Source Code for Module node_manager_fkie.sync_dialog

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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 QObject, QRegExp, Qt, Signal 
 34  from python_qt_binding.QtGui import QFont, QIcon, QSyntaxHighlighter, QTextCharFormat 
 35  import os 
 36  import threading 
 37   
 38  import rospy 
 39   
 40  from node_manager_fkie.common import is_package 
 41  from node_manager_fkie.detailed_msg_box import WarningMessageBox 
 42  import node_manager_fkie as nm 
 43   
 44  from .editor import TextEdit 
 45  try: 
 46      from python_qt_binding.QtGui import QApplication, QMessageBox, QVBoxLayout, QSizePolicy 
 47      from python_qt_binding.QtGui import QComboBox, QDialog, QDialogButtonBox, QFileDialog, QToolButton 
 48  except: 
 49      from python_qt_binding.QtWidgets import QApplication, QMessageBox, QVBoxLayout, QSizePolicy 
 50      from python_qt_binding.QtWidgets import QComboBox, QDialog, QDialogButtonBox, QFileDialog, QToolButton 
 51   
 52   
 53 -class SyncHighlighter(QSyntaxHighlighter): 
 54      ''' 
 55      Enabled the syntax highlightning for the sync interface. 
 56      ''' 
 57   
 58 -    def __init__(self, parent=None): 
 59          QSyntaxHighlighter.__init__(self, parent) 
 60          self.rules = [] 
 61          self.commentStart = QRegExp("#") 
 62          self.commentEnd = QRegExp("\n") 
 63          self.commentFormat = QTextCharFormat() 
 64          self.commentFormat.setFontItalic(True) 
 65          self.commentFormat.setForeground(Qt.darkGray) 
 66          f = QTextCharFormat() 
 67          r = QRegExp() 
 68          r.setMinimal(True) 
 69          f.setFontWeight(QFont.Normal) 
 70          f.setForeground(Qt.darkBlue) 
 71          tagList = ["\\bignore_hosts\\b", "\\bsync_hosts\\b", 
 72                     "\\bignore_nodes\\b", "\\bsync_nodes\\b", 
 73                     "\\bignore_topics\\b", "\\bignore_publishers\\b", 
 74                     "\\bignore_topics\\b", "\\bsync_topics\\b", 
 75                     "\\bignore_subscribers\\b", "\\bsync_services\\b", 
 76                     "\\bsync_topics_on_demand\\b", "\\bsync_remote_nodes\\b"] 
 77          for tag in tagList: 
 78              r.setPattern(tag) 
 79              self.rules.append((QRegExp(r), QTextCharFormat(f))) 
 80   
 81          f.setForeground(Qt.darkGreen) 
 82          f.setFontWeight(QFont.Bold) 
 83          attrList = ["\\b\\*|\\*\\B|\\/\\*"] 
 84          for attr in attrList: 
 85              r.setPattern(attr) 
 86              self.rules.append((QRegExp(r), QTextCharFormat(f))) 
 87   
 88  #    f.setForeground(Qt.red) 
 89  #    f.setFontWeight(QFont.Bold) 
 90  #    attrList = ["\\s\\*"] 
 91  #    for attr in attrList: 
 92  #      r.setPattern(attr) 
 93  #      self.rules.append((QRegExp(r), QTextCharFormat(f))) 
 94   
 95 -    def highlightBlock(self, text): 
 96          for pattern, myformat in self.rules: 
 97              index = pattern.indexIn(text) 
 98              while index >= 0: 
 99                  length = pattern.matchedLength() 
100                  self.setFormat(index, length, myformat) 
101                  index = pattern.indexIn(text, index + length) 
102   
103          self.setCurrentBlockState(0) 
104          startIndex = 0 
105          if self.previousBlockState() != 1: 
106              startIndex = self.commentStart.indexIn(text) 
107              if startIndex >= 0: 
108                  commentLength = len(text) - startIndex 
109                  self.setFormat(startIndex, commentLength, self.commentFormat) 
110   
111   
112 -class SyncDialog(QDialog): 
113      ''' 
114      A dialog to set the sync options. 
115      ''' 
116   
117 -    def __init__(self, parent=None): 
118          QDialog.__init__(self, parent) 
119  #    self.host = host 
120          self.setWindowIcon(QIcon(":/icons/irondevil_sync.png")) 
121          self.setWindowTitle('Sync') 
122          self.verticalLayout = QVBoxLayout(self) 
123          self.verticalLayout.setObjectName("verticalLayout") 
124          self.resize(350, 190) 
125   
126          self.toolButton_SyncAll = QToolButton(self) 
127          sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) 
128          sizePolicy.setHorizontalStretch(0) 
129          sizePolicy.setVerticalStretch(2) 
130          sizePolicy.setHeightForWidth(self.toolButton_SyncAll.sizePolicy().hasHeightForWidth()) 
131          self.toolButton_SyncAll.setSizePolicy(sizePolicy) 
132          self.toolButton_SyncAll.setObjectName("toolButton_SyncAll") 
133          self.verticalLayout.addWidget(self.toolButton_SyncAll) 
134          self.toolButton_SyncAll.setText(self._translate("Sync All")) 
135          self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked) 
136   
137  #     self.toolButton_SyncAllAnyMsg = QToolButton(self) 
138  #     sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) 
139  #     sizePolicy.setHorizontalStretch(0) 
140  #     sizePolicy.setVerticalStretch(1) 
141  #     sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth()) 
142  #     self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy) 
143  #     self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg") 
144  #     self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg) 
145  #     self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)")) 
146  #     self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked) 
147   
148          self.toolButton_SyncTopicOnDemand = QToolButton(self) 
149          sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) 
150          sizePolicy.setHorizontalStretch(0) 
151          sizePolicy.setVerticalStretch(1) 
152          sizePolicy.setHeightForWidth(self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth()) 
153          self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy) 
154          self.toolButton_SyncTopicOnDemand.setObjectName("toolButton_SyncTopicOnDemand") 
155          self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand) 
156          self.toolButton_SyncTopicOnDemand.setText(self._translate("Sync only topics on demand")) 
157          self.toolButton_SyncTopicOnDemand.clicked.connect(self._on_sync_topics_on_demand_clicked) 
158   
159          self.toolButton_SelectInterface = QToolButton(self) 
160          sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) 
161          sizePolicy.setHorizontalStretch(0) 
162          sizePolicy.setVerticalStretch(1) 
163          sizePolicy.setHeightForWidth(self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth()) 
164          self.toolButton_SelectInterface.setSizePolicy(sizePolicy) 
165          self.toolButton_SelectInterface.setObjectName("toolButton_SelectInterface") 
166          self.verticalLayout.addWidget(self.toolButton_SelectInterface) 
167          self.toolButton_SelectInterface.setText(self._translate("Select an interface")) 
168          self.toolButton_SelectInterface.clicked.connect(self._on_select_interface_clicked) 
169   
170          self.interface_field = QComboBox(self) 
171          self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically) 
172          self.interface_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) 
173          self.interface_field.setEditable(True) 
174          self.interface_field.setVisible(False) 
175          self.interface_field.setObjectName("interface_field") 
176          self.verticalLayout.addWidget(self.interface_field) 
177          self.interface_field.currentIndexChanged[str].connect(self._on_interface_selected) 
178   
179          self.toolButton_EditInterface = QToolButton(self) 
180          sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) 
181          sizePolicy.setHorizontalStretch(0) 
182          sizePolicy.setVerticalStretch(1) 
183          sizePolicy.setHeightForWidth(self.toolButton_EditInterface.sizePolicy().hasHeightForWidth()) 
184          self.toolButton_EditInterface.setSizePolicy(sizePolicy) 
185          self.toolButton_EditInterface.setObjectName("toolButton_EditInterface") 
186          self.verticalLayout.addWidget(self.toolButton_EditInterface) 
187          self.toolButton_EditInterface.setText(self._translate("Edit selected interface")) 
188          self.toolButton_EditInterface.clicked.connect(self._on_edit_interface_clicked) 
189          self.toolButton_EditInterface.setVisible(False) 
190   
191          self.toolButton_CreateInterface = QToolButton(self) 
192          sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) 
193          sizePolicy.setHorizontalStretch(0) 
194          sizePolicy.setVerticalStretch(1) 
195          sizePolicy.setHeightForWidth(self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth()) 
196          self.toolButton_CreateInterface.setSizePolicy(sizePolicy) 
197          self.toolButton_CreateInterface.setObjectName("toolButton_CreateInterface") 
198          self.verticalLayout.addWidget(self.toolButton_CreateInterface) 
199          self.toolButton_CreateInterface.setText(self._translate("Create an interface")) 
200          self.toolButton_CreateInterface.clicked.connect(self._on_create_interface_clicked) 
201          self.toolButton_CreateInterface.setVisible(False) 
202   
203          self.textedit = TextEdit('', self) 
204          self.hl = SyncHighlighter(self.textedit.document()) 
205          sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) 
206          self.textedit.setSizePolicy(sizePolicy) 
207          self.textedit.setObjectName("syncedit") 
208          self.verticalLayout.addWidget(self.textedit) 
209          self.textedit.setVisible(False) 
210   
211          self._fill_interface_thread = None 
212          self._interfaces_files = None 
213          self._sync_args = [] 
214          self._interface_filename = None 
215   
216          self.buttonBox = QDialogButtonBox(self) 
217          self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel) 
218          self.buttonBox.setOrientation(Qt.Horizontal) 
219          self.buttonBox.setObjectName("buttonBox") 
220          self.verticalLayout.addWidget(self.buttonBox) 
221          self.buttonBox.accepted.connect(self.accept) 
222          self.buttonBox.rejected.connect(self.reject) 
223          self._new_iface = True 
224   
225 -    def _translate(self, text): 
226          if hasattr(QApplication, "UnicodeUTF8"): 
227              return QApplication.translate("Form", text, None, QApplication.UnicodeUTF8) 
228          else: 
229              return QApplication.translate("Form", text, None) 
230   
231      @property 
232 -    def sync_args(self): 
233          return self._sync_args 
234   
235      @property 
236 -    def interface_filename(self): 
237          return self._interface_filename 
238   
239 -    def _on_sync_all_clicked(self): 
240          self.setResult(QDialog.Accepted) 
241          self._sync_args = [] 
242          self._sync_args.append(''.join(['_interface_url:=', "'.'"])) 
243          self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'False'])) 
244          self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) 
245          self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) 
246          self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) 
247          self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) 
248          self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) 
249          self._sync_args.append(''.join(['_ignore_publishers:=', '[]'])) 
250          self._sync_args.append(''.join(['_ignore_subscribers:=', '[]'])) 
251          self._sync_args.append(''.join(['_sync_topics:=', '[]'])) 
252          self._sync_args.append(''.join(['_ignore_services:=', '[]'])) 
253          self._sync_args.append(''.join(['_sync_services:=', '[]'])) 
254          self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) 
255          self._interface_filename = None 
256          self.accept() 
257   
258  #   def _on_sync_all_anymsg_clicked(self): 
259  #     self._sync_args = [] 
260  #     self._sync_args.append(''.join(['_interface_url:=', "'.'"])) 
261  #     self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True'])) 
262  #     self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) 
263  #     self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) 
264  #     self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) 
265  #     self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) 
266  #     self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) 
267  #     self._sync_args.append(''.join(['_sync_topics:=', '[/*]'])) 
268  #     self._sync_args.append(''.join(['_ignore_services:=', '[]'])) 
269  #     self._sync_args.append(''.join(['_sync_services:=', '[]'])) 
270  #     self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) 
271  #     self._interface_filename = None 
272  #     self.accept() 
273   
274 -    def _on_sync_topics_on_demand_clicked(self): 
275          self._sync_args = [] 
276          self._sync_args.append(''.join(['_interface_url:=', "'.'"])) 
277          self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True'])) 
278          self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) 
279          self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) 
280          self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) 
281          self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) 
282          self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) 
283          self._sync_args.append(''.join(['_ignore_publishers:=', '[]'])) 
284          self._sync_args.append(''.join(['_ignore_subscribers:=', '[]'])) 
285          self._sync_args.append(''.join(['_sync_topics:=', '[/only_on_demand]'])) 
286          self._sync_args.append(''.join(['_ignore_services:=', '[/*]'])) 
287          self._sync_args.append(''.join(['_sync_services:=', '[]'])) 
288          self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) 
289          self._interface_filename = None 
290          self.accept() 
291   
292 -    def _on_select_interface_clicked(self): 
293          self.toolButton_SyncAll.setVisible(False) 
294  #    self.toolButton_SyncAllAnyMsg.setVisible(False) 
295          self.toolButton_SyncTopicOnDemand.setVisible(False) 
296          self.toolButton_SelectInterface.setVisible(False) 
297          self.interface_field.setVisible(True) 
298          self.toolButton_CreateInterface.setVisible(True) 
299          self.toolButton_EditInterface.setVisible(True) 
300          self.toolButton_EditInterface.setEnabled(False) 
301          self.textedit.setVisible(False) 
302  #    # fill the interfaces 
303          if self._interfaces_files is None: 
304              self.interface_field.addItems(['interface searching...']) 
305              self.interface_field.setCurrentIndex(0) 
306              self._fill_interface_thread = InterfacesThread() 
307              self._fill_interface_thread.interfaces.connect(self._fill_interfaces) 
308              self._fill_interface_thread.start() 
309          else: 
310              self.toolButton_EditInterface.setEnabled(self.interface_field.currentText() in self._interfaces_files) 
311          self.buttonBox.clear() 
312          self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) 
313          self.interface_field.setFocus(Qt.TabFocusReason) 
314          self.resize(350, 80) 
315   
316 -    def _fill_interfaces(self, interfaces_files): 
317          self._interfaces_files = interfaces_files 
318          self.interface_field.clear() 
319          self.interface_field.clearEditText() 
320          self.interface_field.addItems(self._interfaces_files.keys()) 
321   
322 -    def _on_interface_selected(self, interface): 
323          if self._interfaces_files and interface in self._interfaces_files: 
324              self._sync_args = [] 
325              self._sync_args.append(''.join(['_interface_url:=', interface])) 
326              self.toolButton_EditInterface.setEnabled(True) 
327          else: 
328              self.toolButton_EditInterface.setEnabled(False) 
329   
330 -    def accept(self): 
331          if self.textedit.isVisible(): 
332              try: 
333                  tmp_file = os.path.join(nm.screen().LOG_PATH, 'tmp_sync_interface.sync') 
334                  with open(tmp_file, 'w+') as f: 
335                      f.write(self.textedit.toPlainText()) 
336                  from master_discovery_fkie.common import read_interface 
337                  read_interface(tmp_file) 
338                  if not self._new_iface and self.interface_field.currentText() in self._interfaces_files: 
339                      fileName = self._interfaces_files[self.interface_field.currentText()] 
340                  else: 
341                      fileName, _ = QFileDialog.getSaveFileName(self, 'Save sync interface', '/home', "Sync Files (*.sync)") 
342                  if fileName: 
343                      with open(fileName, 'w+') as f: 
344                          self._interface_filename = fileName 
345                          f.write(self.textedit.toPlainText()) 
346                          if self._new_iface: 
347                              self.interface_field.clear() 
348                              self._interfaces_files = None 
349                          self._on_select_interface_clicked() 
350  #        QDialog.accept(self) 
351  #        self.resetView() 
352              except Exception as e: 
353                  WarningMessageBox(QMessageBox.Warning, "Create sync interface", 
354                                    "Error while create interface", 
355                                    str(e)).exec_() 
356          elif self.interface_field.isVisible(): 
357              interface = self.interface_field.currentText() 
358              if self._interfaces_files and interface in self._interfaces_files: 
359                  self._interface_filename = self._interfaces_files[interface] 
360                  self._sync_args = [] 
361                  self._sync_args.append(''.join(['_interface_url:=', interface])) 
362                  QDialog.accept(self) 
363                  self.resetView() 
364          else: 
365              QDialog.accept(self) 
366              self.resetView() 
367   
368 -    def reject(self): 
369          if self.textedit.isVisible(): 
370              self._on_select_interface_clicked() 
371          else: 
372              QDialog.reject(self) 
373              self.resetView() 
374   
375 -    def _on_create_interface_clicked(self): 
376          self._new_iface = True 
377          self.interface_field.setVisible(False) 
378          self.toolButton_CreateInterface.setVisible(False) 
379          self.toolButton_EditInterface.setVisible(False) 
380          self.textedit.setVisible(True) 
381          self.textedit.setText("# The ignore_* lists will be processed first.\n" 
382                                "# For ignore/sync nodes, topics or services\n" 
383                                "# use follow declaration:\n" 
384                                "#{param name}: \n" 
385                                "#   - {ros name}\n" 
386                                "# or for selected hosts:\n" 
387                                "#   - {host name}:\n" 
388                                "#     - {ros name}\n\n" 
389                                "# you can use follow wildcard: '*', but not as a first character\n" 
390                                "ignore_hosts:\n" 
391                                "sync_hosts:\n\n" 
392                                "ignore_nodes:\n" 
393                                "sync_nodes:\n\n" 
394                                "ignore_topics:\n" 
395                                "ignore_publishers:\n" 
396                                "ignore_subscribers:\n" 
397                                "sync_topics:\n\n" 
398                                "ignore_services:\n" 
399                                "  - /*get_loggers\n" 
400                                "  - /*set_logger_level\n" 
401                                "sync_services:\n\n" 
402                                "# If sync_topics_on_demand is True the local subscribed and published topics\n" 
403                                "# are synchronized with remote even if they are not in the sync_* list.\n" 
404                                "sync_topics_on_demand: False\n\n" 
405                                "# The nodes which are running not at the same host as the ROS master are not\n" 
406                                "# synchronized by default. Use sync_remote_nodes to sync these nodes also.\n" 
407                                "sync_remote_nodes: False\n\n" 
408                                ) 
409          self.resize(350, 300) 
410   
411 -    def _on_edit_interface_clicked(self): 
412          self._new_iface = False 
413          self.interface_field.setVisible(False) 
414          self.toolButton_CreateInterface.setVisible(False) 
415          self.toolButton_EditInterface.setVisible(False) 
416          self.textedit.setVisible(True) 
417          if self.interface_field.currentText() in self._interfaces_files: 
418              try: 
419                  with open(self._interfaces_files[self.interface_field.currentText()], 'rw') as f: 
420                      iface = f.read() 
421                      self.textedit.setText(iface) 
422              except Exception as e: 
423                  WarningMessageBox(QMessageBox.Warning, "Edit sync interface", 
424                                    "Error while open interface", 
425                                    str(e)).exec_() 
426          self.resize(350, 300) 
427   
428 -    def resetView(self): 
429          self.toolButton_SyncAll.setVisible(True) 
430  #     self.toolButton_SyncAllAnyMsg.setVisible(True) 
431          self.toolButton_SyncTopicOnDemand.setVisible(True) 
432          self.toolButton_SelectInterface.setVisible(True) 
433          self.interface_field.setVisible(False) 
434          self.toolButton_CreateInterface.setVisible(False) 
435          self.toolButton_EditInterface.setVisible(False) 
436          self.textedit.setVisible(False) 
437          self.buttonBox.clear() 
438          self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel) 
439          self.resize(350, 160) 
440   
441   
442 -class InterfacesThread(QObject, threading.Thread): 
443      ''' 
444      A thread to list all sync interface files and 
445      publish there be sending a QT signal. 
446      ''' 
447      interfaces = Signal(dict) 
448      ''' 
449    @ivar: interfaces is a signal, which is emitted, if a list with sync files was created. 
450    ''' 
451   
452 -    def __init__(self): 
453          ''' 
454          ''' 
455          QObject.__init__(self) 
456          threading.Thread.__init__(self) 
457          self._interfaces_files = None 
458          self.setDaemon(True) 
459   
460 -    def run(self): 
461          ''' 
462          ''' 
463          try: 
464              # fill the input fields 
465              self.root_paths = [os.path.normpath(p) for p in os.getenv("ROS_PACKAGE_PATH").split(':')] 
466              self._interfaces_files = {} 
467              for p in self.root_paths: 
468                  ret = self._getInterfaces(p) 
469                  self._interfaces_files = dict(ret.items() + self._interfaces_files.items()) 
470              self.interfaces.emit(self._interfaces_files) 
471          except: 
472              import traceback 
473              formatted_lines = traceback.format_exc(1).splitlines() 
474              rospy.logwarn("Error while list sync interfaces:\n\t%s", formatted_lines[-1]) 
475   
476 -    def _getInterfaces(self, path, package=None): 
477          result = {} 
478          if os.path.isdir(path): 
479              fileList = os.listdir(path) 
480              # set package, if it is currently None and one found 
481              if not package: 
482                  # detect package 
483                  if is_package(fileList): 
484                      package = os.path.basename(path) 
485              for f in fileList: 
486                  ret = self._getInterfaces(os.path.join(path, f), package) 
487                  result = dict(ret.items() + result.items()) 
488          elif package and os.path.isfile(path) and path.endswith('.sync'): 
489              # create a selection for binaries 
490              return {''.join(['pkg://', package, '///', os.path.basename(path)]): path} 
491          return result 
492