Source Code for Module rocon_gateway_graph.gateway_graph

  1  #!/usr/bin/env python 
  2  # 
  3  # License: BSD 
  4  #   https://raw.github.com/robotics-in-concert/rocon_multimaster/master/rocon_gateway_graph/LICENSE 
  5  # 
  6  ############################################################################## 
  7  # Imports 
  8  ############################################################################## 
  9   
 10  from __future__ import division 
 11  import os 
 12   
 13  from python_qt_binding import loadUi 
 14  from python_qt_binding.QtCore import QFile, QIODevice, Qt, Signal, QAbstractListModel 
 15  from python_qt_binding.QtGui import QFileDialog, QGraphicsScene, QIcon, QImage, QPainter, QWidget, QCompleter, QBrush, QColor, QPen 
 16  from python_qt_binding.QtSvg import QSvgGenerator 
 17   
 18  import rosgraph.impl.graph 
 19  import rosservice 
 20  import rostopic 
 21  import rospkg 
 22   
 23  from .dotcode import RosGraphDotcodeGenerator, GATEWAY_GATEWAY_GRAPH, GATEWAY_FLIPPED_GRAPH, GATEWAY_PULLED_GRAPH 
 24  from .interactive_graphics_view import InteractiveGraphicsView 
 25  from qt_dotgraph.dot_to_qt import DotToQtGenerator 
 26  from qt_gui.plugin import Plugin 
 27   
 28  # pydot requires some hacks 
 29  from qt_dotgraph.pydotfactory import PydotFactory 
 30  # TODO: use pygraphviz instead, but non-deterministic layout will first be resolved in graphviz 2.30 
 31  # from qtgui_plugin.pygraphvizfactory import PygraphvizFactory 
 32   
 33  from rocon_gateway import Graph 
 34   
 35  ############################################################################## 
 36  # Utility Classes 
 37  ############################################################################## 
 38   
 39   
 40 -class RepeatedWordCompleter(QCompleter): 
 41      """A completer that completes multiple times from a list""" 
 42   
 43 -    def init(self, parent=None): 
 44          QCompleter.init(self, parent) 
 45   
 46 -    def pathFromIndex(self, index): 
 47          path = QCompleter.pathFromIndex(self, index) 
 48          lst = str(self.widget().text()).split(',') 
 49          if len(lst) > 1: 
 50              path = '%s, %s' % (','.join(lst[:-1]), path) 
 51          return path 
 52   
 53 -    def splitPath(self, path): 
 54          path = str(path.split(',')[-1]).lstrip(' ') 
 55          return [path] 
 56   
 57   
 58 -class NamespaceCompletionModel(QAbstractListModel): 
 59      """Ros package and stacknames""" 
 60 -    def __init__(self, linewidget, topics_only): 
 61          super(QAbstractListModel, self).__init__(linewidget) 
 62          self.names = [] 
 63   
 64 -    def refresh(self, names): 
 65          namesset = set() 
 66          for n in names: 
 67              namesset.add(str(n).strip()) 
 68              namesset.add("-%s" % (str(n).strip())) 
 69          self.names = sorted(namesset) 
 70   
 71 -    def rowCount(self, parent): 
 72          return len(self.names) 
 73   
 74 -    def data(self, index, role): 
 75          if index.isValid() and (role == Qt.DisplayRole or role == Qt.EditRole): 
 76              return self.names[index.row()] 
 77          return None 
 78   
 79  ############################################################################## 
 80  # Gateway Classes 
 81  ############################################################################## 
 82   
 83   
 84 -class GatewayGraph(Plugin): 
 85   
 86      _deferred_fit_in_view = Signal() 
 87   
 88 -    def __init__(self, context): 
 89          super(GatewayGraph, self).__init__(context) 
 90          self.initialised = False 
 91          self.setObjectName('Gateway Graph') 
 92          self._current_dotcode = None 
 93   
 94          self._widget = QWidget() 
 95   
 96          # factory builds generic dotcode items 
 97          self.dotcode_factory = PydotFactory() 
 98          # self.dotcode_factory = PygraphvizFactory() 
 99          self.dotcode_generator = RosGraphDotcodeGenerator() 
100          self.dot_to_qt = DotToQtGenerator() 
101          self._graph = Graph() 
102   
103          rospack = rospkg.RosPack() 
104          ui_file = os.path.join(rospack.get_path('rocon_gateway_graph'), 'ui', 'gateway_graph.ui') 
105          #ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'ui', 'gateway_graph.ui') 
106          loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) 
107          self._widget.setObjectName('GatewayGraphUi') 
108          if context.serial_number() > 1: 
109              self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) 
110   
111          self._scene = QGraphicsScene() 
112          self._scene.setBackgroundBrush(Qt.white) 
113          self._widget.graphics_view.setScene(self._scene) 
114   
115          self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) 
116          self._widget.refresh_graph_push_button.pressed.connect(self._update_gateway_graph) 
117   
118          self._widget.graph_type_combo_box.insertItem(0, self.tr('Gateways'), GATEWAY_GATEWAY_GRAPH) 
119          self._widget.graph_type_combo_box.insertItem(1, self.tr('Pulled Connections'), GATEWAY_PULLED_GRAPH) 
120          self._widget.graph_type_combo_box.insertItem(2, self.tr('Flipped Connections'), GATEWAY_FLIPPED_GRAPH) 
121          self._widget.graph_type_combo_box.setCurrentIndex(0) 
122          self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph) 
123   
124          self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False) 
125          completer = RepeatedWordCompleter(self.node_completionmodel, self) 
126          completer.setCompletionMode(QCompleter.PopupCompletion) 
127          completer.setWrapAround(True) 
128          completer.setCaseSensitivity(Qt.CaseInsensitive) 
129          self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph) 
130          self._widget.filter_line_edit.setCompleter(completer) 
131          self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False) 
132          topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self) 
133          topic_completer.setCompletionMode(QCompleter.PopupCompletion) 
134          topic_completer.setWrapAround(True) 
135          topic_completer.setCaseSensitivity(Qt.CaseInsensitive) 
136          self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph) 
137          self._widget.topic_filter_line_edit.setCompleter(topic_completer) 
138   
139          self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph) 
140          self._widget.watchlist_check_box.clicked.connect(self._refresh_rosgraph) 
141          self._widget.all_advertisements_check_box.clicked.connect(self._refresh_rosgraph) 
142   
143          self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view) 
144          self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) 
145          self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) 
146          self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) 
147   
148          self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open')) 
149          self._widget.load_dot_push_button.pressed.connect(self._load_dot) 
150          self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) 
151          self._widget.save_dot_push_button.pressed.connect(self._save_dot) 
152          self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as')) 
153          self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) 
154          self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image')) 
155          self._widget.save_as_image_push_button.pressed.connect(self._save_image) 
156   
157          self._update_gateway_graph() 
158          self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) 
159          self._deferred_fit_in_view.emit() 
160          context.add_widget(self._widget) 
161   
162 -    def save_settings(self, plugin_settings, instance_settings): 
163          instance_settings.set_value('graph_type_combo_box_index', self._widget.graph_type_combo_box.currentIndex()) 
164          instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text()) 
165          instance_settings.set_value('topic_filter_line_edit_text', self._widget.topic_filter_line_edit.text()) 
166          instance_settings.set_value('namespace_cluster_check_box_state', self._widget.namespace_cluster_check_box.isChecked()) 
167          instance_settings.set_value('watchlist_check_box_state', self._widget.watchlist_check_box.isChecked()) 
168          instance_settings.set_value('all_advertisements_check_box_state', self._widget.all_advertisements_check_box.isChecked()) 
169          instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) 
170          instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) 
171   
172 -    def restore_settings(self, plugin_settings, instance_settings): 
173          self._widget.graph_type_combo_box.setCurrentIndex(int(instance_settings.value('graph_type_combo_box_index', 0))) 
174          self._widget.filter_line_edit.setText(instance_settings.value('filter_line_edit_text', '')) 
175          self._widget.topic_filter_line_edit.setText(instance_settings.value('topic_filter_line_edit_text', '/')) 
176          self._widget.namespace_cluster_check_box.setChecked(instance_settings.value('namespace_cluster_check_box_state', True) in [True, 'true']) 
177          self._widget.watchlist_check_box.setChecked(instance_settings.value('watchlist_check_box_state', True) in [True, 'true']) 
178          self._widget.all_advertisements_check_box.setChecked(instance_settings.value('all_advertisements_check_box_state', False) in [False, 'false']) 
179          self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) 
180          self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) 
181          self.initialised = True 
182          self._refresh_rosgraph() 
183   
184 -    def shutdown_plugin(self): 
185          pass 
186   
187 -    def _update_gateway_graph(self): 
188          # re-enable controls customizing fetched ROS graph 
189          self._widget.graph_type_combo_box.setEnabled(True) 
190          self._widget.filter_line_edit.setEnabled(True) 
191          self._widget.topic_filter_line_edit.setEnabled(True) 
192          self._widget.namespace_cluster_check_box.setEnabled(True) 
193          self._widget.watchlist_check_box.setEnabled(True) 
194          self._widget.all_advertisements_check_box.setEnabled(True) 
195   
196          self._graph.update() 
197          self.node_completionmodel.refresh(self._graph.gateway_nodes) 
198          self.topic_completionmodel.refresh(self._graph.flipped_nodes) 
199          self._refresh_rosgraph() 
200   
201 -    def _refresh_rosgraph(self): 
202          if not self.initialised: 
203              return 
204          self._update_graph_view(self._generate_dotcode()) 
205   
206 -    def _generate_dotcode(self): 
207          ns_filter = self._widget.filter_line_edit.text() 
208          topic_filter = self._widget.topic_filter_line_edit.text() 
209          graph_mode = self._widget.graph_type_combo_box.itemData(self._widget.graph_type_combo_box.currentIndex()) 
210          orientation = 'LR' 
211          if self._widget.namespace_cluster_check_box.isChecked(): 
212              namespace_cluster = 1 
213          else: 
214              namespace_cluster = 0 
215          hide_dead_end_topics = self._widget.watchlist_check_box.isChecked() 
216          show_all_advertisements = self._widget.all_advertisements_check_box.isChecked() 
217   
218          return self.dotcode_generator.generate_dotcode( 
219              rosgraphinst=self._graph, 
220              ns_filter=ns_filter, 
221              topic_filter=topic_filter, 
222              graph_mode=graph_mode, 
223              show_all_advertisements=show_all_advertisements, 
224              hide_dead_end_topics=hide_dead_end_topics, 
225              cluster_namespaces_level=namespace_cluster, 
226              dotcode_factory=self.dotcode_factory, 
227              orientation=orientation, 
228              ) 
229   
230 -    def _update_graph_view(self, dotcode): 
231          if dotcode == self._current_dotcode: 
232              return 
233          self._current_dotcode = dotcode 
234          self._redraw_graph_view() 
235   
236 -    def _generate_tool_tip(self, url): 
237          if url is not None and ':' in url: 
238              item_type, item_path = url.split(':', 1) 
239              if item_type == 'node': 
240                  tool_tip = 'Node:\n  %s' % (item_path) 
241                  service_names = rosservice.get_service_list(node=item_path) 
242                  if service_names: 
243                      tool_tip += '\nServices:' 
244                      for service_name in service_names: 
245                          try: 
246                              service_type = rosservice.get_service_type(service_name) 
247                              tool_tip += '\n  %s [%s]' % (service_name, service_type) 
248                          except rosservice.ROSServiceIOException as e: 
249                              tool_tip += '\n  %s' % (e) 
250                  return tool_tip 
251              elif item_type == 'topic': 
252                  topic_type, topic_name, _ = rostopic.get_topic_type(item_path) 
253                  return 'Topic:\n  %s\nType:\n  %s' % (topic_name, topic_type) 
254          return url 
255   
256 -    def _redraw_graph_view(self): 
257          self._scene.clear() 
258   
259          if self._widget.highlight_connections_check_box.isChecked(): 
260              highlight_level = 3 
261          else: 
262              highlight_level = 1 
263   
264          # layout graph and create qt items 
265          (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, 
266                                                              highlight_level=highlight_level, 
267                                                              same_label_siblings=True) 
268   
269          # if we wish to make special nodes, do that here (maybe subclass GraphItem, just like NodeItem does) 
270          for node_item in nodes.itervalues(): 
271              if node_item._label.text() == self._graph.local_gateway_name(): 
272                  orange = QColor(232, 132, 3) 
273                  node_item._default_color = orange 
274                  node_item.set_color(orange) 
275                  print "Local gateway: %s" % self._graph.local_gateway_name() 
276              self._scene.addItem(node_item) 
277          for edge_items in edges.itervalues(): 
278              for edge_item in edge_items: 
279                  edge_item.add_to_scene(self._scene) 
280   
281          self._scene.setSceneRect(self._scene.itemsBoundingRect()) 
282          if self._widget.auto_fit_graph_check_box.isChecked(): 
283              self._fit_in_view() 
284   
285 -    def _load_dot(self, file_name=None): 
286          if file_name is None: 
287              file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)')) 
288              if file_name is None or file_name == '': 
289                  return 
290   
291          try: 
292              fh = open(file_name, 'rb') 
293              dotcode = fh.read() 
294              fh.close() 
295          except IOError: 
296              return 
297   
298          # disable controls customizing fetched ROS graph 
299          self._widget.graph_type_combo_box.setEnabled(False) 
300          self._widget.filter_line_edit.setEnabled(False) 
301          self._widget.topic_filter_line_edit.setEnabled(False) 
302          self._widget.namespace_cluster_check_box.setEnabled(False) 
303          self._widget.watchlist_check_box.setEnabled(False) 
304          self._widget.all_advertisements_check_box.setEnabled(False) 
305   
306          self._update_graph_view(dotcode) 
307   
308 -    def _fit_in_view(self): 
309          self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) 
310   
311 -    def _save_dot(self): 
312          file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rosgraph.dot', self.tr('DOT graph (*.dot)')) 
313          if file_name is None or file_name == '': 
314              return 
315   
316          handle = QFile(file_name) 
317          if not handle.open(QIODevice.WriteOnly | QIODevice.Text): 
318              return 
319   
320          handle.write(self._current_dotcode) 
321          handle.close() 
322   
323 -    def _save_svg(self): 
324          file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)')) 
325          if file_name is None or file_name == '': 
326              return 
327   
328          generator = QSvgGenerator() 
329          generator.setFileName(file_name) 
330          generator.setSize((self._scene.sceneRect().size() * 2.0).toSize()) 
331   
332          painter = QPainter(generator) 
333          painter.setRenderHint(QPainter.Antialiasing) 
334          self._scene.render(painter) 
335          painter.end() 
336   
337 -    def _save_image(self): 
338          file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)')) 
339          if file_name is None or file_name == '': 
340              return 
341   
342          img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied) 
343          painter = QPainter(img) 
344          painter.setRenderHint(QPainter.Antialiasing) 
345          self._scene.render(painter) 
346          painter.end() 
347          img.save(file_name) 
348