console.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2012, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions
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00009 #
00010 #  * Redistributions of source code must retain the above copyright
00011 #    notice, this list of conditions and the following disclaimer.
00012 #  * Redistributions in binary form must reproduce the above
00013 #    copyright notice, this list of conditions and the following
00014 #    disclaimer in the documentation and/or other materials provided
00015 #    with the distribution.
00016 #  * Neither the name of Willow Garage, Inc. nor the names of its
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00018 #    from this software without specific prior written permission.
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00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00031 # POSSIBILITY OF SUCH DAMAGE.
00032 
00033 from rosgraph_msgs.msg import Log
00034 import rospkg
00035 import rospy
00036 
00037 from python_qt_binding.QtCore import QMutex, QMutexLocker, QTimer
00038 
00039 from qt_gui.plugin import Plugin
00040 
00041 from .console_settings_dialog import ConsoleSettingsDialog
00042 from .console_widget import ConsoleWidget
00043 from .message import Message
00044 from .message_data_model import MessageDataModel
00045 from .message_proxy_model import MessageProxyModel
00046 
00047 
00048 class Console(Plugin):
00049     """
00050     rqt_console plugin's main class. Handles communication with ros_gui and contains
00051     callbacks to handle incoming message
00052     """
00053     def __init__(self, context):
00054         """
00055         :param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
00056         """
00057         super(Console, self).__init__(context)
00058         self.setObjectName('Console')
00059 
00060         self._rospack = rospkg.RosPack()
00061 
00062         self._model = MessageDataModel()
00063         self._proxy_model = MessageProxyModel()
00064         self._proxy_model.setSourceModel(self._model)
00065 
00066         self._widget = ConsoleWidget(self._proxy_model, self._rospack)
00067         if context.serial_number() > 1:
00068             self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
00069         context.add_widget(self._widget)
00070 
00071         # queue to store incoming data which get flushed periodically to the model
00072         # required since QSortProxyModel can not handle a high insert rate
00073         self._message_queue = []
00074         self._mutex = QMutex()
00075         self._timer = QTimer()
00076         self._timer.timeout.connect(self.insert_messages)
00077         self._timer.start(100)
00078 
00079         self._subscriber = None
00080         self._topic = '/rosout_agg'
00081         self._subscribe(self._topic)
00082 
00083     def queue_message(self, log_msg):
00084         """
00085         Callback for adding an incomming message to the queue.
00086         """
00087         if not self._widget._paused:
00088             msg = Console.convert_rosgraph_log_message(log_msg)
00089             with QMutexLocker(self._mutex):
00090                 self._message_queue.append(msg)
00091 
00092     @staticmethod
00093     def convert_rosgraph_log_message(log_msg):
00094         msg = Message()
00095         msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
00096         msg.message = log_msg.msg
00097         msg.severity = log_msg.level
00098         msg.node = log_msg.name
00099         msg.stamp = (log_msg.header.stamp.secs, log_msg.header.stamp.nsecs)
00100         msg.topics = sorted(log_msg.topics)
00101         msg.location = log_msg.file + ':' + log_msg.function + ':' + str(log_msg.line)
00102         return msg
00103 
00104     def insert_messages(self):
00105         """
00106         Callback for flushing incoming Log messages from the queue to the model.
00107         """
00108         with QMutexLocker(self._mutex):
00109             msgs = self._message_queue
00110             self._message_queue = []
00111         if msgs:
00112             self._model.insert_rows(msgs)
00113 
00114     def shutdown_plugin(self):
00115         self._subscriber.unregister()
00116         self._timer.stop()
00117         self._widget.cleanup_browsers_on_close()
00118 
00119     def save_settings(self, plugin_settings, instance_settings):
00120         self._widget.save_settings(plugin_settings, instance_settings)
00121 
00122     def restore_settings(self, plugin_settings, instance_settings):
00123         self._widget.restore_settings(plugin_settings, instance_settings)
00124 
00125     def trigger_configuration(self):
00126         topics = [t for t in rospy.get_published_topics() if t[1] == 'rosgraph_msgs/Log']
00127         topics.sort(key=lambda tup: tup[0])
00128         dialog = ConsoleSettingsDialog(topics, self._rospack)
00129         (topic, message_limit) = dialog.query(self._topic, self._model.get_message_limit())
00130         if topic != self._topic:
00131             self._subscribe(topic)
00132         if message_limit != self._model.get_message_limit():
00133             self._model.set_message_limit(message_limit)
00134 
00135     def _subscribe(self, topic):
00136         if self._subscriber:
00137             self._subscriber.unregister()
00138         self._subscriber = rospy.Subscriber(topic, Log, self.queue_message)
00139         self._currenttopic = topic


rqt_console
Author(s): Aaron Blasdel
autogenerated on Wed May 3 2017 02:48:27