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 _render_dotgraph(self, dotgraph):
"""
Render the specified dotgraph on canvas
:type dotgraph: pydot.Dot
"""
# Only redraw when the graph differs from the previous one
if self._prev_dotgraph == dotgraph:
return
else:
self._prev_dotgraph = dotgraph
self._scene.clear()
if self._widget.highlight_connections_check_box.isChecked():
highlight_level = 3
else:
highlight_level = 1
# Generate qt items from dotcode
dotcode = PydotFactory().create_dot(dotgraph)
nodes, edges = DotToQtGenerator().dotcode_to_qt_items(
dotcode, highlight_level, same_label_siblings=False)
# Add generated items to scene
for node_item in nodes:
self._scene.addItem(nodes.get(node_item))
for edge_items in edges:
for edge_item in edges.get(edge_items):
edge_item.add_to_scene(self._scene)
self._scene.setSceneRect(self._scene.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(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 __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 __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 __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 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 __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):
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(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 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 __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(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 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))
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
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 __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)
