plugin_container_widget.py

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# Author: Isaac Saito
 
from __future__ import division
 
import os
 
from python_qt_binding import loadUi
from python_qt_binding.QtWidgets import QWidget
import rospkg
import rospy
 
 
class PluginContainerWidget(QWidget):
 
    """
    This widget accommodates a plugin widget that needs an area to show system
    message. A plugin widget is the pane that provides plugin's main
    functionalities. PluginContainerWidget visually encapsulates a plugin
    widget.
 
    In order to print msg in the msg pane provided by this class, plugin widget
    MUST define and emit following signals:
 
    - sig_sysmsg
    - sig_progress
 
    Having said that this architecture is based on signals, it is recommended
    that exceptions raised in classes that are used in a plugin widget be
    aggregated in it, so that only plugin widget is responsible for emitting
    signals.
    """
 
    def __init__(self, plugin_widget,
                 on_sys_msg=True, on_sysprogress_bar=True):
        """
        @param plugin_widget: The main widget of an rqt plugin.
        @type plugin_widget: QWidget
        @type on_sys_msg: bool
        @param on_sys_msg: If True, a pane that accommodates str messages will
                           appear in the plugin's region.
        @param on_sysprogress_bar: If True, a progress bar will appear in the
                                   plugin's region.
        """
        super(PluginContainerWidget, self).__init__()
 
        ui_file = os.path.join(rospkg.RosPack().get_path('rqt_py_common'),
                               'resource', 'plugin_container.ui')
        loadUi(ui_file, self)
 
        self._plugin_widget = plugin_widget
        self._splitter.insertWidget(0, self._plugin_widget)
        self.setWindowTitle(self._plugin_widget.windowTitle())
 
        # Default is on for these sys status widgets. Only if the flag for them
        # are 'False', hide them.
        if on_sys_msg:
            self._plugin_widget.sig_sysmsg.connect(self.set_sysmsg)
        else:
            self._sysmsg_widget.hide()
 
        if on_sysprogress_bar:
            self._plugin_widget.sig_sysprogress.connect(self.set_sysprogress)
        else:
            self._sysprogress_bar.hide()
 
    def set_sysprogress(self, sysprogress):
        # TODO: Pass progress value
        pass
 
    def set_sysmsg(self, sysmsg):
        """
        Set system msg that's supposed to be shown in sys msg pane.
        @type sysmsg: str
        """
        rospy.loginfo('PluginContainerWidget; {}'.format(sysmsg))
        # self._sysmsg_widget.setPlainText(sysmsg)
        self._sysmsg_widget.append(sysmsg)
 
    def shutdown(self):
 
        # TODO: Is shutdown step necessary for PluginContainerWidget?
 
        self._plugin_widget.shutdown()
 
    def save_settings(self, plugin_settings, instance_settings):
 
        # Save setting of PluginContainerWidget.
        instance_settings.set_value('_splitter', self._splitter.saveState())
 
        # Save setting of ContainED widget
        self._plugin_widget.save_settings(plugin_settings, instance_settings)
 
    def restore_settings(self, plugin_settings, instance_settings):
 
        # Restore the setting of PluginContainerWidget, separate from
        # ContainED widget.
        if instance_settings.contains('_splitter'):
            self._splitter.restoreState(instance_settings.value('_splitter'))
        else:
            self._splitter.setSizes([100, 100, 200])
 
        # Now restore the setting of ContainED widget
        self._plugin_widget.restore_settings(plugin_settings,
                                             instance_settings)