param_groups.py

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# Author: Isaac Saito, Ze'ev Klapow

from python_qt_binding.QtCore import Qt
from python_qt_binding.QtGui import QGridLayout, QGroupBox, QLabel, QPushButton, QTabWidget, QWidget
import rospy

from .param_editors import BooleanEditor, DoubleEditor, EditorWidget, EDITOR_TYPES, EnumEditor, IntegerEditor, StringEditor

_GROUP_TYPES = {
    '': 'BoxGroup',
    'collapse': 'CollapseGroup',
    'tab': 'TabGroup',
    'hide': 'HideGroup',
    'apply': 'ApplyGroup',
}

def find_cfg(config, name):
    """
    (Ze'ev) reaaaaallly cryptic function which returns the config object for 
    specified group.
    """
    cfg = None
    for k, v in config.items():
        try:
            if k.lower() == name.lower():
                cfg = v
                return cfg
            else:
                try:
                    cfg = find_cfg(v, name)
                    if not cfg == None:
                        return cfg
                except Exception as exc:
                    raise exc
        except AttributeError:
            pass
        except Exception as exc:
            raise exc
    return cfg

class GroupWidget(QWidget):
    
    def __init__(self, updater, config):
        """
        :param config: defined in dynamic_reconfigure.client.Client
        """
         
        super(GroupWidget, self).__init__()
        self.state = config['state']
        self.name = config['name']
        
        self.tab_bar = None # Every group can have one tab bar
        self.tab_bar_shown = False

        self.grid = QGridLayout()

        self.updater = updater 

        self.editor_widgets = []
        self.add_widgets(config)

        # Labels should not stretch
        self.grid.setColumnStretch(1,1)
        self.setLayout(self.grid)

    def add_widgets(self, descr):        
        i_debug = 0
        for param in descr['parameters']:
            if param['edit_method']:
                widget = EnumEditor(self.updater, param)
            elif param['type'] in EDITOR_TYPES:
                widget = eval(EDITOR_TYPES[param['type']])(self.updater, param)

            self.editor_widgets.append(widget)
            rospy.logdebug('groups.add_widgets i=%d', i_debug)
            i_debug += 1
        
        g_debug = 0
        for name, group in descr['groups'].items():
            if group['type'] == 'tab':
                widget = TabGroup(self, self.updater, group)
            elif group['type'] in _GROUP_TYPES.keys():
                widget = eval(_GROUP_TYPES[group['type']])(self.updater, group)

            self.editor_widgets.append(widget)
            rospy.logdebug('groups.add_widgets g=%d', g_debug)
            g_debug += 1

        for i, ed in enumerate(self.editor_widgets):
            ed.display(self.grid, i)

    def display(self, grid, row):
        #groups span across all columns
        grid.addWidget(self, row, 0, 1, -1)

    def update_group(self, config):
        self.state = config['state']
        
        # 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:
                    widget.update_value(config[widget.name])
            elif isinstance(widget, GroupWidget):
                cfg = find_cfg(config, widget.name)
                widget.update_group(cfg)

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

class BoxGroup(GroupWidget):
    def __init__(self, updater, config):
        super(BoxGroup, self).__init__(updater, config)

        self.box = QGroupBox(self.name)
        self.box.setLayout(self.grid)

    def display(self, grid, row):
        grid.addWidget(self.box, row, 0, 1, -1)

class CollapseGroup(BoxGroup):
    def __init__(self, updater, config):
        super(CollapseGroup, self).__init__(updater, config)
        self.box.setCheckable(True)

class HideGroup(BoxGroup):
    def update_group(self, config):
        super(HideGroup, self).update_group(config)
        self.box.setVisible(self.state)

class TabGroup(GroupWidget):
    def __init__(self, parent, updater, config):
        super(TabGroup, self).__init__(updater, config)
        self.parent = parent

        if self.parent.tab_bar is None:
            self.parent.tab_bar = QTabWidget()

        parent.tab_bar.addTab(self, self.name)

    def display(self, grid, row):
        if not self.parent.tab_bar_shown:
            grid.addWidget(self.parent.tab_bar, row, 0, 1, -1)
            self.parent.tab_bar_shown = True

    def close(self):
        super(TabGroup, self).close()
        self.parent.tab_bar = None
        self.parent.tab_bar_shown = False

class ApplyGroup(BoxGroup):
    class ApplyUpdater:
        def __init__(self, updater):
            self.updater = updater
            self._pending_config = {}

        def update(self, config):
            for name, value in config.items():
                self._pending_config[name] = value

        def apply_update(self):
            self.updater.update(self._pending_config)
            self._pending_config = {}

    def __init__(self, updater, config):
        self.updater = ApplyGroup.ApplyUpdater(updater)
        super(ApplyGroup, self).__init__(self.updater, config)

        self.button = QPushButton("Apply %s" % self.name)
        self.button.clicked.connect(self.updater.apply_update)

        rows = self.grid.rowCount()
        self.grid.addWidget(self.button, rows+1, 1, Qt.AlignRight)