Source Code for Module node_manager_fkie.editor.editor

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  3  # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 
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 32   
 33  from python_qt_binding.QtCore import QFileInfo, QPoint, QSize, Qt, Signal 
 34  from python_qt_binding.QtGui import QIcon, QKeySequence, QTextCursor, QTextDocument 
 35  import os 
 36   
 37  import rospy 
 38   
 39  from node_manager_fkie.common import package_name 
 40  from node_manager_fkie.run_dialog import PackageDialog 
 41  import node_manager_fkie as nm 
 42   
 43  from .line_number_widget import LineNumberWidget 
 44  from .text_edit import TextEdit 
 45  from .text_search_frame import TextSearchFrame 
 46  from .text_search_thread import TextSearchThread 
 47   
 48  try: 
 49      from python_qt_binding.QtGui import QApplication, QAction, QLineEdit, QMessageBox, QWidget, QMainWindow 
 50      from python_qt_binding.QtGui import QDialog, QInputDialog, QLabel, QMenu, QPushButton, QTabWidget 
 51      from python_qt_binding.QtGui import QHBoxLayout, QVBoxLayout, QSpacerItem, QSplitter, QSizePolicy 
 52  except: 
 53      from python_qt_binding.QtWidgets import QApplication, QAction, QLineEdit, QMessageBox, QWidget, QMainWindow 
 54      from python_qt_binding.QtWidgets import QDialog, QInputDialog, QLabel, QMenu, QPushButton, QTabWidget 
 55      from python_qt_binding.QtWidgets import QHBoxLayout, QVBoxLayout, QSpacerItem, QSplitter, QSizePolicy 
 56   
 57   
 58 -class EditorTabWidget(QTabWidget): 
 59      ''' 
 60      This class was overloaded to close tabs on middle mouse click 
 61      ''' 
 62   
 63 -    def mouseReleaseEvent(self, event): 
 64          if event.button() == Qt.MidButton: 
 65              close_index = self.tabBar().tabAt(event.pos()) 
 66              if close_index > -1: 
 67                  self.tabCloseRequested.emit(close_index) 
 68                  event.setAccepted(True) 
 69          if not event.isAccepted(): 
 70              QTabWidget.mouseReleaseEvent(event) 
 71   
 72 -    def currentWidget(self): 
 73          ''' 
 74          This is an overloaded function to use with LineNumberWidget 
 75          ''' 
 76          return QTabWidget.currentWidget(self).get_text_edit() 
 77   
 78 -    def widget(self, index): 
 79          ''' 
 80          This is an overloaded function to use with LineNumberWidget 
 81          ''' 
 82          return QTabWidget.widget(self, index).get_text_edit() 
 83   
 84   
 85 -class Editor(QMainWindow): 
 86      ''' 
 87      Creates a dialog to edit a launch file. 
 88      ''' 
 89      finished_signal = Signal(list) 
 90      ''' 
 91      finished_signal has as parameter the filenames of the initialization and is emitted, if this 
 92      dialog was closed. 
 93      ''' 
 94   
 95 -    def __init__(self, filenames, search_text='', parent=None): 
 96          ''' 
 97          @param filenames: a list with filenames. The last one will be activated. 
 98          @type filenames: C{[str, ...]} 
 99          @param search_text: if not empty, searches in new document for first occurrence of the given text 
100          @type search_text: C{str} (Default: C{Empty String}) 
101          ''' 
102          QMainWindow.__init__(self, parent) 
103          self.setObjectName(' - '.join(['Editor', str(filenames)])) 
104          self.setAttribute(Qt.WA_DeleteOnClose, True) 
105          self.setWindowFlags(Qt.Window) 
106          self.mIcon = QIcon(":/icons/crystal_clear_edit_launch.png") 
107          self._error_icon = QIcon(":/icons/crystal_clear_warning.png") 
108          self._empty_icon = QIcon() 
109          self.setWindowIcon(self.mIcon) 
110          window_title = "ROSLaunch Editor" 
111          if filenames: 
112              window_title = self.__getTabName(filenames[0]) 
113          self.setWindowTitle(window_title) 
114          self.init_filenames = list(filenames) 
115          self._search_thread = None 
116          # list with all open files 
117          self.files = [] 
118          # create tabs for files 
119          self.main_widget = QWidget(self) 
120          self.verticalLayout = QVBoxLayout(self.main_widget) 
121          self.verticalLayout.setContentsMargins(0, 0, 0, 0) 
122          self.verticalLayout.setSpacing(1) 
123          self.verticalLayout.setObjectName("verticalLayout") 
124   
125          self.tabWidget = EditorTabWidget(self) 
126          self.tabWidget.setTabPosition(QTabWidget.North) 
127          self.tabWidget.setDocumentMode(True) 
128          self.tabWidget.setTabsClosable(True) 
129          self.tabWidget.setMovable(False) 
130          self.tabWidget.setObjectName("tabWidget") 
131          self.tabWidget.tabCloseRequested.connect(self.on_close_tab) 
132   
133          self.verticalLayout.addWidget(self.tabWidget) 
134          self.buttons = self._create_buttons() 
135          self.verticalLayout.addWidget(self.buttons) 
136          self.setCentralWidget(self.main_widget) 
137   
138          self.find_dialog = TextSearchFrame(self.tabWidget, self) 
139          self.find_dialog.search_result_signal.connect(self.on_search_result) 
140          self.find_dialog.replace_signal.connect(self.on_replace) 
141          self.addDockWidget(Qt.RightDockWidgetArea, self.find_dialog) 
142          # open the files 
143          for f in filenames: 
144              if f: 
145                  self.on_load_request(os.path.normpath(f), search_text) 
146          self.readSettings() 
147          self.find_dialog.setVisible(False) 
148   
149  #  def __del__(self): 
150  #    print "******** destroy", self.objectName() 
151   
152 -    def _create_buttons(self): 
153          # create the buttons line 
154          self.buttons = QWidget(self) 
155          self.horizontalLayout = QHBoxLayout(self.buttons) 
156          self.horizontalLayout.setContentsMargins(4, 0, 4, 0) 
157          self.horizontalLayout.setObjectName("horizontalLayout") 
158          # add the search button 
159          self.searchButton = QPushButton(self) 
160          self.searchButton.setObjectName("searchButton") 
161  #        self.searchButton.clicked.connect(self.on_shortcut_find) 
162          self.searchButton.toggled.connect(self.on_toggled_find) 
163          self.searchButton.setText(self._translate("&Find")) 
164          self.searchButton.setToolTip('Open a search dialog (Ctrl+F)') 
165          self.searchButton.setFlat(True) 
166          self.searchButton.setCheckable(True) 
167          self.horizontalLayout.addWidget(self.searchButton) 
168          # add the replace button 
169          self.replaceButton = QPushButton(self) 
170          self.replaceButton.setObjectName("replaceButton") 
171  #        self.replaceButton.clicked.connect(self.on_shortcut_replace) 
172          self.replaceButton.toggled.connect(self.on_toggled_replace) 
173          self.replaceButton.setText(self._translate("&Replace")) 
174          self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)') 
175          self.replaceButton.setFlat(True) 
176          self.replaceButton.setCheckable(True) 
177          self.horizontalLayout.addWidget(self.replaceButton) 
178          # add the goto button 
179          self.gotoButton = QPushButton(self) 
180          self.gotoButton.setObjectName("gotoButton") 
181          self.gotoButton.clicked.connect(self.on_shortcut_goto) 
182          self.gotoButton.setText(self._translate("&Goto line")) 
183          self.gotoButton.setShortcut("Ctrl+G") 
184          self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)') 
185          self.gotoButton.setFlat(True) 
186          self.horizontalLayout.addWidget(self.gotoButton) 
187          # add a tag button 
188          self.tagButton = self._create_tag_button(self) 
189          self.horizontalLayout.addWidget(self.tagButton) 
190          # add spacer 
191          spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum) 
192          self.horizontalLayout.addItem(spacerItem) 
193          # add line number label 
194          self.pos_label = QLabel() 
195          self.horizontalLayout.addWidget(self.pos_label) 
196          # add spacer 
197          spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum) 
198          self.horizontalLayout.addItem(spacerItem) 
199          # add save button 
200          self.saveButton = QPushButton(self) 
201          self.saveButton.setObjectName("saveButton") 
202          self.saveButton.clicked.connect(self.on_saveButton_clicked) 
203          self.saveButton.setText(self._translate("&Save")) 
204          self.saveButton.setShortcut("Ctrl+S") 
205          self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)') 
206          self.saveButton.setFlat(True) 
207          self.horizontalLayout.addWidget(self.saveButton) 
208          return self.buttons 
209   
210 -    def keyPressEvent(self, event): 
211          ''' 
212          Enable the shortcats for search and replace 
213          ''' 
214          if event.key() == Qt.Key_Escape: 
215              self.reject() 
216          elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_F: 
217              if self.tabWidget.currentWidget().hasFocus(): 
218                  if not self.searchButton.isChecked(): 
219                      self.searchButton.setChecked(True) 
220                  else: 
221                      self.on_toggled_find(True) 
222              else: 
223                  self.searchButton.setChecked(not self.searchButton.isChecked()) 
224          elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_R: 
225              if self.tabWidget.currentWidget().hasFocus(): 
226                  if not self.replaceButton.isChecked(): 
227                      self.replaceButton.setChecked(True) 
228                  else: 
229                      self.on_toggled_replace(True) 
230              else: 
231                  self.replaceButton.setChecked(not self.replaceButton.isChecked()) 
232          else: 
233              event.accept() 
234              QMainWindow.keyPressEvent(self, event) 
235   
236 -    def _translate(self, text): 
237          if hasattr(QApplication, "UnicodeUTF8"): 
238              return QApplication.translate("Editor", text, None, QApplication.UnicodeUTF8) 
239          else: 
240              return QApplication.translate("Editor", text, None) 
241   
242 -    def readSettings(self): 
243          if nm.settings().store_geometry: 
244              settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE) 
245              settings.beginGroup("editor") 
246              maximized = settings.value("maximized", 'false') == 'true' 
247              if maximized: 
248                  self.showMaximized() 
249              else: 
250                  self.resize(settings.value("size", QSize(800, 640))) 
251                  self.move(settings.value("pos", QPoint(0, 0))) 
252              try: 
253                  self.restoreState(settings.value("window_state")) 
254              except: 
255                  import traceback 
256                  print traceback.format_exc() 
257              settings.endGroup() 
258   
259 -    def storeSetting(self): 
260          if nm.settings().store_geometry: 
261              settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE) 
262              settings.beginGroup("editor") 
263              settings.setValue("size", self.size()) 
264              settings.setValue("pos", self.pos()) 
265              settings.setValue("maximized", self.isMaximized()) 
266              settings.setValue("window_state", self.saveState()) 
267              settings.endGroup() 
268   
269 -    def on_load_request(self, filename, search_text=''): 
270          ''' 
271          Loads a file in a new tab or focus the tab, if the file is already open. 
272          @param filename: the path to file 
273          @type filename: C{str} 
274          @param search_text: if not empty, searches in new document for first occurrence of the given text 
275          @type search_text: C{str} (Default: C{Empty String}) 
276          ''' 
277          if not filename: 
278              return 
279          self.tabWidget.setUpdatesEnabled(False) 
280          try: 
281              if filename not in self.files: 
282                  tab_name = self.__getTabName(filename) 
283                  editor = TextEdit(filename, self.tabWidget) 
284                  linenumber_editor = LineNumberWidget(editor) 
285                  tab_index = self.tabWidget.addTab(linenumber_editor, tab_name) 
286                  self.files.append(filename) 
287                  editor.setCurrentPath(os.path.basename(filename)) 
288                  editor.load_request_signal.connect(self.on_load_request) 
289                  editor.document().modificationChanged.connect(self.on_editor_modificationChanged) 
290                  editor.cursorPositionChanged.connect(self.on_editor_positionChanged) 
291                  editor.setFocus(Qt.OtherFocusReason) 
292  #                editor.textChanged.connect(self.on_text_changed) 
293                  editor.undoAvailable.connect(self.on_text_changed) 
294                  self.tabWidget.setCurrentIndex(tab_index) 
295  #                self.find_dialog.set_search_path(filename) 
296              else: 
297                  for i in range(self.tabWidget.count()): 
298                      if self.tabWidget.widget(i).filename == filename: 
299                          self.tabWidget.setCurrentIndex(i) 
300                          break 
301          except: 
302              import traceback 
303              rospy.logwarn("Error while open %s: %s", filename, traceback.format_exc(1)) 
304          self.tabWidget.setUpdatesEnabled(True) 
305          if search_text: 
306              try: 
307                  self._search_thread.stop() 
308                  self._search_thread = None 
309              except: 
310                  pass 
311              self._search_thread = TextSearchThread(search_text, filename, path_text=self.tabWidget.widget(0).document().toPlainText(), recursive=True) 
312              self._search_thread.search_result_signal.connect(self.on_search_result_on_open) 
313              self._search_thread.start() 
314   
315 -    def on_text_changed(self, value=""): 
316          if self.tabWidget.currentWidget().hasFocus(): 
317              self.find_dialog.file_changed(self.tabWidget.currentWidget().filename) 
318   
319 -    def on_close_tab(self, tab_index): 
320          ''' 
321          Signal handling to close single tabs. 
322          @param tab_index: tab index to close 
323          @type tab_index: C{int} 
324          ''' 
325          try: 
326              doremove = True 
327              w = self.tabWidget.widget(tab_index) 
328              if w.document().isModified(): 
329                  name = self.__getTabName(w.filename) 
330                  result = QMessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", name]), QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel) 
331                  if result == QMessageBox.Yes: 
332                      self.tabWidget.currentWidget().save() 
333                  elif result == QMessageBox.No: 
334                      pass 
335                  else: 
336                      doremove = False 
337              if doremove: 
338                  # remove the indexed files 
339                  if w.filename in self.files: 
340                      self.files.remove(w.filename) 
341                  # close tab 
342                  self.tabWidget.removeTab(tab_index) 
343                  # close editor, if no tabs are open 
344                  if not self.tabWidget.count(): 
345                      self.close() 
346          except: 
347              import traceback 
348              rospy.logwarn("Error while close tab %s: %s", str(tab_index), traceback.format_exc(1)) 
349   
350 -    def reject(self): 
351          if self.find_dialog.isVisible(): 
352              self.searchButton.setChecked(not self.searchButton.isChecked()) 
353          else: 
354              self.close() 
355   
356 -    def closeEvent(self, event): 
357          ''' 
358          Test the open files for changes and save this if needed. 
359          ''' 
360          changed = [] 
361          # get the names of all changed files 
362          for i in range(self.tabWidget.count()): 
363              w = self.tabWidget.widget(i) 
364              if w.document().isModified(): 
365                  changed.append(self.__getTabName(w.filename)) 
366          if changed: 
367              # ask the user for save changes 
368              if self.isHidden(): 
369                  buttons = QMessageBox.Yes | QMessageBox.No 
370              else: 
371                  buttons = QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel 
372              result = QMessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", '\n'.join(changed)]), buttons) 
373              if result == QMessageBox.Yes: 
374                  for i in range(self.tabWidget.count()): 
375                      w = self.tabWidget.widget(i).save() 
376                  event.accept() 
377              elif result == QMessageBox.No: 
378                  event.accept() 
379              else: 
380                  event.ignore() 
381          else: 
382              event.accept() 
383          if event.isAccepted(): 
384              self.storeSetting() 
385              self.finished_signal.emit(self.init_filenames) 
386   
387 -    def on_editor_modificationChanged(self, value=None): 
388          ''' 
389          If the content was changed, a '*' will be shown in the tab name. 
390          ''' 
391          tab_name = self.__getTabName(self.tabWidget.currentWidget().filename) 
392          if (self.tabWidget.currentWidget().document().isModified()) or not QFileInfo(self.tabWidget.currentWidget().filename).exists(): 
393              tab_name = ''.join(['*', tab_name]) 
394          self.tabWidget.setTabText(self.tabWidget.currentIndex(), tab_name) 
395   
396 -    def on_editor_positionChanged(self): 
397          ''' 
398          Shows the number of the line and column in a label. 
399          ''' 
400          cursor = self.tabWidget.currentWidget().textCursor() 
401          self.pos_label.setText(':%s:%s #%s' % (cursor.blockNumber() + 1, cursor.columnNumber(), cursor.position())) 
402   
403 -    def __getTabName(self, lfile): 
404          base = os.path.basename(lfile).replace('.launch', '') 
405          (package, _) = package_name(os.path.dirname(lfile)) 
406          return '%s [%s]' % (base, package) 
407   
408      ############################################################################## 
409      # HANDLER for buttons 
410      ############################################################################## 
411   
412 -    def on_saveButton_clicked(self): 
413          ''' 
414          Saves the current document. This method is called if the C{save button} 
415          was clicked. 
416          ''' 
417          saved, errors, msg = self.tabWidget.currentWidget().save(True) 
418          if errors: 
419              QMessageBox.critical(self, "Error", msg) 
420              self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._error_icon) 
421              self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), msg) 
422          elif saved: 
423              self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._empty_icon) 
424              self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), '') 
425   
426 -    def on_shortcut_find(self): 
427          pass 
428   
429 -    def on_toggled_find(self, value): 
430          ''' 
431          Shows the search frame 
432          ''' 
433          if value: 
434              self.find_dialog.enable() 
435          else: 
436              self.replaceButton.setChecked(False) 
437              self.find_dialog.setVisible(False) 
438              self.tabWidget.currentWidget().setFocus() 
439   
440 -    def on_toggled_replace(self, value): 
441          ''' 
442          Shows the replace lineedit in the search frame 
443          ''' 
444          if value: 
445              self.searchButton.setChecked(True) 
446          self.find_dialog.set_replace_visible(value) 
447   
448 -    def on_shortcut_goto(self): 
449          ''' 
450          Opens a C{goto} dialog. 
451          ''' 
452          value = 1 
453          ok = False 
454          try: 
455              value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"), 
456                                                    QLineEdit.Normal, minValue=1, step=1) 
457          except: 
458              value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"), 
459                                                    QLineEdit.Normal, min=1, step=1) 
460          if ok: 
461              if value > self.tabWidget.currentWidget().document().blockCount(): 
462                  value = self.tabWidget.currentWidget().document().blockCount() 
463              curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1 
464              while curpos != value: 
465                  mov = QTextCursor.NextBlock if curpos < value else QTextCursor.PreviousBlock 
466                  self.tabWidget.currentWidget().moveCursor(mov) 
467                  curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1 
468          self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason) 
469   
470      ############################################################################## 
471      # SLOTS for search dialog 
472      ############################################################################## 
473   
474 -    def on_search_result(self, search_text, found, path, index): 
475          ''' 
476          A slot to handle a found text. It goes to the position in the text and select 
477          the searched text. On new file it will be open. 
478          :param search_text: the searched text 
479          :type search_text: str 
480          :param found: the text was found or not 
481          :type found: bool 
482          :param path: the path of the file the text was found 
483          :type path: str 
484          :param index: the position in the text 
485          :type index: int 
486          ''' 
487          if found: 
488              if self.tabWidget.currentWidget().filename != path: 
489                  focus_widget = QApplication.focusWidget() 
490                  self.on_load_request(path) 
491                  focus_widget.setFocus() 
492              cursor = self.tabWidget.currentWidget().textCursor() 
493              cursor.setPosition(index, QTextCursor.MoveAnchor) 
494              cursor.movePosition(QTextCursor.NextCharacter, QTextCursor.KeepAnchor, len(search_text)) 
495              self.tabWidget.currentWidget().setTextCursor(cursor) 
496   
497 -    def on_search_result_on_open(self, search_text, found, path, index): 
498          ''' 
499          Like on_search_result, but skips the text in comments. 
500          ''' 
501          if found: 
502              if self.tabWidget.currentWidget().filename != path: 
503                  focus_widget = QApplication.focusWidget() 
504                  self.on_load_request(path) 
505                  focus_widget.setFocus() 
506              comment_start = self.tabWidget.currentWidget().document().find('<!--', index, QTextDocument.FindBackward) 
507              if not comment_start.isNull(): 
508                  comment_end = self.tabWidget.currentWidget().document().find('-->', comment_start) 
509                  if not comment_end.isNull() and comment_end.position() > index + len(search_text): 
510                      # commented -> retrun 
511                      return 
512          self.on_search_result(search_text, found, path, index) 
513   
514 -    def on_replace(self, search_text, path, index, replaced_text): 
515          ''' 
516          A slot to handle a text replacement of the TextSearchFrame. 
517          :param search_text: the searched text 
518          :type search_text: str 
519          :param path: the path of the file the text was found 
520          :type path: str 
521          :param index: the position in the text 
522          :type index: int 
523          :param replaced_text: the new text 
524          :type replaced_text: str 
525          ''' 
526          cursor = self.tabWidget.currentWidget().textCursor() 
527          if cursor.selectedText() == search_text: 
528              cursor.insertText(replaced_text) 
529   
530      ############################################################################## 
531      # LAUNCH TAG insertion 
532      ############################################################################## 
533   
534 -    def _create_tag_button(self, parent=None): 
535          btn = QPushButton(parent) 
536          btn.setObjectName("tagButton") 
537          btn.setText(self._translate("Add &tag")) 
538          btn.setShortcut("Ctrl+T") 
539          btn.setToolTip('Adds a ROS launch tag to launch file (Ctrl+T)') 
540          btn.setMenu(self._create_tag_menu(btn)) 
541          btn.setFlat(True) 
542          return btn 
543   
544 -    def _create_tag_menu(self, parent=None): 
545          # creates a tag menu 
546          tag_menu = QMenu("ROS Tags", parent) 
547          # group tag 
548          add_group_tag_action = QAction("<group>", self, statusTip="", triggered=self._on_add_group_tag) 
549          add_group_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+g")) 
550          tag_menu.addAction(add_group_tag_action) 
551          # node tag 
552          add_node_tag_action = QAction("<node>", self, statusTip="", triggered=self._on_add_node_tag) 
553          add_node_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+n")) 
554          tag_menu.addAction(add_node_tag_action) 
555          # node tag with all attributes 
556          add_node_tag_all_action = QAction("<node all>", self, statusTip="", triggered=self._on_add_node_tag_all) 
557          tag_menu.addAction(add_node_tag_all_action) 
558          # include tag with all attributes 
559          add_include_tag_all_action = QAction("<include>", self, statusTip="", triggered=self._on_add_include_tag_all) 
560          add_include_tag_all_action.setShortcuts(QKeySequence("Ctrl+Shift+i")) 
561          tag_menu.addAction(add_include_tag_all_action) 
562          # remap 
563          add_remap_tag_action = QAction("<remap>", self, statusTip="", triggered=self._on_add_remap_tag) 
564          add_remap_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+r")) 
565          tag_menu.addAction(add_remap_tag_action) 
566          # env tag 
567          add_env_tag_action = QAction("<env>", self, statusTip="", triggered=self._on_add_env_tag) 
568          tag_menu.addAction(add_env_tag_action) 
569          # param tag 
570          add_param_tag_action = QAction("<param>", self, statusTip="", triggered=self._on_add_param_tag) 
571          add_param_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+p")) 
572          tag_menu.addAction(add_param_tag_action) 
573          # param capability group tag 
574          add_param_cap_group_tag_action = QAction("<param capability group>", self, statusTip="", triggered=self._on_add_param_cap_group_tag) 
575          add_param_cap_group_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+p")) 
576          tag_menu.addAction(add_param_cap_group_tag_action) 
577          # param tag with all attributes 
578          add_param_tag_all_action = QAction("<param all>", self, statusTip="", triggered=self._on_add_param_tag_all) 
579          tag_menu.addAction(add_param_tag_all_action) 
580          # rosparam tag with all attributes 
581          add_rosparam_tag_all_action = QAction("<rosparam>", self, statusTip="", triggered=self._on_add_rosparam_tag_all) 
582          tag_menu.addAction(add_rosparam_tag_all_action) 
583          # arg tag with default definition 
584          add_arg_tag_default_action = QAction("<arg default>", self, statusTip="", triggered=self._on_add_arg_tag_default) 
585          add_arg_tag_default_action.setShortcuts(QKeySequence("Ctrl+Shift+a")) 
586          tag_menu.addAction(add_arg_tag_default_action) 
587          # arg tag with value definition 
588          add_arg_tag_value_action = QAction("<arg value>", self, statusTip="", triggered=self._on_add_arg_tag_value) 
589          add_arg_tag_value_action.setShortcuts(QKeySequence("Ctrl+Alt+a")) 
590          tag_menu.addAction(add_arg_tag_value_action) 
591   
592          # test tag 
593          add_test_tag_action = QAction("<test>", self, statusTip="", triggered=self._on_add_test_tag) 
594          add_test_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+t")) 
595          tag_menu.addAction(add_test_tag_action) 
596          # test tag with all attributes 
597          add_test_tag_all_action = QAction("<test all>", self, statusTip="", triggered=self._on_add_test_tag_all) 
598          tag_menu.addAction(add_test_tag_all_action) 
599          return tag_menu 
600   
601 -    def _insert_text(self, text): 
602          cursor = self.tabWidget.currentWidget().textCursor() 
603          if not cursor.isNull(): 
604              col = cursor.columnNumber() 
605              spaces = ''.join([' ' for _ in range(col)]) 
606              cursor.insertText(text.replace('\n', '\n%s' % spaces)) 
607              self.tabWidget.currentWidget().setFocus(Qt.OtherFocusReason) 
608   
609 -    def _on_add_group_tag(self): 
610          self._insert_text('<group ns="namespace" clear_params="true|false">\n' 
611                            '</group>') 
612   
613 -    def _on_add_node_tag(self): 
614          dia = PackageDialog() 
615          if dia.exec_(): 
616              self._insert_text('<node name="%s" pkg="%s" type="%s">\n' 
617                                '</node>' % (dia.binary, dia.package, dia.binary)) 
618   
619 -    def _on_add_node_tag_all(self): 
620          dia = PackageDialog() 
621          if dia.exec_(): 
622              self._insert_text('<node name="%s" pkg="%s" type="%s"\n' 
623                                '      args="arg1" machine="machine-name"\n' 
624                                '      respawn="true" required="true"\n' 
625                                '      ns="foo" clear_params="true|false"\n' 
626                                '      output="log|screen" cwd="ROS_HOME|node"\n' 
627                                '      launch-prefix="prefix arguments">\n' 
628                                '</node>' % (dia.binary, dia.package, dia.binary)) 
629   
630 -    def _on_add_include_tag_all(self): 
631          self._insert_text('<include file="$(find pkg-name)/path/filename.xml"\n' 
632                            '         ns="foo" clear_params="true|false">\n' 
633                            '</include>') 
634   
635 -    def _on_add_remap_tag(self): 
636          self._insert_text('<remap from="original" to="new"/>') 
637   
638 -    def _on_add_env_tag(self): 
639          self._insert_text('<env name="variable" value="value"/>') 
640   
641 -    def _on_add_param_tag(self): 
642          self._insert_text('<param name="ns_name" value="value" />') 
643   
644 -    def _on_add_param_cap_group_tag(self): 
645          self._insert_text('<param name="capability_group" value="demo" />') 
646   
647 -    def _on_add_param_tag_all(self): 
648          self._insert_text('<param name="ns_name" value="value"\n' 
649                            '       type="str|int|double|bool"\n' 
650                            '       textfile="$(find pkg-name)/path/file.txt"\n' 
651                            '       binfile="$(find pkg-name)/path/file"\n' 
652                            '       command="$(find pkg-name)/exe \'$(find pkg-name)/arg.txt\'">\n' 
653                            '</param>') 
654   
655 -    def _on_add_rosparam_tag_all(self): 
656          self._insert_text('<rosparam param="param-name"\n' 
657                            '       file="$(find pkg-name)/path/foo.yaml"\n' 
658                            '       command="load|dump|delete"\n' 
659                            '       ns="namespace">\n' 
660                            '</rosparam>') 
661   
662 -    def _on_add_arg_tag_default(self): 
663          self._insert_text('<arg name="foo" default="1" />') 
664   
665 -    def _on_add_arg_tag_value(self): 
666          self._insert_text('<arg name="foo" value="bar" />') 
667   
668 -    def _on_add_test_tag(self): 
669          dia = PackageDialog() 
670          if dia.exec_(): 
671              self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n' 
672                                '</test>' % (dia.binary, dia.package, dia.binary, dia.binary)) 
673   
674 -    def _on_add_test_tag_all(self): 
675          dia = PackageDialog() 
676          if dia.exec_(): 
677              self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n' 
678                                '      args="arg1" time-limit="60.0"\n' 
679                                '      ns="foo" clear_params="true|false"\n' 
680                                '      cwd="ROS_HOME|node" retry="0"\n' 
681                                '      launch-prefix="prefix arguments">\n' 
682                                '</test>' % (dia.binary, dia.package, dia.binary, dia.binary)) 
683