def _load_for_package(self, package, ros_package_proxy):
""" Load into local structures the information for this
specific package
Called in constructor. """
try:
rosdep_dependent_packages = ros_package_proxy.depends([package])[package]
except KeyError as ex:
print("Depends Failed on package", ex)
print(" The errors was in ", ros_package_proxy.depends([package]))
rosdep_dependent_packages = []
rosdep_dependent_packages.append(package)
paths = set()
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
for p in rosdep_dependent_packages:
stack = None
try:
stack = rospack.stack_of(p)
except rospkg.ResourceNotFound as ex:
print("Failed to find stack for package [%s]" % p, file=sys.stderr)
if stack:
try:
paths.add(os.path.join(rosstack.get_path(stack), "rosdep.yaml"))
if "ROSDEP_DEBUG" in os.environ:
print("loading rosdeps from", os.path.join(rosstack.get_path(stack), "rosdep.yaml"))
except AttributeError as ex:
print("Stack [%s] could not be found" % (stack))
for s in self.yaml_cache.get_rosstack_depends(stack):
try:
paths.add(os.path.join(rosstack.get_path(s), "rosdep.yaml"))
except AttributeError as ex:
print("Stack [%s] dependency of [%s] could not be found" % (s, stack))
else:
try:
paths.add(os.path.join(rospack.get_path(p), "rosdep.yaml"))
if "ROSDEP_DEBUG" in os.environ:
print(
"Package fallback, no parent stack found for package %s: loading rosdeps from" % p,
os.path.join(rospack.get_path(p), "rosdep.yaml"),
)
except rospkg.ResourceNotFound as ex:
print("Failed to load rosdep.yaml for package [%s]:%s" % (p, ex), file=sys.stderr)
for path in paths:
yaml_in = self.parse_yaml(path)
self._insert_map(yaml_in, path)
if "ROSDEP_DEBUG" in os.environ:
print("rosdep loading from file: %s got" % path, yaml_in)
# Override with ros_home/rosdep.yaml if present
ros_home = rospkg.get_ros_home()
path = os.path.join(ros_home, "rosdep.yaml")
self._insert_map(self.parse_yaml(path), path, override=True)
def where_defined(self, rosdeps):
output = ""
locations = {}
for r in rosdeps:
locations[r] = set()
rospack = rospkg.RosPack()
path = os.path.join(rospkg.get_ros_home(), "rosdep.yaml")
rosdep_dict = self.yc.get_specific_rosdeps(path)
for r in rosdeps:
if r in rosdep_dict:
locations[r].add("Override:" + path)
for p in rospack.list():
path = os.path.join(rospack.get_path(p), "rosdep.yaml")
rosdep_dict = self.yc.get_specific_rosdeps(path)
for r in rosdeps:
if r in rosdep_dict:
addendum = ""
if rospack.stack_of(p):
addendum = "<<Unused due to package '%s' being in a stack.]]" % p
locations[r].add(">>" + path + addendum)
rosstack = rospkg.RosStack()
for s in rosstack.list():
path = os.path.join(rosstack.get_path(s), "rosdep.yaml")
rosdep_dict = self.yc.get_specific_rosdeps(path)
for r in rosdeps:
if r in rosdep_dict:
locations[r].add(path)
for rd in locations:
output += "%s defined in %s" % (rd, locations[rd])
return output
def __init__(self,app):
super(Instructor,self).__init__()
rospy.logwarn('INSTRUCTOR: STARTING UP...')
self.app_ = app
# self.setMinimumWidth(700)
# self.setMinimumHeight(500)
self.types__ = ['LOGIC', 'ACTION', 'SERVICE', 'CONDITION', 'QUERY', 'PROCESS', 'VARIABLE']
# Load the ui attributes into the main widget
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/main_alt.ui'
uic.loadUi(ui_path, self)
# Create the Graph Visualization Pane
self.dot_widget = DotWidget()
self.instructor_layout.addWidget(self.dot_widget)
# Finish Up
self.show()
# Running the tree
self.running__ = False
self.run_timer_ = QTimer(self)
self.connect(self.run_timer_, QtCore.SIGNAL("timeout()"), self.run)
# Set up ros_ok watchdog timer to handle termination and ctrl-c
self.ok_timer_ = QTimer(self)
self.connect(self.ok_timer_, QtCore.SIGNAL("timeout()"), self.check_ok)
self.ok_timer_.start(100)
# Load Settings
self.settings = QSettings('settings.ini', QSettings.IniFormat)
self.settings.setFallbacksEnabled(False)
self.resize( self.settings.value('size', QSize(800, 800), type=QSize) )
self.move(self.settings.value('pos', QPoint(50, 50), type=QPoint))
# self.showMaximized()
# Set up Behavior Tree structure
self.current_tree = {}
self.current_generators = {}
self.all_generators = {}
self.current_node_info ={}
self.current_node_generator = None
self.current_plugin_names = {}
self.current_node_types = {}
self.root_node = None
self.gui_selected_node = None
self.selected_node_field.setText('NONE')
# Get known Beetree Builder Node Plugins
self.parse_plugin_info()
# Set up the gui with plugin information
self.set_up_gui()
# Set up communication between node view and the rest of the app
self.connect(self.dot_widget,SIGNAL("clicked"), self.node_gui_selected_cb)
self.connect(self.dot_widget,SIGNAL("right_clicked"), self.node_gui_alt_selected_cb)
# Set up librarian
self.set_type_service = rospy.ServiceProxy('/librarian/add_type', librarian_msgs.srv.AddType)
self.save_service = rospy.ServiceProxy('/librarian/save', librarian_msgs.srv.Save)
self.load_service = rospy.ServiceProxy('/librarian/load', librarian_msgs.srv.Load)
self.list_service = rospy.ServiceProxy('/librarian/list', librarian_msgs.srv.List)
self.set_type_service('instructor_node')
self.set_type_service('instructor_subtree')
