class RqtDotGraphViewer(Plugin):
"""rqt GUI plugin to visualize dot graphs."""
def __init__(self, context):
"""Initialize the plugin."""
super().__init__(context)
self._context = context
self.subscription = None
self.graph = None
self.filename = None
# only declare the parameter if running standalone or it's the first instance
if self._context.serial_number() <= 1:
self._context.node.declare_parameter("title", "Dot Graph Viewer")
self.title = self._context.node.get_parameter("title").value
supported_formats = QImageWriter.supportedImageFormats()
self.image_filter = (
";;".join([f"*.{fo.data().decode()}"
for fo in supported_formats]) + ";;*.svg")
self._widget = QWidget()
self.setObjectName(self.title)
_, package_path = get_resource("packages", "rqt_dotgraph")
ui_file = os.path.join(package_path, "share", "rqt_dotgraph",
"resource", "rqt_dotgraph.ui")
loadUi(ui_file, self._widget, {"DotWidget": DotWidget})
self._widget.setObjectName(self.title + "UI")
self._widget.refreshButton.clicked[bool].connect(
self.update_subscriber)
self._widget.loadButton.clicked[bool].connect(self.load_graph)
self._widget.saveButton.clicked[bool].connect(self.save_graph)
title = self.title
if self._context.serial_number() > 1:
title += f" ({self._context.serial_number()})"
self._context.add_widget(self._widget)
self._widget.setWindowTitle(title)
# only set main window title if running standalone
if self._context.serial_number() < 1:
self._widget.window().setWindowTitle(self.title)
self.setup_subscription("dot_graph")
def update_subscriber(self):
"""Update ROS 2 subscription with topic from text box."""
if self.subscription is not None:
self._context.node.destroy_subscription(self.subscription)
self.subscription = None
self.graph = None
topic = self._widget.topicText.text()
self.setup_subscription(topic)
def setup_subscription(self, topic):
"""Create the ROS 2 subscription."""
self.subscription = self._context.node.create_subscription(
String, topic, self.plan_graph_callback, 10)
self._widget.topicText.setText(self.subscription.topic_name)
def plan_graph_callback(self, msg):
"""Receive the dot graph string."""
zoom_to_fit = self.graph is None
self.graph = msg.data
self.refresh_graph(zoom_to_fit)
def refresh_graph(self, zoom_to_fit):
"""Update the dot graph displayed by the plugin."""
if self.graph is None:
return
self._context.node.get_logger().debug(self.graph)
# Capture stdout and stderr and output as an info level log
# because ROS2 logging levels when launching are broken.
new_out = io.StringIO()
new_err = io.StringIO()
with contextlib.redirect_stdout(new_out):
with contextlib.redirect_stderr(new_err):
self._widget.xdot_widget.set_dotcode(self.graph)
self._context.node.get_logger().debug(new_out.getvalue())
self._context.node.get_logger().debug(new_err.getvalue())
if zoom_to_fit:
self._widget.xdot_widget.zoom_to_fit()
self._widget.xdot_widget.update()
def load_graph(self):
"""Load a dot graph from a file."""
ret = QFileDialog.getOpenFileName(self._widget, "Load graph",
"untitled.dot",
"Dot files (*.dot *.xdot)")
if ret[0]:
with open(ret[0], "r", encoding="utf8") as dotfile:
self.filename = ret[0]
self.graph = dotfile.read()
self.refresh_graph(True)
if self.subscription is not None:
self.subscription.destroy()
self.subscription = None
def save_graph(self):
"""Save the current dot graph as an image."""
if self.graph is None:
return
ret = QFileDialog.getSaveFileName(self._widget, "Save graph as",
"untitled.png", self.image_filter,
"*.png")
if ret[0]:
_, extension = os.path.splitext(ret[0])
if extension == ".svg":
gen = QSvgGenerator()
gen.setFileName(ret[0])
gen.setSize(self._widget.xdot_widget.size())
gen.setViewBox(self._widget.xdot_widget.rect())
self._widget.xdot_widget.grab().save(ret[0])
self._widget.xdot_widget.render(gen)
else:
self._widget.xdot_widget.grab().save(ret[0])
# Qt methods
def shutdown_plugin(self):
"""Shutdown plugin."""
def save_settings(self, plugin_settings, instance_settings):
"""Save settings."""
def restore_settings(self, plugin_settings, instance_settings):
"""Restore settings."""
