Source Code for Module node_manager_fkie.xml_highlighter

  1  # Software License Agreement (BSD License) 
  2  # 
  3  # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 
  4  # based on code of Timo Roehling 
  5  # All rights reserved. 
  6  # 
  7  # Redistribution and use in source and binary forms, with or without 
  8  # modification, are permitted provided that the following conditions 
  9  # are met: 
 10  # 
 11  #  * Redistributions of source code must retain the above copyright 
 12  #    notice, this list of conditions and the following disclaimer. 
 13  #  * Redistributions in binary form must reproduce the above 
 14  #    copyright notice, this list of conditions and the following 
 15  #    disclaimer in the documentation and/or other materials provided 
 16  #    with the distribution. 
 17  #  * Neither the name of Fraunhofer nor the names of its 
 18  #    contributors may be used to endorse or promote products derived 
 19  #    from this software without specific prior written permission. 
 20  # 
 21  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 22  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
 23  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
 24  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
 25  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 
 26  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
 27  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
 28  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
 29  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
 30  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 
 31  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 32  # POSSIBILITY OF SUCH DAMAGE. 
 33   
 34  from python_qt_binding import QtGui 
 35  from python_qt_binding import QtCore 
 36   
 37 -class XmlHighlighter(QtGui.QSyntaxHighlighter): 
 38    ''' 
 39    Enabled the syntax highlightning for the ROS launch files. 
 40    ''' 
 41   
 42    LAUNCH_LAUNCH_CHILDS = ['group', 'node', 'test', 'env', 'remap', 'rosparam', 'param', 'machine', 'include', 'arg'] 
 43    LAUNCH_LAUNCH_ATTR = {'deprecated='  : '"message"'} 
 44    LAUNCH_GROUP_CHILDS = ['node', 'test', 'env', 'remap', 'rosparam', 'param', 'machine', 'include', 'arg'] 
 45    LAUNCH_GROUP_ATTR = {'ns='           : '"foo"', 
 46                         'clear_params=' : '"true|false"' 
 47                         } 
 48    LAUNCH_MACHINE_CHILDS = ['env'] 
 49    LAUNCH_MACHINE_ATTR = {'name='       : '"machine-name"', 
 50                           'address='    : '"blah.willowgarage.com"', 
 51                           'env-loader=' : '"/opt/ros/fuerte/env.sh"', 
 52                           'default='    : '"true|false|never"', 
 53                           'user='       : '"username"', 
 54                           'password='   : '"passwhat"', 
 55                           'timeout='    : '"10.0"' 
 56                         } 
 57    LAUNCH_NODE_CHILDS = ['env', 'remap', 'rosparam', 'param'] 
 58    LAUNCH_NODE_ATTR = {'pkg='          : '"mypackage"', 
 59                        'type='         : '"nodetype"', 
 60                        'name='         : '"nodename"', 
 61                        'args='         : '"arg1"', 
 62                        'machine='      : '"machine-name"', 
 63                        'respawn='      : '"true"', 
 64                        'required='     : '"true"', 
 65                        'ns='           : '"foo"', 
 66                        'clear_params=' : '"true|false"', 
 67                        'output='       : '"log|screen"', 
 68                        'cwd='          : '"ROS_HOME|node"', 
 69                        'launch-prefix=': '"prefix arguments"' 
 70                        } 
 71    LAUNCH_INCLUDE_CHILDS = ['env', 'arg'] 
 72    LAUNCH_INCLUDE_ATTR = {'file='         : '"$(find pkg-name)/path/filename.xml"', 
 73                           'ns='           : '"foo"', 
 74                           'clear_params=' : '"true|false"' 
 75                           } 
 76   
 77    LAUNCH_REMAP_ATTR = {'from=' : '"originalname"', 
 78                         'to='   : '"newname"' 
 79                         } 
 80    LAUNCH_ENV_ATTR = {'name='  : '"name"', 
 81                       'value=' : '"value"' 
 82                       } 
 83    LAUNCH_PARAM_ATTR = {'name='     : '"namespace/name"', 
 84                         'value='    : '"value"', 
 85                         'type='     : '"str|int|double|bool"', 
 86                         'textfile=' : '"$(find pkg-name)/path/file.txt"', 
 87                         'binfile='  : '"$(find pkg-name)/path/file"', 
 88                         'command='  : '"$(find pkg-name)/exe \'$(find pkg-name)/arg.txt\'"' 
 89                         } 
 90   
 91    LAUNCH_ROSPARAM_ATTR = {'command=' : '"load|dump|delete"', 
 92                            'file='    : '"$(find pkg-name)/path/foo.yaml"', 
 93                            'param='   : '"name"', 
 94                            'ns='      : '"foo"' 
 95                            } 
 96    LAUNCH_ARG_ATTR = {'name='     : '"name"', 
 97                       'value='    : '"bar"', 
 98                       'default='  : '"defbar"' 
 99                       } 
100    LAUNCH_TEST_CHILDS = ['env', 'remap', 'rosparam', 'param'] 
101    LAUNCH_TEST_ATTR = {'pkg='          : '"mypackage"', 
102                        'type='         : '"nodetype"', 
103                        'name='         : '"nodename"', 
104                        'test-name='    : '"test_name"', 
105                        'args='         : '"arg1"', 
106                        'ns='           : '"foo"', 
107                        'clear_params=' : '"true|false"', 
108                        'retry='        : '"0"', 
109                        'cwd='          : '"ROS_HOME|node"', 
110                        'launch-prefix=': '"prefix arguments"', 
111                        'time-limit='   : '"60.0"' 
112                        } 
113   
114    LAUNCH_CHILDS = {'launch'   : LAUNCH_LAUNCH_CHILDS, 
115                     'group'    : LAUNCH_GROUP_CHILDS, 
116                     'machine'  : LAUNCH_MACHINE_CHILDS, 
117                     'node'     : LAUNCH_NODE_CHILDS, 
118                     'include'  : LAUNCH_INCLUDE_CHILDS, 
119                     'remap'    : [], 
120                     'env'      : [], 
121                     'param'    : [], 
122                     'rosparam' : [], 
123                     'arg'      : [], 
124                     'test'     : LAUNCH_TEST_CHILDS 
125                     } 
126   
127    LAUNCH_ATT_GLOBAL = {'if=' : '""', 'unless=' : '""'} 
128    LAUNCH_LAUNCH_ATTR.update(LAUNCH_ATT_GLOBAL) 
129    LAUNCH_GROUP_ATTR.update(LAUNCH_ATT_GLOBAL) 
130    LAUNCH_MACHINE_ATTR.update(LAUNCH_ATT_GLOBAL) 
131    LAUNCH_NODE_ATTR.update(LAUNCH_ATT_GLOBAL) 
132    LAUNCH_INCLUDE_ATTR.update(LAUNCH_ATT_GLOBAL) 
133    LAUNCH_REMAP_ATTR.update(LAUNCH_ATT_GLOBAL) 
134    LAUNCH_ENV_ATTR.update(LAUNCH_ATT_GLOBAL) 
135    LAUNCH_PARAM_ATTR.update(LAUNCH_ATT_GLOBAL) 
136    LAUNCH_ROSPARAM_ATTR.update(LAUNCH_ATT_GLOBAL) 
137    LAUNCH_ARG_ATTR.update(LAUNCH_ATT_GLOBAL) 
138    LAUNCH_TEST_ATTR.update(LAUNCH_ATT_GLOBAL) 
139   
140    LAUNCH_ATTR  =  {'launch'   : LAUNCH_LAUNCH_ATTR, 
141                     'group'    : LAUNCH_GROUP_ATTR, 
142                     'machine'  : LAUNCH_MACHINE_ATTR, 
143                     'node'     : LAUNCH_NODE_ATTR, 
144                     'include'  : LAUNCH_INCLUDE_ATTR, 
145                     'remap'    : LAUNCH_REMAP_ATTR, 
146                     'env'      : LAUNCH_ENV_ATTR, 
147                     'param'    : LAUNCH_PARAM_ATTR, 
148                     'rosparam' : LAUNCH_ROSPARAM_ATTR, 
149                     'arg'      : LAUNCH_ARG_ATTR, 
150                     'test'     : LAUNCH_TEST_ATTR, 
151                     } 
152   
153 -  def __init__(self, parent=None): 
154      QtGui.QSyntaxHighlighter.__init__(self, parent) 
155      self.rules = [] 
156      self.commentStart = QtCore.QRegExp("<!--") 
157      self.commentEnd = QtCore.QRegExp("-->") 
158      self.commentFormat = QtGui.QTextCharFormat() 
159      f = QtGui.QTextCharFormat() 
160      r = QtCore.QRegExp() 
161      r.setMinimal(True) 
162      f.setFontWeight(QtGui.QFont.Normal) 
163      f.setForeground (QtCore.Qt.darkBlue) 
164      # create patterns for TAG 
165      tagList = ["\\b%s\\b"%t for t in self.LAUNCH_CHILDS.keys()] 
166      for tag in tagList: 
167        r.setPattern(tag) 
168        self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
169      # create patterns for ATTRIBUTES 
170      f.setForeground(QtCore.Qt.darkGreen) 
171      attrList = set(["\\b%s"%attr for v in self.LAUNCH_ATTR.values() for attr in v.keys()]) 
172      for attr in attrList: 
173        r.setPattern(attr) 
174        self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
175      # create patterns for strings 
176      f.setForeground(QtCore.Qt.magenta) 
177      r.setPattern("\".*\"") 
178      self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
179      # create patterns for substitutions 
180      f.setForeground(QtGui.QColor(127,64,127)) 
181      r.setPattern ("\\$\\(.*\\)") 
182      self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
183      # create patterns for DOCTYPE 
184      f.setForeground (QtCore.Qt.lightGray) 
185      r.setPattern ("<!DOCTYPE.*>") 
186      self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
187      r.setPattern ("<\\?xml.*\\?>") 
188      self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f))) 
189   
190      self.commentFormat.setFontItalic(True) 
191      self.commentFormat.setForeground(QtCore.Qt.darkGray) 
192   
193   
194 -  def highlightBlock(self, text): 
195      for pattern, format in self.rules: 
196        index = pattern.indexIn(text) 
197        while index >= 0: 
198          length = pattern.matchedLength() 
199          self.setFormat(index, length, format) 
200          index = pattern.indexIn(text, index + length) 
201      self.setCurrentBlockState(0) 
202      startIndex = 0 
203      if self.previousBlockState() != 1: 
204        startIndex = self.commentStart.indexIn(text) 
205      while startIndex >= 0: 
206        endIndex = self.commentEnd.indexIn(text, startIndex) 
207        commentLength = 0 
208        if endIndex == -1: 
209          self.setCurrentBlockState(1) 
210          commentLength = len(text) - startIndex 
211        else: 
212          commentLength = endIndex - startIndex + self.commentEnd.matchedLength() 
213        self.setFormat(startIndex, commentLength, self.commentFormat) 
214        startIndex = self.commentStart.indexIn(text, startIndex + commentLength) 
215