Source Code for Module node_manager_fkie.run_dialog

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 32   
 33  from python_qt_binding import QtGui 
 34  from python_qt_binding import QtCore 
 35   
 36  import os 
 37   
 38  import node_manager_fkie as nm 
 39  from packages_thread import PackagesThread 
 40   
 41   
 42 -class RunDialog(QtGui.QDialog): 
 43    ''' 
 44    A dialog to run a ROS node without configuration 
 45    ''' 
 46   
 47 -  def __init__(self, host, masteruri=None, parent=None): 
 48      QtGui.QDialog.__init__(self, parent) 
 49      self.host = host 
 50      self.setWindowTitle('Run') 
 51      self.verticalLayout = QtGui.QVBoxLayout(self) 
 52      self.verticalLayout.setObjectName("verticalLayout") 
 53   
 54      self.content = QtGui.QWidget() 
 55      self.contentLayout = QtGui.QFormLayout(self.content) 
 56      self.contentLayout.setVerticalSpacing(0) 
 57      self.verticalLayout.addWidget(self.content) 
 58   
 59      self.packages = None 
 60   
 61      package_label = QtGui.QLabel("Package:", self.content) 
 62      self.package_field = QtGui.QComboBox(self.content) 
 63      self.package_field.setInsertPolicy(QtGui.QComboBox.InsertAlphabetically) 
 64      self.package_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 65      self.package_field.setEditable(True) 
 66      self.contentLayout.addRow(package_label, self.package_field) 
 67      binary_label = QtGui.QLabel("Binary:", self.content) 
 68      self.binary_field = QtGui.QComboBox(self.content) 
 69  #    self.binary_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents) 
 70      self.binary_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 71      self.binary_field.setEditable(True) 
 72      self.contentLayout.addRow(binary_label, self.binary_field) 
 73      ns_name_label = QtGui.QLabel("NS/Name:", self.content) 
 74      self.ns_field = QtGui.QComboBox(self.content) 
 75      self.ns_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 76      self.ns_field.setEditable(True) 
 77      ns_history = nm.history().cachedParamValues('run_dialog/NS') 
 78      ns_history.insert(0, '/') 
 79      self.ns_field.addItems(ns_history) 
 80      self.name_field = QtGui.QLineEdit(self.content) 
 81      self.name_field.setEnabled(False) 
 82      horizontalLayout = QtGui.QHBoxLayout() 
 83      horizontalLayout.addWidget(self.ns_field) 
 84      horizontalLayout.addWidget(self.name_field) 
 85      self.contentLayout.addRow(ns_name_label, horizontalLayout) 
 86      args_label = QtGui.QLabel("Args:", self.content) 
 87      self.args_field = QtGui.QComboBox(self.content) 
 88      self.args_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToMinimumContentsLength) 
 89      self.args_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 90      self.args_field.setEditable(True) 
 91      self.contentLayout.addRow(args_label, self.args_field) 
 92      args_history = nm.history().cachedParamValues('run_dialog/Args') 
 93      args_history.insert(0, '') 
 94      self.args_field.addItems(args_history) 
 95       
 96      host_label = QtGui.QLabel("Host:", self.content) 
 97      self.host_field = QtGui.QComboBox(self.content) 
 98  #    self.host_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents) 
 99      self.host_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
100      self.host_field.setEditable(True) 
101      host_label.setBuddy(self.host_field) 
102      self.contentLayout.addRow(host_label, self.host_field) 
103      self.host_history = host_history = nm.history().cachedParamValues('/Host') 
104      if self.host in host_history: 
105        host_history.remove(self.host) 
106      host_history.insert(0, self.host) 
107      self.host_field.addItems(host_history) 
108   
109      master_label = QtGui.QLabel("ROS Master URI:", self.content) 
110      self.master_field = QtGui.QComboBox(self.content) 
111      self.master_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
112      self.master_field.setEditable(True) 
113      master_label.setBuddy(self.host_field) 
114      self.contentLayout.addRow(master_label, self.master_field) 
115      self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI') 
116      self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri 
117      if self.masteruri in master_history: 
118        master_history.remove(self.masteruri) 
119      master_history.insert(0, self.masteruri) 
120      self.master_field.addItems(master_history) 
121   
122      self.buttonBox = QtGui.QDialogButtonBox(self) 
123      self.buttonBox.setStandardButtons(QtGui.QDialogButtonBox.Ok|QtGui.QDialogButtonBox.Cancel) 
124      self.buttonBox.setOrientation(QtCore.Qt.Horizontal) 
125      self.buttonBox.setObjectName("buttonBox") 
126      self.verticalLayout.addWidget(self.buttonBox) 
127   
128      self.package_field.setFocus(QtCore.Qt.TabFocusReason) 
129      self.package = '' 
130      self.binary = '' 
131   
132      if self.packages is None: 
133        self.package_field.addItems(['packages searching...']) 
134        self.package_field.setCurrentIndex(0) 
135        self._fill_packages_thread = PackagesThread() 
136        self._fill_packages_thread.packages.connect(self._fill_packages) 
137        self._fill_packages_thread.start() 
138   
139      QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("accepted()"), self.accept) 
140      QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("rejected()"), self.reject) 
141      QtCore.QMetaObject.connectSlotsByName(self) 
142      self.package_field.activated[str].connect(self.on_package_selected) 
143      self.package_field.textChanged.connect(self.on_package_selected) 
144      self.binary_field.activated[str].connect(self.on_binary_selected) 
145   
146 -  def _fill_packages(self, packages): 
147      # fill the input fields 
148      self.packages = packages 
149      packages = packages.keys() 
150      packages.sort() 
151      self.package_field.clear() 
152      self.package_field.clearEditText() 
153      self.package_field.addItems(packages) 
154   
155 -  def run_params(self): 
156      ''' 
157      Runs the selected node, or do nothing. 
158      :return: a tuple with host, package, binary, name, args, maseruri or empty tuple on errors 
159      ''' 
160      self.binary = self.binary_field.currentText() 
161      self.host = self.host_field.currentText() if self.host_field.currentText() else self.host 
162      self.masteruri = self.master_field.currentText() if self.master_field.currentText() else self.masteruri 
163      if not self.host in self.host_history and self.host != 'localhost' and self.host != '127.0.0.1': 
164        nm.history().add2HostHistory(self.host) 
165      ns = self.ns_field.currentText() 
166      if ns and ns != '/': 
167        nm.history().addParamCache('run_dialog/NS', ns) 
168      args = self.args_field.currentText() 
169      if args: 
170        nm.history().addParamCache('run_dialog/Args', args) 
171      if self.package and self.binary: 
172        nm.history().addParamCache('/Host', self.host) 
173        return (self.host, self.package, self.binary, self.name_field.text(), ('__ns:=%s %s'%(ns, args)).split(' '), None if self.masteruri == 'ROS_MASTER_URI' else self.masteruri) 
174      return () 
175   
176 -  def _getBinaries(self, path): 
177      result = {} 
178      if os.path.isdir(path): 
179        fileList = os.listdir(path) 
180        for f in fileList: 
181          if f and f[0] != '.' and not f in ['build'] and not f.endswith('.cfg') and not f.endswith('.so'): 
182            ret = self._getBinaries(os.path.join(path, f)) 
183            result = dict(ret.items() + result.items()) 
184      elif os.path.isfile(path) and os.access(path, os.X_OK): 
185        # create a selection for binaries 
186        return {os.path.basename(path) : path} 
187      return result 
188   
189 -  def on_package_selected(self, package): 
190      self.binary_field.clear() 
191      if self.packages and self.packages.has_key(package): 
192        self.binary_field.setEnabled(True) 
193        self.args_field.setEnabled(True) 
194        self.ns_field.setEnabled(True) 
195        self.name_field.setEnabled(True) 
196        path = self.packages[package] 
197        binaries = self._getBinaries(path).keys() 
198        try: 
199          # find binaries in catkin workspace 
200          from catkin.find_in_workspaces import find_in_workspaces as catkin_find 
201          search_paths = catkin_find(search_dirs=['libexec', 'share'], project=package, first_matching_workspace_only=True) 
202          for p in search_paths: 
203            binaries += self._getBinaries(p).keys() 
204        except: 
205          pass 
206        binaries.sort() 
207        self.binary_field.addItems(binaries) 
208        self.package = package 
209        root, ext = os.path.splitext(os.path.basename(self.binary_field.currentText())) 
210        self.name_field.setText(root) 
211   
212 -  def on_binary_selected(self, binary): 
213      root, ext = os.path.splitext(os.path.basename(binary)) 
214      self.name_field.setText(root) 
215