Source Code for Module node_manager_fkie.sync_dialog

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  3  # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 
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 32   
 33  from python_qt_binding import QtGui 
 34  from python_qt_binding import QtCore 
 35   
 36  import os 
 37  import threading 
 38   
 39  import node_manager_fkie as nm 
 40  from common import is_package 
 41  from detailed_msg_box import WarningMessageBox 
 42  from xml_editor import Editor 
 43   
 44 -class SyncHighlighter(QtGui.QSyntaxHighlighter): 
 45    ''' 
 46    Enabled the syntax highlightning for the sync interface. 
 47    ''' 
 48   
 49 -  def __init__(self, parent=None): 
 50      QtGui.QSyntaxHighlighter.__init__(self, parent) 
 51      self.rules = [] 
 52      self.commentStart = QtCore.QRegExp("#") 
 53      self.commentEnd = QtCore.QRegExp("\n") 
 54      self.commentFormat = QtGui.QTextCharFormat() 
 55      self.commentFormat.setFontItalic(True) 
 56      self.commentFormat.setForeground(QtCore.Qt.darkGray) 
 57      f = QtGui.QTextCharFormat() 
 58      r = QtCore.QRegExp() 
 59      r.setMinimal(True) 
 60      f.setFontWeight(QtGui.QFont.Normal) 
 61      f.setForeground (QtCore.Qt.darkBlue) 
 62      tagList = ["\\bignore_hosts\\b", "\\bsync_hosts\\b", 
 63                 "\\bignore_nodes\\b", "\\bsync_nodes\\b", 
 64                 "\\bignore_topics\\b", "\\bsync_topics\\b", 
 65                 "\\bignore_services\\b", "\\bsync_services\\b", 
 66                 "\\bsync_topics_on_demand\\b", "\\bsync_remote_nodes\\b"] 
 67      for tag in tagList: 
 68        r.setPattern(tag) 
 69        self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
 70   
 71      f.setForeground(QtCore.Qt.darkGreen) 
 72      f.setFontWeight(QtGui.QFont.Bold) 
 73      attrList = ["\\b\\*|\\*\\B|\\/\\*"] 
 74      for attr in attrList: 
 75        r.setPattern(attr) 
 76        self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
 77   
 78  #    f.setForeground(QtCore.Qt.red) 
 79  #    f.setFontWeight(QtGui.QFont.Bold) 
 80  #    attrList = ["\\s\\*"] 
 81  #    for attr in attrList: 
 82  #      r.setPattern(attr) 
 83  #      self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
 84   
 85   
 86 -  def highlightBlock(self, text): 
 87      for pattern, format in self.rules: 
 88        index = pattern.indexIn(text) 
 89        while index >= 0: 
 90          length = pattern.matchedLength() 
 91          self.setFormat(index, length, format) 
 92          index = pattern.indexIn(text, index + length) 
 93   
 94      self.setCurrentBlockState(0) 
 95      startIndex = 0 
 96      if self.previousBlockState() != 1: 
 97        startIndex = self.commentStart.indexIn(text) 
 98        if startIndex >= 0: 
 99          commentLength = len(text) - startIndex 
100          self.setFormat(startIndex, commentLength, self.commentFormat) 
101   
102   
103 -class SyncDialog(QtGui.QDialog): 
104    ''' 
105    A dialog to set the sync options. 
106    ''' 
107   
108 -  def __init__(self, parent=None): 
109      QtGui.QDialog.__init__(self, parent) 
110  #    self.host = host 
111      self.setWindowTitle('Sync') 
112      self.verticalLayout = QtGui.QVBoxLayout(self) 
113      self.verticalLayout.setObjectName("verticalLayout") 
114      self.resize(350,190) 
115   
116      self.toolButton_SyncAll = QtGui.QToolButton(self) 
117      sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding) 
118      sizePolicy.setHorizontalStretch(0) 
119      sizePolicy.setVerticalStretch(2) 
120      sizePolicy.setHeightForWidth(self.toolButton_SyncAll.sizePolicy().hasHeightForWidth()) 
121      self.toolButton_SyncAll.setSizePolicy(sizePolicy) 
122      self.toolButton_SyncAll.setObjectName("toolButton_SyncAll") 
123      self.verticalLayout.addWidget(self.toolButton_SyncAll) 
124      self.toolButton_SyncAll.setText(QtGui.QApplication.translate("Form", "Sync All", None, QtGui.QApplication.UnicodeUTF8)) 
125      self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked) 
126   
127      self.toolButton_SyncAllAnyMsg = QtGui.QToolButton(self) 
128      sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding) 
129      sizePolicy.setHorizontalStretch(0) 
130      sizePolicy.setVerticalStretch(1) 
131      sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth()) 
132      self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy) 
133      self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg") 
134      self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg) 
135      self.toolButton_SyncAllAnyMsg.setText(QtGui.QApplication.translate("Form", "Sync all (+AnyMsg)", None, QtGui.QApplication.UnicodeUTF8)) 
136      self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked) 
137   
138      self.toolButton_SyncTopicOnDemand = QtGui.QToolButton(self) 
139      sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding) 
140      sizePolicy.setHorizontalStretch(0) 
141      sizePolicy.setVerticalStretch(1) 
142      sizePolicy.setHeightForWidth(self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth()) 
143      self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy) 
144      self.toolButton_SyncTopicOnDemand.setObjectName("toolButton_SyncTopicOnDemand") 
145      self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand) 
146      self.toolButton_SyncTopicOnDemand.setText(QtGui.QApplication.translate("Form", "Sync only topics on demand", None, QtGui.QApplication.UnicodeUTF8)) 
147      self.toolButton_SyncTopicOnDemand.clicked.connect(self._on_sync_topics_on_demand_clicked) 
148   
149      self.toolButton_SelectInterface = QtGui.QToolButton(self) 
150      sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding) 
151      sizePolicy.setHorizontalStretch(0) 
152      sizePolicy.setVerticalStretch(1) 
153      sizePolicy.setHeightForWidth(self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth()) 
154      self.toolButton_SelectInterface.setSizePolicy(sizePolicy) 
155      self.toolButton_SelectInterface.setObjectName("toolButton_SelectInterface") 
156      self.verticalLayout.addWidget(self.toolButton_SelectInterface) 
157      self.toolButton_SelectInterface.setText(QtGui.QApplication.translate("Form", "Select an interface", None, QtGui.QApplication.UnicodeUTF8)) 
158      self.toolButton_SelectInterface.clicked.connect(self._on_select_interface_clicked) 
159   
160      self.interface_field = QtGui.QComboBox(self) 
161      self.interface_field.setInsertPolicy(QtGui.QComboBox.InsertAlphabetically) 
162      self.interface_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
163      self.interface_field.setEditable(True) 
164      self.interface_field.setVisible(False) 
165      self.interface_field.setObjectName("interface_field") 
166      self.verticalLayout.addWidget(self.interface_field) 
167      self.interface_field.currentIndexChanged[str].connect(self._on_interface_selected) 
168   
169      self.toolButton_EditInterface = QtGui.QToolButton(self) 
170      sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding) 
171      sizePolicy.setHorizontalStretch(0) 
172      sizePolicy.setVerticalStretch(1) 
173      sizePolicy.setHeightForWidth(self.toolButton_EditInterface.sizePolicy().hasHeightForWidth()) 
174      self.toolButton_EditInterface.setSizePolicy(sizePolicy) 
175      self.toolButton_EditInterface.setObjectName("toolButton_EditInterface") 
176      self.verticalLayout.addWidget(self.toolButton_EditInterface) 
177      self.toolButton_EditInterface.setText(QtGui.QApplication.translate("Form", "Edit selected interface", None, QtGui.QApplication.UnicodeUTF8)) 
178      self.toolButton_EditInterface.clicked.connect(self._on_edit_interface_clicked) 
179      self.toolButton_EditInterface.setVisible(False) 
180   
181      self.toolButton_CreateInterface = QtGui.QToolButton(self) 
182      sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding) 
183      sizePolicy.setHorizontalStretch(0) 
184      sizePolicy.setVerticalStretch(1) 
185      sizePolicy.setHeightForWidth(self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth()) 
186      self.toolButton_CreateInterface.setSizePolicy(sizePolicy) 
187      self.toolButton_CreateInterface.setObjectName("toolButton_CreateInterface") 
188      self.verticalLayout.addWidget(self.toolButton_CreateInterface) 
189      self.toolButton_CreateInterface.setText(QtGui.QApplication.translate("Form", "Create an interface", None, QtGui.QApplication.UnicodeUTF8)) 
190      self.toolButton_CreateInterface.clicked.connect(self._on_create_interface_clicked) 
191      self.toolButton_CreateInterface.setVisible(False) 
192   
193      self.textedit = Editor('', self) 
194      hl = SyncHighlighter(self.textedit.document()) 
195      sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding) 
196      self.textedit.setSizePolicy(sizePolicy) 
197      self.textedit.setObjectName("syncedit") 
198      self.verticalLayout.addWidget(self.textedit) 
199      self.textedit.setVisible(False) 
200   
201   
202      self._fill_interface_thread = None 
203      self._interfaces_files = None 
204      self._sync_args = [] 
205      self._interface_filename = None 
206       
207      self.buttonBox = QtGui.QDialogButtonBox(self) 
208      self.buttonBox.setStandardButtons(QtGui.QDialogButtonBox.Cancel) 
209      self.buttonBox.setOrientation(QtCore.Qt.Horizontal) 
210      self.buttonBox.setObjectName("buttonBox") 
211      self.verticalLayout.addWidget(self.buttonBox) 
212      QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("accepted()"), self.accept) 
213      QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("rejected()"), self.reject) 
214   
215      self._new_iface = True 
216     
217    @property 
218 -  def sync_args(self): 
219      return self._sync_args 
220   
221    @property 
222 -  def interface_filename(self): 
223      return self._interface_filename 
224   
225     
226 -  def _on_sync_all_clicked(self): 
227      self.setResult(QtGui.QDialog.Accepted) 
228      self._sync_args = [] 
229      self._sync_args.append(''.join(['_interface_url:=', "'.'"])) 
230      self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'False'])) 
231      self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) 
232      self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) 
233      self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) 
234      self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) 
235      self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) 
236      self._sync_args.append(''.join(['_sync_topics:=', '[]'])) 
237      self._sync_args.append(''.join(['_ignore_services:=', '[]'])) 
238      self._sync_args.append(''.join(['_sync_services:=', '[]'])) 
239      self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) 
240      self._interface_filename = None 
241      self.accept() 
242   
243 -  def _on_sync_all_anymsg_clicked(self): 
244      self._sync_args = [] 
245      self._sync_args.append(''.join(['_interface_url:=', "'.'"])) 
246      self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True'])) 
247      self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) 
248      self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) 
249      self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) 
250      self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) 
251      self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) 
252      self._sync_args.append(''.join(['_sync_topics:=', '[/*]'])) 
253      self._sync_args.append(''.join(['_ignore_services:=', '[]'])) 
254      self._sync_args.append(''.join(['_sync_services:=', '[]'])) 
255      self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) 
256      self._interface_filename = None 
257      self.accept() 
258   
259 -  def _on_sync_topics_on_demand_clicked(self): 
260      self._sync_args = [] 
261      self._sync_args.append(''.join(['_interface_url:=', "'.'"])) 
262      self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True'])) 
263      self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) 
264      self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) 
265      self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) 
266      self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) 
267      self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) 
268      self._sync_args.append(''.join(['_sync_topics:=', '[/only_on_demand]'])) 
269      self._sync_args.append(''.join(['_ignore_services:=', '[/*]'])) 
270      self._sync_args.append(''.join(['_sync_services:=', '[]'])) 
271      self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) 
272      self._interface_filename = None 
273      self.accept() 
274   
275 -  def _on_select_interface_clicked(self): 
276      self.toolButton_SyncAll.setVisible(False) 
277      self.toolButton_SyncAllAnyMsg.setVisible(False) 
278      self.toolButton_SyncTopicOnDemand.setVisible(False) 
279      self.toolButton_SelectInterface.setVisible(False) 
280      self.interface_field.setVisible(True) 
281      self.toolButton_CreateInterface.setVisible(True) 
282      self.toolButton_EditInterface.setVisible(True) 
283      self.toolButton_EditInterface.setEnabled(False) 
284      self.textedit.setVisible(False) 
285  #    # fill the interfaces 
286      if self._interfaces_files is None: 
287        self.interface_field.addItems(['interface searching...']) 
288        self.interface_field.setCurrentIndex(0) 
289        self._fill_interface_thread = threading.Thread(target=self._fill_interfaces) 
290        self._fill_interface_thread.start() 
291      else: 
292        self.toolButton_EditInterface.setEnabled(self._interfaces_files.has_key(self.interface_field.currentText())) 
293      self.buttonBox.clear() 
294      self.buttonBox.setStandardButtons(QtGui.QDialogButtonBox.Ok|QtGui.QDialogButtonBox.Cancel) 
295      self.interface_field.setFocus(QtCore.Qt.TabFocusReason) 
296      self.resize(350,80) 
297   
298 -  def _fill_interfaces(self): 
299      if self._interfaces_files is None: 
300        self.root_paths = [os.path.normpath(p) for p in os.getenv("ROS_PACKAGE_PATH").split(':')] 
301        self._interfaces_files = {} 
302        for p in self.root_paths: 
303          ret = self._getInterfaces(p) 
304          self._interfaces_files = dict(ret.items() + self._interfaces_files.items()) 
305        self.interface_field.clear() 
306        self.interface_field.clearEditText() 
307        self.interface_field.addItems(self._interfaces_files.keys()) 
308   
309 -  def _on_interface_selected(self, interface): 
310      if self._interfaces_files and self._interfaces_files.has_key(interface): 
311        self._sync_args = [] 
312        self._sync_args.append(''.join(['_interface_url:=', interface])) 
313        self.toolButton_EditInterface.setEnabled(True) 
314      else: 
315        self.toolButton_EditInterface.setEnabled(False) 
316   
317 -  def accept(self): 
318      if self.textedit.isVisible(): 
319        try: 
320          tmp_file = os.path.join(nm.screen().LOG_PATH, 'tmp_sync_interface.sync') 
321          with open(tmp_file, 'w+') as f:  
322            iface = f.write(self.textedit.toPlainText()) 
323          from master_discovery_fkie.common import read_interface 
324          read_interface(tmp_file) 
325          if not self._new_iface and self._interfaces_files.has_key(self.interface_field.currentText()): 
326            fileName = self._interfaces_files[self.interface_field.currentText()] 
327          else: 
328            fileName, selectedFilter = QtGui.QFileDialog.getSaveFileName(self, 'Save sync interface', '/home', "Sync Files (*.sync)") 
329          if fileName: 
330            with open(fileName, 'w+') as f:  
331              self._interface_filename = fileName 
332              iface = f.write(self.textedit.toPlainText()) 
333              if self._new_iface: 
334                self.interface_field.clear() 
335                self._interfaces_files = None 
336              self._on_select_interface_clicked() 
337  #        QtGui.QDialog.accept(self) 
338  #        self.resetView() 
339        except Exception as e: 
340          WarningMessageBox(QtGui.QMessageBox.Warning, "Create sync interface",  
341                            "Error while create interface", 
342                            str(e)).exec_() 
343      elif self.interface_field.isVisible(): 
344        interface = self.interface_field.currentText() 
345        if self._interfaces_files and self._interfaces_files.has_key(interface): 
346          self._interface_filename = self._interfaces_files[interface] 
347          self._sync_args = [] 
348          self._sync_args.append(''.join(['_interface_url:=', interface])) 
349          QtGui.QDialog.accept(self) 
350          self.resetView() 
351      else: 
352        QtGui.QDialog.accept(self) 
353        self.resetView() 
354   
355   
356 -  def reject(self): 
357      if self.textedit.isVisible(): 
358        self._on_select_interface_clicked() 
359      else: 
360        QtGui.QDialog.reject(self) 
361        self.resetView() 
362   
363 -  def _on_create_interface_clicked(self): 
364      self._new_iface = True 
365      self.interface_field.setVisible(False) 
366      self.toolButton_CreateInterface.setVisible(False) 
367      self.toolButton_EditInterface.setVisible(False) 
368      self.textedit.setVisible(True) 
369      self.textedit.setText("# The ignore_* lists will be processed first.\n" 
370                            "# For ignore/sync nodes, topics or services\n" 
371                            "# use follow declaration:\n" 
372                            "#{param name}: \n" 
373                            "#   - {ros name}\n" 
374                            "# or for selected hosts:\n" 
375                            "#   - {host name}:\n" 
376                            "#     - {ros name}\n\n" 
377                            "# you can use follow wildcard: '*', but not as a first character\n" 
378                            "ignore_hosts:\n" 
379                            "sync_hosts:\n\n" 
380                            "ignore_nodes:\n" 
381                            "sync_nodes:\n\n" 
382                            "ignore_topics:\n" 
383                            "sync_topics:\n\n" 
384                            "ignore_services:\n" 
385                            "  - /*get_loggers\n" 
386                            "  - /*set_logger_level\n" 
387                            "sync_services:\n\n" 
388                            "# If sync_topics_on_demand is True the local subscribed and published topics\n" 
389                            "# are synchronized with remote even if they are not in the sync_* list.\n" 
390                            "sync_topics_on_demand: False\n\n" 
391                            "# The nodes which are running not at the same host as the ROS master are not\n" 
392                            "# synchronized by default. Use sync_remote_nodes to sync these nodes also.\n" 
393                            "sync_remote_nodes: False\n\n" 
394                            ) 
395      self.resize(350,300) 
396   
397 -  def _on_edit_interface_clicked(self): 
398      self._new_iface = False 
399      self.interface_field.setVisible(False) 
400      self.toolButton_CreateInterface.setVisible(False) 
401      self.toolButton_EditInterface.setVisible(False) 
402      self.textedit.setVisible(True) 
403      if self._interfaces_files.has_key(self.interface_field.currentText()): 
404        try: 
405          with open(self._interfaces_files[self.interface_field.currentText()], 'rw') as f:  
406            iface = f.read() 
407            self.textedit.setText(iface) 
408        except Exception as e: 
409          WarningMessageBox(QtGui.QMessageBox.Warning, "Edit sync interface",  
410                            "Error while open interface", 
411                            str(e)).exec_() 
412      self.resize(350,300) 
413   
414 -  def resetView(self): 
415      self.toolButton_SyncAll.setVisible(True) 
416      self.toolButton_SyncAllAnyMsg.setVisible(True) 
417      self.toolButton_SyncTopicOnDemand.setVisible(True) 
418      self.toolButton_SelectInterface.setVisible(True) 
419      self.interface_field.setVisible(False) 
420      self.toolButton_CreateInterface.setVisible(False) 
421      self.toolButton_EditInterface.setVisible(False) 
422      self.textedit.setVisible(False) 
423      self.buttonBox.clear() 
424      self.buttonBox.setStandardButtons(QtGui.QDialogButtonBox.Cancel) 
425      self.resize(350,160) 
426   
427 -  def _getInterfaces(self, path, package=None): 
428      result = {} 
429      if os.path.isdir(path): 
430        fileList = os.listdir(path) 
431        # set package, if it is currently None and one found 
432        if not package: 
433          # detect package 
434          if is_package(fileList): 
435            package = os.path.basename(path) 
436        for f in fileList: 
437          ret = self._getInterfaces(os.path.join(path, f), package) 
438          result = dict(ret.items() + result.items()) 
439      elif package and os.path.isfile(path) and path.endswith('.sync'): 
440        # create a selection for binaries 
441        return {''.join(['pkg://', package, '///', os.path.basename(path)]) : path} 
442      return result 
443