def set_menu(self, menu):
self._menu_manager = MenuManager(menu)
self._perspective_mapper = QSignalMapper(menu)
self._perspective_mapper.mapped[str].connect(self.switch_perspective)
# generate menu
create_action = QAction('&Create perspective...',
self._menu_manager.menu)
create_action.setIcon(QIcon.fromTheme('list-add'))
create_action.triggered.connect(self._on_create_perspective)
self._menu_manager.add_suffix(create_action)
self._remove_action = QAction('&Remove perspective...',
self._menu_manager.menu)
self._remove_action.setEnabled(False)
self._remove_action.setIcon(QIcon.fromTheme('list-remove'))
self._remove_action.triggered.connect(self._on_remove_perspective)
self._menu_manager.add_suffix(self._remove_action)
self._menu_manager.add_suffix(None)
import_action = QAction('&Import...', self._menu_manager.menu)
import_action.setIcon(QIcon.fromTheme('document-open'))
import_action.triggered.connect(self._on_import_perspective)
self._menu_manager.add_suffix(import_action)
export_action = QAction('&Export...', self._menu_manager.menu)
export_action.setIcon(QIcon.fromTheme('document-save-as'))
export_action.triggered.connect(self._on_export_perspective)
self._menu_manager.add_suffix(export_action)
# add perspectives to menu
for name in self.perspectives:
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def __init__(self, timeline, parent, topic):
MessageView.__init__(self, timeline, topic)
self._parent = parent
self._stamp = None
self._name = parent.objectName()
self.toolbar = QToolBar()
self._first_action = QAction(QIcon.fromTheme('go-first'), '',
self.toolbar)
self._first_action.triggered.connect(self.navigate_first)
self.toolbar.addAction(self._first_action)
self._prev_action = QAction(QIcon.fromTheme('go-previous'), '',
self.toolbar)
self._prev_action.triggered.connect(self.navigate_previous)
self.toolbar.addAction(self._prev_action)
self._next_action = QAction(QIcon.fromTheme('go-next'), '',
self.toolbar)
self._next_action.triggered.connect(self.navigate_next)
self.toolbar.addAction(self._next_action)
self._last_action = QAction(QIcon.fromTheme('go-last'), '',
self.toolbar)
self._last_action.triggered.connect(self.navigate_last)
self.toolbar.addAction(self._last_action)
parent.layout().addWidget(self.toolbar)
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
remove_action = QAction(self.tr('Remove message'), menu)
menu.addAction(remove_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
rospy.logdebug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if (self._mode == rosmsg.MODE_MSG
or self._mode == rosaction.MODE_ACTION):
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException as e:
QMessageBox.warning(
self, self.tr('Warning'),
self.tr('The selected item component ' +
'does not have text to view.'))
if browsetext is not None:
self._browsers.append(
TextBrowseDialog(browsetext, self._rospack))
self._browsers[-1].show()
if action == remove_action:
self._messages_tree.model().removeRow(selected[0].row())
def _update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
if len(self._rosdata) > 1:
all_action = QAction('All', self._remove_topic_menu)
all_action.triggered.connect(self.clean_up_subscribers)
self._remove_topic_menu.addAction(all_action)
def __init__(self, parent=None):
super(PublisherTreeWidget, self).__init__(parent)
self.setModel(PublisherTreeModel(self))
self._action_remove_publisher = QAction(QIcon.fromTheme('list-remove'),
'Remove Selected', self)
self._action_remove_publisher.triggered[bool].connect(
self._handle_action_remove_publisher)
self._action_publish_once = QAction(
QIcon.fromTheme('media-playback-start'), 'Publish Selected Once',
self)
self._action_publish_once.triggered[bool].connect(
self._handle_action_publish_once)
self.setItemDelegateForColumn(
self.model()._column_index['rate'],
SpinBoxDelegate(min_value=0, max_value=1000000, decimals=2))
def add_plugin_prefix(self, plugin_descriptor):
action_attributes = plugin_descriptor.action_attributes()
action = QAction(action_attributes['label'], self._plugin_menu_manager.menu)
self._enrich_action(action, action_attributes)
self._plugin_mapper.setMapping(action, plugin_descriptor.plugin_id())
action.triggered.connect(self._plugin_mapper.map)
self._plugin_menu_manager.add_prefix(action)
def _gl_view_mouseReleaseEvent(self, event):
if event.button() == Qt.RightButton:
menu = QMenu(self._gl_view)
action = QAction(self._gl_view.tr("Reset view"), self._gl_view)
menu.addAction(action)
action.triggered.connect(self._set_default_view)
menu.exec_(self._gl_view.mapToGlobal(event.pos()))
def __init__(self, parent=None):
super(LaunchTreeWidget, self).__init__(parent)
self.setModel(LaunchTreeModel(self))
self._action_remove_publisher = QAction(QIcon.fromTheme('remove'),
'Remove Selected', self)
self._action_remove_publisher.triggered[bool].connect(
self._handle_action_remove_publisher)
def add_plugin(self, plugin_descriptor):
base_path = plugin_descriptor.attributes().get('plugin_path')
menu_manager = self._plugin_menu_manager
# create submenus
for group in plugin_descriptor.groups():
label = group['label']
if menu_manager.contains_menu(label):
submenu = menu_manager.get_menu(label)
else:
submenu = QMenu(label, menu_manager.menu)
menu_action = submenu.menuAction()
self._enrich_action(menu_action, group, base_path)
menu_manager.add_item(submenu)
menu_manager = MenuManager(submenu)
# create action
action_attributes = plugin_descriptor.action_attributes()
action = QAction(action_attributes['label'], menu_manager.menu)
self._enrich_action(action, action_attributes, base_path)
self._plugin_mapper.setMapping(action, plugin_descriptor.plugin_id())
action.triggered.connect(self._plugin_mapper.map)
not_available = plugin_descriptor.attributes().get('not_available')
if not_available:
action.setEnabled(False)
action.setStatusTip(
self.tr('Plugin is not available: %s') % not_available)
# add action to menu
menu_manager.add_item(action)
def __init__(self, parent=None):
super(MessageTreeWidget, self).__init__(parent)
self.setDragEnabled(True)
self.sortByColumn(0, Qt.AscendingOrder)
try:
setSectionResizeMode = self.header().setSectionResizeMode # Qt5
except AttributeError:
setSectionResizeMode = self.header().setResizeMode # Qt4
setSectionResizeMode(QHeaderView.ResizeToContents)
self.header().setContextMenuPolicy(Qt.CustomContextMenu)
self.header().customContextMenuRequested.connect(
self.handle_header_view_customContextMenuRequested)
self._action_item_expand = QAction(QIcon.fromTheme('zoom-in'), 'Expand Selected', self)
self._action_item_expand.triggered.connect(self._handle_action_item_expand)
self._action_item_collapse = QAction(QIcon.fromTheme('zoom-out'), 'Collapse Selected', self)
self._action_item_collapse.triggered.connect(self._handle_action_item_collapse)
self.customContextMenuRequested.connect(self.handle_customContextMenuRequested)
def _update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def add_instance(self, plugin_descriptor, instance_id):
action_attributes = plugin_descriptor.action_attributes()
action = QAction(self._get_instance_label(str(instance_id)), self._running_menu_manager.menu)
base_path = plugin_descriptor.attributes().get('plugin_path')
self._enrich_action(action, action_attributes, base_path)
self._running_mapper.setMapping(action, str(instance_id))
action.triggered.connect(self._running_mapper.map)
self._running_menu_manager.add_item(action)
self._instances[instance_id] = action
def add_menu_item(self, menu_name, labels):
menu_text = menu_name
if self.label[labels[0]].isHidden():
menu_text = "Show " + menu_text
else:
menu_text = "Hide " + menu_text
action = QAction(menu_text, self._widget)
action.triggered.connect(partial(self.toggle_labels, labels))
self._widget.addAction(action)
self.actions[menu_name] = action
def _add_perspective_action(self, name):
if self._menu_manager is not None:
# create action
action = QAction(name, self._menu_manager.menu)
action.setCheckable(True)
self._perspective_mapper.setMapping(action, name)
action.triggered.connect(self._perspective_mapper.map)
# add action to menu
self._menu_manager.add_item(action)
# enable remove-action
if self._menu_manager.count_items() > 1:
self._remove_action.setEnabled(True)
def add_instance(self, plugin_descriptor, instance_id):
action_attributes = plugin_descriptor.action_attributes()
# create action
label = self.tr('Close:') + ' ' + action_attributes['label']
if instance_id.serial_number != 1:
label = label + ' (%s)' % str(instance_id.serial_number)
action = QAction(label, self._running_menu_manager.menu)
base_path = plugin_descriptor.attributes().get('plugin_path')
self._enrich_action(action, action_attributes, base_path)
self._running_mapper.setMapping(action, str(instance_id))
action.triggered.connect(self._running_mapper.map)
self._running_menu_manager.add_item(action)
self._instances[instance_id] = action
def __init__(self, menu_bar, plugin_manager):
super(PluginMenu, self).__init__()
self.setObjectName('PluginMenu')
plugin_menu = menu_bar.addMenu(menu_bar.tr('&Plugins'))
running_menu = menu_bar.addMenu(menu_bar.tr('&Running'))
self._plugin_menu_manager = MenuManager(plugin_menu)
self._plugin_mapper = QSignalMapper(plugin_menu)
self._plugin_mapper.mapped[str].connect(self.load_plugin_signal)
self._running_menu_manager = MenuManager(running_menu)
action = QAction(' Hidden action to work around QTBUG-52582', self._running_menu_manager.menu)
action.setVisible(False)
self._running_menu_manager.add_item(action)
self._running_mapper = QSignalMapper(running_menu)
self._running_mapper.mapped[str].connect(self.unload_plugin_signal)
self._instances = {}
def addDockWidget(self, dock_widget):
# remove action for same dock widget if exists
self.removeDockWidget(dock_widget)
icon = dock_widget.windowIcon()
if icon.isNull():
icon = QIcon.fromTheme('folder')
title = dock_widget.windowTitle()
action = QAction(icon, title, self)
# truncate label if necessary
if len(title) > MinimizedDockWidgetsToolbar.max_label_length:
action.setToolTip(title)
action.setIconText(
title[0:MinimizedDockWidgetsToolbar.max_label_length] + '...')
self._signal_mapper.setMapping(action, dock_widget)
action.triggered.connect(self._signal_mapper.map)
self._dock_widgets[dock_widget] = action
self.addAction(action)
self.show()
def main(self,
argv=None,
standalone=None,
plugin_argument_provider=None,
plugin_manager_settings_prefix=''):
if argv is None:
argv = sys.argv
# extract --args and everything behind manually since argparse can not handle that
arguments = argv[1:]
# extract plugin specific args when not being invoked in standalone mode programmatically
if not standalone:
plugin_args = []
if '--args' in arguments:
index = arguments.index('--args')
plugin_args = arguments[index + 1:]
arguments = arguments[0:index + 1]
parser = ArgumentParser(os.path.basename(Main.main_filename),
add_help=False)
self.add_arguments(parser,
standalone=bool(standalone),
plugin_argument_provider=plugin_argument_provider)
self._options = parser.parse_args(arguments)
self._options.multi_process = False # not supported anymore
if standalone:
# rerun parsing to separate common arguments from plugin specific arguments
parser = ArgumentParser(os.path.basename(Main.main_filename),
add_help=False)
self.add_arguments(parser, standalone=bool(standalone))
self._options, plugin_args = parser.parse_known_args(arguments)
self._options.plugin_args = plugin_args
# set default values for options not available in standalone mode
if standalone:
self._options.freeze_layout = False
self._options.lock_perspective = False
self._options.hide_title = False
self._options.perspective = None
self._options.perspective_file = None
self._options.standalone_plugin = standalone
self._options.list_perspectives = False
self._options.list_plugins = False
self._options.command_pid = None
self._options.command_start_plugin = None
self._options.command_switch_perspective = None
self._options.embed_plugin = None
self._options.embed_plugin_serial = None
self._options.embed_plugin_address = None
# check option dependencies
try:
if self._options.plugin_args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
raise RuntimeError(
'Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option'
)
if self._options.freeze_layout and not self._options.lock_perspective:
raise RuntimeError(
'Option --freeze_layout can only be used together with the --lock_perspective option'
)
list_options = (self._options.list_perspectives,
self._options.list_plugins)
list_options_set = [
opt for opt in list_options if opt is not False
]
if len(list_options_set) > 1:
raise RuntimeError(
'Only one --list-* option can be used at a time')
command_options = (self._options.command_start_plugin,
self._options.command_switch_perspective)
command_options_set = [
opt for opt in command_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --command-* options are not available'
)
if len(command_options_set) > 1:
raise RuntimeError(
'Only one --command-* option can be used at a time (except --command-pid which is optional)'
)
if len(command_options_set
) == 0 and self._options.command_pid is not None:
raise RuntimeError(
'Option --command_pid can only be used together with an other --command-* option'
)
embed_options = (self._options.embed_plugin,
self._options.embed_plugin_serial,
self._options.embed_plugin_address)
embed_options_set = [
opt for opt in embed_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --embed-* options are not available'
)
if len(embed_options_set) > 0 and len(embed_options_set) < len(
embed_options):
raise RuntimeError(
'Missing option(s) - all \'--embed-*\' options must be set'
)
if len(embed_options_set) > 0 and self._options.clear_config:
raise RuntimeError(
'Option --clear-config can only be used without any --embed-* option'
)
groups = (list_options_set, command_options_set, embed_options_set)
groups_set = [opt for opt in groups if len(opt) > 0]
if len(groups_set) > 1:
raise RuntimeError(
'Options from different groups (--list, --command, --embed) can not be used together'
)
perspective_options = (self._options.perspective,
self._options.perspective_file)
perspective_options_set = [
opt for opt in perspective_options if opt is not None
]
if len(perspective_options_set) > 1:
raise RuntimeError(
'Only one --perspective-* option can be used at a time')
if self._options.perspective_file is not None and not os.path.isfile(
self._options.perspective_file):
raise RuntimeError(
'Option --perspective-file must reference existing file')
except RuntimeError as e:
print(str(e))
#parser.parse_args(['--help'])
# calling --help will exit
return 1
# set implicit option dependencies
if self._options.standalone_plugin is not None:
self._options.lock_perspective = True
# create application context containing various relevant information
from .application_context import ApplicationContext
context = ApplicationContext()
context.qtgui_path = self._qtgui_path
context.options = self._options
if self._dbus_available:
from dbus import DBusException, Interface, SessionBus
# non-special applications provide various dbus interfaces
if self._dbus_available:
context.provide_app_dbus_interfaces = len(groups_set) == 0
context.dbus_base_bus_name = 'org.ros.qt_gui'
if context.provide_app_dbus_interfaces:
context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid(
)
# provide pid of application via dbus
from .application_dbus_interface import ApplicationDBusInterface
_dbus_server = ApplicationDBusInterface(
context.dbus_base_bus_name)
# determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
if len(command_options_set) > 0 or len(embed_options_set) > 0:
host_pid = None
if self._options.command_pid is not None:
host_pid = self._options.command_pid
else:
try:
remote_object = SessionBus().get_object(
context.dbus_base_bus_name, '/Application')
except DBusException:
pass
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.Application')
host_pid = remote_interface.get_pid()
if host_pid is not None:
context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid
# execute command on host application instance
if len(command_options_set) > 0:
if self._options.command_start_plugin is not None:
try:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PluginManager')
except DBusException:
(rc,
msg) = (1,
'unable to communicate with GUI instance "%s"' %
context.dbus_host_bus_name)
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PluginManager')
(rc, msg) = remote_interface.start_plugin(
self._options.command_start_plugin,
' '.join(self._options.plugin_args))
if rc == 0:
print('qt_gui_main() started plugin "%s" in GUI "%s"' %
(msg, context.dbus_host_bus_name))
else:
print(
'qt_gui_main() could not start plugin "%s" in GUI "%s": %s'
% (self._options.command_start_plugin,
context.dbus_host_bus_name, msg))
return rc
elif self._options.command_switch_perspective is not None:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PerspectiveManager')
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PerspectiveManager')
remote_interface.switch_perspective(
self._options.command_switch_perspective)
print(
'qt_gui_main() switched to perspective "%s" in GUI "%s"' %
(self._options.command_switch_perspective,
context.dbus_host_bus_name))
return 0
raise RuntimeError('Unknown command not handled')
# choose selected or default qt binding
setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
from python_qt_binding import QT_BINDING
from python_qt_binding.QtCore import qDebug, qInstallMessageHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
from python_qt_binding.QtGui import QIcon
from python_qt_binding.QtWidgets import QAction, QMenuBar
from .about_handler import AboutHandler
from .composite_plugin_provider import CompositePluginProvider
from .container_manager import ContainerManager
from .help_provider import HelpProvider
from .icon_loader import get_icon
from .main_window import MainWindow
from .minimized_dock_widgets_toolbar import MinimizedDockWidgetsToolbar
from .perspective_manager import PerspectiveManager
from .plugin_manager import PluginManager
# TODO PySide2 segfaults when invoking this custom message handler atm
if QT_BINDING != 'pyside':
def message_handler(type_, context, msg):
colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
cyan_color = '\033[36m' if colored_output else ''
red_color = '\033[31m' if colored_output else ''
reset_color = '\033[0m' if colored_output else ''
if type_ == QtDebugMsg and self._options.verbose:
print(msg, file=sys.stderr)
elif type_ == QtWarningMsg:
print(cyan_color + msg + reset_color, file=sys.stderr)
elif type_ == QtCriticalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
elif type_ == QtFatalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
sys.exit(1)
qInstallMessageHandler(message_handler)
app = self.create_application(argv)
self._check_icon_theme_compliance()
settings = QSettings(QSettings.IniFormat, QSettings.UserScope,
'ros.org', self._settings_filename)
if len(embed_options_set) == 0:
if self._options.clear_config:
settings.clear()
main_window = MainWindow()
if self._options.on_top:
main_window.setWindowFlags(Qt.WindowStaysOnTopHint)
main_window.statusBar()
def sigint_handler(*args):
qDebug('\nsigint_handler()')
main_window.close()
signal.signal(signal.SIGINT, sigint_handler)
# the timer enables triggering the sigint_handler
timer = QTimer()
timer.start(500)
timer.timeout.connect(lambda: None)
if not self._options.lock_perspective:
menu_bar = main_window.menuBar()
file_menu = menu_bar.addMenu(menu_bar.tr('&File'))
action = QAction(file_menu.tr('&Quit'), file_menu)
action.setIcon(QIcon.fromTheme('application-exit'))
action.triggered.connect(main_window.close)
file_menu.addAction(action)
else:
menu_bar = None
else:
app.setQuitOnLastWindowClosed(False)
main_window = None
menu_bar = None
self._add_plugin_providers()
# setup plugin manager
plugin_provider = CompositePluginProvider(self.plugin_providers)
plugin_manager = PluginManager(
plugin_provider,
settings,
context,
settings_prefix=plugin_manager_settings_prefix)
if self._options.list_plugins:
# output available plugins
print('\n'.join(sorted(plugin_manager.get_plugins().values())))
return 0
help_provider = HelpProvider()
plugin_manager.plugin_help_signal.connect(
help_provider.plugin_help_request)
# setup perspective manager
if main_window is not None:
perspective_manager = PerspectiveManager(settings, context)
if self._options.list_perspectives:
# output available perspectives
print('\n'.join(sorted(perspective_manager.perspectives)))
return 0
else:
perspective_manager = None
if main_window is not None:
container_manager = ContainerManager(main_window, plugin_manager)
plugin_manager.set_main_window(main_window, menu_bar,
container_manager)
if not self._options.freeze_layout:
minimized_dock_widgets_toolbar = MinimizedDockWidgetsToolbar(
container_manager, main_window)
main_window.addToolBar(Qt.BottomToolBarArea,
minimized_dock_widgets_toolbar)
plugin_manager.set_minimized_dock_widgets_toolbar(
minimized_dock_widgets_toolbar)
if menu_bar is not None:
perspective_menu = menu_bar.addMenu(menu_bar.tr('P&erspectives'))
perspective_manager.set_menu(perspective_menu)
# connect various signals and slots
if perspective_manager is not None and main_window is not None:
# signal changed perspective to update window title
perspective_manager.perspective_changed_signal.connect(
main_window.perspective_changed)
# signal new settings due to changed perspective
perspective_manager.save_settings_signal.connect(
main_window.save_settings)
perspective_manager.restore_settings_signal.connect(
main_window.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
main_window.restore_settings)
if perspective_manager is not None and plugin_manager is not None:
perspective_manager.save_settings_signal.connect(
plugin_manager.save_settings)
plugin_manager.save_settings_completed_signal.connect(
perspective_manager.save_settings_completed)
perspective_manager.restore_settings_signal.connect(
plugin_manager.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
plugin_manager.restore_settings_without_plugins)
if plugin_manager is not None and main_window is not None:
# signal before changing plugins to save window state
plugin_manager.plugins_about_to_change_signal.connect(
main_window.save_setup)
# signal changed plugins to restore window state
plugin_manager.plugins_changed_signal.connect(
main_window.restore_state)
# signal save settings to store plugin setup on close
main_window.save_settings_before_close_signal.connect(
plugin_manager.close_application)
# signal save and shutdown called for all plugins, trigger closing main window again
plugin_manager.close_application_signal.connect(
main_window.close, type=Qt.QueuedConnection)
if main_window is not None and menu_bar is not None:
about_handler = AboutHandler(context.qtgui_path, main_window)
help_menu = menu_bar.addMenu(menu_bar.tr('&Help'))
action = QAction(help_menu.tr('&About'), help_menu)
action.setIcon(QIcon.fromTheme('help-about'))
action.triggered.connect(about_handler.show)
help_menu.addAction(action)
# set initial size - only used without saved configuration
if main_window is not None:
main_window.resize(600, 450)
main_window.move(100, 100)
# ensure that qt_gui/src is in sys.path
src_path = os.path.realpath(
os.path.join(os.path.dirname(__file__), '..'))
if src_path not in sys.path:
sys.path.append(src_path)
# load specific plugin
plugin = None
plugin_serial = None
if self._options.embed_plugin is not None:
plugin = self._options.embed_plugin
plugin_serial = self._options.embed_plugin_serial
elif self._options.standalone_plugin is not None:
plugin = self._options.standalone_plugin
plugin_serial = 0
if plugin is not None:
plugins = plugin_manager.find_plugins_by_name(plugin)
if len(plugins) == 0:
print('qt_gui_main() found no plugin matching "%s"' % plugin)
print('try passing the option "--force-discover"')
return 1
elif len(plugins) > 1:
print(
'qt_gui_main() found multiple plugins matching "%s"\n%s' %
(plugin, '\n'.join(plugins.values())))
return 1
plugin = list(plugins.keys())[0]
qDebug('QtBindingHelper using %s' % QT_BINDING)
plugin_manager.discover()
if self._options.reload_import:
qDebug(
'ReloadImporter() automatically reload all subsequent imports')
from .reload_importer import ReloadImporter
_reload_importer = ReloadImporter()
self._add_reload_paths(_reload_importer)
_reload_importer.enable()
# switch perspective
if perspective_manager is not None:
if plugin:
perspective_manager.set_perspective(
plugin, hide_and_without_plugin_changes=True)
elif self._options.perspective_file:
perspective_manager.import_perspective_from_file(
self._options.perspective_file,
perspective_manager.HIDDEN_PREFIX +
os.path.basename(self._options.perspective_file))
else:
perspective_manager.set_perspective(self._options.perspective)
# load specific plugin
if plugin:
plugin_manager.load_plugin(plugin, plugin_serial,
self._options.plugin_args)
running = plugin_manager.is_plugin_running(plugin, plugin_serial)
if not running:
return 1
if self._options.standalone_plugin:
# use icon of standalone plugin (if available) for application
plugin_descriptor = plugin_manager.get_plugin_descriptor(
plugin)
action_attributes = plugin_descriptor.action_attributes()
if 'icon' in action_attributes and action_attributes[
'icon'] is not None:
base_path = plugin_descriptor.attributes().get(
'plugin_path')
try:
icon = get_icon(
action_attributes['icon'],
action_attributes.get('icontype', None), base_path)
except UserWarning:
pass
else:
app.setWindowIcon(icon)
if main_window is not None:
main_window.show()
if sys.platform == 'darwin':
main_window.raise_()
return app.exec_()
def __init__(self, context):
super(HandEyeCalibration, self).__init__(context)
self.context = context
self.node = context.node
self.widget = QWidget()
self.widget.setObjectName(self.PLUGIN_TITLE)
self.widget.setWindowTitle(self.PLUGIN_TITLE)
# Data
self.Tsamples = []
# Toolbar
_, path_pkg = get_resource('packages', 'handeye_dashboard')
print("{}".format(path_pkg))
self.snapshot_action = QAction(QIcon.fromTheme('camera-photo'),
'Take a snapshot', self.widget)
path = path_pkg + '/share/handeye_dashboard/images/capture.png'
self.calibrate_action = QAction(QIcon(QPixmap.fromImage(QImage(path))),
'Get the camera/robot transform',
self.widget)
self.clear_action = QAction(QIcon.fromTheme('edit-clear'),
'Clear the record data.', self.widget)
path = path_pkg + '/share/handeye_dashboard/images/UR5.png'
self.execut_action = QAction(QIcon(QPixmap.fromImage(QImage(path))),
'EStart the publishing the TF.',
self.widget)
self.toolbar = QToolBar()
self.toolbar.addAction(self.snapshot_action)
self.toolbar.addAction(self.calibrate_action)
self.toolbar.addAction(self.clear_action)
self.toolbar.addAction(self.execut_action)
# Toolbar0
self.l0 = QLabel(self.widget)
self.l0.setText("Camera-Mount-Type: ")
self.l0.setFixedWidth(150)
self.l0.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.combobox = QComboBox(self.widget)
self.combobox.addItem('attached on robot')
self.combobox.addItem('fixed beside robot')
self.toolbar0 = QToolBar()
self.toolbar0.addWidget(self.l0)
self.toolbar0.addWidget(self.combobox)
# Toolbar1
self.l1 = QLabel(self.widget)
self.l1.setText("Camera-Frame: ")
self.l1.setFixedWidth(150)
self.l1.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.camera_frame = QLineEdit(self.widget)
self.camera_frame.setText("camera_link")
self.toolbar1 = QToolBar()
self.toolbar1.addWidget(self.l1)
self.toolbar1.addWidget(self.camera_frame)
# Toolbar2
self.l2 = QLabel(self.widget)
self.l2.setText("Object-Frame: ")
self.l2.setFixedWidth(150)
self.l2.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.object_frame = QLineEdit(self.widget)
self.object_frame.setText("calib_board")
self.toolbar2 = QToolBar()
self.toolbar2.addWidget(self.l2)
self.toolbar2.addWidget(self.object_frame)
# Toolbar3
self.l3 = QLabel(self.widget)
self.l3.setText("Robot-Base-Frame: ")
self.l3.setFixedWidth(150)
self.l3.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.base_frame = QLineEdit(self.widget)
self.base_frame.setText("base")
self.toolbar3 = QToolBar()
self.toolbar3.addWidget(self.l3)
self.toolbar3.addWidget(self.base_frame)
# Toolbar4
self.l4 = QLabel(self.widget)
self.l4.setText("End-Effector-Frame: ")
self.l4.setFixedWidth(150)
self.l4.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.endeffector_frame = QLineEdit(self.widget)
self.endeffector_frame.setText("tool0")
self.toolbar4 = QToolBar()
self.toolbar4.addWidget(self.l4)
self.toolbar4.addWidget(self.endeffector_frame)
# Toolbar5
self.l5 = QLabel(self.widget)
self.l5.setText("Sample-Number: ")
self.l5.setFixedWidth(150)
self.l5.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.le5 = QLineEdit(self.widget)
self.le5.setValidator(QIntValidator())
self.le5.setText('10')
self.le5.setReadOnly(True)
self.toolbar5 = QToolBar()
self.toolbar5.addWidget(self.l5)
self.toolbar5.addWidget(self.le5)
# TreeView
self.treeview = QTreeView()
self.treeview.setAlternatingRowColors(True)
self.model = QStandardItemModel(self.treeview)
self.treeview.setModel(self.model)
self.treeview.setHeaderHidden(True)
# TextEdit
self.textedit = QTextEdit(self.widget)
self.textedit.setReadOnly(True)
# Layout
self.layout = QVBoxLayout()
self.layout.addWidget(self.toolbar0)
self.layout.addWidget(self.toolbar1)
self.layout.addWidget(self.toolbar2)
self.layout.addWidget(self.toolbar3)
self.layout.addWidget(self.toolbar4)
self.layout.addWidget(self.toolbar5)
self.layout.addWidget(self.toolbar)
self.layoutH = QHBoxLayout()
self.layoutH.addWidget(self.treeview)
self.layoutH.addWidget(self.textedit)
self.layout.addLayout(self.layoutH)
self.widget.setLayout(self.layout)
# Add the widget to the user interface
if context.serial_number() > 1:
self.widget.setWindowTitle(self.widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self.widget)
# Make the connections
self.snapshot_action.triggered.connect(self.take_snapshot)
self.calibrate_action.triggered.connect(self.calibration)
self.clear_action.triggered.connect(self.clear)
self.execut_action.triggered.connect(self.execution)
# Package path
self.path_pkg = path_pkg
# Set up TF
self.cli = self.node.create_client(HandeyeTF, 'handeye_tf_service')
while not self.cli.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info(
'service not available, waiting again...')
self.req = HandeyeTF.Request()
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
remove_action = QAction(self.tr('Remove message'), menu)
menu.addAction(remove_action)
action = menu.exec_(event.globalPos())
if action == text_action:
self._logger.debug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
# We strip any array information for loading the python classes
selected_type_bare = selected_type
if selected_type_bare.find('[') >= 0:
selected_type_bare = selected_type_bare[:selected_type_bare.
find('[')]
# We use the number of '/' to determine of the selected type is a msg, action, srv,
# or primitive type.
# NOTE (mlautman - 2/4/19) this heuristic seems brittle and should be removed
selected_type_bare_tokens_len = len(selected_type_bare.split('/'))
# We only want the base class so we transform eg. pkg1/my_srv/Request -> pkg1/my_srv
if selected_type_bare_tokens_len > 2:
selected_type_bare = "/".join(
selected_type_bare.split('/')[:2])
browsetext = None
# If the type does not have '/'s then we treat it as a primitive type
if selected_type_bare_tokens_len == 1:
browsetext = selected_type
# if the type has a single '/' then we treat it as a msg type
elif selected_type_bare_tokens_len == 2:
msg_class = get_message_class(selected_type_bare)
browsetext = get_message_text_from_class(msg_class)
# If the type has two '/'s then we treat it as a srv or action type
elif selected_type_bare_tokens_len == 3:
if self._mode == message_helpers.SRV_MODE:
msg_class = get_service_class(selected_type_bare)
browsetext = get_service_text_from_class(msg_class)
elif self._mode == message_helpers.ACTION_MODE:
msg_class = get_action_class(selected_type_bare)
browsetext = get_action_text_from_class(msg_class)
else:
self._logger.warn("Unrecognized value for self._mode: {} "
"for selected_type: {}".format(
self._mode, selected_type))
else:
self._logger.warn(
"Invalid selected_type: {}".format(selected_type))
if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext))
self._browsers[-1].show()
if action == remove_action:
self._messages_tree.model().removeRow(selected[0].row())