.tree_node
if (item != None):
if (not item.mark):
was_selected = False
selected = self.tree_widget.selectedItems()
if selected != [] and selected[0] == node:
was_selected = True
new_status = copy.deepcopy(item.status)
new_status.level = -1 # mark stale
self._update_item(item, new_status, was_selected)
item.mark = False
self._update_root_labels()
self.update()
def set_new_errors_callback(self, callback):
self._new_errors_callback = callback
def _update_root_labels(self):
self._stale_node.setText(0, "Stale (%s)" % (self._stale_node.childCount()))
self._error_node.setText(0, "Errors (%s)" % (self._error_node.childCount()))
self._warning_node.setText(0, "Warnings (%s)" % (self._warning_node.childCount()))
self._ok_node.setText(0, "Ok (%s)" % (self._ok_node.childCount()))
def on_search_result(self, search_text, found, path, index, linenr, line):
'''
Slot to handle the signals for search result. This signals are forwarded used
search_result_signal.
'''
if found and search_text == self.current_search_text:
id = "%d:%s" % (index, path)
self.search_results_fileset.add(path)
item = (search_text, found, path, index)
if item not in self.search_results:
self.search_results.append(
(id, search_text, found, path, index, linenr, line))
if self._wait_for_result:
self._search_result_index += 1
if index >= self._tabwidget.currentWidget().textCursor(
).position() or self._tabwidget.currentWidget(
).filename != path:
self._wait_for_result = False
self.search_result_signal.emit(search_text, found, path,
index)
self.replace_button.setEnabled(True)
pkg, rpath = package_name(os.path.dirname(path))
itemstr = '%s [%s]' % (os.path.basename(path), pkg)
if not self.found_files_list.findItems(itemstr, Qt.MatchExactly):
list_item = QTreeWidgetItem(self.found_files_list)
list_item.setText(0, itemstr)
list_item.setToolTip(0, path)
self.found_files_list.insertTopLevelItem(0, list_item)
self.found_files_list.expandAll()
for i in range(self.found_files_list.topLevelItemCount()):
top_item = self.found_files_list.topLevelItem(i)
if top_item.text(0) == itemstr:
sub_item_str = "%d: %s" % (linenr, line)
list_item2 = QTreeWidgetItem()
list_item2.setText(0, sub_item_str)
list_item2.setWhatsThis(0, id)
top_item.addChild(list_item2)
#self.found_files_list.setVisible(len(self.search_results_fileset) > 0)
self._update_label()
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_plan(self):
expanded_list = []
root = self.planView.invisibleRootItem()
child_count = root.childCount()
for i in range(child_count):
item = root.child(i)
if item.isExpanded():
expanded_list.append(item.text(
self._column_index['action_id']))
self.planView.clear()
for action in self._action_list:
item = QTreeWidgetItem(self.planView)
item.setText(self._column_index['action_id'],
str(action.action_id))
item.setText(self._column_index['dispatch_time'],
str(action.dispatch_time))
item.setText(self._column_index['duration'], str(action.duration))
item.setText(self._column_index['status'],
self._status_list.get(str(action.action_id), "-"))
action_name = '(' + action.name
for keyval in action.parameters:
param = QTreeWidgetItem(item)
param.setText(self._column_index['action_id'], '')
param.setText(self._column_index['action_name'],
'- ' + keyval.key + ': ' + keyval.value)
param.setText(self._column_index['dispatch_time'], '')
param.setText(self._column_index['duration'], '')
param.setText(self._column_index['status'], '')
action_name = action_name + ' ' + keyval.value
item.setText(self._column_index['action_name'], action_name + ')')
if str(action.action_id) in expanded_list:
item.setExpanded(True)
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)
