class DotGraph(QtGui.QGraphicsScene):
def __init__(self):
# Init the base class
QtGui.QGraphicsScene.__init__(self)
# dot_to_qt transforms into Qt elements using dot layout
self._dot_to_qt = DotToQtGenerator()
# The pydotfactory
self._dot_factory = PydotFactory()
self._graph = None
pass
def drawDot(self, data):
self._graph = pydot.dot_parser.parse_dot_data(data)
# Clean current drawing
self.clear()
highlight_level = 3
dot = self._dot_factory.create_dot(self._graph)
# layout graph and create qt items
(nodes, edges) = self._dot_to_qt.dotcode_to_qt_items(dot, highlight_level, True)
for node_item in nodes.itervalues():
self.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self)
self.setSceneRect(self.itemsBoundingRect())
def __init__(self, context):
super(CapabilityGraph, self).__init__(context)
self.setObjectName('CapabilityGraph')
self.__current_dotcode = None
self.__widget = QWidget()
self.__dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui')
loadUi(ui_file, self.__widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self.__widget.setObjectName('CapabilityGraphUI')
if context.serial_number() > 1:
self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number()))
self.__scene = QGraphicsScene()
self.__scene.setBackgroundBrush(Qt.white)
self.__widget.graphics_view.setScene(self.__scene)
self.__widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self.__widget.refresh_graph_push_button.pressed.connect(self.__update_capabilities_graph)
self.__update_capabilities_graph()
self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection)
self.__deferred_fit_in_view.emit()
context.add_widget(self.__widget)
class DotGraph(QtGui.QGraphicsScene):
def __init__(self):
#Init the base class
QtGui.QGraphicsScene.__init__(self)
# dot_to_qt transforms into Qt elements using dot layout
self._dot_to_qt = DotToQtGenerator()
#The pydotfactory
self._dot_factory = PydotFactory()
self._graph = None
pass
def drawDot(self, data):
self._graph = pydot.dot_parser.parse_dot_data(data)
#Clean current drawing
self.clear()
highlight_level = 3
dot = self._dot_factory.create_dot(self._graph)
# layout graph and create qt items
(nodes, edges) = self._dot_to_qt.dotcode_to_qt_items(dot,
highlight_level,
True)
for node_item in nodes.itervalues():
self.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self)
self.setSceneRect(self.itemsBoundingRect())
def test_simple_integration(self):
if DotToQtGeneratorTest._Q_APP is None:
raise unittest.case.SkipTest
(nodes, edges) = DotToQtGenerator().dotcode_to_qt_items(
DotToQtGeneratorTest.DOT_CODE, 1)
self.assertEqual(3, len(nodes)) # cluster_foo, foo and bar
self.assertEqual(1, len(edges)) # foo -> bar
def __init__(self, context):
super(CapabilityGraph, self).__init__(context)
self.setObjectName('CapabilityGraph')
self.__current_dotcode = None
self.__running_providers = []
self.__spec_index = None
self.__widget = QWidget()
self.__dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources',
'CapabilityGraph.ui')
loadUi(
ui_file, self.__widget, {
'CapabilitiesInteractiveGraphicsView':
CapabilitiesInteractiveGraphicsView
})
self.__widget.setObjectName('CapabilityGraphUI')
if context.serial_number() > 1:
self.__widget.setWindowTitle(self.__widget.windowTitle() +
(' (%d)' % context.serial_number()))
self.__scene = QGraphicsScene()
self.__scene.setBackgroundBrush(Qt.white)
self.__widget.graphics_view.setScene(self.__scene)
self.__widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self.__widget.refresh_graph_push_button.pressed.connect(
self.__refresh_view)
self.__refresh_view()
self.__deferred_fit_in_view.connect(self.__fit_in_view,
Qt.QueuedConnection)
self.__deferred_fit_in_view.emit()
self.__redraw_graph.connect(self.__update_capabilities_graph)
# TODO: use user provided server node name
rospy.Subscriber('/capability_server/events', CapabilityEvent,
self.__handle_event)
context.add_widget(self.__widget)
def __init__(self, dotFile, maxDistance):
"""
* dotfile -- the path to the dot file to load
* maxDistance -- the maximum distance from the node to allow
"""
QtGui.QWidget.__init__(self)
self.__dotFile = dotFile
self.__maxDistance = maxDistance
# Load the graph from the dot file
self.__graph = DotFileGraph(dotFile)
self.__dotcode = None
# Create a layout for the widget
self.__layout = QtGui.QVBoxLayout()
self.setLayout(self.__layout)
# Create the graphics scene and view to display the graph
self.__scene = QtGui.QGraphicsScene()
self.__scene.setBackgroundBrush(Qt.white)
self.__view = QtGui.QGraphicsView()
self.__view.setScene(self.__scene)
self.__layout.addWidget(self.__view)
# Create a slider to change the parent depth
self.__aboveSlider, self.__aboveLabel = self.__createDistanceSlider(
"Distance above", self.__graph.getAboveDistance(),
self.__onAboveDistance)
# Create a slider to change the child depth
self.__belowSlider, self.__belowLabel = self.__createDistanceSlider(
"Distance below", self.__graph.getBelowDistance(),
self.__onBelowDistance)
# Create a list to view all nodes
self.__createNodeListWidget()
# Generates QT widgets from dot code
self.__dotToQt = DotToQtGenerator()
# Do the initial display of the graph
self.updateGraph()
self.setGeometry(0, 0, 1000, 600)
def __init__(self, context):
super(RosTfTree, self).__init__(context)
self.initialized = False
self.setObjectName('RosTfTree')
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosTfTreeDotcodeGenerator()
self.tf2_buffer_ = tf2_ros.Buffer()
self.tf2_listener_ = tf2_ros.TransformListener(self.tf2_buffer_)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_tf_tree'), 'resource', 'RosTfTree.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosTfTreeUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_tf_graph)
self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image-x-generic'))
self._widget.save_as_image_push_button.pressed.connect(self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
self._force_refresh = False
def __init__(self):
# Init the base class
QtGui.QGraphicsScene.__init__(self)
# dot_to_qt transforms into Qt elements using dot layout
self._dot_to_qt = DotToQtGenerator()
# The pydotfactory
self._dot_factory = PydotFactory()
self._graph = None
pass
def test_label_sizes(self):
(nodes, edges) = DotToQtGenerator().dotcode_to_qt_items(DotToQtGeneratorTest.DOT_CODE, 1)
self.longMessage = True
for name, node in nodes.items():
shape_rect = node._graphics_item.sceneBoundingRect()
label_rect = node._label.sceneBoundingRect()
self.assertLess(
label_rect.width(),
shape_rect.width(),
'Label text for "%s" is wider than surrounding shape.' % name)
self.assertLess(
label_rect.height(),
shape_rect.height(),
'Label text for "%s" is higher than surrounding shape.' % name)
def test_label_sizes(self):
if DotToQtGeneratorTest._Q_APP is None:
raise unittest.case.SkipTest
(nodes, edges) = DotToQtGenerator().dotcode_to_qt_items(
DotToQtGeneratorTest.DOT_CODE, 1)
self.longMessage = True
for name, node in nodes.items():
shape_rect = node._graphics_item.sceneBoundingRect()
label_rect = node._label.sceneBoundingRect()
self.assertLess(
label_rect.width(), shape_rect.width(),
"Label text for '%s' is wider than surrounding shape." % name)
self.assertLess(
label_rect.height(), shape_rect.height(),
"Label text for '%s' is higher than surrounding shape." % name)
def __init__(self, context):
super(CapabilityGraph, self).__init__(context)
self.setObjectName('CapabilityGraph')
self.__current_dotcode = None
self.__running_providers = []
self.__spec_index = None
self.__widget = QWidget()
self.__dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui')
loadUi(ui_file, self.__widget, {'CapabilitiesInteractiveGraphicsView': CapabilitiesInteractiveGraphicsView})
self.__widget.setObjectName('CapabilityGraphUI')
if context.serial_number() > 1:
self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number()))
self.__scene = QGraphicsScene()
self.__scene.setBackgroundBrush(Qt.white)
self.__widget.graphics_view.setScene(self.__scene)
self.__widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self.__widget.refresh_graph_push_button.pressed.connect(self.__refresh_view)
self.__refresh_view()
self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection)
self.__deferred_fit_in_view.emit()
self.__redraw_graph.connect(self.__update_capabilities_graph)
# TODO: use user provided server node name
rospy.Subscriber('/capability_server/events', CapabilityEvent, self.__handle_event)
context.add_widget(self.__widget)
def test_simpleIntegration(self):
gen = DotToQtGenerator()
dotcode = 'digraph graphname {\n\tgraph [rank=same];\n\tnode [label="\\N"];\n\tgraph [bb="0,0,56,116"];\n\tsubgraph cluster_foo {\n\t\tgraph [label=foo,\n\t\t\tbb="1,1,100,101"];\n\t}\n\tfoo [label=foo, shape=box, pos="28,98", width="0.75", height="0.50"];\n\tedge_ [label=edge_, shape=box, pos="28,26", width="0.78", height="0.50"];\n\tfoo -> edge_ [pos="e,28,44 28,80 28,72 28,63 28,54"];\n}\n'
(nodes, edges) = gen.dotcode_to_qt_items(dotcode, 1)
self.assertEqual(3, len(nodes)) # also for stack
self.assertEqual(1, len(nodes))
class GraphGogglesWidget(QtGui.QWidget):
"""A QT Widget to selectively view the graph of a dot file."""
def __init__(self, dotFile, maxDistance):
"""
* dotfile -- the path to the dot file to load
* maxDistance -- the maximum distance from the node to allow
"""
QtGui.QWidget.__init__(self)
self.__dotFile = dotFile
self.__maxDistance = maxDistance
# Load the graph from the dot file
self.__graph = DotFileGraph(dotFile)
self.__dotcode = None
# Create a layout for the widget
self.__layout = QtGui.QVBoxLayout()
self.setLayout(self.__layout)
# Create the graphics scene and view to display the graph
self.__scene = QtGui.QGraphicsScene()
self.__scene.setBackgroundBrush(Qt.white)
self.__view = QtGui.QGraphicsView()
self.__view.setScene(self.__scene)
self.__layout.addWidget(self.__view)
# Create a slider to change the parent depth
self.__aboveSlider, self.__aboveLabel = self.__createDistanceSlider(
"Distance above", self.__graph.getAboveDistance(),
self.__onAboveDistance)
# Create a slider to change the child depth
self.__belowSlider, self.__belowLabel = self.__createDistanceSlider(
"Distance below", self.__graph.getBelowDistance(),
self.__onBelowDistance)
# Create a list to view all nodes
self.__createNodeListWidget()
# Generates QT widgets from dot code
self.__dotToQt = DotToQtGenerator()
# Do the initial display of the graph
self.updateGraph()
self.setGeometry(0, 0, 1000, 600)
def getDotFile(self):
"""Get the dot file that is being viewed."""
return self.__dotFile
def getSelectedNode(self):
"""Get the name of the currently selected node"""
return self.__graph.getSelectedNode()
def onSaveAs(self, saveFilename):
"""Save the current graph to the given file.
* saveFilename -- the file to save the graph to
"""
# Write the dot code to the file
if self.__dotcode is not None:
fd = open(saveFilename, "w")
fd.write(self.__dotcode)
fd.close()
def updateGraph(self):
"""Update the graph."""
self.__scene.clear()
# Generate the dot graph
self.__dotcode = self.__graph.getDotCode(
orientation='UD', rank='same',
simplify=False) # Allow duplicate edges
# Generate the QT items corresponding to the given dot graph
highlight_level = 3
(nodes, edges) = self.__dotToQt.dotcode_to_qt_items(
self.__dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
# Add all the QT items to the scene
for node_item in nodes.itervalues():
self.__scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self.__scene)
self.__scene.setSceneRect(self.__scene.itemsBoundingRect())
def __onAboveDistance(self, distance):
"""Called when the above distance is changed.
* distance -- the new above distance
"""
# Update the label
label = "%s" % distance
self.__aboveLabel.setText(label)
self.__graph.setAboveDistance(distance)
self.updateGraph() # Redisplay the graph
def __onBelowDistance(self, distance):
"""Called when the below distance is changed.
* distance -- the new below distance
"""
# Update the label
label = "%s" % distance
self.__belowLabel.setText(label)
self.__graph.setBelowDistance(distance)
self.updateGraph() # Redisplay the graph
def __onSelectNode(self, node):
"""Called when a node is selected.
* node -- the selected node
"""
self.__graph.setSelectedNode(node)
self.updateGraph() # Redisplay the graph
def __onNodeClicked(self, current, previous):
"""Called when a node is clicked in the list of nodes.
* current -- the current node selected
* previous -- the previously selected node
"""
self.__onSelectNode(current.text())
def __createDistanceSlider(self, label, distance, callback):
"""Create a slider widget to control the distance from the
selected node.
* label -- the label for the slider
* distance -- the default distance value
* callback -- the function to call when the slider is changed
"""
frame = QtGui.QFrame()
layout = QtGui.QHBoxLayout()
frame.setLayout(layout)
# Create a main label for the slider
label = QtGui.QLabel("%s:" % label)
layout.addWidget(label)
# Create the slider
slider = QtGui.QSlider(QtCore.Qt.Horizontal)
slider.setMinimum(0)
slider.setMaximum(self.__maxDistance)
slider.setValue(distance)
slider.setTickPosition(QtGui.QSlider.TicksBelow)
slider.setTickInterval(1) # Every 1 level
slider.valueChanged.connect(callback)
layout.addWidget(slider)
# Create a label to display the value
label = QtGui.QLabel("%s" % distance)
layout.addWidget(label)
# Add a button to reset the slider to its original value
resetButton = QtGui.QPushButton("Reset")
resetButton.clicked.connect(self.__getClickWrapper(slider, distance))
layout.addWidget(resetButton)
self.__layout.addWidget(frame)
return slider, label
def __createNodeListWidget(self):
"""Create a list widget to display all possible nodes."""
frame = QtGui.QFrame()
layout = QtGui.QVBoxLayout()
frame.setLayout(layout)
# Add a label
label = QtGui.QLabel("Nodes:")
layout.addWidget(label)
# Add the list of known nodes
self.__nodeListWidget = QtGui.QListWidget()
layout.addWidget(self.__nodeListWidget)
# Display nodes in alphabetical order
sortedNodes = sorted(self.__graph.getNodes())
for node in sortedNodes:
self.__nodeListWidget.addItem(node)
# Update the graph with the currently selected widget
self.__nodeListWidget.currentItemChanged.connect(self.__onNodeClicked)
self.__layout.addWidget(frame)
def __getClickWrapper(self, slider, resetValue):
"""Get a function wrapper to reset the given slider.
* slider -- reset the slider
* resetValue -- the value to reset the slider to
"""
def __wrapper():
slider.setValue(resetValue)
return __wrapper
def __init__(self, context):
super(RosGraph, self).__init__(context)
self.initialized = False
self.setObjectName('RosGraph')
self._graph = None
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosGraphDotcodeGenerator()
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_graph'), 'resource', 'RosGraph.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.graph_type_combo_box.insertItem(0, self.tr('Nodes only'), NODE_NODE_GRAPH)
self._widget.graph_type_combo_box.insertItem(1, self.tr('Nodes/Topics (active)'), NODE_TOPIC_GRAPH)
self._widget.graph_type_combo_box.insertItem(2, self.tr('Nodes/Topics (all)'), NODE_TOPIC_ALL_GRAPH)
self._widget.graph_type_combo_box.setCurrentIndex(0)
self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph)
self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False)
completer = RepeatedWordCompleter(self.node_completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph)
self._widget.filter_line_edit.setCompleter(completer)
self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False)
topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self)
topic_completer.setCompletionMode(QCompleter.PopupCompletion)
topic_completer.setWrapAround(True)
topic_completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph)
self._widget.topic_filter_line_edit.setCompleter(topic_completer)
self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.actionlib_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.dead_sinks_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.leaf_topics_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.quiet_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_rosgraph)
self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(self._save_image)
self._update_rosgraph()
self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
class TopicGraphWidget(QWidget):
def __init__(self, ros: Ros, parent=None):
super(TopicGraphWidget, self).__init__(parent)
self.ros_client = ros
layout = QVBoxLayout()
self._widget = QWidget()
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._graphics_view = InteractiveGraphicsView(self._widget)
self._graphics_view.setScene(self._scene)
self._graphics_view.setRenderHints(QPainter.Antialiasing
| QPainter.HighQualityAntialiasing
| QPainter.SmoothPixmapTransform
| QPainter.TextAntialiasing)
self._graphics_view.setResizeAnchor(QGraphicsView.AnchorViewCenter)
layout.addWidget(self._graphics_view)
self._refresh_button = QPushButton('加载数据')
self._refresh_button.setFixedWidth(100)
self._refresh_button.clicked.connect(self._draw_graph_view)
btn_layout = QHBoxLayout()
btn_layout.addWidget(self._refresh_button)
layout.addLayout(btn_layout)
self.setLayout(layout)
self._current_dotcode = None
self.dot_to_qt = DotToQtGenerator()
self.dotcode_factory = PydotFactory()
self.dotcode_generator = RosGraphDotcodeGenerator(self.ros_client)
self._graph = graph.Graph(self.ros_client)
self._graph.set_master_stale(5.0)
self._graph.set_node_stale(5.0)
def _generate_dotcode(self):
ns_filter = '/'
topic_filter = '/'
graph_mode = NODE_TOPIC_ALL_GRAPH
orientation = 'LR'
namespace_cluster = 2
accumulate_actions = True
hide_dead_end_topics = False
hide_single_connection_topics = True
quiet = True
unreachable = True
group_tf_nodes = True
hide_tf_nodes = False
group_image_nodes = True
hide_dynamic_reconfigure = True
return self.dotcode_generator.generate_dotcode(
rosgraphinst=self._graph,
ns_filter=ns_filter,
topic_filter=topic_filter,
graph_mode=graph_mode,
hide_single_connection_topics=hide_single_connection_topics,
hide_dead_end_topics=hide_dead_end_topics,
cluster_namespaces_level=namespace_cluster,
accumulate_actions=accumulate_actions,
dotcode_factory=self.dotcode_factory,
orientation=orientation,
quiet=quiet,
unreachable=unreachable,
group_tf_nodes=group_tf_nodes,
hide_tf_nodes=hide_tf_nodes,
group_image_nodes=group_image_nodes,
hide_dynamic_reconfigure=hide_dynamic_reconfigure)
def _draw_graph_view(self):
if self.ros_client is None:
QMessageBox.critical(self, "错误", '未连接ROS')
return
if not self.ros_client.is_connected:
QMessageBox.critical(self, "错误", '连接中断，请重新连接')
return
self._graph.update()
self._current_dotcode = self._generate_dotcode()
self._scene.clear()
(nodes,
edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode,
highlight_level=3,
same_label_siblings=True,
scene=self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
self._fit_in_view()
def resizeEvent(self, e):
self._fit_in_view()
QWidget.resizeEvent(self, e)
def _fit_in_view(self):
self._graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
class RosGraph(Plugin):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(RosGraph, self).__init__(context)
self.initialized = False
self.setObjectName('RosGraph')
self._graph = None
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosGraphDotcodeGenerator()
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RosGraph.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.graph_type_combo_box.insertItem(0, self.tr('Nodes only'), NODE_NODE_GRAPH)
self._widget.graph_type_combo_box.insertItem(1, self.tr('Nodes/Topics (active)'), NODE_TOPIC_GRAPH)
self._widget.graph_type_combo_box.insertItem(2, self.tr('Nodes/Topics (all)'), NODE_TOPIC_ALL_GRAPH)
self._widget.graph_type_combo_box.setCurrentIndex(0)
self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph)
self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False)
completer = RepeatedWordCompleter(self.node_completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph)
self._widget.filter_line_edit.setCompleter(completer)
self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False)
topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self)
topic_completer.setCompletionMode(QCompleter.PopupCompletion)
topic_completer.setWrapAround(True)
topic_completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph)
self._widget.topic_filter_line_edit.setCompleter(topic_completer)
self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.actionlib_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.dead_sinks_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.leaf_topics_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.quiet_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_rosgraph)
self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(self._save_image)
self._update_rosgraph()
self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('graph_type_combo_box_index', self._widget.graph_type_combo_box.currentIndex())
instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text())
instance_settings.set_value('topic_filter_line_edit_text', self._widget.topic_filter_line_edit.text())
instance_settings.set_value('namespace_cluster_check_box_state', self._widget.namespace_cluster_check_box.isChecked())
instance_settings.set_value('actionlib_check_box_state', self._widget.actionlib_check_box.isChecked())
instance_settings.set_value('dead_sinks_check_box_state', self._widget.dead_sinks_check_box.isChecked())
instance_settings.set_value('leaf_topics_check_box_state', self._widget.leaf_topics_check_box.isChecked())
instance_settings.set_value('quiet_check_box_state', self._widget.quiet_check_box.isChecked())
instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
self._widget.graph_type_combo_box.setCurrentIndex(int(instance_settings.value('graph_type_combo_box_index', 0)))
self._widget.filter_line_edit.setText(instance_settings.value('filter_line_edit_text', '/'))
self._widget.topic_filter_line_edit.setText(instance_settings.value('topic_filter_line_edit_text', '/'))
self._widget.namespace_cluster_check_box.setChecked(instance_settings.value('namespace_cluster_check_box_state', True) in [True, 'true'])
self._widget.actionlib_check_box.setChecked(instance_settings.value('actionlib_check_box_state', True) in [True, 'true'])
self._widget.dead_sinks_check_box.setChecked(instance_settings.value('dead_sinks_check_box_state', True) in [True, 'true'])
self._widget.leaf_topics_check_box.setChecked(instance_settings.value('leaf_topics_check_box_state', True) in [True, 'true'])
self._widget.quiet_check_box.setChecked(instance_settings.value('quiet_check_box_state', True) in [True, 'true'])
self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true'])
self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true'])
self.initialized = True
self._refresh_rosgraph()
def _update_rosgraph(self):
# re-enable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(True)
self._widget.filter_line_edit.setEnabled(True)
self._widget.topic_filter_line_edit.setEnabled(True)
self._widget.namespace_cluster_check_box.setEnabled(True)
self._widget.actionlib_check_box.setEnabled(True)
self._widget.dead_sinks_check_box.setEnabled(True)
self._widget.leaf_topics_check_box.setEnabled(True)
self._widget.quiet_check_box.setEnabled(True)
self._graph = rosgraph.impl.graph.Graph()
self._graph.set_master_stale(5.0)
self._graph.set_node_stale(5.0)
self._graph.update()
self.node_completionmodel.refresh(self._graph.nn_nodes)
self.topic_completionmodel.refresh(self._graph.nt_nodes)
self._refresh_rosgraph()
def _refresh_rosgraph(self):
if not self.initialized:
return
self._update_graph_view(self._generate_dotcode())
def _generate_dotcode(self):
ns_filter = self._widget.filter_line_edit.text()
topic_filter = self._widget.topic_filter_line_edit.text()
graph_mode = self._widget.graph_type_combo_box.itemData(self._widget.graph_type_combo_box.currentIndex())
orientation = 'LR'
if self._widget.namespace_cluster_check_box.isChecked():
namespace_cluster = 1
else:
namespace_cluster = 0
accumulate_actions = self._widget.actionlib_check_box.isChecked()
hide_dead_end_topics = self._widget.dead_sinks_check_box.isChecked()
hide_single_connection_topics = self._widget.leaf_topics_check_box.isChecked()
quiet = self._widget.quiet_check_box.isChecked()
return self.dotcode_generator.generate_dotcode(
rosgraphinst=self._graph,
ns_filter=ns_filter,
topic_filter=topic_filter,
graph_mode=graph_mode,
hide_single_connection_topics=hide_single_connection_topics,
hide_dead_end_topics=hide_dead_end_topics,
cluster_namespaces_level=namespace_cluster,
accumulate_actions=accumulate_actions,
dotcode_factory=self.dotcode_factory,
orientation=orientation,
quiet=quiet)
def _update_graph_view(self, dotcode):
if dotcode == self._current_dotcode:
return
self._current_dotcode = dotcode
self._redraw_graph_view()
def _generate_tool_tip(self, url):
if url is not None and ':' in url:
item_type, item_path = url.split(':', 1)
if item_type == 'node':
tool_tip = 'Node:\n %s' % (item_path)
service_names = rosservice.get_service_list(node=item_path)
if service_names:
tool_tip += '\nServices:'
for service_name in service_names:
try:
service_type = rosservice.get_service_type(service_name)
tool_tip += '\n %s [%s]' % (service_name, service_type)
except rosservice.ROSServiceIOException as e:
tool_tip += '\n %s' % (e)
return tool_tip
elif item_type == 'topic':
topic_type, topic_name, _ = rostopic.get_topic_type(item_path)
return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type)
return url
def _redraw_graph_view(self):
self._scene.clear()
if self._widget.highlight_connections_check_box.isChecked():
highlight_level = 3
else:
highlight_level = 1
# layout graph and create qt items
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
for node_item in nodes.itervalues():
self._scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.topic_filter_line_edit.setEnabled(False)
self._widget.namespace_cluster_check_box.setEnabled(False)
self._widget.actionlib_check_box.setEnabled(False)
self._widget.dead_sinks_check_box.setEnabled(False)
self._widget.leaf_topics_check_box.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rosgraph.dot', self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
handle = QFile(file_name)
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
return
handle.write(self._current_dotcode)
handle.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
class RosPackGraph(Plugin):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(RosPackGraph, self).__init__(context)
self.initialized = False
self._current_dotcode = None
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
self._nodes = {}
self._edges = {}
self._options = {}
self._options_serialized = ''
self.setObjectName('RosPackGraph')
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosPackageGraphDotcodeGenerator(
rospack, rosstack)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_dep'), 'resource',
'RosPackGraph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosPackGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1)
self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2)
self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3)
self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4)
self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5)
self._widget.depth_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0)
self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'),
1)
self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2)
self._widget.directions_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
self._widget.package_type_combo_box.insertItem(0, self.tr('wet & dry'),
3)
self._widget.package_type_combo_box.insertItem(1, self.tr('wet only'),
2)
self._widget.package_type_combo_box.insertItem(2, self.tr('dry only'),
1)
self._widget.package_type_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
completionmodel = StackageCompletionModel(
self._widget.filter_line_edit, rospack, rosstack)
completer = RepeatedWordCompleter(completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(
self._refresh_rospackgraph)
self._widget.filter_line_edit.setCompleter(completer)
self._widget.filter_line_edit.selectionChanged.connect(
self._clear_filter)
self._widget.with_stacks_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.colorize_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.hide_transitives_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.show_system_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(
self._update_rospackgraph)
self._widget.highlight_connections_check_box.toggled.connect(
self._refresh_rospackgraph)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._refresh_rospackgraph)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
# If in either of following case, this turnes True
# - 1st filtering key is already input by user
# - filtering key is restored
self._filtering_started = False
def shutdown_plugin(self):
self._update_thread.kill()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value(
'depth_combo_box_index',
self._widget.depth_combo_box.currentIndex())
instance_settings.set_value(
'directions_combo_box_index',
self._widget.directions_combo_box.currentIndex())
instance_settings.set_value(
'package_type_combo_box',
self._widget.package_type_combo_box.currentIndex())
instance_settings.set_value('filter_line_edit_text',
self._widget.filter_line_edit.text())
instance_settings.set_value(
'with_stacks_state',
self._widget.with_stacks_check_box.isChecked())
instance_settings.set_value(
'hide_transitives_state',
self._widget.hide_transitives_check_box.isChecked())
instance_settings.set_value(
'show_system_state',
self._widget.show_system_check_box.isChecked())
instance_settings.set_value('mark_state',
self._widget.mark_check_box.isChecked())
instance_settings.set_value(
'colorize_state', self._widget.colorize_check_box.isChecked())
instance_settings.set_value(
'auto_fit_graph_check_box_state',
self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value(
'highlight_connections_check_box_state',
self._widget.highlight_connections_check_box.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
_str_filter = instance_settings.value('filter_line_edit_text', '')
if (_str_filter == None or _str_filter == '') and \
not self._filtering_started:
_str_filter = '(Separate pkgs by comma)'
else:
self._filtering_started = True
self._widget.depth_combo_box.setCurrentIndex(
int(instance_settings.value('depth_combo_box_index', 0)))
self._widget.directions_combo_box.setCurrentIndex(
int(instance_settings.value('directions_combo_box_index', 0)))
self._widget.package_type_combo_box.setCurrentIndex(
int(instance_settings.value('package_type_combo_box', 0)))
self._widget.filter_line_edit.setText(_str_filter)
self._widget.with_stacks_check_box.setChecked(
instance_settings.value('with_stacks_state', True) in
[True, 'true'])
self._widget.mark_check_box.setChecked(
instance_settings.value('mark_state', True) in [True, 'true'])
self._widget.colorize_check_box.setChecked(
instance_settings.value('colorize_state', False) in [True, 'true'])
self._widget.hide_transitives_check_box.setChecked(
instance_settings.value('hide_transitives_state', False) in
[True, 'true'])
self._widget.show_system_check_box.setChecked(
instance_settings.value('show_system_state', False) in
[True, 'true'])
self._widget.auto_fit_graph_check_box.setChecked(
instance_settings.value('auto_fit_graph_check_box_state', True) in
[True, 'true'])
self._widget.highlight_connections_check_box.setChecked(
instance_settings.value('highlight_connections_check_box_state',
True) in [True, 'true'])
self.initialized = True
self._refresh_rospackgraph()
def _update_rospackgraph(self):
# re-enable controls customizing fetched ROS graph
self._widget.depth_combo_box.setEnabled(True)
self._widget.directions_combo_box.setEnabled(True)
self._widget.package_type_combo_box.setEnabled(True)
self._widget.filter_line_edit.setEnabled(True)
self._widget.with_stacks_check_box.setEnabled(True)
self._widget.mark_check_box.setEnabled(True)
self._widget.colorize_check_box.setEnabled(True)
self._widget.hide_transitives_check_box.setEnabled(True)
self._widget.show_system_check_box.setEnabled(True)
self._refresh_rospackgraph(force_update=True)
def _update_options(self):
self._options['depth'] = self._widget.depth_combo_box.itemData(
self._widget.depth_combo_box.currentIndex())
self._options[
'directions'] = self._widget.directions_combo_box.itemData(
self._widget.directions_combo_box.currentIndex())
self._options[
'package_types'] = self._widget.package_type_combo_box.itemData(
self._widget.package_type_combo_box.currentIndex())
self._options[
'with_stacks'] = self._widget.with_stacks_check_box.isChecked()
self._options['mark_selected'] = self._widget.mark_check_box.isChecked(
)
self._options[
'hide_transitives'] = self._widget.hide_transitives_check_box.isChecked(
)
self._options[
'show_system'] = self._widget.show_system_check_box.isChecked()
# TODO: Allow different color themes
self._options[
'colortheme'] = True if self._widget.colorize_check_box.isChecked(
) else None
self._options['names'] = self._widget.filter_line_edit.text().split(
',')
if self._options['names'] == [u'None']:
self._options['names'] = []
self._options[
'highlight_level'] = 3 if self._widget.highlight_connections_check_box.isChecked(
) else 1
self._options[
'auto_fit'] = self._widget.auto_fit_graph_check_box.isChecked()
def _refresh_rospackgraph(self, force_update=False):
if not self.initialized:
return
self._update_thread.kill()
self._update_options()
# avoid update if options did not change and force_update is not set
new_options_serialized = pickle.dumps(self._options)
if new_options_serialized == self._options_serialized and not force_update:
return
self._options_serialized = pickle.dumps(self._options)
self._scene.setBackgroundBrush(Qt.lightGray)
self._update_thread.start()
# this runs in a non-gui thread, so don't access widgets here directly
def _update_thread_run(self):
self._update_graph(self._generate_dotcode())
@Slot()
def _update_finished(self):
self._scene.setBackgroundBrush(Qt.white)
self._redraw_graph_scene()
# this runs in a non-gui thread, so don't access widgets here directly
def _generate_dotcode(self):
includes = []
excludes = []
for name in self._options['names']:
if name.strip().startswith('-'):
excludes.append(name.strip()[1:])
else:
includes.append(name.strip())
# orientation = 'LR'
descendants = True
ancestors = True
if self._options['directions'] == 1:
descendants = False
if self._options['directions'] == 0:
ancestors = False
return self.dotcode_generator.generate_dotcode(
dotcode_factory=self.dotcode_factory,
selected_names=includes,
excludes=excludes,
depth=self._options['depth'],
with_stacks=self._options['with_stacks'],
descendants=descendants,
ancestors=ancestors,
mark_selected=self._options['mark_selected'],
colortheme=self._options['colortheme'],
hide_transitives=self._options['hide_transitives'],
show_system=self._options['show_system'],
hide_wet=self._options['package_types'] == 1,
hide_dry=self._options['package_types'] == 2)
# this runs in a non-gui thread, so don't access widgets here directly
def _update_graph(self, dotcode):
self._current_dotcode = dotcode
self._nodes, self._edges = self.dot_to_qt.dotcode_to_qt_items(
self._current_dotcode, self._options['highlight_level'])
def _generate_tool_tip(self, url):
if url is not None and ':' in url:
item_type, item_path = url.split(':', 1)
if item_type == 'node':
tool_tip = 'Node:\n %s' % (item_path)
service_names = rosservice.get_service_list(node=item_path)
if service_names:
tool_tip += '\nServices:'
for service_name in service_names:
try:
service_type = rosservice.get_service_type(
service_name)
tool_tip += '\n %s [%s]' % (service_name,
service_type)
except rosservice.ROSServiceIOException as e:
tool_tip += '\n %s' % (e)
return tool_tip
elif item_type == 'topic':
topic_type, topic_name, _ = rostopic.get_topic_type(item_path)
return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type)
return url
def _redraw_graph_scene(self):
# remove items in order to not garbage nodes which will be continued to be used
for item in self._scene.items():
self._scene.removeItem(item)
self._scene.clear()
for node_item in self._nodes.values():
self._scene.addItem(node_item)
for edge_items in self._edges.values():
for edge_item in edge_items:
edge_item.add_to_scene(self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self._options['auto_fit']:
self._fit_in_view()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.depth_combo_box.setEnabled(False)
self._widget.directions_combo_box.setEnabled(False)
self._widget.package_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.with_stacks_check_box.setEnabled(False)
self._widget.mark_check_box.setEnabled(False)
self._widget.colorize_check_box.setEnabled(False)
self._widget.hide_transitives_check_box.setEnabled(False)
self._widget.show_system_check_box.setEnabled(False)
self._update_graph(dotcode)
self._redraw_graph_scene()
@Slot()
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as DOT'), 'rospackgraph.dot',
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
handle = QFile(file_name)
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
return
handle.write(self._current_dotcode)
handle.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as SVG'), 'rospackgraph.svg',
self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as image'), 'rospackgraph.png',
self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def _clear_filter(self):
if not self._filtering_started:
self._widget.filter_line_edit.setText('')
self._filtering_started = True
class VinoGraph(Plugin):
def __init__(self, context):
super(VinoGraph, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('VinoGraph')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_vino_plugin'),
'resource', 'rqt_vino_plugin.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
# Give QObjects reasonable names
self._widget.setObjectName('VinoGraphUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple QListView
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
#A dict which stores pipeline name and dotgraph pair
self._dotgraphs = dict()
#which dotgraph currently drawing on the scence
self._current_dotcode = None
self._current_pipeline_name = ''
#Pydot
self.dotcode_factory = VinoPydotFactory()
self.dot_to_qt = DotToQtGenerator()
self.param_manager = ParamManagerWrapper()
#Binding scene canvas
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.graphics_view.setClickNodeCallback(self._edit_node)
#QListview of pipelines
self._listmodel = QStandardItemModel()
self._widget.pipeline_name_listview.clicked.connect(
self._display_choosed_pipeline)
#self._widget.pipeline_name_listview.itemRenamed.connect(self._rename_pipeline)
#Load pipelines from yaml file
self._widget.load_pipeline_push_button.clicked.connect(
self._load_pipeline)
#Create a pipeline
self._widget.create_pipeline_push_button.clicked.connect(
self._create_pipeline)
#Add input to pipeline graph
self._widget.add_input_push_button.clicked.connect(self._add_input)
#Add infer
self._widget.add_inference_push_button.clicked.connect(self._add_infer)
self._widget.add_output_push_button.clicked.connect(self._add_output)
self._widget.save_pipeline_push_button.clicked.connect(
self._save_pipeline)
self.models_desc_file_path = os.path.join(
rospkg.RosPack().get_path('vino_param_lib'), 'param',
'models.yaml')
# Add widget to the user interface
context.add_widget(self._widget)
def shutdown_plugin(self):
# TODO unregister all publishers here
pass
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
def _refresh_rosgraph(self):
self._widget.pipeline_name_listview.setModel(self._listmodel)
self._widget.pipeline_name_listview.show()
self._redraw_graph_view()
# if not self.initialized:
# return
# self._update_graph_view(self._generate_dotcode())
def _rename_pipeline(self, item, col):
pass
def _display_choosed_pipeline(self, index):
pipeline_name = self._listmodel.data(index)
if pipeline_name in self._dotgraphs.iterkeys():
self._current_pipeline_name = pipeline_name
self._refresh_rosgraph()
def _load_pipeline(self):
self._dotgraphs.clear()
self._listmodel.clear()
file_path, _ = QFileDialog.getOpenFileName(
self._widget, "QFileDialog.getOpenFileName()", "", "*.yaml")
self._dotgraphs = generate_dotcode_from_yaml_file(
self.dotcode_factory, self.param_manager, str(file_path))
for pipeline_name, pipeline_dotgraph in self._dotgraphs.items():
pipeline_item = QStandardItem()
pipeline_item.setText(pipeline_name)
self._listmodel.appendRow(pipeline_item)
self._current_pipeline_name = self._dotgraphs.iterkeys().next()
self._refresh_rosgraph()
#self._display_choosed_pipeline(pipeline_item)
def _redraw_graph_view(self):
self._scene.clear()
if self._dotgraphs == None:
return
self._current_dotcode = self.dotcode_factory.create_dot(
self._dotgraphs[self._current_pipeline_name])
highlight_level = 2
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(
self._current_dotcode,
highlight_level=highlight_level,
same_label_siblings=False,
scene=self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
#if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _add_input(self):
dlg = InputDialog('add',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _add_infer(self):
if self._current_pipeline_name == '':
return
dlg = InferenceDialog('add',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
self.models_desc_file_path,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _edit_node(self, nodename=''):
if self._current_pipeline_name == '':
return
selected_node = self._dotgraphs[self._current_pipeline_name].get_node(
nodename.encode('utf-8'))[0]
selected_node_type = selected_node.get('nodetype')
if selected_node_type == 'input':
self._edit_input(nodename)
elif selected_node_type == 'infer':
self._edit_infer(nodename)
elif selected_node_type == 'output':
self._edit_output(nodename)
def _edit_infer(self, nodename=''):
dlg = InferenceDialog('edit',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
self.models_desc_file_path,
nodename=nodename,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _edit_input(self, nodename=''):
dlg = InputDialog('edit',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
nodename=nodename,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _edit_output(self, nodename=''):
dlg = OutputDialog('edit',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
models_desc_file_path=self.models_desc_file_path,
nodename=nodename,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _add_output(self):
dlg = OutputDialog('add',
self._dotgraphs[self._current_pipeline_name],
self.dotcode_factory,
dotparser,
self.param_manager,
models_desc_file_path=self.models_desc_file_path,
parent=self._widget)
dlg.exec_()
self._refresh_rosgraph()
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _create_pipeline(self):
pipeline_name, okPressed = QInputDialog.getText(
self._widget, "Create a new pipeline", "new pipeline name:",
QLineEdit.Normal, "")
if okPressed != True or pipeline_name == '':
#Empty name
return
pipeline_item = QStandardItem()
pipeline_item.setText(pipeline_name)
self._listmodel.appendRow(pipeline_item)
new_dotgraph = dotparser.generate_dotcode_from_empty(
self.dotcode_factory, pipeline_name)
self._dotgraphs.update(new_dotgraph)
self._current_pipeline_name = pipeline_name
self._refresh_rosgraph()
def _save_pipeline(self):
# print(self._dotgraphs )
self.dotcode_factory.parse_nodes(
self._dotgraphs[self._current_pipeline_name])
def __init__(self, context):
super(RosBehaviourTree, self).__init__(context)
self.setObjectName('RosBehaviourTree')
parser = argparse.ArgumentParser()
RosBehaviourTree.add_arguments(parser, False)
# if the context doesn't have an argv attribute then assume we're running with --no-roscore
if not hasattr(context, 'argv'):
args = sys.argv[1:]
# Can run the viewer with or without live updating. Running without is
# intended for viewing of bags only
self.live_update = False
else:
args = context.argv()
self.live_update = True
parsed_args = parser.parse_args(args)
self.context = context
self.initialized = False
self._current_dotcode = None # dotcode for the tree that is currently displayed
self._viewing_bag = False # true if a bag file is loaded
# True if next or previous buttons are pressed. Reset if the tree being
# viewed is the last one in the list.
self._browsing_timeline = False
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PygraphvizFactory() # PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosBehaviourTreeDotcodeGenerator()
self.current_topic = None
self.behaviour_sub = None
self._tip_message = None # message of the tip of the tree
self._saved_settings_topic = None # topic subscribed to by previous instance
self.visibility_level = py_trees.common.VisibilityLevel.DETAIL
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_py_trees'), 'resource',
'RosBehaviourTree.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosBehaviourTreeUi')
if hasattr(context, 'serial_number') and context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_bag_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_bag_push_button.pressed.connect(self._load_bag)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
for text in visibility.combo_to_py_trees:
self._widget.visibility_level_combo_box.addItem(text)
self._widget.visibility_level_combo_box.setCurrentIndex(
self.visibility_level)
self._widget.visibility_level_combo_box.currentIndexChanged[
'QString'].connect(self._update_visibility_level)
# set up the function that is called whenever the box is resized -
# ensures that the timeline is correctly drawn.
self._widget.resizeEvent = self._resize_event
self._timeline = None
self._timeline_listener = None
# Connect the message changed function of this object to a corresponding
# signal. This signal will be activated whenever the message being
# viewed changes.
self._message_changed.connect(self.message_changed)
self._message_cleared.connect(self.message_cleared)
# Set up combo box for topic selection
# when the refresh_combo signal happens, update the combo topics available
self._refresh_combo.connect(self._update_combo_topics)
# filter events to catch the event which opens the combo box
self._combo_event_filter = RosBehaviourTree.ComboBoxEventFilter(
self._refresh_combo)
self._widget.topic_combo_box.installEventFilter(
self._combo_event_filter)
self._widget.topic_combo_box.activated.connect(self._choose_topic)
self._update_combo_topics()
# Set up navigation buttons
self._widget.previous_tool_button.pressed.connect(self._previous)
self._widget.previous_tool_button.setIcon(
QIcon.fromTheme('go-previous'))
self._widget.next_tool_button.pressed.connect(self._next)
self._widget.next_tool_button.setIcon(QIcon.fromTheme('go-next'))
self._widget.first_tool_button.pressed.connect(self._first)
self._widget.first_tool_button.setIcon(QIcon.fromTheme('go-first'))
self._widget.last_tool_button.pressed.connect(self._last)
self._widget.last_tool_button.setIcon(QIcon.fromTheme('go-last'))
# play, pause and stop buttons
self._widget.play_tool_button.pressed.connect(self._play)
self._widget.play_tool_button.setIcon(
QIcon.fromTheme('media-playback-start'))
self._widget.stop_tool_button.pressed.connect(self._stop)
self._widget.stop_tool_button.setIcon(
QIcon.fromTheme('media-playback-stop'))
# also connect the navigation buttons so that they stop the timer when
# pressed while the tree is playing.
self._widget.first_tool_button.pressed.connect(self._stop)
self._widget.previous_tool_button.pressed.connect(self._stop)
self._widget.last_tool_button.pressed.connect(self._stop)
self._widget.next_tool_button.pressed.connect(self._stop)
# set up shortcuts for navigation (vim)
next_shortcut_vi = QShortcut(QKeySequence("l"), self._widget)
next_shortcut_vi.activated.connect(
self._widget.next_tool_button.pressed)
previous_shortcut_vi = QShortcut(QKeySequence("h"), self._widget)
previous_shortcut_vi.activated.connect(
self._widget.previous_tool_button.pressed)
first_shortcut_vi = QShortcut(QKeySequence("^"), self._widget)
first_shortcut_vi.activated.connect(
self._widget.first_tool_button.pressed)
last_shortcut_vi = QShortcut(QKeySequence("$"), self._widget)
last_shortcut_vi.activated.connect(
self._widget.last_tool_button.pressed)
# shortcuts for emacs
next_shortcut_emacs = QShortcut(QKeySequence("Ctrl+f"), self._widget)
next_shortcut_emacs.activated.connect(
self._widget.next_tool_button.pressed)
previous_shortcut_emacs = QShortcut(QKeySequence("Ctrl+b"),
self._widget)
previous_shortcut_emacs.activated.connect(
self._widget.previous_tool_button.pressed)
first_shortcut_emacs = QShortcut(QKeySequence("Ctrl+a"), self._widget)
first_shortcut_emacs.activated.connect(
self._widget.first_tool_button.pressed)
last_shortcut_emacs = QShortcut(QKeySequence("Ctrl+e"), self._widget)
last_shortcut_emacs.activated.connect(
self._widget.last_tool_button.pressed)
# set up stuff for dotcode cache
self._dotcode_cache_capacity = 50
self._dotcode_cache = {}
# cache is ordered on timestamps from messages, but earliest timestamp
# isn't necessarily the message that was viewed the longest time ago, so
# need to store keys
self._dotcode_cache_keys = []
# set up stuff for scene cache (dotcode cache doesn't seem to make much difference)
self._scene_cache_capacity = 50
self._scene_cache = {}
self._scene_cache_keys = []
# Update the timeline buttons to correspond with a completely
# uninitialised state.
self._set_timeline_buttons(first_snapshot=False,
previous_snapshot=False,
next_snapshot=False,
last_snapshot=False)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
# This is used to store a timer which controls how fast updates happen when the play button is pressed.
self._play_timer = None
# updates the view
self._refresh_view.connect(self._refresh_tree_graph)
self._force_refresh = False
if self.live_update:
context.add_widget(self._widget)
else:
self.initialized = True # this needs to be set for trees to be displayed
context.setCentralWidget(self._widget)
if parsed_args.bag:
self._load_bag(parsed_args.bag)
elif parsed_args.latest_bag:
# if the latest bag is requested, load it from the default directory, or
# the one specified in the args
bag_dir = parsed_args.bag_dir or os.getenv(
'ROS_HOME', os.path.expanduser('~/.ros')) + '/behaviour_trees'
self.open_latest_bag(bag_dir, parsed_args.by_time)
def test_simple_integration(self):
(nodes, edges) = DotToQtGenerator().dotcode_to_qt_items(DotToQtGeneratorTest.DOT_CODE, 1)
self.assertEqual(3, len(nodes)) # cluster_foo, foo and bar
self.assertEqual(1, len(edges)) # foo -> bar
class CapabilityGraph(Plugin):
__deferred_fit_in_view = Signal()
def __init__(self, context):
super(CapabilityGraph, self).__init__(context)
self.setObjectName('CapabilityGraph')
self.__current_dotcode = None
self.__widget = QWidget()
self.__dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui')
loadUi(ui_file, self.__widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self.__widget.setObjectName('CapabilityGraphUI')
if context.serial_number() > 1:
self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number()))
self.__scene = QGraphicsScene()
self.__scene.setBackgroundBrush(Qt.white)
self.__widget.graphics_view.setScene(self.__scene)
self.__widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self.__widget.refresh_graph_push_button.pressed.connect(self.__update_capabilities_graph)
self.__update_capabilities_graph()
self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection)
self.__deferred_fit_in_view.emit()
context.add_widget(self.__widget)
def __update_capabilities_graph(self):
self.__update_graph_view(self.__generate_dotcode())
def __generate_dotcode(self):
return generate_dotcode_from_capability_info()
def __update_graph_view(self, dotcode):
if dotcode == self.__current_dotcode:
return
self.__current_dotcode = dotcode
self.__redraw_graph_view()
def __fit_in_view(self):
self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(), Qt.KeepAspectRatio)
def __redraw_graph_view(self):
self.__scene.clear()
highlight_level = 1
# layout graph and create qt items
(nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items(self.__current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
for node_item in nodes.itervalues():
self.__scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self.__scene)
self.__scene.setSceneRect(self.__scene.itemsBoundingRect())
self.__fit_in_view()
def __init__(self, context):
super(GatewayGraph, self).__init__(context)
self.initialised = False
self.setObjectName('Gateway Graph')
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
self.dotcode_generator = RosGraphDotcodeGenerator()
self.dot_to_qt = DotToQtGenerator()
self._graph = Graph()
rospack = rospkg.RosPack()
ui_file = os.path.join(rospack.get_path('rocon_gateway_graph'), 'ui',
'gateway_graph.ui')
#ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'ui', 'gateway_graph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('GatewayGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(
self._update_gateway_graph)
self._widget.graph_type_combo_box.insertItem(0, self.tr('Gateways'),
GATEWAY_GATEWAY_GRAPH)
self._widget.graph_type_combo_box.insertItem(
1, self.tr('Pulled Connections'), GATEWAY_PULLED_GRAPH)
self._widget.graph_type_combo_box.insertItem(
2, self.tr('Flipped Connections'), GATEWAY_FLIPPED_GRAPH)
self._widget.graph_type_combo_box.setCurrentIndex(0)
self._widget.graph_type_combo_box.currentIndexChanged.connect(
self._refresh_rosgraph)
self.node_completionmodel = NamespaceCompletionModel(
self._widget.filter_line_edit, False)
completer = RepeatedWordCompleter(self.node_completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(
self._refresh_rosgraph)
self._widget.filter_line_edit.setCompleter(completer)
self.topic_completionmodel = NamespaceCompletionModel(
self._widget.topic_filter_line_edit, False)
topic_completer = RepeatedWordCompleter(self.topic_completionmodel,
self)
topic_completer.setCompletionMode(QCompleter.PopupCompletion)
topic_completer.setWrapAround(True)
topic_completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.topic_filter_line_edit.editingFinished.connect(
self._refresh_rosgraph)
self._widget.topic_filter_line_edit.setCompleter(topic_completer)
self._widget.namespace_cluster_check_box.clicked.connect(
self._refresh_rosgraph)
self._widget.watchlist_check_box.clicked.connect(
self._refresh_rosgraph)
self._widget.all_advertisements_check_box.clicked.connect(
self._refresh_rosgraph)
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._update_gateway_graph()
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
class CapabilityGraph(Plugin):
__deferred_fit_in_view = Signal()
__redraw_graph = Signal()
def __init__(self, context):
super(CapabilityGraph, self).__init__(context)
self.setObjectName('CapabilityGraph')
self.__current_dotcode = None
self.__running_providers = []
self.__spec_index = None
self.__widget = QWidget()
self.__dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui')
loadUi(ui_file, self.__widget, {'CapabilitiesInteractiveGraphicsView': CapabilitiesInteractiveGraphicsView})
self.__widget.setObjectName('CapabilityGraphUI')
if context.serial_number() > 1:
self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number()))
self.__scene = QGraphicsScene()
self.__scene.setBackgroundBrush(Qt.white)
self.__widget.graphics_view.setScene(self.__scene)
self.__widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self.__widget.refresh_graph_push_button.pressed.connect(self.__refresh_view)
self.__refresh_view()
self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection)
self.__deferred_fit_in_view.emit()
self.__redraw_graph.connect(self.__update_capabilities_graph)
# TODO: use user provided server node name
rospy.Subscriber('/capability_server/events', CapabilityEvent, self.__handle_event)
context.add_widget(self.__widget)
def __handle_event(self, msg):
if msg.type == CapabilityEvent.STOPPED:
return
if msg.type == CapabilityEvent.LAUNCHED and msg.provider not in self.__running_providers:
self.__running_providers.append(msg.provider)
if msg.type == CapabilityEvent.TERMINATED and msg.provider in self.__running_providers:
self.__running_providers.remove(msg.provider)
self.__redraw_graph.emit()
def __get_specs(self):
self.__spec_index, errors = spec_index_from_service()
assert not errors
def __get_running_providers(self):
# TODO: replace 'capability_server' with user provided server name
service_name = '/{0}/get_running_capabilities'.format('capability_server')
rospy.wait_for_service(service_name)
get_running_capabilities = rospy.ServiceProxy(service_name, GetRunningCapabilities)
response = get_running_capabilities()
self.__running_providers = []
for cap in response.running_capabilities:
self.__running_providers.append(cap.capability.provider)
def __refresh_view(self):
self.__get_specs()
self.__get_running_providers()
self.__update_capabilities_graph()
def __update_capabilities_graph(self):
self.__update_graph_view(self.__generate_dotcode())
def __generate_dotcode(self):
return generate_dotcode_from_capability_info(self.__spec_index, self.__running_providers)
def __update_graph_view(self, dotcode):
if dotcode == self.__current_dotcode:
return
self.__current_dotcode = dotcode
self.__redraw_graph_view()
def __fit_in_view(self):
self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(), Qt.KeepAspectRatio)
def __redraw_graph_view(self):
self.__widget.graphics_view._running_providers = self.__running_providers
self.__widget.graphics_view._spec_index = self.__spec_index
self.__scene.clear()
highlight_level = 1
# layout graph and create qt items
(nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items(self.__current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
for node_item in nodes.itervalues():
self.__scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self.__scene)
self.__scene.setSceneRect(self.__scene.itemsBoundingRect())
self.__fit_in_view()
class ConductorGraph(Plugin):
_deferred_fit_in_view=Signal()
_client_list_update_signal=Signal()
def __init__(self, context):
self._context=context
super(ConductorGraph, self).__init__(context)
self.initialised=False
self.setObjectName('Conductor Graph')
self._current_dotcode=None
self._node_items=None
self._edge_items=None
self._node_item_events={}
self._edge_item_events={}
self._client_info_list={}
self._widget=QWidget()
self.cur_selected_client_name = ""
self.pre_selected_client_name = ""
# factory builds generic dotcode items
self.dotcode_factory=PydotFactory()
# self.dotcode_factory=PygraphvizFactory()
self.dotcode_generator=RosGraphDotcodeGenerator()
self.dot_to_qt=DotToQtGenerator()
self._graph=ConductorGraphInfo()
self._graph._reg_event_callback(self._update_client_list)
self._graph._reg_period_callback(self._set_network_statisics)
rospack=rospkg.RosPack()
ui_file=os.path.join(rospack.get_path('concert_conductor_graph'), 'ui', 'conductor_graph.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('ConductorGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene=QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
#self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('window-new'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_conductor_graph)
self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
self._widget.tabWidget.currentChanged.connect(self._change_client_tab)
self._client_list_update_signal.connect(self._update_conductor_graph)
#rospy.Subscriber(concert_msgs.Strings.CONCERT_CLIENT_CHANGES, ConcertClients, self._update_client_list)
context.add_widget(self._widget)
def restore_settings(self, plugin_settings, instance_settings):
self.initialised=True
self._refresh_rosgraph()
def shutdown_plugin(self):
pass
def _update_conductor_graph(self):
# re-enable controls customizing fetched ROS graph
self._refresh_rosgraph()
self._update_client_tab()
def _refresh_rosgraph(self):
if not self.initialised:
return
self._update_graph_view(self._generate_dotcode())
def _generate_dotcode(self):
return self.dotcode_generator.generate_dotcode(rosgraphinst=self._graph,
dotcode_factory=self.dotcode_factory,
orientation='LR'
)
def _update_graph_view(self, dotcode):
#if dotcode==self._current_dotcode:
# return
self._current_dotcode=dotcode
self._redraw_graph_view()
def _update_client_list(self):
print "[conductor graph]: _update_client_list"
self._client_list_update_signal.emit()
pass
def _start_service(self,node_name,service_name):
service=self._graph._client_info_list[node_name]['gateway_name']+"/"+service_name
info_text=''
if service_name=='status':
service_handle=rospy.ServiceProxy(service, Status)
call_result=service_handle()
info_text="<html>"
info_text +="<p>-------------------------------------------</p>"
info_text +="<p><b>application_namespace: </b>" +call_result.application_namespace+"</p>"
info_text +="<p><b>remote_controller: </b>" +call_result.remote_controller+"</p>"
info_text +="<p><b>application_status: </b>" +call_result.application_status+"</p>"
info_text +="</html>"
self._client_list_update_signal.emit()
elif service_name=='platform_info':
service_handle=rospy.ServiceProxy(service, GetPlatformInfo)
call_result=service_handle()
info_text = "<html>"
info_text += "<p>-------------------------------------------</p>"
info_text += "<p><b>rocon_uri: </b>" + call_result.platform_info.uri + "</p>"
info_text += "<p><b>concert_version: </b>" + call_result.platform_info.version + "</p>"
info_text += "</html>"
self._client_list_update_signal.emit()
elif service_name=='invite':
#sesrvice
service_handle=rospy.ServiceProxy(service, Invite)
#dialog
dlg=QDialog(self._widget)
dlg.setMinimumSize(400,0)
dlg.setMaximumSize(400,0)
dlg.setSizePolicy(QSizePolicy.Fixed,QSizePolicy.Expanding)
#dialog layout
ver_layout=QVBoxLayout(dlg)
ver_layout.setContentsMargins (0,0,0,0)
dynamic_arg=[]
dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Remote Target Name',False,[('remote_target_name','string')]))
dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Application Namespace',False,[('application_namespace','string')]))
dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Cancel',False,[('cancel','bool')]))
#button
button_hor_sub_widget=QWidget()
button_hor_layout=QHBoxLayout(button_hor_sub_widget)
btn_call=QPushButton("Call")
btn_cancel=QPushButton("cancel")
btn_call.clicked.connect(lambda: dlg.done(0))
btn_call.clicked.connect(lambda : self._call_invite_service(service,service_handle,dynamic_arg))
btn_cancel.clicked.connect(lambda: dlg.done(0))
#add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
#add button layout
ver_layout.addWidget(button_hor_sub_widget)
dlg.setVisible(True)
elif service_name=='start_app':
#sesrvice
service_handle=rospy.ServiceProxy(service, StartApp)
#dialog
dlg=QDialog(self._widget)
dlg.setMinimumSize(400,0)
dlg.setMaximumSize(400,0)
dlg.setSizePolicy(QSizePolicy.Fixed,QSizePolicy.Expanding)
#dialog layout
ver_layout=QVBoxLayout(dlg)
ver_layout.setContentsMargins (0,0,0,0)
dynamic_arg=[]
dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Name',False,[('name','string')]))
dynamic_arg.append(DynamicArgumentLayer(ver_layout,'Remappings',True,[('remap to','string'),('remap from','string')]))
#button
button_hor_sub_widget=QWidget()
button_hor_layout=QHBoxLayout(button_hor_sub_widget)
btn_call=QPushButton("Call")
btn_cancel=QPushButton("cancel")
btn_call.clicked.connect(lambda: dlg.done(0))
btn_call.clicked.connect(lambda : self._call_start_app_service(service,service_handle,dynamic_arg))
btn_cancel.clicked.connect(lambda: dlg.done(0))
#add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
#add button layout
ver_layout.addWidget(button_hor_sub_widget)
dlg.setVisible(True)
elif service_name=='stop_app':
service_handle=rospy.ServiceProxy(service, StopApp)
call_result=service_handle()
info_text="<html>"
info_text +="<p>-------------------------------------------</p>"
info_text +="<p><b>stopped: </b>" +str(call_result.stopped)+"</p>"
info_text +="<p><b>error_code: </b>" +str(call_result.error_code)+"</p>"
info_text +="<p><b>message: </b>" +call_result.message+"</p>"
info_text +="</html>"
self._update_client_tab()
else:
print 'has no service'
return
# display the result of calling service
# get tab widget handle
service_text_widget=None
cur_tab_widget=self._widget.tabWidget.currentWidget()
if cur_tab_widget==None:
return
object_name='services_text_widget'
for k in cur_tab_widget.children():
if k.objectName().count(object_name) >=1 :
service_text_widget=k
break
if service_text_widget==None:
return
service_text_widget.clear()
service_text_widget.appendHtml(info_text)
def _call_invite_service(self,service,service_handle,dynamic_arg):
remote_target_name=""
application_namespace=""
cancel=False
for k in dynamic_arg:
if k.name=='Remote Target Name':
item_widget=k._get_param_list()[0][0][1]
remote_target_name=item_widget.toPlainText()
elif k.name=='Application Namespace':
item_widgetwidget=k._get_param_list()[0][0][1]
application_namespace=item_widget.toPlainText()
elif k.name=='Cancel':
item_widget=k._get_param_list()[0][0][1]
cancel=item_widget.itemData(item_widget.currentIndex())
#calling service
call_result=service_handle(remote_target_name,application_namespace,cancel)
#status update
self._client_list_update_signal.emit()
# display the result of calling service
info_text="<html>"
info_text +="<p>-------------------------------------------</p>"
info_text +="<p><b>result: </b>" +str(call_result.result)+"</p>"
info_text +="<p><b>error_code: </b>" +str(call_result.error_code)+"</p>"
info_text +="<p><b>message: </b>" +call_result.message+"</p>"
info_text +="</html>"
# get tab widget handle
service_text_widget=None
cur_tab_widget=self._widget.tabWidget.currentWidget()
if cur_tab_widget==None:
return
object_name='services_text_widget'
for k in cur_tab_widget.children():
if k.objectName().count(object_name) >=1 :
service_text_widget=k
break
if service_text_widget==None:
return
service_text_widget.clear()
service_text_widget.appendHtml(info_text)
pass
def _call_start_app_service(self,service,service_handle,dynamic_arg):
name=""
remappings=[]
for k in dynamic_arg:
if k.name=='Name':
name=k._get_param_list()[0][0][1].toPlainText()
elif k.name=='Remappings':
for l in k._get_param_list():
remap_to=l[0][1].toPlainText()
remap_from=l[1][1].toPlainText()
remappings.append(Remapping(remap_to,remap_from))
#calling service
call_result=service_handle(name,remappings)
#status update
self._client_list_update_signal.emit()
# display the result of calling service
info_text = ''
info_text="<html>"
info_text +="<p>-------------------------------------------</p>"
info_text +="<p><b>started: </b>" +str(call_result.started)+"</p>"
info_text +="<p><b>error_code: </b>" +str(call_result.error_code)+"</p>"
info_text +="<p><b>message: </b>" +call_result.message+"</p>"
info_text +="<p><b>app_namespace: </b>" +call_result.app_namespace+"</p>"
info_text +="</html>"
# get tab widget handle
service_text_widget=None
cur_tab_widget=self._widget.tabWidget.currentWidget()
if cur_tab_widget==None:
return
object_name='services_text_widget'
for k in cur_tab_widget.children():
if k.objectName().count(object_name) >=1 :
service_text_widget=k
break
if service_text_widget==None:
return
service_text_widget.clear()
service_text_widget.appendHtml(info_text)
pass
def _update_client_tab(self):
print '[_update_client_tab]'
self.pre_selected_client_name = self.cur_selected_client_name
self._widget.tabWidget.clear()
for k in self._graph._client_info_list.values():
main_widget=QWidget()
ver_layout=QVBoxLayout(main_widget)
ver_layout.setContentsMargins (9,9,9,9)
ver_layout.setSizeConstraint (ver_layout.SetDefaultConstraint)
#button layout
sub_widget=QWidget()
sub_widget.setAccessibleName('sub_widget')
btn_grid_layout=QGridLayout(sub_widget)
btn_grid_layout.setContentsMargins (9,9,9,9)
btn_grid_layout.setColumnStretch (1, 0)
btn_grid_layout.setRowStretch (2, 0)
invite_btn=QPushButton("Invite")
platform_info_btn=QPushButton("Get Platform Info")
status_btn=QPushButton("Get Status")
start_app_btn=QPushButton("Start App")
stop_app_btn=QPushButton("Stop App")
invite_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"invite"))
platform_info_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"platform_info"))
status_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"status"))
start_app_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"start_app"))
stop_app_btn.clicked.connect(lambda: self._start_service(self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex()),"stop_app"))
btn_grid_layout.addWidget(invite_btn)
btn_grid_layout.addWidget(platform_info_btn)
btn_grid_layout.addWidget(status_btn)
btn_grid_layout.addWidget(start_app_btn)
btn_grid_layout.addWidget(stop_app_btn)
ver_layout.addWidget(sub_widget)
#client information layout
context_label = QLabel()
context_label.setText("Client information")
ver_layout.addWidget(context_label)
app_context_widget=QPlainTextEdit()
app_context_widget.setObjectName(k["name"]+'_'+'app_context_widget')
app_context_widget.setAccessibleName('app_context_widget')
app_context_widget.appendHtml(k["app_context"])
app_context_widget.setReadOnly(True)
cursor = app_context_widget.textCursor()
cursor.movePosition(QTextCursor.Start,QTextCursor.MoveAnchor,0)
app_context_widget.setTextCursor(cursor)
ver_layout.addWidget(app_context_widget)
#service layout
context_label = QLabel()
context_label.setText("Service result")
ver_layout.addWidget(context_label)
services_text_widget=QPlainTextEdit()
services_text_widget.setObjectName(k["name"]+'_'+'services_text_widget')
services_text_widget.setReadOnly(True)
cursor = services_text_widget.textCursor()
cursor.movePosition(QTextCursor.Start,QTextCursor.MoveAnchor,0)
services_text_widget.setTextCursor(cursor)
ver_layout.addWidget(services_text_widget)
# new icon
path=""
if k["is_new"]==True:
path=os.path.join(os.path.dirname(os.path.abspath(__file__)),"../../resources/images/new.gif")
#add tab
self._widget.tabWidget.addTab(main_widget,QIcon(path), k["name"]);
#set previous selected tab
for k in range(self._widget.tabWidget.count()):
tab_text=self._widget.tabWidget.tabText(k)
if tab_text == self.pre_selected_client_name:
self._widget.tabWidget.setCurrentIndex(k)
def _change_client_tab(self,index):
self.cur_selected_client_name = self._widget.tabWidget.tabText(self._widget.tabWidget.currentIndex())
if self._widget.tabWidget.widget(index) !=None:
for k in self._widget.tabWidget.widget(index).children():
if k.objectName().count("services_text_widget"):
k.clear()
pass
def _set_network_statisics(self):
if self._edge_items == None:
return
else:
for edge_items in self._edge_items.itervalues():
for edge_item in edge_items:
edge_dst_name=edge_item.to_node._label.text()
edge_item.setToolTip(str(self._graph._client_info_list[edge_dst_name]['conn_stats']))
def _redraw_graph_view(self):
self._scene.clear()
self._node_item_events={}
self._edge_item_events={}
self._node_items=None
self._edge_items=None
if self._widget.highlight_connections_check_box.isChecked():
highlight_level=3
else:
highlight_level=1
highlight_level=3 if self._widget.highlight_connections_check_box.isChecked() else 1
# layout graph and create qt items
(nodes, edges)=self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
self._node_items=nodes
self._edge_items=edges
# if we wish to make special nodes, do that here (maybe subclass GraphItem, just like NodeItem does)
#node
for node_item in nodes.itervalues():
# set the color of conductor to orange
if node_item._label.text()==self._graph._concert_conductor_name:
royal_blue=QColor(65, 105, 255)
node_item._default_color=royal_blue
node_item.set_color(royal_blue)
# redefine mouse event
self._node_item_events[node_item._label.text()]=GraphEventHandler(self._widget.tabWidget,node_item,node_item.mouseDoubleClickEvent);
node_item.mouseDoubleClickEvent=self._node_item_events[node_item._label.text()].NodeEvent;
self._scene.addItem(node_item)
#edge
for edge_items in edges.itervalues():
for edge_item in edge_items:
#redefine the edge hover event
self._edge_item_events[edge_item._label.text()]=GraphEventHandler(self._widget.tabWidget,edge_item,edge_item._label.hoverEnterEvent);
edge_item._label.hoverEnterEvent =self._edge_item_events[edge_item._label.text()].EdgeEvent;
#self._edge_item_events[edge_item._label.text()]=GraphEventHandler(self._widget.tabWidget,edge_item,edge_item.mouseDoubleClickEvent);
#edge_item.mouseDoubleClickEvent=self._edge_item_events[edge_item._label.text()].EdgeEvent;
edge_item.add_to_scene(self._scene)
#set the color of node as connection strength one of red, yellow, green
edge_dst_name=edge_item.to_node._label.text()
if edge_dst_name in self._graph._client_info_list.keys():
connection_strength=self._graph._client_info_list[edge_dst_name]['connection_strength']
if connection_strength=='very_strong':
green=QColor(0, 255, 0)
edge_item._default_color=green
edge_item.set_color(green)
elif connection_strength=='strong':
green_yellow=QColor(125, 255,0)
edge_item._default_color=green_yellow
edge_item.set_color(green_yellow)
elif connection_strength=='normal':
yellow=QColor(238, 238,0)
edge_item._default_color=yellow
edge_item.set_color(yellow)
elif connection_strength=='weak':
yellow_red=QColor(255, 125,0)
edge_item._default_color=yellow_red
edge_item.set_color(yellow_red)
elif connection_strength=='very_weak':
red=QColor(255, 0,0)
edge_item._default_color=red
edge_item.set_color(red)
#set the tooltip about network information
edge_item.setToolTip(str(self._graph._client_info_list[edge_dst_name]['conn_stats']))
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
class Ros2KnowledgeGraph(Plugin):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(Ros2KnowledgeGraph, self).__init__(context)
self._node = context.node
self._logger = self._node.get_logger().get_child(
'ros2_knowledge_graph_viewer.ros2_knowledge_graph.Ros2KnowledgeGraph'
)
self.setObjectName('Ros2KnowledgeGraph')
self._ros2_knowledge_graph = Ros2KnowledgeGraphImpl()
self._current_dotcode = None
self._widget = QWidget()
self.dotcode_factory = PydotFactory()
self.dotcode_generator = Ros2KnowledgeGraphDotcodeGenerator()
self.dot_to_qt = DotToQtGenerator()
_, package_path = get_resource('packages',
'ros2_knowledge_graph_viewer')
ui_file = os.path.join(package_path, 'share',
'ros2_knowledge_graph_viewer', 'resource',
'Ros2KnowledgeGraph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('Ros2KnowledgeGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._update_ros2_knowledge_graph()
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
self._updateTimer = QtCore.QTimer()
self._updateTimer.timeout.connect(self.do_update)
self._updateTimer.start(10)
def do_update(self):
# print("Spinnning")
rclpy.spin_once(self._ros2_knowledge_graph, timeout_sec=0.01)
# print("Spinned")
self._update_ros2_knowledge_graph()
self._updateTimer = QtCore.QTimer()
self._updateTimer.timeout.connect(self.do_update)
self._updateTimer.start(10)
def _update_ros2_knowledge_graph(self):
self._refresh_ros2_knowledge_graph()
def _refresh_ros2_knowledge_graph(self):
# print("_refresh_ros2_knowledge_graph")
self._update_graph_view(self._generate_dotcode())
def _generate_dotcode(self):
return self.dotcode_generator.generate_dotcode(
ros2_knowledge_graphinst=self._ros2_knowledge_graph,
dotcode_factory=self.dotcode_factory)
def _update_graph_view(self, dotcode):
# print("_update_graph_view")
if dotcode == self._current_dotcode:
return
self._current_dotcode = dotcode
self._redraw_graph_view()
def _redraw_graph_view(self):
# print("_redraw_graph_view")
self._scene.clear()
# layout graph and create qt items
(nodes,
edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode,
highlight_level=3,
same_label_siblings=True,
scene=self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
self._fit_in_view()
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as SVG'), 'rosgraph.svg',
self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as image'), 'rosgraph.png',
self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
class RosTfTree(QObject):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(RosTfTree, self).__init__(context)
self.initialized = False
self.setObjectName('RosTfTree')
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosTfTreeDotcodeGenerator()
self.tf2_buffer_ = tf2_ros.Buffer()
self.tf2_listener_ = tf2_ros.TransformListener(self.tf2_buffer_)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_tf_tree'), 'resource',
'RosTfTree.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosTfTreeUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(
self._update_tf_graph)
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image-x-generic'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
self._force_refresh = False
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value(
'auto_fit_graph_check_box_state',
self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value(
'highlight_connections_check_box_state',
self._widget.highlight_connections_check_box.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
self._widget.auto_fit_graph_check_box.setChecked(
instance_settings.value('auto_fit_graph_check_box_state', True) in
[True, 'true'])
self._widget.highlight_connections_check_box.setChecked(
instance_settings.value('highlight_connections_check_box_state',
True) in [True, 'true'])
self.initialized = True
self._refresh_tf_graph()
def _update_tf_graph(self):
self._force_refresh = True
self._refresh_tf_graph()
def _refresh_tf_graph(self):
if not self.initialized:
return
self._update_graph_view(self._generate_dotcode())
def _generate_dotcode(self):
force_refresh = self._force_refresh
self._force_refresh = False
rospy.wait_for_service('~tf2_frames')
tf2_frame_srv = rospy.ServiceProxy('~tf2_frames', FrameGraph)
return self.dotcode_generator.generate_dotcode(
dotcode_factory=self.dotcode_factory,
tf2_frame_srv=tf2_frame_srv,
force_refresh=force_refresh)
def _update_graph_view(self, dotcode):
if dotcode == self._current_dotcode:
return
self._current_dotcode = dotcode
self._redraw_graph_view()
def _generate_tool_tip(self, url):
return url
def _redraw_graph_view(self):
self._scene.clear()
if self._widget.highlight_connections_check_box.isChecked():
highlight_level = 3
else:
highlight_level = 1
(nodes,
edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode,
highlight_level)
for node_item in nodes.values():
self._scene.addItem(node_item)
for edge_items in edges.values():
for edge_item in edge_items:
edge_item.add_to_scene(self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fhandle = open(file_name, 'rb')
dotcode = fhandle.read()
fhandle.close()
except IOError:
return
self._update_graph_view(dotcode)
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as DOT'), 'frames.dot',
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
file = QFile(file_name)
if not file.open(QIODevice.WriteOnly | QIODevice.Text):
return
file.write(self._current_dotcode)
file.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as SVG'), 'frames.svg',
self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as image'), 'frames.png',
self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
class RosTfTree(QObject):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(RosTfTree, self).__init__(context)
self.initialized = False
self.setObjectName('RosTfTree')
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosTfTreeDotcodeGenerator()
self.tf2_buffer_ = tf2_ros.Buffer()
self.tf2_listener_ = tf2_ros.TransformListener(self.tf2_buffer_)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_tf_tree'), 'resource', 'RosTfTree.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosTfTreeUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_tf_graph)
self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image-x-generic'))
self._widget.save_as_image_push_button.pressed.connect(self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
self._force_refresh = False
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('auto_fit_graph_check_box_state',
self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value('highlight_connections_check_box_state',
self._widget.highlight_connections_check_box.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
self._widget.auto_fit_graph_check_box.setChecked(
instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true'])
self._widget.highlight_connections_check_box.setChecked(
instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true'])
self.initialized = True
self._refresh_tf_graph()
def _update_tf_graph(self):
self._force_refresh = True
self._refresh_tf_graph()
def _refresh_tf_graph(self):
if not self.initialized:
return
self._update_graph_view(self._generate_dotcode())
def _generate_dotcode(self):
force_refresh = self._force_refresh
self._force_refresh = False
rospy.wait_for_service('~tf2_frames')
tf2_frame_srv = rospy.ServiceProxy('~tf2_frames', FrameGraph)
return self.dotcode_generator.generate_dotcode(dotcode_factory=self.dotcode_factory,
tf2_frame_srv=tf2_frame_srv,
force_refresh=force_refresh)
def _update_graph_view(self, dotcode):
if dotcode == self._current_dotcode:
return
self._current_dotcode = dotcode
self._redraw_graph_view()
def _generate_tool_tip(self, url):
return url
def _redraw_graph_view(self):
self._scene.clear()
if self._widget.highlight_connections_check_box.isChecked():
highlight_level = 3
else:
highlight_level = 1
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode,
highlight_level)
for node_item in nodes.itervalues():
self._scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget,
self.tr('Open graph from file'),
None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fhandle = open(file_name, 'rb')
dotcode = fhandle.read()
fhandle.close()
except IOError:
return
self._update_graph_view(dotcode)
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget,
self.tr('Save as DOT'),
'frames.dot',
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
file = QFile(file_name)
if not file.open(QIODevice.WriteOnly | QIODevice.Text):
return
file.write(self._current_dotcode)
file.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget,
self.tr('Save as SVG'),
'frames.svg',
self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget,
self.tr('Save as image'),
'frames.png',
self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def test_recursive(self):
if DotToQtGeneratorTest._Q_APP is None:
raise unittest.case.SkipTest
gen = DotToQtGenerator()
dotcode = r'''
strict digraph "" {
graph [bb="0,0,249,541",
compound=True,
rank=same,
rankdir=TB,
ranksep=0.2,
simplify=True
];
node [label="\N"];
subgraph "/Container" {
graph [bb="8,67,241,321",
color=None,
compound=True,
label="/Container",
lheight=0.21,
lp="124.5,309.5",
lwidth=0.81,
rank=same,
rankdir=TB,
ranksep=0.2,
style=bold
];
subgraph "/Container/Subcontainer" {
graph [bb="84,142,233,287",
color=None,
compound=True,
label="/Container/Subcontainer",
lheight=0.21,
lp="158.5,275.5",
lwidth=1.85,
rank=same,
rankdir=TB,
ranksep=0.2,
style=bold
];
"/Container/Subcontainer/logstate1" [height=0.5,
label=logstate1,
pos="133,235",
shape=box,
url=None,
width=0.90278];
"/Container/Subcontainer/finished" [color=blue,
height=0.5,
label=finished,
pos="133,168",
shape=ellipse,
url=None,
width=1.0833];
"/Container/Subcontainer/logstate1" -> "/Container/Subcontainer/finished" [label=done,
lp="146.5,201.5",
pos="e,133,186.19 133,216.92 133,210.7 133,203.5 133,196.6",
url=None];
}
"/Container/finished" [color=blue,
height=0.5,
label=finished,
pos="86,93",
shape=ellipse,
url=None,
width=1.0833];
"/Container/Subcontainer/finished" -> "/Container/finished" [label=finished,
lp="132,126.5",
pos="e,96.623,110.5 122.33,150.44 116.39,141.19 108.85,129.5 102.19,119.15",
url=None];
"/Container/logstate" [height=0.5,
label=logstate,
pos="46,168",
shape=box,
url=None,
width=0.81944];
"/Container/logstate" -> "/Container/finished" [label=done,
lp="82.5,126.5",
pos="e,74.304,110.45 53.482,149.8 57.712,140.5 63.287,128.93 69,119 69.051,118.91 69.102,118.82 69.153,118.74",
url=None];
}
"/finished" [height=0.5,
pos="86,18",
width=1.1555];
"/Container/finished" -> "/finished" [label=finished,
lp="108,51.5",
pos="e,86,36.176 86,74.7 86,66.245 86,55.869 86,46.373",
url=None];
"/start" -> "/Container/Subcontainer/logstate1" [
lp="146.5,436.5",
pos="e,133,250.01 133,355.84 133,337.5 133,316.81 133,260.22",
url=None];
"/start" -> "/Container/logstate" [
lp="146.5,436.5",
pos="e,46,185.01 133,355.84 46,337.5 46,316.81 46,192.22",
url=None];
"/start" [height=0.5,
pos="133,373",
width=0.79437];
}
'''
(nodes, edges) = gen.dotcode_to_qt_items(dotcode, 1)
expected_nodes = [
'"/Container"', '"/Container/Subcontainer"',
'"/Container/Subcontainer/finished"',
'"/Container/Subcontainer/logstate1"', '"/Container/finished"',
'"/Container/logstate"', '"/finished"', '"/start"'
]
expected_edges = [
'/Container/Subcontainer/finished_TO_/Container/finished_finished',
'/Container/Subcontainer/logstate1_TO_/Container/Subcontainer/finished_done',
'/Container/finished_TO_/finished_finished',
'/Container/logstate_TO_/Container/finished_done',
'/start_TO_/Container/Subcontainer/logstate1',
'/start_TO_/Container/logstate',
]
nodes_sorted = list(sorted(nodes.keys()))
edges_sorted = list(sorted(edges.keys()))
self.assertEqual(expected_nodes, nodes_sorted)
self.assertEqual(expected_edges, edges_sorted)
def test_simpleIntegration(self):
gen = DotToQtGenerator()
dotcode = 'digraph graphname {\n\tgraph [rank=same];\n\tnode [label="\\N"];\n\tgraph [bb="0,0,56,116"];\n\tsubgraph cluster_foo {\n\t\tgraph [label=foo,\n\t\t\tbb="1,1,100,101"];\n\t}\n\tfoo [label=foo, shape=box, pos="28,98", width="0.75", height="0.50"];\n\tedge_ [label=edge_, shape=box, pos="28,26", width="0.78", height="0.50"];\n\tfoo -> edge_ [pos="e,28,44 28,80 28,72 28,63 28,54"];\n}\n'
(nodes, edges) = gen.dotcode_to_qt_items(dotcode, 1)
self.assertEqual(3, len(nodes)) # also for stack
self.assertEqual(1, len(nodes))
class CapabilityGraph(Plugin):
__deferred_fit_in_view = Signal()
__redraw_graph = Signal()
def __init__(self, context):
super(CapabilityGraph, self).__init__(context)
self.setObjectName('CapabilityGraph')
self.__current_dotcode = None
self.__running_providers = []
self.__spec_index = None
self.__widget = QWidget()
self.__dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources',
'CapabilityGraph.ui')
loadUi(
ui_file, self.__widget, {
'CapabilitiesInteractiveGraphicsView':
CapabilitiesInteractiveGraphicsView
})
self.__widget.setObjectName('CapabilityGraphUI')
if context.serial_number() > 1:
self.__widget.setWindowTitle(self.__widget.windowTitle() +
(' (%d)' % context.serial_number()))
self.__scene = QGraphicsScene()
self.__scene.setBackgroundBrush(Qt.white)
self.__widget.graphics_view.setScene(self.__scene)
self.__widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self.__widget.refresh_graph_push_button.pressed.connect(
self.__refresh_view)
self.__refresh_view()
self.__deferred_fit_in_view.connect(self.__fit_in_view,
Qt.QueuedConnection)
self.__deferred_fit_in_view.emit()
self.__redraw_graph.connect(self.__update_capabilities_graph)
# TODO: use user provided server node name
rospy.Subscriber('/capability_server/events', CapabilityEvent,
self.__handle_event)
context.add_widget(self.__widget)
def __handle_event(self, msg):
if msg.type == CapabilityEvent.STOPPED:
return
if msg.type == CapabilityEvent.LAUNCHED and msg.provider not in self.__running_providers:
self.__running_providers.append(msg.provider)
if msg.type == CapabilityEvent.TERMINATED and msg.provider in self.__running_providers:
self.__running_providers.remove(msg.provider)
self.__redraw_graph.emit()
def __get_specs(self):
self.__spec_index, errors = spec_index_from_service()
assert not errors
def __get_running_providers(self):
# TODO: replace 'capability_server' with user provided server name
service_name = '/{0}/get_running_capabilities'.format(
'capability_server')
rospy.wait_for_service(service_name)
get_running_capabilities = rospy.ServiceProxy(service_name,
GetRunningCapabilities)
response = get_running_capabilities()
self.__running_providers = []
for cap in response.running_capabilities:
self.__running_providers.append(cap.capability.provider)
def __refresh_view(self):
self.__get_specs()
self.__get_running_providers()
self.__update_capabilities_graph()
def __update_capabilities_graph(self):
self.__update_graph_view(self.__generate_dotcode())
def __generate_dotcode(self):
return generate_dotcode_from_capability_info(self.__spec_index,
self.__running_providers)
def __update_graph_view(self, dotcode):
if dotcode == self.__current_dotcode:
return
self.__current_dotcode = dotcode
self.__redraw_graph_view()
def __fit_in_view(self):
self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def __redraw_graph_view(self):
self.__widget.graphics_view._running_providers = self.__running_providers
self.__widget.graphics_view._spec_index = self.__spec_index
self.__scene.clear()
highlight_level = 1
# layout graph and create qt items
(nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items(
self.__current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
for node_item in nodes.itervalues():
self.__scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self.__scene)
self.__scene.setSceneRect(self.__scene.itemsBoundingRect())
self.__fit_in_view()
def __init__(self, context):
super(RosPackGraph, self).__init__(context)
self.initialized = False
self._current_dotcode = None
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
self._nodes = {}
self._edges = {}
self._options = {}
self._options_serialized = ''
self.setObjectName('RosPackGraph')
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosPackageGraphDotcodeGenerator(
rospack, rosstack)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_dep'), 'resource',
'RosPackGraph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosPackGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1)
self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2)
self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3)
self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4)
self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5)
self._widget.depth_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0)
self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'),
1)
self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2)
self._widget.directions_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
self._widget.package_type_combo_box.insertItem(0, self.tr('wet & dry'),
3)
self._widget.package_type_combo_box.insertItem(1, self.tr('wet only'),
2)
self._widget.package_type_combo_box.insertItem(2, self.tr('dry only'),
1)
self._widget.package_type_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
completionmodel = StackageCompletionModel(
self._widget.filter_line_edit, rospack, rosstack)
completer = RepeatedWordCompleter(completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(
self._refresh_rospackgraph)
self._widget.filter_line_edit.setCompleter(completer)
self._widget.filter_line_edit.selectionChanged.connect(
self._clear_filter)
self._widget.with_stacks_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.colorize_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.hide_transitives_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.show_system_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(
self._update_rospackgraph)
self._widget.highlight_connections_check_box.toggled.connect(
self._refresh_rospackgraph)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._refresh_rospackgraph)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
# If in either of following case, this turnes True
# - 1st filtering key is already input by user
# - filtering key is restored
self._filtering_started = False
def __init__(self, context):
super(RosPackGraph, self).__init__(context)
self.initialized = False
self._current_dotcode = None
self._update_thread = WorkerThread(self._update_thread_run, self._update_finished)
self._nodes = {}
self._edges = {}
self._options = {}
self._options_serialized = ''
self.setObjectName('RosPackGraph')
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosPackageGraphDotcodeGenerator(rospack, rosstack)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_dep'), 'resource', 'RosPackGraph.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosPackGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1)
self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2)
self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3)
self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4)
self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5)
self._widget.depth_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph)
self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0)
self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'), 1)
self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2)
self._widget.directions_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph)
self._widget.package_type_combo_box.insertItem(0, self.tr('wet & dry'), 3)
self._widget.package_type_combo_box.insertItem(1, self.tr('wet only'), 2)
self._widget.package_type_combo_box.insertItem(2, self.tr('dry only'), 1)
self._widget.package_type_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph)
completionmodel = StackageCompletionModel(self._widget.filter_line_edit, rospack, rosstack)
completer = RepeatedWordCompleter(completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(self._refresh_rospackgraph)
self._widget.filter_line_edit.setCompleter(completer)
self._widget.filter_line_edit.selectionChanged.connect(self._clear_filter)
self._widget.with_stacks_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.colorize_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.hide_transitives_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_rospackgraph)
self._widget.highlight_connections_check_box.toggled.connect(self._refresh_rospackgraph)
self._widget.auto_fit_graph_check_box.toggled.connect(self._refresh_rospackgraph)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
# If in either of following case, this turnes True
# - 1st filtering key is already input by user
# - filtering key is restored
self._filtering_started = False
def __init__(self, context):
super(RosGraph, self).__init__(context)
self.initialized = False
self.setObjectName('RosGraph')
self._graph = None
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosGraphDotcodeGenerator()
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RosGraph.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.graph_type_combo_box.insertItem(0, self.tr('Nodes only'), NODE_NODE_GRAPH)
self._widget.graph_type_combo_box.insertItem(1, self.tr('Nodes/Topics (active)'), NODE_TOPIC_GRAPH)
self._widget.graph_type_combo_box.insertItem(2, self.tr('Nodes/Topics (all)'), NODE_TOPIC_ALL_GRAPH)
self._widget.graph_type_combo_box.setCurrentIndex(0)
self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph)
self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False)
completer = RepeatedWordCompleter(self.node_completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph)
self._widget.filter_line_edit.setCompleter(completer)
self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False)
topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self)
topic_completer.setCompletionMode(QCompleter.PopupCompletion)
topic_completer.setWrapAround(True)
topic_completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph)
self._widget.topic_filter_line_edit.setCompleter(topic_completer)
self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.actionlib_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.dead_sinks_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.leaf_topics_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.quiet_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_rosgraph)
self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(self._save_image)
self._update_rosgraph()
self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
def __init__(self, context):
super(VinoGraph, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('VinoGraph')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_vino_plugin'),
'resource', 'rqt_vino_plugin.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
# Give QObjects reasonable names
self._widget.setObjectName('VinoGraphUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple QListView
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
#A dict which stores pipeline name and dotgraph pair
self._dotgraphs = dict()
#which dotgraph currently drawing on the scence
self._current_dotcode = None
self._current_pipeline_name = ''
#Pydot
self.dotcode_factory = VinoPydotFactory()
self.dot_to_qt = DotToQtGenerator()
self.param_manager = ParamManagerWrapper()
#Binding scene canvas
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.graphics_view.setClickNodeCallback(self._edit_node)
#QListview of pipelines
self._listmodel = QStandardItemModel()
self._widget.pipeline_name_listview.clicked.connect(
self._display_choosed_pipeline)
#self._widget.pipeline_name_listview.itemRenamed.connect(self._rename_pipeline)
#Load pipelines from yaml file
self._widget.load_pipeline_push_button.clicked.connect(
self._load_pipeline)
#Create a pipeline
self._widget.create_pipeline_push_button.clicked.connect(
self._create_pipeline)
#Add input to pipeline graph
self._widget.add_input_push_button.clicked.connect(self._add_input)
#Add infer
self._widget.add_inference_push_button.clicked.connect(self._add_infer)
self._widget.add_output_push_button.clicked.connect(self._add_output)
self._widget.save_pipeline_push_button.clicked.connect(
self._save_pipeline)
self.models_desc_file_path = os.path.join(
rospkg.RosPack().get_path('vino_param_lib'), 'param',
'models.yaml')
# Add widget to the user interface
context.add_widget(self._widget)
class ConductorGraph(Plugin):
# pyqt signals are always defined as class attributes
signal_deferred_fit_in_view = Signal()
signal_update_conductor_graph = Signal()
# constants
# colour definitions from http://www.w3.org/TR/SVG/types.html#ColorKeywords
# see also http://qt-project.org/doc/qt-4.8/qcolor.html#setNamedColor
link_strength_colours = {
'very_strong': QColor("lime"),
'strong': QColor("chartreuse"),
'normal': QColor("yellow"),
'weak': QColor("orange"),
'very_weak': QColor("red"),
'missing': QColor("powderblue")
}
def __init__(self, context):
self._context = context
super(ConductorGraph, self).__init__(context)
self.initialised = False
self.setObjectName('Conductor Graph')
self._node_items = None
self._edge_items = None
self._node_item_events = {}
self._edge_item_events = {}
self._client_info_list = {}
self._widget = QWidget()
self.cur_selected_client_name = ""
self.pre_selected_client_name = ""
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory=PygraphvizFactory()
self.dotcode_generator = ConductorGraphDotcodeGenerator()
self.dot_to_qt = DotToQtGenerator()
self._graph = ConductorGraphInfo(self._update_conductor_graph_relay,
self._set_network_statisics)
rospack = rospkg.RosPack()
ui_file = os.path.join(rospack.get_path('concert_conductor_graph'),
'ui', 'conductor_graph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('ConductorGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.clusters_check_box.toggled.connect(
self._redraw_graph_view)
self.signal_deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self.signal_deferred_fit_in_view.emit()
self._widget.tabWidget.currentChanged.connect(self._change_client_tab)
self.signal_update_conductor_graph.connect(
self._update_conductor_graph)
context.add_widget(self._widget)
def restore_settings(self, plugin_settings, instance_settings):
self.initialised = True
self._update_conductor_graph()
def shutdown_plugin(self):
self._graph.shutdown()
def _update_conductor_graph(self):
if self.initialised:
self._redraw_graph_view()
self._update_client_tab()
def _update_conductor_graph_relay(self):
"""
This seems a bit obtuse, but we can't just dump the _update_conductor_graph callback on the underlying
conductor graph info and trigger it from there since that trigger will operate from a ros thread and pyqt
will crash trying to co-ordinate gui changes from an external thread. We need to relay via a signal.
"""
self.signal_update_conductor_graph.emit()
def _update_client_tab(self):
print('[conductor graph]: _update_client_tab')
self.pre_selected_client_name = self.cur_selected_client_name
self._widget.tabWidget.clear()
for k in self._graph.concert_clients.values():
# Only pull in information from connected or connectable clients
if k.state not in [
concert_msgs.ConcertClientState.AVAILABLE,
concert_msgs.ConcertClientState.MISSING,
concert_msgs.ConcertClientState.UNINVITED
]:
continue
main_widget = QWidget()
ver_layout = QVBoxLayout(main_widget)
ver_layout.setContentsMargins(9, 9, 9, 9)
ver_layout.setSizeConstraint(ver_layout.SetDefaultConstraint)
#button layout
sub_widget = QWidget()
sub_widget.setAccessibleName('sub_widget')
ver_layout.addWidget(sub_widget)
#client information layout
context_label = QLabel()
context_label.setText("Client information")
ver_layout.addWidget(context_label)
app_context_widget = QPlainTextEdit()
app_context_widget.setObjectName(k.concert_alias + '_' +
'app_context_widget')
app_context_widget.setAccessibleName('app_context_widget')
app_context_widget.appendHtml(k.get_rapp_context())
app_context_widget.setReadOnly(True)
cursor = app_context_widget.textCursor()
cursor.movePosition(QTextCursor.Start, QTextCursor.MoveAnchor, 0)
app_context_widget.setTextCursor(cursor)
ver_layout.addWidget(app_context_widget)
# new icon
path = ""
if k.is_new:
# This only changes when the concert client changes topic publishes anew
path = os.path.join(os.path.dirname(os.path.abspath(__file__)),
"../../resources/images/new.gif")
#add tab
self._widget.tabWidget.addTab(main_widget, QIcon(path),
k.concert_alias)
#set previous selected tab
for k in range(self._widget.tabWidget.count()):
tab_text = self._widget.tabWidget.tabText(k)
if tab_text == self.pre_selected_client_name:
self._widget.tabWidget.setCurrentIndex(k)
def _change_client_tab(self, index):
self.cur_selected_client_name = self._widget.tabWidget.tabText(
self._widget.tabWidget.currentIndex())
def _set_network_statisics(self):
# we currently redraw every statistics update (expensive!) so passing for now, but we should
# reenable this and drop the change callback to be more efficient
#if self._edge_items == None:
# return
#else:
# for edge_items in self._edge_items.itervalues():
# for edge_item in edge_items:
# edge_dst_name = edge_item.to_node._label.text()
# edge_item.setToolTip(str(self._graph.concert_clients[edge_dst_name].msg.conn_stats))
pass
def _redraw_graph_view(self):
print("[conductor graph]: _redraw_graph_view")
# regenerate the dotcode
current_dotcode = self.dotcode_generator.generate_dotcode(
conductor_graph_instance=self._graph,
dotcode_factory=self.dotcode_factory,
clusters=self._widget.clusters_check_box.isChecked())
#print("Dotgraph: \n%s" % current_dotcode)
self._scene.clear()
self._node_item_events = {}
self._edge_item_events = {}
self._node_items = None
self._edge_items = None
highlight_level = 3 if self._widget.highlight_connections_check_box.isChecked(
) else 1
# layout graph and create qt items
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(
current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
self._node_items = nodes
self._edge_items = edges
#nodes - if we wish to make special nodes, do that here (maybe subclass GraphItem, just like NodeItem does
for node_item in nodes.itervalues():
# redefine mouse event
#self._node_item_events[node_item._label.text()] = GraphEventHandler(self._widget.tabWidget, node_item, node_item.mouseDoubleClickEvent)
#node_item.mouseDoubleClickEvent = self._node_item_events[node_item._label.text()].NodeEvent
self._node_item_events[
node_item._label.text()] = GraphEventHandler(
self._widget.tabWidget, node_item,
node_item.hoverEnterEvent)
node_item.hoverEnterEvent = self._node_item_events[
node_item._label.text()].NodeEvent
self._scene.addItem(node_item)
#edges
for edge_items in edges.itervalues():
for edge_item in edge_items:
#redefine the edge hover event
self._edge_item_events[
edge_item._label.text()] = GraphEventHandler(
self._widget.tabWidget, edge_item,
edge_item._label.hoverEnterEvent)
edge_item._label.hoverEnterEvent = self._edge_item_events[
edge_item._label.text()].EdgeEvent
#self._edge_item_events[edge_item._label.text()]=GraphEventHandler(self._widget.tabWidget,edge_item,edge_item.mouseDoubleClickEvent);
#edge_item.mouseDoubleClickEvent=self._edge_item_events[edge_item._label.text()].EdgeEvent;
edge_item.add_to_scene(self._scene)
#set the color of node as connection strength one of red, yellow, green
edge_dst_name = edge_item.to_node._label.text()
if edge_dst_name in self._graph.concert_clients.keys():
link_strength_colour = ConductorGraph.link_strength_colours[
self._graph.concert_clients[edge_dst_name].
get_connection_strength()]
edge_item._default_color = link_strength_colour
edge_item.set_node_color(link_strength_colour)
#set the tooltip about network information
edge_item.setToolTip(
str(self._graph.concert_clients[edge_dst_name].msg.
conn_stats))
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
class RosGraph(Plugin):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(RosGraph, self).__init__(context)
self.initialized = False
self.setObjectName('RosGraph')
self._graph = None
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosGraphDotcodeGenerator()
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_graph'), 'resource', 'RosGraph.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.graph_type_combo_box.insertItem(0, self.tr('Nodes only'), NODE_NODE_GRAPH)
self._widget.graph_type_combo_box.insertItem(1, self.tr('Nodes/Topics (active)'), NODE_TOPIC_GRAPH)
self._widget.graph_type_combo_box.insertItem(2, self.tr('Nodes/Topics (all)'), NODE_TOPIC_ALL_GRAPH)
self._widget.graph_type_combo_box.setCurrentIndex(0)
self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph)
self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False)
completer = RepeatedWordCompleter(self.node_completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph)
self._widget.filter_line_edit.setCompleter(completer)
self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False)
topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self)
topic_completer.setCompletionMode(QCompleter.PopupCompletion)
topic_completer.setWrapAround(True)
topic_completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph)
self._widget.topic_filter_line_edit.setCompleter(topic_completer)
self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.actionlib_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.dead_sinks_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.leaf_topics_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.quiet_check_box.clicked.connect(self._refresh_rosgraph)
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_rosgraph)
self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(self._save_image)
self._update_rosgraph()
self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('graph_type_combo_box_index', self._widget.graph_type_combo_box.currentIndex())
instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text())
instance_settings.set_value('topic_filter_line_edit_text', self._widget.topic_filter_line_edit.text())
instance_settings.set_value('namespace_cluster_check_box_state', self._widget.namespace_cluster_check_box.isChecked())
instance_settings.set_value('actionlib_check_box_state', self._widget.actionlib_check_box.isChecked())
instance_settings.set_value('dead_sinks_check_box_state', self._widget.dead_sinks_check_box.isChecked())
instance_settings.set_value('leaf_topics_check_box_state', self._widget.leaf_topics_check_box.isChecked())
instance_settings.set_value('quiet_check_box_state', self._widget.quiet_check_box.isChecked())
instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
self._widget.graph_type_combo_box.setCurrentIndex(int(instance_settings.value('graph_type_combo_box_index', 0)))
self._widget.filter_line_edit.setText(instance_settings.value('filter_line_edit_text', '/'))
self._widget.topic_filter_line_edit.setText(instance_settings.value('topic_filter_line_edit_text', '/'))
self._widget.namespace_cluster_check_box.setChecked(instance_settings.value('namespace_cluster_check_box_state', True) in [True, 'true'])
self._widget.actionlib_check_box.setChecked(instance_settings.value('actionlib_check_box_state', True) in [True, 'true'])
self._widget.dead_sinks_check_box.setChecked(instance_settings.value('dead_sinks_check_box_state', True) in [True, 'true'])
self._widget.leaf_topics_check_box.setChecked(instance_settings.value('leaf_topics_check_box_state', True) in [True, 'true'])
self._widget.quiet_check_box.setChecked(instance_settings.value('quiet_check_box_state', True) in [True, 'true'])
self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true'])
self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true'])
self.initialized = True
self._refresh_rosgraph()
def _update_rosgraph(self):
# re-enable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(True)
self._widget.filter_line_edit.setEnabled(True)
self._widget.topic_filter_line_edit.setEnabled(True)
self._widget.namespace_cluster_check_box.setEnabled(True)
self._widget.actionlib_check_box.setEnabled(True)
self._widget.dead_sinks_check_box.setEnabled(True)
self._widget.leaf_topics_check_box.setEnabled(True)
self._widget.quiet_check_box.setEnabled(True)
self._graph = rosgraph.impl.graph.Graph()
self._graph.set_master_stale(5.0)
self._graph.set_node_stale(5.0)
self._graph.update()
self.node_completionmodel.refresh(self._graph.nn_nodes)
self.topic_completionmodel.refresh(self._graph.nt_nodes)
self._refresh_rosgraph()
def _refresh_rosgraph(self):
if not self.initialized:
return
self._update_graph_view(self._generate_dotcode())
def _generate_dotcode(self):
ns_filter = self._widget.filter_line_edit.text()
topic_filter = self._widget.topic_filter_line_edit.text()
graph_mode = self._widget.graph_type_combo_box.itemData(self._widget.graph_type_combo_box.currentIndex())
orientation = 'LR'
if self._widget.namespace_cluster_check_box.isChecked():
namespace_cluster = 1
else:
namespace_cluster = 0
accumulate_actions = self._widget.actionlib_check_box.isChecked()
hide_dead_end_topics = self._widget.dead_sinks_check_box.isChecked()
hide_single_connection_topics = self._widget.leaf_topics_check_box.isChecked()
quiet = self._widget.quiet_check_box.isChecked()
return self.dotcode_generator.generate_dotcode(
rosgraphinst=self._graph,
ns_filter=ns_filter,
topic_filter=topic_filter,
graph_mode=graph_mode,
hide_single_connection_topics=hide_single_connection_topics,
hide_dead_end_topics=hide_dead_end_topics,
cluster_namespaces_level=namespace_cluster,
accumulate_actions=accumulate_actions,
dotcode_factory=self.dotcode_factory,
orientation=orientation,
quiet=quiet)
def _update_graph_view(self, dotcode):
if dotcode == self._current_dotcode:
return
self._current_dotcode = dotcode
self._redraw_graph_view()
def _generate_tool_tip(self, url):
if url is not None and ':' in url:
item_type, item_path = url.split(':', 1)
if item_type == 'node':
tool_tip = 'Node:\n %s' % (item_path)
service_names = rosservice.get_service_list(node=item_path)
if service_names:
tool_tip += '\nServices:'
for service_name in service_names:
try:
service_type = rosservice.get_service_type(service_name)
tool_tip += '\n %s [%s]' % (service_name, service_type)
except rosservice.ROSServiceIOException as e:
tool_tip += '\n %s' % (e)
return tool_tip
elif item_type == 'topic':
topic_type, topic_name, _ = rostopic.get_topic_type(item_path)
return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type)
return url
def _redraw_graph_view(self):
self._scene.clear()
if self._widget.highlight_connections_check_box.isChecked():
highlight_level = 3
else:
highlight_level = 1
# layout graph and create qt items
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
for node_item in nodes.itervalues():
self._scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.topic_filter_line_edit.setEnabled(False)
self._widget.namespace_cluster_check_box.setEnabled(False)
self._widget.actionlib_check_box.setEnabled(False)
self._widget.dead_sinks_check_box.setEnabled(False)
self._widget.leaf_topics_check_box.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rosgraph.dot', self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
handle = QFile(file_name)
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
return
handle.write(self._current_dotcode)
handle.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
class RosBehaviourTree(QObject):
_deferred_fit_in_view = Signal()
_refresh_view = Signal()
_refresh_combo = Signal()
_message_changed = Signal()
_message_cleared = Signal()
_expected_type = py_trees_msgs.BehaviourTree()._type
_empty_topic = "No valid topics available"
_unselected_topic = "Not subscribing"
no_roscore_switch = "--no-roscore"
class ComboBoxEventFilter(QObject):
"""Event filter for the combo box. Will filter left mouse button presses,
calling a signal when they happen
"""
def __init__(self, signal):
"""
:param Signal signal: signal that is emitted when a left mouse button press happens
"""
super(RosBehaviourTree.ComboBoxEventFilter, self).__init__()
self.signal = signal
def eventFilter(self, obj, event):
if event.type() == QEvent.MouseButtonPress and event.button(
) == Qt.LeftButton:
self.signal.emit()
return False
def __init__(self, context):
super(RosBehaviourTree, self).__init__(context)
self.setObjectName('RosBehaviourTree')
parser = argparse.ArgumentParser()
RosBehaviourTree.add_arguments(parser, False)
# if the context doesn't have an argv attribute then assume we're running with --no-roscore
if not hasattr(context, 'argv'):
args = sys.argv[1:]
# Can run the viewer with or without live updating. Running without is
# intended for viewing of bags only
self.live_update = False
else:
args = context.argv()
self.live_update = True
parsed_args = parser.parse_args(args)
self.context = context
self.initialized = False
self._current_dotcode = None # dotcode for the tree that is currently displayed
self._viewing_bag = False # true if a bag file is loaded
# True if next or previous buttons are pressed. Reset if the tree being
# viewed is the last one in the list.
self._browsing_timeline = False
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PygraphvizFactory() # PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosBehaviourTreeDotcodeGenerator()
self.current_topic = None
self.behaviour_sub = None
self._tip_message = None # message of the tip of the tree
self._saved_settings_topic = None # topic subscribed to by previous instance
self.visibility_level = py_trees.common.VisibilityLevel.DETAIL
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_py_trees'), 'resource',
'RosBehaviourTree.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosBehaviourTreeUi')
if hasattr(context, 'serial_number') and context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_bag_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_bag_push_button.pressed.connect(self._load_bag)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
for text in visibility.combo_to_py_trees:
self._widget.visibility_level_combo_box.addItem(text)
self._widget.visibility_level_combo_box.setCurrentIndex(
self.visibility_level)
self._widget.visibility_level_combo_box.currentIndexChanged[
'QString'].connect(self._update_visibility_level)
# set up the function that is called whenever the box is resized -
# ensures that the timeline is correctly drawn.
self._widget.resizeEvent = self._resize_event
self._timeline = None
self._timeline_listener = None
# Connect the message changed function of this object to a corresponding
# signal. This signal will be activated whenever the message being
# viewed changes.
self._message_changed.connect(self.message_changed)
self._message_cleared.connect(self.message_cleared)
# Set up combo box for topic selection
# when the refresh_combo signal happens, update the combo topics available
self._refresh_combo.connect(self._update_combo_topics)
# filter events to catch the event which opens the combo box
self._combo_event_filter = RosBehaviourTree.ComboBoxEventFilter(
self._refresh_combo)
self._widget.topic_combo_box.installEventFilter(
self._combo_event_filter)
self._widget.topic_combo_box.activated.connect(self._choose_topic)
self._update_combo_topics()
# Set up navigation buttons
self._widget.previous_tool_button.pressed.connect(self._previous)
self._widget.previous_tool_button.setIcon(
QIcon.fromTheme('go-previous'))
self._widget.next_tool_button.pressed.connect(self._next)
self._widget.next_tool_button.setIcon(QIcon.fromTheme('go-next'))
self._widget.first_tool_button.pressed.connect(self._first)
self._widget.first_tool_button.setIcon(QIcon.fromTheme('go-first'))
self._widget.last_tool_button.pressed.connect(self._last)
self._widget.last_tool_button.setIcon(QIcon.fromTheme('go-last'))
# play, pause and stop buttons
self._widget.play_tool_button.pressed.connect(self._play)
self._widget.play_tool_button.setIcon(
QIcon.fromTheme('media-playback-start'))
self._widget.stop_tool_button.pressed.connect(self._stop)
self._widget.stop_tool_button.setIcon(
QIcon.fromTheme('media-playback-stop'))
# also connect the navigation buttons so that they stop the timer when
# pressed while the tree is playing.
self._widget.first_tool_button.pressed.connect(self._stop)
self._widget.previous_tool_button.pressed.connect(self._stop)
self._widget.last_tool_button.pressed.connect(self._stop)
self._widget.next_tool_button.pressed.connect(self._stop)
# set up shortcuts for navigation (vim)
next_shortcut_vi = QShortcut(QKeySequence("l"), self._widget)
next_shortcut_vi.activated.connect(
self._widget.next_tool_button.pressed)
previous_shortcut_vi = QShortcut(QKeySequence("h"), self._widget)
previous_shortcut_vi.activated.connect(
self._widget.previous_tool_button.pressed)
first_shortcut_vi = QShortcut(QKeySequence("^"), self._widget)
first_shortcut_vi.activated.connect(
self._widget.first_tool_button.pressed)
last_shortcut_vi = QShortcut(QKeySequence("$"), self._widget)
last_shortcut_vi.activated.connect(
self._widget.last_tool_button.pressed)
# shortcuts for emacs
next_shortcut_emacs = QShortcut(QKeySequence("Ctrl+f"), self._widget)
next_shortcut_emacs.activated.connect(
self._widget.next_tool_button.pressed)
previous_shortcut_emacs = QShortcut(QKeySequence("Ctrl+b"),
self._widget)
previous_shortcut_emacs.activated.connect(
self._widget.previous_tool_button.pressed)
first_shortcut_emacs = QShortcut(QKeySequence("Ctrl+a"), self._widget)
first_shortcut_emacs.activated.connect(
self._widget.first_tool_button.pressed)
last_shortcut_emacs = QShortcut(QKeySequence("Ctrl+e"), self._widget)
last_shortcut_emacs.activated.connect(
self._widget.last_tool_button.pressed)
# set up stuff for dotcode cache
self._dotcode_cache_capacity = 50
self._dotcode_cache = {}
# cache is ordered on timestamps from messages, but earliest timestamp
# isn't necessarily the message that was viewed the longest time ago, so
# need to store keys
self._dotcode_cache_keys = []
# set up stuff for scene cache (dotcode cache doesn't seem to make much difference)
self._scene_cache_capacity = 50
self._scene_cache = {}
self._scene_cache_keys = []
# Update the timeline buttons to correspond with a completely
# uninitialised state.
self._set_timeline_buttons(first_snapshot=False,
previous_snapshot=False,
next_snapshot=False,
last_snapshot=False)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
# This is used to store a timer which controls how fast updates happen when the play button is pressed.
self._play_timer = None
# updates the view
self._refresh_view.connect(self._refresh_tree_graph)
self._force_refresh = False
if self.live_update:
context.add_widget(self._widget)
else:
self.initialized = True # this needs to be set for trees to be displayed
context.setCentralWidget(self._widget)
if parsed_args.bag:
self._load_bag(parsed_args.bag)
elif parsed_args.latest_bag:
# if the latest bag is requested, load it from the default directory, or
# the one specified in the args
bag_dir = parsed_args.bag_dir or os.getenv(
'ROS_HOME', os.path.expanduser('~/.ros')) + '/behaviour_trees'
self.open_latest_bag(bag_dir, parsed_args.by_time)
@Slot(str)
def _update_visibility_level(self, visibility_level):
"""
We match the combobox index to the visibility levels defined in py_trees.common.VisibilityLevel.
"""
self.visibility_level = visibility.combo_to_py_trees[visibility_level]
self._refresh_tree_graph()
@staticmethod
def add_arguments(parser, group=True):
"""Allows for the addition of arguments to the rqt_gui loading method
:param bool group: If set to false, this indicates that the function is
being called from the rqt_py_trees script as opposed to the inside
of rqt_gui.main. We use this to ensure that the same arguments can
be passed with and without the --no-roscore argument set. If it is
set, the rqt_gui code is bypassed. We need to make sure that all the
arguments are displayed with -h.
"""
operate_object = parser
if group:
operate_object = parser.add_argument_group(
'Options for the rqt_py_trees viewer')
operate_object.add_argument(
'bag',
action='store',
nargs='?',
help='Load this bag when the viewer starts')
operate_object.add_argument(
'-l',
'--latest-bag',
action='store_true',
help=
'Load the latest bag available in the bag directory. Bag files are expected to be under the bag directory in the following structure: year-month-day/behaviour_tree_hour-minute-second.bag. If this structure is not followed, the bag file which was most recently modified is used.'
)
operate_object.add_argument(
'--bag-dir',
action='store',
help=
'Specify the directory in which to look for bag files. The default is $ROS_HOME/behaviour_trees, if $ROS_HOME is set, or ~/.ros/behaviour_trees otherwise.'
)
operate_object.add_argument(
'-m',
'--by-time',
action='store_true',
help=
'The latest bag is defined by the time at which the file was last modified, rather than the date and time specified in the filename.'
)
operate_object.add_argument(
RosBehaviourTree.no_roscore_switch,
action='store_true',
help=
'Run the viewer without roscore. It is only possible to view bag files if this is set.'
)
def open_latest_bag(self, bag_dir, by_time=False):
"""Open the latest bag in the given directory
:param str bag_dir: the directory in which to look for bags
:param bool by_time: if true, the latest bag is the one with the latest
modification time, not the latest date-time specified by its filename
"""
if not os.path.isdir(bag_dir):
rospy.logwarn(
"Requested bag directory {0} is invalid. Latest bag will not be loaded."
.format(bag_dir))
return
files = []
for root, unused_dirnames, filenames in os.walk(bag_dir, topdown=True):
files.extend(
fnmatch.filter(map(lambda p: os.path.join(root, p), filenames),
'*.bag'))
if not files:
rospy.logwarn(
"No files with extension .bag found in directory {0}".format(
bag_dir))
return
if not by_time:
# parse the file list with a regex to get only those which have the
# format year-month-day/behaviour_tree_hour-minute-second.bag
re_str = '.*\/\d{4}-\d{2}-\d{2}\/behaviour_tree_\d{2}-\d{2}-\d{2}.bag'
expr = re.compile(re_str)
valid = filter(lambda f: expr.match(f), files)
# if no files match the regex, use modification time instead
if not valid:
by_time = True
else:
# dates are monotonically increasing, so the last one is the latest
latest_bag = sorted(valid)[-1]
if by_time:
latest_bag = sorted(files,
cmp=lambda x, y: cmp(os.path.getctime(x),
os.path.getctime(y)))[-1]
self._load_bag(latest_bag)
def get_current_message(self):
"""
Get the message in the list or bag that is being viewed that should be
displayed.
"""
msg = None
if self._timeline_listener:
try:
msg = self._timeline_listener.msg
except KeyError:
pass
return py_trees_msgs.BehaviourTree() if msg is None else msg
def _choose_topic(self, index):
"""Updates the topic that is subscribed to based on changes to the combo box
text. If the topic is unchanged, nothing will happnen. Otherwise, the
old subscriber will be unregistered, and a new one initialised for the
updated topic. If the selected topic corresponds to the unselected
topic, the subscriber will be unregistered and a new one will not be
created.
"""
selected_topic = self._widget.topic_combo_box.currentText()
if selected_topic != self._empty_topic and self.current_topic != selected_topic:
self.current_topic = selected_topic
# destroy the old timeline and clear the scene
if self._timeline:
self._timeline.handle_close()
self._widget.timeline_graphics_view.setScene(None)
if selected_topic != self._unselected_topic:
# set up a timeline to track the messages coming from the subscriber
self._set_dynamic_timeline()
def _update_combo_topics(self):
"""
Update the topics displayed in the combo box that the user can use to select
which topic they want to listen on for trees, filtered so that only
topics with the correct message type are shown.
"""
# Only update topics if we're running with live updating
if not self.live_update:
self._widget.topic_combo_box.setEnabled(False)
return
self._widget.topic_combo_box.clear()
topic_list = rospy.get_published_topics()
valid_topics = []
for topic_path, topic_type in topic_list:
if topic_type == RosBehaviourTree._expected_type:
valid_topics.append(topic_path)
if not valid_topics:
self._widget.topic_combo_box.addItem(RosBehaviourTree._empty_topic)
return
# always add an item which does nothing so that it is possible to listen to nothing.
self._widget.topic_combo_box.addItem(
RosBehaviourTree._unselected_topic)
for topic in valid_topics:
self._widget.topic_combo_box.addItem(topic)
# if the topic corresponds to the one that was active the last time
# the viewer was run, automatically set that one as the one we look
# at
if topic == self._saved_settings_topic:
self._widget.topic_combo_box.setCurrentIndex(
self._widget.topic_combo_box.count() - 1)
self._choose_topic(self._widget.topic_combo_box.currentIndex())
def _set_timeline_buttons(self,
first_snapshot=None,
previous_snapshot=None,
next_snapshot=None,
last_snapshot=None):
"""
Allows timeline buttons to be enabled and disabled.
"""
if first_snapshot is not None:
self._widget.first_tool_button.setEnabled(first_snapshot)
if previous_snapshot is not None:
self._widget.previous_tool_button.setEnabled(previous_snapshot)
if next_snapshot is not None:
self._widget.next_tool_button.setEnabled(next_snapshot)
if last_snapshot is not None:
self._widget.last_tool_button.setEnabled(last_snapshot)
def _play(self):
"""
Start a timer which will automatically call the next function every time its
duration is up. Only works if the current message is not the final one.
"""
if not self._play_timer:
self._play_timer = rospy.Timer(rospy.Duration(1), self._timer_next)
def _timer_next(self, timer):
"""
Helper function for the timer so that it can call the next function without
breaking.
"""
self._next()
def _stop(self):
"""Stop the play timer, if it exists.
"""
if self._play_timer:
self._play_timer.shutdown()
self._play_timer = None
def _first(self):
"""Navigate to the first message. Activates the next and last buttons, disables
first and previous, and refreshes the view. Also changes the state to be
browsing the timeline.
"""
self._timeline.navigate_start()
self._set_timeline_buttons(first_snapshot=False,
previous_snapshot=False,
next_snapshot=True,
last_snapshot=True)
self._refresh_view.emit()
self._browsing_timeline = True
def _previous(self):
"""Navigate to the previous message. Activates the next and last buttons, and
refreshes the view. If the current message is the second message, then
the first and previous buttons are disabled. Changes the state to be
browsing the timeline.
"""
# if already at the beginning, do nothing
if self._timeline._timeline_frame.playhead == self._timeline._get_start_stamp(
):
return
# otherwise, go to the previous message
self._timeline.navigate_previous()
# now browsing the timeline
self._browsing_timeline = True
self._set_timeline_buttons(last_snapshot=True, next_snapshot=True)
# if now at the beginning, disable timeline buttons.
if self._timeline._timeline_frame.playhead == self._timeline._get_end_stamp(
):
self._set_timeline_buttons(next_snapshot=False,
last_snapshot=False)
self._refresh_view.emit()
def _last(self):
"""Navigate to the last message. Activates the first and previous buttons,
disables next and last, and refreshes the view. The user is no longer
browsing the timeline after this is called.
"""
self._timeline.navigate_end()
self._set_timeline_buttons(first_snapshot=True,
previous_snapshot=True,
next_snapshot=False,
last_snapshot=False)
self._refresh_view.emit()
self._browsing_timeline = False
self._new_messages = 0
def _next(self):
"""Navigate to the next message. Activates the first and previous buttons. If
the current message is the second from last, disables the next and last
buttons, and stops browsing the timeline.
"""
# if already at the end, do nothing
if self._timeline._timeline_frame.playhead == self._timeline._get_end_stamp(
):
return
# otherwise, go to the next message
self._timeline.navigate_next()
self._set_timeline_buttons(first_snapshot=True, previous_snapshot=True)
# if now at the end, disable timeline buttons and shutdown the play timer if active
if self._timeline._timeline_frame.playhead == self._timeline._get_end_stamp(
):
self._set_timeline_buttons(next_snapshot=False,
last_snapshot=False)
self._browsing_timeline = False
if self._play_timer:
self._play_timer.shutdown()
self._refresh_view.emit()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('visibility_level', self.visibility_level)
instance_settings.set_value(
'auto_fit_graph_check_box_state',
self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value(
'highlight_connections_check_box_state',
self._widget.highlight_connections_check_box.isChecked())
combo_text = self._widget.topic_combo_box.currentText()
if combo_text not in [self._empty_topic, self._unselected_topic]:
instance_settings.set_value('combo_box_subscribed_topic',
combo_text)
def restore_settings(self, plugin_settings, instance_settings):
try:
self._widget.auto_fit_graph_check_box.setChecked(
instance_settings.value('auto_fit_graph_check_box_state', True)
in [True, 'true'])
self._widget.highlight_connections_check_box.setChecked(
instance_settings.value(
'highlight_connections_check_box_state', True) in
[True, 'true'])
self._saved_settings_topic = instance_settings.value(
'combo_box_subscribed_topic', None)
saved_visibility_level = instance_settings.value(
'visibility_level', 1)
except TypeError as e:
self._widget.auto_fit_graph_check_box.setChecked(True)
self._widget.highlight_connections_check_box.setChecked(True)
self._saved_settings_topic = None
saved_visibility_level = 1
rospy.logerr(
"Rqt PyTrees: incompatible qt app configuration found, try removing ~/.config/ros.org/rqt_gui.ini"
)
rospy.logerr("Rqt PyTrees: %s" % e)
self._widget.visibility_level_combo_box.setCurrentIndex(
visibility.saved_setting_to_combo_index[saved_visibility_level])
self.initialized = True
self._update_combo_topics()
self._refresh_tree_graph()
def _refresh_tree_graph(self):
"""Refresh the graph view by regenerating the dotcode from the current message.
"""
if not self.initialized:
return
self._update_graph_view(
self._generate_dotcode(self.get_current_message()))
def _generate_dotcode(self, message):
"""
Get the dotcode for the given message, checking the cache for dotcode that
was previously generated, and adding to the cache if it wasn't there.
Cache replaces LRU.
Mostly stolen from rqt_bag.MessageLoaderThread
:param py_trees_msgs.BehavoiurTree message
"""
if message is None:
return ""
#######################################################
# Get the tip, from the perspective of the root
#######################################################
# this is pretty inefficient, and ignores caching
tip_id = None
self._tip_message = None
# reverse behaviour list - construction puts the root at the end (with
# visitor, at least)
for behaviour in reversed(message.behaviours):
# root has empty parent ID
if str(behaviour.parent_id) == str(uuid_msgs.UniqueID()):
# parent is the root behaviour, so
tip_id = behaviour.tip_id
# Run through the behaviours and do a couple of things:
# - get the tip
# - protect against feedback messages with quotes (https://bitbucket.org/yujinrobot/gopher_crazy_hospital/issues/72/rqt_py_trees-fails-to-display-tree)
if self._tip_message is None:
for behaviour in message.behaviours:
if str(behaviour.own_id) == str(tip_id):
self._tip_message = behaviour.message
if '"' in behaviour.message:
print("%s" % termcolor.colored(
'[ERROR] found double quotes in the feedback message [%s]'
% behaviour.message, 'red'))
behaviour.message = behaviour.message.replace('"', '')
print("%s" % termcolor.colored(
'[ERROR] stripped to stop from crashing, but do catch the culprit! [%s]'
% behaviour.message, 'red'))
key = str(message.header.stamp) # stamps are unique
if key in self._dotcode_cache:
return self._dotcode_cache[key]
force_refresh = self._force_refresh
self._force_refresh = False
visible_behaviours = visibility.filter_behaviours_by_visibility_level(
message.behaviours, self.visibility_level)
# cache miss
dotcode = self.dotcode_generator.generate_dotcode(
dotcode_factory=self.dotcode_factory,
behaviours=visible_behaviours,
timestamp=message.header.stamp,
force_refresh=force_refresh)
self._dotcode_cache[key] = dotcode
self._dotcode_cache_keys.append(key)
if len(self._dotcode_cache) > self._dotcode_cache_capacity:
oldest = self._dotcode_cache_keys[0]
del self._dotcode_cache[oldest]
self._dotcode_cache_keys.remove(oldest)
return dotcode
def _update_graph_view(self, dotcode):
if dotcode == self._current_dotcode:
return
self._current_dotcode = dotcode
self._redraw_graph_view()
def _redraw_graph_view(self):
key = str(self.get_current_message().header.stamp)
if key in self._scene_cache:
new_scene = self._scene_cache[key]
else: # cache miss
new_scene = QGraphicsScene()
new_scene.setBackgroundBrush(Qt.white)
if self._widget.highlight_connections_check_box.isChecked():
highlight_level = 3
else:
highlight_level = 1
# (nodes, edges) = self.dot_to_qt.graph_to_qt_items(self.dotcode_generator.graph,
# highlight_level)
# this function is very expensive
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(
self._current_dotcode, highlight_level)
for node_item in nodes.itervalues():
new_scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(new_scene)
new_scene.setSceneRect(new_scene.itemsBoundingRect())
# put the scene in the cache
self._scene_cache[key] = new_scene
self._scene_cache_keys.append(key)
if len(self._scene_cache) > self._scene_cache_capacity:
oldest = self._scene_cache_keys[0]
del self._scene_cache[oldest]
self._scene_cache_keys.remove(oldest)
# after construction, set the scene and fit to the view
self._scene = new_scene
self._widget.graphics_view.setScene(self._scene)
self._widget.message_label.setText(self._tip_message)
if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _resize_event(self, event):
"""Activated when the window is resized. Will re-fit the behaviour tree in the
window, and update the size of the timeline scene rectangle so that it
is correctly drawn.
"""
self._fit_in_view()
if self._timeline:
self._timeline.setSceneRect(
0, 0,
self._widget.timeline_graphics_view.width() - 2,
max(self._widget.timeline_graphics_view.height() - 2,
self._timeline._timeline_frame._history_bottom))
def timeline_changed(self):
"""Should be called whenever the timeline changes. At the moment this is only
used to ensure that the first and previous buttons are correctly
disabled when a new message coming in on the timeline pushes the
playhead to be at the first message
"""
if self._timeline._timeline_frame.playhead == self._timeline._get_start_stamp(
):
self._set_timeline_buttons(first_snapshot=False,
previous_snapshot=False)
else:
self._set_timeline_buttons(first_snapshot=True,
previous_snapshot=True)
def message_changed(self):
"""
This function should be called when the message being viewed changes. Will
change the current message and update the view. Also ensures that the
timeline buttons are correctly set for the current position of the
playhead on the timeline.
"""
if self._timeline._timeline_frame.playhead == self._timeline._get_end_stamp(
):
self._set_timeline_buttons(last_snapshot=False,
next_snapshot=False)
else:
self._set_timeline_buttons(last_snapshot=True, next_snapshot=True)
if self._timeline._timeline_frame.playhead == self._timeline._get_start_stamp(
):
self._set_timeline_buttons(first_snapshot=False,
previous_snapshot=False)
else:
self._set_timeline_buttons(first_snapshot=True,
previous_snapshot=True)
self._refresh_view.emit()
def message_cleared(self):
"""
This function should be called when the message being viewed was cleared.
Currently no situation where this happens?
"""
pass
def no_right_click_press_event(self, func):
"""Decorator for ignoring right click events on mouse press
"""
@functools.wraps(func)
def wrapper(event):
if event.type() == QEvent.MouseButtonPress and event.button(
) == Qt.RightButton:
event.ignore()
else:
func(event)
return wrapper
def _set_dynamic_timeline(self):
"""
Set the timeline to a dynamic timeline, listening to messages on the topic
selected in the combo box.
"""
self._timeline = DynamicTimeline(self, publish_clock=False)
# connect timeline events so that the timeline will update when events happen
self._widget.timeline_graphics_view.mousePressEvent = self.no_right_click_press_event(
self._timeline.on_mouse_down)
self._widget.timeline_graphics_view.mouseReleaseEvent = self._timeline.on_mouse_up
self._widget.timeline_graphics_view.mouseMoveEvent = self._timeline.on_mouse_move
self._widget.timeline_graphics_view.wheelEvent = self._timeline.on_mousewheel
self._widget.timeline_graphics_view.setScene(self._timeline)
# Don't show scrollbars - the timeline adjusts to the size of the view
self._widget.timeline_graphics_view.setHorizontalScrollBarPolicy(
Qt.ScrollBarAlwaysOff)
self._widget.timeline_graphics_view.setVerticalScrollBarPolicy(
Qt.ScrollBarAlwaysOff)
# Send a resize event so that the timeline knows the size of the view it's in
self._resize_event(None)
self._timeline.add_topic(self.current_topic,
py_trees_msgs.BehaviourTree)
# Create a listener for the timeline which will call the emit function
# on the given signals when the message being viewed changes or is
# cleared. The message being viewed changing generally happens when the
# user moves the slider around.
self._timeline_listener = DynamicTimelineListener(
self._timeline, self.current_topic, self._message_changed,
self._message_cleared)
# Need to add a listener to make sure that we can get information about
# messages that are on the topic that we're interested in.
self._timeline.add_listener(self.current_topic,
self._timeline_listener)
self._timeline.navigate_end()
self._timeline._redraw_timeline(None)
self._timeline.timeline_updated.connect(self.timeline_changed)
def _set_bag_timeline(self, bag):
"""Set the timeline of this object to a bag timeline, hooking the graphics view
into mouse and wheel functions of the timeline.
"""
self._timeline = BagTimeline(self, publish_clock=False)
# connect timeline events so that the timeline will update when events happen
self._widget.timeline_graphics_view.mousePressEvent = self.no_right_click_press_event(
self._timeline.on_mouse_down)
self._widget.timeline_graphics_view.mouseReleaseEvent = self._timeline.on_mouse_up
self._widget.timeline_graphics_view.mouseMoveEvent = self._timeline.on_mouse_move
self._widget.timeline_graphics_view.wheelEvent = self._timeline.on_mousewheel
self._widget.timeline_graphics_view.setScene(self._timeline)
# Don't show scrollbars - the timeline adjusts to the size of the view
self._widget.timeline_graphics_view.setHorizontalScrollBarPolicy(
Qt.ScrollBarAlwaysOff)
self._widget.timeline_graphics_view.setVerticalScrollBarPolicy(
Qt.ScrollBarAlwaysOff)
# Send a resize event so that the timeline knows the size of the view it's in
self._resize_event(None)
self._timeline.add_bag(bag)
# Create a listener for the timeline which will call the emit function
# on the given signals when the message being viewed changes or is
# cleared. The message being viewed changing generally happens when the
# user moves the slider around.
self._timeline_listener = TimelineListener(self._timeline,
self.current_topic,
self._message_changed,
self._message_cleared)
# Need to add a listener to make sure that we can get information about
# messages that are on the topic that we're interested in.
self._timeline.add_listener(self.current_topic,
self._timeline_listener)
# Go to the first message in the timeline of the bag.
self._timeline.navigate_start()
def _load_bag(self, file_name=None):
"""Load a bag from file. If no file name is given, a dialogue will pop up and
the user will be asked to select a file. If the bag file selected
doesn't have any valid topic, nothing will happen. If there are valid
topics, we load the bag and add a timeline for managing it.
"""
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open trees from bag file'), None,
self.tr('ROS bag (*.bag)'))
if file_name is None or file_name == "":
return
rospy.loginfo("Reading bag from {0}".format(file_name))
bag = rosbag.Bag(file_name, 'r')
# ugh...
topics = bag.get_type_and_topic_info()[1].keys()
types = []
for i in range(0, len(bag.get_type_and_topic_info()[1].values())):
types.append(bag.get_type_and_topic_info()[1].values()[i][0])
tree_topics = [] # only look at the first matching topic
for ind, tp in enumerate(types):
if tp == 'py_trees_msgs/BehaviourTree':
tree_topics.append(topics[ind])
if len(tree_topics) == 0:
rospy.logerr('Requested bag did not contain any valid topics.')
return
self.message_list = []
self._viewing_bag = True
rospy.loginfo('Reading behaviour trees from topic {0}'.format(
tree_topics[0]))
for unused_topic, msg, unused_t in bag.read_messages(
topics=[tree_topics[0]]):
self.message_list.append(msg)
self.current_topic = tree_topics[0]
self._set_timeline_buttons(first_snapshot=True,
previous_snapshot=True,
next_snapshot=False,
last_snapshot=False)
self._set_bag_timeline(bag)
self._refresh_view.emit()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open tree from DOT file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fhandle = open(file_name, 'rb')
dotcode = fhandle.read()
fhandle.close()
except IOError:
return
self._update_graph_view(dotcode)
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as DOT'), 'frames.dot',
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
dot_file = QFile(file_name)
if not dot_file.open(QIODevice.WriteOnly | QIODevice.Text):
return
dot_file.write(self._current_dotcode)
dot_file.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as SVG'), 'frames.svg',
self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as image'), 'frames.png',
self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def __init__(self):
super(BTWidget, self).__init__()
self.setObjectName('BTWidget')
self._graph = None
self._current_dotcode = None
self._initialized = False
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_bt'), 'resource', 'rqt_bt.ui')
loadUi(ui_file, self,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self.refresh_timer = QTimer(self)
self.refresh_timer.start(self._redraw_interval)
self.refresh_timer.timeout.connect(self._refresh_rosgraph)
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self.graphics_view.setScene(self._scene)
self.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self.refresh_graph_push_button.clicked.connect(self._update_rosgraph)
self.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self.fit_in_view_push_button.clicked.connect(self._fit_in_view)
self.depth_spin_box.setMinimum(-1)
self.depth_spin_box.valueChanged.connect(self._refresh_rosgraph)
self.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self.save_dot_push_button.clicked.connect(self._save_dot)
self.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self.save_as_svg_push_button.clicked.connect(self._save_svg)
self.save_as_image_push_button.setIcon(QIcon.fromTheme('image'))
self.save_as_image_push_button.clicked.connect(self._save_image)
self.run_push_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.run_push_button.clicked.connect(self._run_bt)
self._update_rosgraph()
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
# generator builds tree graph
bt_sub_name = '/cyborg/bt/behavior_tree'
bt_update_sub_name = '/cyborg/bt/behavior_tree_updates'
bt_enabled_sub_name = '/cyborg/bt/enabled'
bt_enable_srv_name = '/cyborg/bt/enable'
self._bt_enabled = True
rospy.Subscriber(bt_enabled_sub_name, Bool, self._bt_enabled_cb)
self._bt_enable_srv = rospy.ServiceProxy(bt_enable_srv_name, SetBool)
bt_data = BTData(bt_sub_name, bt_update_sub_name)
self.dotcode_generator = RosBTDotcodeGenerator(bt_data)
def __init__(self, context):
super(RosTfTree, self).__init__(context)
self.initialized = False
self.setObjectName('RosTfTree')
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosTfTreeDotcodeGenerator()
self.tf2_buffer_ = tf2_ros.Buffer()
self.tf2_listener_ = tf2_ros.TransformListener(self.tf2_buffer_)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_tf_tree'), 'resource',
'RosTfTree.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosTfTreeUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(
self._update_tf_graph)
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image-x-generic'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
self._force_refresh = False
class RosPackGraph(Plugin):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(RosPackGraph, self).__init__(context)
self.initialized = False
self._current_dotcode = None
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
self._nodes = []
self._edges = []
self._options = {}
self._options_serialized = ''
self.setObjectName('RosPackGraph')
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosPackageGraphDotcodeGenerator(
rospack, rosstack)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
self._widget = QWidget()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'RosPackGraph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosPackGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1)
self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2)
self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3)
self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4)
self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5)
self._widget.depth_combo_box.setCurrentIndex(0)
self._widget.depth_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0)
self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'),
1)
self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2)
self._widget.directions_combo_box.setCurrentIndex(2)
self._widget.directions_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
completionmodel = StackageCompletionModel(
self._widget.filter_line_edit, rospack, rosstack)
completer = RepeatedWordCompleter(completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(
self._refresh_rospackgraph)
self._widget.filter_line_edit.setCompleter(completer)
self._widget.with_stacks_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.colorize_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.hide_transitives_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(
self._update_rospackgraph)
self._widget.highlight_connections_check_box.toggled.connect(
self._refresh_rospackgraph)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._refresh_rospackgraph)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
def shutdown_plugin(self):
self._update_thread.kill()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value(
'depth_combo_box_index',
self._widget.depth_combo_box.currentIndex())
instance_settings.set_value(
'directions_combo_box_index',
self._widget.directions_combo_box.currentIndex())
instance_settings.set_value('filter_line_edit_text',
self._widget.filter_line_edit.text())
instance_settings.set_value(
'with_stacks_state',
self._widget.with_stacks_check_box.isChecked())
instance_settings.set_value(
'hide_transitives_state',
self._widget.hide_transitives_check_box.isChecked())
instance_settings.set_value('mark_state',
self._widget.mark_check_box.isChecked())
instance_settings.set_value(
'colorize_state', self._widget.colorize_check_box.isChecked())
instance_settings.set_value(
'auto_fit_graph_check_box_state',
self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value(
'highlight_connections_check_box_state',
self._widget.highlight_connections_check_box.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
self._widget.depth_combo_box.setCurrentIndex(
int(instance_settings.value('depth_combo_box_index', 0)))
self._widget.directions_combo_box.setCurrentIndex(
int(instance_settings.value('directions_combo_box_index', 0)))
self._widget.filter_line_edit.setText(
instance_settings.value('filter_line_edit_text', ''))
self._widget.with_stacks_check_box.setChecked(
instance_settings.value('with_stacks_state', True) in
[True, 'true'])
self._widget.mark_check_box.setChecked(
instance_settings.value('mark_state', True) in [True, 'true'])
self._widget.colorize_check_box.setChecked(
instance_settings.value('colorize_state', True) in [True, 'true'])
self._widget.hide_transitives_check_box.setChecked(
instance_settings.value('hide_transitives_state', True) in
[True, 'true'])
self._widget.auto_fit_graph_check_box.setChecked(
instance_settings.value('auto_fit_graph_check_box_state', True) in
[True, 'true'])
self._widget.highlight_connections_check_box.setChecked(
instance_settings.value('highlight_connections_check_box_state',
True) in [True, 'true'])
self.initialized = True
self._refresh_rospackgraph()
def _update_rospackgraph(self):
# re-enable controls customizing fetched ROS graph
self._widget.depth_combo_box.setEnabled(True)
self._widget.directions_combo_box.setEnabled(True)
self._widget.filter_line_edit.setEnabled(True)
self._widget.with_stacks_check_box.setEnabled(True)
self._widget.mark_check_box.setEnabled(True)
self._widget.colorize_check_box.setEnabled(True)
self._widget.hide_transitives_check_box.setEnabled(True)
self._refresh_rospackgraph(force_update=True)
def _update_options(self):
self._options['depth'] = self._widget.depth_combo_box.itemData(
self._widget.depth_combo_box.currentIndex())
self._options[
'directions'] = self._widget.directions_combo_box.itemData(
self._widget.directions_combo_box.currentIndex())
self._options[
'with_stacks'] = self._widget.with_stacks_check_box.isChecked()
self._options['mark_selected'] = self._widget.mark_check_box.isChecked(
)
self._options[
'hide_transitives'] = self._widget.hide_transitives_check_box.isChecked(
)
# TODO: Allow different color themes
self._options[
'colortheme'] = True if self._widget.colorize_check_box.isChecked(
) else None
self._options['names'] = self._widget.filter_line_edit.text().split(
',')
if self._options['names'] == [u'None']:
self._options['names'] = []
self._options[
'highlight_level'] = 3 if self._widget.highlight_connections_check_box.isChecked(
) else 1
self._options[
'auto_fit'] = self._widget.auto_fit_graph_check_box.isChecked()
def _refresh_rospackgraph(self, force_update=False):
if not self.initialized:
return
self._update_thread.kill()
self._update_options()
# avoid update if options did not change and force_update is not set
new_options_serialized = pickle.dumps(self._options)
if new_options_serialized == self._options_serialized and not force_update:
return
self._options_serialized = pickle.dumps(self._options)
self._scene.setBackgroundBrush(Qt.lightGray)
self._update_thread.start()
# this runs in a non-gui thread, so don't access widgets here directly
def _update_thread_run(self):
self._update_graph(self._generate_dotcode())
@Slot()
def _update_finished(self):
self._scene.setBackgroundBrush(Qt.white)
self._redraw_graph_scene()
# this runs in a non-gui thread, so don't access widgets here directly
def _generate_dotcode(self):
includes = []
excludes = []
for name in self._options['names']:
if name.strip().startswith('-'):
excludes.append(name.strip()[1:])
else:
includes.append(name.strip())
# orientation = 'LR'
descendants = True
ancestors = True
if self._options['directions'] == 1:
descendants = False
if self._options['directions'] == 0:
ancestors = False
return self.dotcode_generator.generate_dotcode(
dotcode_factory=self.dotcode_factory,
selected_names=includes,
excludes=excludes,
depth=self._options['depth'],
with_stacks=self._options['with_stacks'],
descendants=descendants,
ancestors=ancestors,
mark_selected=self._options['mark_selected'],
colortheme=self._options['colortheme'],
hide_transitives=self._options['hide_transitives'])
# this runs in a non-gui thread, so don't access widgets here directly
def _update_graph(self, dotcode):
self._current_dotcode = dotcode
self._nodes, self._edges = self.dot_to_qt.dotcode_to_qt_items(
self._current_dotcode, self._options['highlight_level'])
def _generate_tool_tip(self, url):
if url is not None and ':' in url:
item_type, item_path = url.split(':', 1)
if item_type == 'node':
tool_tip = 'Node:\n %s' % (item_path)
service_names = rosservice.get_service_list(node=item_path)
if service_names:
tool_tip += '\nServices:'
for service_name in service_names:
try:
service_type = rosservice.get_service_type(
service_name)
tool_tip += '\n %s [%s]' % (service_name,
service_type)
except rosservice.ROSServiceIOException, e:
tool_tip += '\n %s' % (e)
return tool_tip
elif item_type == 'topic':
topic_type, topic_name, _ = rostopic.get_topic_type(item_path)
return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type)
return url
class RosPackGraph(Plugin):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(RosPackGraph, self).__init__(context)
self.initialized = False
self._current_dotcode = None
self._update_thread = WorkerThread(self._update_thread_run, self._update_finished)
self._nodes = {}
self._edges = {}
self._options = {}
self._options_serialized = ''
self.setObjectName('RosPackGraph')
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosPackageGraphDotcodeGenerator(rospack, rosstack)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_dep'), 'resource', 'RosPackGraph.ui')
loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosPackGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1)
self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2)
self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3)
self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4)
self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5)
self._widget.depth_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph)
self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0)
self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'), 1)
self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2)
self._widget.directions_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph)
self._widget.package_type_combo_box.insertItem(0, self.tr('wet & dry'), 3)
self._widget.package_type_combo_box.insertItem(1, self.tr('wet only'), 2)
self._widget.package_type_combo_box.insertItem(2, self.tr('dry only'), 1)
self._widget.package_type_combo_box.currentIndexChanged.connect(self._refresh_rospackgraph)
completionmodel = StackageCompletionModel(self._widget.filter_line_edit, rospack, rosstack)
completer = RepeatedWordCompleter(completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(self._refresh_rospackgraph)
self._widget.filter_line_edit.setCompleter(completer)
self._widget.filter_line_edit.selectionChanged.connect(self._clear_filter)
self._widget.with_stacks_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.colorize_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.hide_transitives_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(self._update_rospackgraph)
self._widget.highlight_connections_check_box.toggled.connect(self._refresh_rospackgraph)
self._widget.auto_fit_graph_check_box.toggled.connect(self._refresh_rospackgraph)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
# If in either of following case, this turnes True
# - 1st filtering key is already input by user
# - filtering key is restored
self._filtering_started = False
def shutdown_plugin(self):
self._update_thread.kill()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('depth_combo_box_index', self._widget.depth_combo_box.currentIndex())
instance_settings.set_value('directions_combo_box_index', self._widget.directions_combo_box.currentIndex())
instance_settings.set_value('package_type_combo_box', self._widget.package_type_combo_box.currentIndex())
instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text())
instance_settings.set_value('with_stacks_state', self._widget.with_stacks_check_box.isChecked())
instance_settings.set_value('hide_transitives_state', self._widget.hide_transitives_check_box.isChecked())
instance_settings.set_value('mark_state', self._widget.mark_check_box.isChecked())
instance_settings.set_value('colorize_state', self._widget.colorize_check_box.isChecked())
instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
_str_filter = instance_settings.value('filter_line_edit_text', '')
if (_str_filter == None or _str_filter == '') and \
not self._filtering_started:
_str_filter = '(Separate pkgs by comma)'
else:
self._filtering_started = True
self._widget.depth_combo_box.setCurrentIndex(int(instance_settings.value('depth_combo_box_index', 0)))
self._widget.directions_combo_box.setCurrentIndex(int(instance_settings.value('directions_combo_box_index', 0)))
self._widget.package_type_combo_box.setCurrentIndex(int(instance_settings.value('package_type_combo_box', 0)))
self._widget.filter_line_edit.setText(_str_filter)
self._widget.with_stacks_check_box.setChecked(instance_settings.value('with_stacks_state', True) in [True, 'true'])
self._widget.mark_check_box.setChecked(instance_settings.value('mark_state', True) in [True, 'true'])
self._widget.colorize_check_box.setChecked(instance_settings.value('colorize_state', False) in [True, 'true'])
self._widget.hide_transitives_check_box.setChecked(instance_settings.value('hide_transitives_state', False) in [True, 'true'])
self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true'])
self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true'])
self.initialized = True
self._refresh_rospackgraph()
def _update_rospackgraph(self):
# re-enable controls customizing fetched ROS graph
self._widget.depth_combo_box.setEnabled(True)
self._widget.directions_combo_box.setEnabled(True)
self._widget.package_type_combo_box.setEnabled(True)
self._widget.filter_line_edit.setEnabled(True)
self._widget.with_stacks_check_box.setEnabled(True)
self._widget.mark_check_box.setEnabled(True)
self._widget.colorize_check_box.setEnabled(True)
self._widget.hide_transitives_check_box.setEnabled(True)
self._refresh_rospackgraph(force_update=True)
def _update_options(self):
self._options['depth'] = self._widget.depth_combo_box.itemData(self._widget.depth_combo_box.currentIndex())
self._options['directions'] = self._widget.directions_combo_box.itemData(self._widget.directions_combo_box.currentIndex())
self._options['package_types'] = self._widget.package_type_combo_box.itemData(self._widget.package_type_combo_box.currentIndex())
self._options['with_stacks'] = self._widget.with_stacks_check_box.isChecked()
self._options['mark_selected'] = self._widget.mark_check_box.isChecked()
self._options['hide_transitives'] = self._widget.hide_transitives_check_box.isChecked()
# TODO: Allow different color themes
self._options['colortheme'] = True if self._widget.colorize_check_box.isChecked() else None
self._options['names'] = self._widget.filter_line_edit.text().split(',')
if self._options['names'] == [u'None']:
self._options['names'] = []
self._options['highlight_level'] = 3 if self._widget.highlight_connections_check_box.isChecked() else 1
self._options['auto_fit'] = self._widget.auto_fit_graph_check_box.isChecked()
def _refresh_rospackgraph(self, force_update=False):
if not self.initialized:
return
self._update_thread.kill()
self._update_options()
# avoid update if options did not change and force_update is not set
new_options_serialized = pickle.dumps(self._options)
if new_options_serialized == self._options_serialized and not force_update:
return
self._options_serialized = pickle.dumps(self._options)
self._scene.setBackgroundBrush(Qt.lightGray)
self._update_thread.start()
# this runs in a non-gui thread, so don't access widgets here directly
def _update_thread_run(self):
self._update_graph(self._generate_dotcode())
@Slot()
def _update_finished(self):
self._scene.setBackgroundBrush(Qt.white)
self._redraw_graph_scene()
# this runs in a non-gui thread, so don't access widgets here directly
def _generate_dotcode(self):
includes = []
excludes = []
for name in self._options['names']:
if name.strip().startswith('-'):
excludes.append(name.strip()[1:])
else:
includes.append(name.strip())
# orientation = 'LR'
descendants = True
ancestors = True
if self._options['directions'] == 1:
descendants = False
if self._options['directions'] == 0:
ancestors = False
return self.dotcode_generator.generate_dotcode(dotcode_factory=self.dotcode_factory,
selected_names=includes,
excludes=excludes,
depth=self._options['depth'],
with_stacks=self._options['with_stacks'],
descendants=descendants,
ancestors=ancestors,
mark_selected=self._options['mark_selected'],
colortheme=self._options['colortheme'],
hide_transitives=self._options['hide_transitives'],
hide_wet=self._options['package_types'] == 1,
hide_dry=self._options['package_types'] == 2)
# this runs in a non-gui thread, so don't access widgets here directly
def _update_graph(self, dotcode):
self._current_dotcode = dotcode
self._nodes, self._edges = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, self._options['highlight_level'])
def _generate_tool_tip(self, url):
if url is not None and ':' in url:
item_type, item_path = url.split(':', 1)
if item_type == 'node':
tool_tip = 'Node:\n %s' % (item_path)
service_names = rosservice.get_service_list(node=item_path)
if service_names:
tool_tip += '\nServices:'
for service_name in service_names:
try:
service_type = rosservice.get_service_type(service_name)
tool_tip += '\n %s [%s]' % (service_name, service_type)
except rosservice.ROSServiceIOException, e:
tool_tip += '\n %s' % (e)
return tool_tip
elif item_type == 'topic':
topic_type, topic_name, _ = rostopic.get_topic_type(item_path)
return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type)
return url
class BTWidget(QWidget):
_redraw_interval = 40
_deferred_fit_in_view = Signal()
def __init__(self):
super(BTWidget, self).__init__()
self.setObjectName('BTWidget')
self._graph = None
self._current_dotcode = None
self._initialized = False
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_bt'), 'resource', 'rqt_bt.ui')
loadUi(ui_file, self,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self.refresh_timer = QTimer(self)
self.refresh_timer.start(self._redraw_interval)
self.refresh_timer.timeout.connect(self._refresh_rosgraph)
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self.graphics_view.setScene(self._scene)
self.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh'))
self.refresh_graph_push_button.clicked.connect(self._update_rosgraph)
self.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
self.fit_in_view_push_button.clicked.connect(self._fit_in_view)
self.depth_spin_box.setMinimum(-1)
self.depth_spin_box.valueChanged.connect(self._refresh_rosgraph)
self.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as'))
self.save_dot_push_button.clicked.connect(self._save_dot)
self.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self.save_as_svg_push_button.clicked.connect(self._save_svg)
self.save_as_image_push_button.setIcon(QIcon.fromTheme('image'))
self.save_as_image_push_button.clicked.connect(self._save_image)
self.run_push_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.run_push_button.clicked.connect(self._run_bt)
self._update_rosgraph()
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
# generator builds tree graph
bt_sub_name = '/cyborg/bt/behavior_tree'
bt_update_sub_name = '/cyborg/bt/behavior_tree_updates'
bt_enabled_sub_name = '/cyborg/bt/enabled'
bt_enable_srv_name = '/cyborg/bt/enable'
self._bt_enabled = True
rospy.Subscriber(bt_enabled_sub_name, Bool, self._bt_enabled_cb)
self._bt_enable_srv = rospy.ServiceProxy(bt_enable_srv_name, SetBool)
bt_data = BTData(bt_sub_name, bt_update_sub_name)
self.dotcode_generator = RosBTDotcodeGenerator(bt_data)
def _bt_enabled_cb(self, msg):
self._bt_enabled = msg.data
if self._bt_enabled:
self.run_push_button.setIcon(
QIcon.fromTheme('media-playback-pause'))
else:
self.run_push_button.setIcon(
QIcon.fromTheme('media-playback-start'))
def _run_bt(self):
enable_req = False if self._bt_enabled else True
if self._bt_enable_srv(data=enable_req).success:
self._bt_enabled = enable_req
def _update_rosgraph(self):
self._graph = rosgraph.impl.graph.Graph()
self._graph.set_master_stale(5.0)
self._graph.set_node_stale(5.0)
self._graph.update()
self._refresh_rosgraph()
def _refresh_rosgraph(self):
if not self._initialized:
return
self._update_graph_view(self._generate_dotcode())
def _generate_dotcode(self):
depth = self.depth_spin_box.value()
return self.dotcode_generator.generate_dotcode(max_depth=depth)
def _update_graph_view(self, dotcode):
if dotcode == self._current_dotcode:
return
self._current_dotcode = dotcode
self._redraw_graph_view()
def _generate_tool_tip(self, url):
if url is not None and ':' in url:
item_type, item_path = url.split(':', 1)
if item_type == 'node':
tool_tip = 'Node:\n %s' % (item_path)
service_names = rosservice.get_service_list(node=item_path)
if service_names:
tool_tip += '\nServices:'
for service_name in service_names:
try:
service_type = rosservice.get_service_type(
service_name)
tool_tip += '\n %s [%s]' % (service_name,
service_type)
except rosservice.ROSServiceIOException as e:
tool_tip += '\n %s' % (e)
return tool_tip
elif item_type == 'topic':
topic_type, topic_name, _ = rostopic.get_topic_type(item_path)
return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type)
return url
def _redraw_graph_view(self):
self._scene.clear()
if self.highlight_connections_check_box.isChecked():
highlight_level = 3
else:
highlight_level = 1
# layout graph and create qt items
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(
self._current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
for node_item in nodes.values():
self._scene.addItem(node_item)
for edge_items in edges.values():
for edge_item in edge_items:
edge_item.add_to_scene(self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _fit_in_view(self):
self.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(
self, self.tr('Save as DOT'), 'rosgraph.dot',
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
handle = QFile(file_name)
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
return
handle.write(self._current_dotcode)
handle.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(
self, self.tr('Save as SVG'), 'rosgraph.svg',
self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(
self, self.tr('Save as image'), 'rosgraph.png',
self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('auto_fit_graph_check_box_state',
self.auto_fit_graph_check_box.isChecked())
instance_settings.set_value(
'highlight_connections_check_box_state',
self.highlight_connections_check_box.isChecked())
instance_settings.set_value('depth_spin_box_value',
self.depth_spin_box.value())
def restore_settings(self, plugin_settings, instance_settings):
self.auto_fit_graph_check_box.setChecked(
instance_settings.value('auto_fit_graph_check_box_state', True) in
[True, 'true'])
self.highlight_connections_check_box.setChecked(
instance_settings.value('highlight_connections_check_box_state',
True) in [True, 'true'])
self.depth_spin_box.setValue(
int(instance_settings.value('depth_spin_box_value', -1)))
self._initialized = True
self._refresh_rosgraph()
