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Package node_manager_fkie :: Module run_dialog
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Source Code for Module node_manager_fkie.run_dialog

  1  # Software License Agreement (BSD License) 
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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   
 38  import node_manager_fkie as nm 
 39  from packages_thread import PackagesThread 
 40   
 41   

 42 -class PackageDialog(QtGui.QDialog): 

 43 -  def __init__(self, parent=None): 

 44      QtGui.QDialog.__init__(self, parent) 
 45      self.setWindowTitle('Select Binary') 
 46      self.verticalLayout = QtGui.QVBoxLayout(self) 
 47      self.verticalLayout.setObjectName("verticalLayout") 
 48   
 49      self.content = QtGui.QWidget() 
 50      self.contentLayout = QtGui.QFormLayout(self.content) 
 51      self.contentLayout.setVerticalSpacing(0) 
 52      self.verticalLayout.addWidget(self.content) 
 53   
 54      self.packages = None 
 55   
 56      package_label = QtGui.QLabel("Package:", self.content) 
 57      self.package_field = QtGui.QComboBox(self.content) 
 58      self.package_field.setInsertPolicy(QtGui.QComboBox.InsertAlphabetically) 
 59      self.package_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 60      self.package_field.setEditable(True) 
 61      self.contentLayout.addRow(package_label, self.package_field) 
 62      binary_label = QtGui.QLabel("Binary:", self.content) 
 63      self.binary_field = QtGui.QComboBox(self.content) 
 64  #    self.binary_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents) 
 65      self.binary_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 66      self.binary_field.setEditable(True) 
 67      self.contentLayout.addRow(binary_label, self.binary_field) 
 68   
 69      self.buttonBox = QtGui.QDialogButtonBox(self) 
 70      self.buttonBox.setStandardButtons(QtGui.QDialogButtonBox.Ok|QtGui.QDialogButtonBox.Cancel) 
 71      self.buttonBox.setOrientation(QtCore.Qt.Horizontal) 
 72      self.buttonBox.setObjectName("buttonBox") 
 73      self.verticalLayout.addWidget(self.buttonBox) 
 74   
 75      self.package_field.setFocus(QtCore.Qt.TabFocusReason) 
 76      self.package = '' 
 77      self.binary = '' 
 78   
 79      if self.packages is None: 
 80        self.package_field.addItems(['packages searching...']) 
 81        self.package_field.setCurrentIndex(0) 
 82        self._fill_packages_thread = PackagesThread() 
 83        self._fill_packages_thread.packages.connect(self._fill_packages) 
 84        self._fill_packages_thread.start() 
 85   
 86      QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("accepted()"), self.accept) 
 87      QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("rejected()"), self.reject) 
 88      QtCore.QMetaObject.connectSlotsByName(self) 
 89      self.package_field.activated[str].connect(self.on_package_selected) 
 90      self.package_field.textChanged.connect(self.on_package_selected) 
 91      self.binary_field.textChanged.connect(self.on_binary_selected) 

 92   

 93 -  def _fill_packages(self, packages): 

 94      # fill the input fields 
 95      self.packages = packages 
 96      packages = packages.keys() 
 97      packages.sort() 
 98      self.package_field.clear() 
 99      self.package_field.clearEditText() 
100      self.package_field.addItems(packages) 

101   

102 -  def _getBinaries(self, path): 

103      result = {} 
104      if os.path.isdir(path): 
105        fileList = os.listdir(path) 
106        for f in fileList: 
107          if f and f[0] != '.' and not f in ['build'] and not f.endswith('.cfg') and not f.endswith('.so'): 
108            ret = self._getBinaries(os.path.join(path, f)) 
109            result = dict(ret.items() + result.items()) 
110      elif os.path.isfile(path) and os.access(path, os.X_OK): 
111        # create a selection for binaries 
112        return {os.path.basename(path) : path} 
113      return result 

114   

115 -  def on_package_selected(self, package): 

116      self.binary_field.clear() 
117      if self.packages and self.packages.has_key(package): 
118        self.binary_field.setEnabled(True) 
119        path = self.packages[package] 
120        binaries = self._getBinaries(path).keys() 
121        try: 
122          # find binaries in catkin workspace 
123          from catkin.find_in_workspaces import find_in_workspaces as catkin_find 
124          search_paths = catkin_find(search_dirs=['libexec', 'share'], project=package, first_matching_workspace_only=True) 
125          for p in search_paths: 
126            binaries += self._getBinaries(p).keys() 
127        except: 
128          pass 
129        binaries = list(set(binaries)) 
130        binaries.sort() 
131        self.binary_field.addItems(binaries) 
132        self.package = package 
133        self.binary = self.binary_field.currentText() 

134   

135 -  def on_binary_selected(self, binary): 

136      self.binary = binary 

137   

138 -class RunDialog(PackageDialog): 

139    ''' 
140    A dialog to run a ROS node without configuration 
141    ''' 
142   

143 -  def __init__(self, host, masteruri=None, parent=None): 

144      PackageDialog.__init__(self, parent) 
145      self.host = host 
146      self.setWindowTitle('Run') 
147   
148      ns_name_label = QtGui.QLabel("NS/Name:", self.content) 
149      self.ns_field = QtGui.QComboBox(self.content) 
150      self.ns_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
151      self.ns_field.setEditable(True) 
152      ns_history = nm.history().cachedParamValues('run_dialog/NS') 
153      ns_history.insert(0, '/') 
154      self.ns_field.addItems(ns_history) 
155      self.name_field = QtGui.QLineEdit(self.content) 
156      self.name_field.setEnabled(False) 
157      horizontalLayout = QtGui.QHBoxLayout() 
158      horizontalLayout.addWidget(self.ns_field) 
159      horizontalLayout.addWidget(self.name_field) 
160      self.contentLayout.addRow(ns_name_label, horizontalLayout) 
161      args_label = QtGui.QLabel("Args:", self.content) 
162      self.args_field = QtGui.QComboBox(self.content) 
163      self.args_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToMinimumContentsLength) 
164      self.args_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
165      self.args_field.setEditable(True) 
166      self.contentLayout.addRow(args_label, self.args_field) 
167      args_history = nm.history().cachedParamValues('run_dialog/Args') 
168      args_history.insert(0, '') 
169      self.args_field.addItems(args_history) 
170   
171      host_label = QtGui.QLabel("Host:", self.content) 
172      self.host_field = QtGui.QComboBox(self.content) 
173  #    self.host_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents) 
174      self.host_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
175      self.host_field.setEditable(True) 
176      host_label.setBuddy(self.host_field) 
177      self.contentLayout.addRow(host_label, self.host_field) 
178      self.host_history = host_history = nm.history().cachedParamValues('/Host') 
179      if self.host in host_history: 
180        host_history.remove(self.host) 
181      host_history.insert(0, self.host) 
182      self.host_field.addItems(host_history) 
183   
184      master_label = QtGui.QLabel("ROS Master URI:", self.content) 
185      self.master_field = QtGui.QComboBox(self.content) 
186      self.master_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
187      self.master_field.setEditable(True) 
188      master_label.setBuddy(self.host_field) 
189      self.contentLayout.addRow(master_label, self.master_field) 
190      self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI') 
191      self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri 
192      if self.masteruri in master_history: 
193        master_history.remove(self.masteruri) 
194      master_history.insert(0, self.masteruri) 
195      self.master_field.addItems(master_history) 
196   
197  #    self.package_field.setFocus(QtCore.Qt.TabFocusReason) 
198      self.package_field.textChanged.connect(self.on_package_selected) 
199      self.binary_field.activated[str].connect(self.on_binary_selected) 

200   

201 -  def run_params(self): 

202      ''' 
203      Runs the selected node, or do nothing. 
204      :return: a tuple with host, package, binary, name, args, maseruri or empty tuple on errors 
205      ''' 
206      self.binary = self.binary_field.currentText() 
207      self.host = self.host_field.currentText() if self.host_field.currentText() else self.host 
208      self.masteruri = self.master_field.currentText() if self.master_field.currentText() else self.masteruri 
209      if not self.host in self.host_history and self.host != 'localhost' and self.host != '127.0.0.1': 
210        nm.history().add2HostHistory(self.host) 
211      ns = self.ns_field.currentText() 
212      if ns and ns != '/': 
213        nm.history().addParamCache('run_dialog/NS', ns) 
214      args = self.args_field.currentText() 
215      if args: 
216        nm.history().addParamCache('run_dialog/Args', args) 
217      if self.package and self.binary: 
218        nm.history().addParamCache('/Host', self.host) 
219        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) 
220      return () 

221   

222 -  def on_package_selected(self, package): 

223      PackageDialog.on_package_selected(self, package) 
224      if self.packages and self.packages.has_key(package): 
225        self.args_field.setEnabled(True) 
226        self.ns_field.setEnabled(True) 
227        self.name_field.setEnabled(True) 
228        root, ext = os.path.splitext(os.path.basename(self.binary_field.currentText())) 
229        self.name_field.setText(root) 

230   

231 -  def on_binary_selected(self, binary): 

232      root, ext = os.path.splitext(os.path.basename(binary)) 
233      self.name_field.setText(root) 

234

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