dynreconf_client_widget.py

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# Author: Isaac Saito, Ze'ev Klapow

import rospy

from .param_editors import EditorWidget
from .param_groups import GroupWidget, find_cfg
from .param_updater import ParamUpdater


class DynreconfClientWidget(GroupWidget):
    """
    A wrapper of dynamic_reconfigure.client instance.
    Represents a widget where users can view and modify ROS params.
    """

    def __init__(self, reconf, node_name):
        """
        :type reconf: dynamic_reconfigure.client
        :type node_name: str
        """

        group_desc = reconf.get_group_descriptions()
        rospy.logdebug('DynreconfClientWidget.group_desc=%s', group_desc)
        super(DynreconfClientWidget, self).__init__(ParamUpdater(reconf),
                                                    group_desc, node_name)

        self.setMinimumWidth(150)

        self.reconf = reconf
        self.updater.start()
        self.reconf.config_callback = self.config_callback
        self._node_grn = node_name

    def get_node_grn(self):

        return self._node_grn

    def config_callback(self, config):

        #TODO: Think about replacing callback architecture with signals.

        if config:
            # TODO: should use config.keys but this method doesnt exist

            names = [name for name, v in config.items()]
            # v isn't used but necessary to get key and put it into dict.
            rospy.logdebug('config_callback name={} v={}'.format(name, v))

            for widget in self.editor_widgets:
                if isinstance(widget, EditorWidget):
                    if widget.param_name in names:
                        rospy.logdebug('EDITOR widget.param_name=%s',
                                       widget.param_name)
                        widget.update_value(config[widget.param_name])
                elif isinstance(widget, GroupWidget):
                    cfg = find_cfg(config, widget.param_name)
                    rospy.logdebug('GROUP widget.param_name=%s',
                                   widget.param_name)
                    widget.update_group(cfg)

    def close(self):
        self.reconf.close()
        self.updater.stop()

        for w in self.editor_widgets:
            w.close()

        self.deleteLater()

    def filter_param(self, filter_key):
        #TODO impl
        pass