param_dynreconf_client.py

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# Author: Isaac Saito, Ze'ev Klapow

import dynamic_reconfigure.client
import rospy

from .param_editors import EditorWidget, BooleanEditor, DoubleEditor, EnumEditor, IntegerEditor, StringEditor
from .param_groups import GroupWidget
from .param_updater import ParamUpdater 

class ClientWidget(GroupWidget):
    """
    A wrapper of dynamic_reconfigure.client instance.
    Represents the pane on right side where you modify params.
    """
        
    def __init__(self, reconf):
        """
        @type reconf: dynamic_reconfigure.client.
        """ 
    
        super(ClientWidget, self).__init__(ParamUpdater(reconf),
                                           reconf.get_group_descriptions())

        self.setMinimumWidth(150)

        self.reconf = reconf

        self.updater.start()
        self.reconf.config_callback = self.config_callback

    def config_callback(self, config):
        if config is not None:
            # TODO: should use config.keys but this method doesnt exist
            names = [name for name, v in config.items()]

            for widget in self.editor_widgets:
                if isinstance(widget, EditorWidget):
                    if widget.name in names:
                        rospy.logdebug('EDITOR widget.name=%s', widget.name)
                        widget.update_value(config[widget.name])
                elif isinstance(widget, GroupWidget):
                    cfg = find_cfg(config, widget.name)
                    rospy.logdebug('GROUP widget.name=%s', widget.name)
                    widget.update_group(cfg)
                
    def close(self):
        self.reconf.close()
        self.updater.stop()

        for w in self.editor_widgets:
            w.close()

        self.deleteLater()