topic_selection.py

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import rosgraph

from python_qt_binding.QtCore import Qt, Signal
from python_qt_binding.QtWidgets import QWidget, QVBoxLayout, QCheckBox, QScrollArea, QPushButton
from .node_selection import NodeSelection


class TopicSelection(QWidget):

    recordSettingsSelected = Signal(bool, list)

    def __init__(self):
        super(TopicSelection, self).__init__()
        master = rosgraph.Master('rqt_bag_recorder')
        self.setWindowTitle("Select the topics you want to record")
        self.resize(500, 700)

        self.topic_list = []
        self.selected_topics = []
        self.items_list = []

        self.area = QScrollArea(self)
        self.main_widget = QWidget(self.area)
        self.ok_button = QPushButton("Record", self)
        self.ok_button.clicked.connect(self.onButtonClicked)
        self.ok_button.setEnabled(False)

        self.from_nodes_button = QPushButton("From Nodes", self)
        self.from_nodes_button.clicked.connect(self.onFromNodesButtonClicked)

        self.main_vlayout = QVBoxLayout(self)
        self.main_vlayout.addWidget(self.area)
        self.main_vlayout.addWidget(self.ok_button)
        self.main_vlayout.addWidget(self.from_nodes_button)
        self.setLayout(self.main_vlayout)

        self.selection_vlayout = QVBoxLayout(self)
        self.item_all = QCheckBox("All", self)
        self.item_all.stateChanged.connect(self.updateList)
        self.selection_vlayout.addWidget(self.item_all)
        topic_data_list = master.getPublishedTopics('')
        topic_data_list.sort()
        for topic, datatype in topic_data_list:
            self.addCheckBox(topic)

        self.main_widget.setLayout(self.selection_vlayout)

        self.area.setWidget(self.main_widget)
        self.show()

    def addCheckBox(self, topic):
        self.topic_list.append(topic)
        item = QCheckBox(topic, self)
        item.stateChanged.connect(lambda x: self.updateList(x, topic))
        self.items_list.append(item)
        self.selection_vlayout.addWidget(item)

    def changeTopicCheckState(self, topic, state):
        for item in self.items_list:
            if item.text() == topic:
                item.setCheckState(state)
                return

    def updateList(self, state, topic=None, force_update_state=False):
        if topic is None:  # The "All" checkbox was checked / unchecked
            if state == Qt.Checked:
                self.item_all.setTristate(False)
                for item in self.items_list:
                    if item.checkState() == Qt.Unchecked:
                        item.setCheckState(Qt.Checked)
            elif state == Qt.Unchecked:
                self.item_all.setTristate(False)
                for item in self.items_list:
                    if item.checkState() == Qt.Checked:
                        item.setCheckState(Qt.Unchecked)
        else:
            if state == Qt.Checked:
                self.selected_topics.append(topic)
            else:
                self.selected_topics.remove(topic)
                if self.item_all.checkState() == Qt.Checked:
                    self.item_all.setCheckState(Qt.PartiallyChecked)

        if self.selected_topics == []:
            self.ok_button.setEnabled(False)
        else:
            self.ok_button.setEnabled(True)

    def onButtonClicked(self):
        self.close()
        self.recordSettingsSelected.emit(
            self.item_all.checkState() == Qt.Checked, self.selected_topics)

    def onFromNodesButtonClicked(self):
        self.node_selection = NodeSelection(self)