topic_widget.py

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#!/usr/bin/env python

# Copyright (c) 2011, Dorian Scholz, TU Darmstadt
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#   * Redistributions of source code must retain the above copyright
#     notice, this list of conditions and the following disclaimer.
#   * Redistributions in binary form must reproduce the above
#     copyright notice, this list of conditions and the following
#     disclaimer in the documentation and/or other materials provided
#     with the distribution.
#   * Neither the name of the TU Darmstadt nor the names of its
#     contributors may be used to endorse or promote products derived
#     from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

from __future__ import division
import os

from python_qt_binding import loadUi
from python_qt_binding.QtCore import Qt, QTimer, Signal, Slot
from python_qt_binding.QtGui import QIcon
from python_qt_binding.QtWidgets import QHeaderView, QMenu, QTreeWidgetItem, QWidget
import roslib
import rospkg
import rospy
from rospy.exceptions import ROSException

from .topic_info import TopicInfo


class TopicWidget(QWidget):
    """
    main class inherits from the ui window class.

    You can specify the topics that the topic pane.

    TopicWidget.start must be called in order to update topic pane.
    """

    SELECT_BY_NAME = 0
    SELECT_BY_MSGTYPE = 1

    _column_names = ['topic', 'type', 'bandwidth', 'rate', 'value']

    def __init__(self, plugin=None, selected_topics=None, select_topic_type=SELECT_BY_NAME):
        """
        @type selected_topics: list of tuples.
        @param selected_topics: [($NAME_TOPIC$, $TYPE_TOPIC$), ...]
        @type select_topic_type: int
        @param select_topic_type: Can specify either the name of topics or by
                                  the type of topic, to filter the topics to
                                  show. If 'select_topic_type' argument is
                                  None, this arg shouldn't be meaningful.
        """
        super(TopicWidget, self).__init__()

        self._select_topic_type = select_topic_type

        rp = rospkg.RosPack()
        ui_file = os.path.join(rp.get_path('rqt_topic'), 'resource', 'TopicWidget.ui')
        loadUi(ui_file, self)
        self._plugin = plugin
        self.topics_tree_widget.sortByColumn(0, Qt.AscendingOrder)
        header = self.topics_tree_widget.header()
        try:
            setSectionResizeMode = header.setSectionResizeMode  # Qt5
        except AttributeError:
            setSectionResizeMode = header.setResizeMode  # Qt4
        setSectionResizeMode(QHeaderView.ResizeToContents)
        header.customContextMenuRequested.connect(self.handle_header_view_customContextMenuRequested)
        header.setContextMenuPolicy(Qt.CustomContextMenu)

        # Whether to get all topics or only the topics that are set in advance.
        # Can be also set by the setter method "set_selected_topics".
        self._selected_topics = selected_topics

        self._current_topic_list = []
        self._topics = {}
        self._tree_items = {}
        self._column_index = {}
        for column_name in self._column_names:
            self._column_index[column_name] = len(self._column_index)

        # self.refresh_topics()

        # init and start update timer
        self._timer_refresh_topics = QTimer(self)
        self._timer_refresh_topics.timeout.connect(self.refresh_topics)

    def set_topic_specifier(self, specifier):
        self._select_topic_type = specifier

    def start(self):
        """
        This method needs to be called to start updating topic pane.
        """
        self._timer_refresh_topics.start(1000)

    @Slot()
    def refresh_topics(self):
        """
        refresh tree view items
        """
        try:
            if self._selected_topics is None:
                topic_list = rospy.get_published_topics()
                if topic_list is None:
                    rospy.logerr('Not even a single published topic found. Check network configuration')
                    return
            else:  # Topics to show are specified.
                topic_list = self._selected_topics
                topic_specifiers_server_all = None
                topic_specifiers_required = None

                rospy.logdebug('refresh_topics) self._selected_topics=%s' % (topic_list,))

                if self._select_topic_type == self.SELECT_BY_NAME:
                    topic_specifiers_server_all = [name for name, type in rospy.get_published_topics()]
                    topic_specifiers_required = [name for name, type in topic_list]
                elif self._select_topic_type == self.SELECT_BY_MSGTYPE:
                    # The topics that are required (by whoever uses this class).
                    topic_specifiers_required = [type for name, type in topic_list]

                    # The required topics that match with published topics.
                    topics_match = [(name, type) for name, type in rospy.get_published_topics() if type in topic_specifiers_required]
                    topic_list = topics_match
                    rospy.logdebug('selected & published topic types=%s' % (topic_list,))

                rospy.logdebug('server_all=%s\nrequired=%s\ntlist=%s' % (topic_specifiers_server_all, topic_specifiers_required, topic_list))
                if len(topic_list) == 0:
                    rospy.logerr('None of the following required topics are found.\n(NAME, TYPE): %s' % (self._selected_topics,))
                    return
        except IOError as e:
            rospy.logerr("Communication with rosmaster failed: {0}".format(e.strerror))
            return

        if self._current_topic_list != topic_list:
            self._current_topic_list = topic_list

            # start new topic dict
            new_topics = {}

            for topic_name, topic_type in topic_list:
                # if topic is new or has changed its type
                if topic_name not in self._topics or \
                   self._topics[topic_name]['type'] != topic_type:
                    # create new TopicInfo
                    topic_info = TopicInfo(topic_name, topic_type)
                    message_instance = None
                    if topic_info.message_class is not None:
                        message_instance = topic_info.message_class()
                    # add it to the dict and tree view
                    topic_item = self._recursive_create_widget_items(self.topics_tree_widget, topic_name, topic_type, message_instance)
                    new_topics[topic_name] = {
                       'item': topic_item,
                       'info': topic_info,
                       'type': topic_type,
                    }
                else:
                    # if topic has been seen before, copy it to new dict and
                    # remove it from the old one
                    new_topics[topic_name] = self._topics[topic_name]
                    del self._topics[topic_name]

            # clean up old topics
            for topic_name in self._topics.keys():
                self._topics[topic_name]['info'].stop_monitoring()
                index = self.topics_tree_widget.indexOfTopLevelItem(
                                           self._topics[topic_name]['item'])
                self.topics_tree_widget.takeTopLevelItem(index)
                del self._topics[topic_name]

            # switch to new topic dict
            self._topics = new_topics

        self._update_topics_data()

    def _update_topics_data(self):
        for topic in self._topics.values():
            topic_info = topic['info']
            if topic_info.monitoring:
                # update rate
                rate, _, _, _ = topic_info.get_hz()
                rate_text = '%1.2f' % rate if rate != None else 'unknown'

                # update bandwidth
                bytes_per_s, _, _, _ = topic_info.get_bw()
                if bytes_per_s is None:
                    bandwidth_text = 'unknown'
                elif bytes_per_s < 1000:
                    bandwidth_text = '%.2fB/s' % bytes_per_s
                elif bytes_per_s < 1000000:
                    bandwidth_text = '%.2fKB/s' % (bytes_per_s / 1000.)
                else:
                    bandwidth_text = '%.2fMB/s' % (bytes_per_s / 1000000.)

                # update values
                value_text = ''
                self.update_value(topic_info._topic_name, topic_info.last_message)

            else:
                rate_text = ''
                bandwidth_text = ''
                value_text = 'not monitored' if topic_info.error is None else topic_info.error

            self._tree_items[topic_info._topic_name].setText(self._column_index['rate'], rate_text)
            self._tree_items[topic_info._topic_name].setText(self._column_index['bandwidth'], bandwidth_text)
            self._tree_items[topic_info._topic_name].setText(self._column_index['value'], value_text)

    def update_value(self, topic_name, message):
        if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
            for slot_name in message.__slots__:
                self.update_value(topic_name + '/' + slot_name, getattr(message, slot_name))

        elif type(message) in (list, tuple) and (len(message) > 0) and hasattr(message[0], '__slots__'):

            for index, slot in enumerate(message):
                if topic_name + '[%d]' % index in self._tree_items:
                    self.update_value(topic_name + '[%d]' % index, slot)
                else:
                    base_type_str, _ = self._extract_array_info(self._tree_items[topic_name].text(self._column_index['type']))
                    self._recursive_create_widget_items(self._tree_items[topic_name], topic_name + '[%d]' % index, base_type_str, slot)
            # remove obsolete children
            if len(message) < self._tree_items[topic_name].childCount():
                for i in range(len(message), self._tree_items[topic_name].childCount()):
                    item_topic_name = topic_name + '[%d]' % i
                    self._recursive_delete_widget_items(self._tree_items[item_topic_name])
        else:
            if topic_name in self._tree_items:
                self._tree_items[topic_name].setText(self._column_index['value'], repr(message))

    def _extract_array_info(self, type_str):
        array_size = None
        if '[' in type_str and type_str[-1] == ']':
            type_str, array_size_str = type_str.split('[', 1)
            array_size_str = array_size_str[:-1]
            if len(array_size_str) > 0:
                array_size = int(array_size_str)
            else:
                array_size = 0

        return type_str, array_size

    def _recursive_create_widget_items(self, parent, topic_name, type_name, message):
        if parent is self.topics_tree_widget:
            # show full topic name with preceding namespace on toplevel item
            topic_text = topic_name
            item = TreeWidgetItem(self._toggle_monitoring, topic_name, parent)
        else:
            topic_text = topic_name.split('/')[-1]
            if '[' in topic_text:
                topic_text = topic_text[topic_text.index('['):]
            item = QTreeWidgetItem(parent)
        item.setText(self._column_index['topic'], topic_text)
        item.setText(self._column_index['type'], type_name)
        item.setData(0, Qt.UserRole, topic_name)
        self._tree_items[topic_name] = item
        if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
            for slot_name, type_name in zip(message.__slots__, message._slot_types):
                self._recursive_create_widget_items(item, topic_name + '/' + slot_name, type_name, getattr(message, slot_name))

        else:
            base_type_str, array_size = self._extract_array_info(type_name)
            try:
                base_instance = roslib.message.get_message_class(base_type_str)()
            except (ValueError, TypeError):
                base_instance = None
            if array_size is not None and hasattr(base_instance, '__slots__'):
                for index in range(array_size):
                    self._recursive_create_widget_items(item, topic_name + '[%d]' % index, base_type_str, base_instance)
        return item

    def _toggle_monitoring(self, topic_name):
        item = self._tree_items[topic_name]
        if item.checkState(0):
            self._topics[topic_name]['info'].start_monitoring()
        else:
            self._topics[topic_name]['info'].stop_monitoring()

    def _recursive_delete_widget_items(self, item):
        def _recursive_remove_items_from_tree(item):
            for index in reversed(range(item.childCount())):
                _recursive_remove_items_from_tree(item.child(index))
            topic_name = item.data(0, Qt.UserRole)
            del self._tree_items[topic_name]
        _recursive_remove_items_from_tree(item)
        item.parent().removeChild(item)

    @Slot('QPoint')
    def handle_header_view_customContextMenuRequested(self, pos):
        header = self.topics_tree_widget.header()

        # show context menu
        menu = QMenu(self)
        action_toggle_auto_resize = menu.addAction('Toggle Auto-Resize')
        action = menu.exec_(header.mapToGlobal(pos))

        # evaluate user action
        if action is action_toggle_auto_resize:
            if header.resizeMode(0) == QHeaderView.ResizeToContents:
                header.setResizeMode(QHeaderView.Interactive)
            else:
                header.setResizeMode(QHeaderView.ResizeToContents)

    @Slot('QPoint')
    def on_topics_tree_widget_customContextMenuRequested(self, pos):
        item = self.topics_tree_widget.itemAt(pos)
        if item is None:
            return

        # show context menu
        menu = QMenu(self)
        action_item_expand = menu.addAction(QIcon.fromTheme('zoom-in'), 'Expand All Children')
        action_item_collapse = menu.addAction(QIcon.fromTheme('zoom-out'), 'Collapse All Children')
        action = menu.exec_(self.topics_tree_widget.mapToGlobal(pos))

        # evaluate user action
        if action in (action_item_expand, action_item_collapse):
            expanded = (action is action_item_expand)

            def recursive_set_expanded(item):
                item.setExpanded(expanded)
                for index in range(item.childCount()):
                    recursive_set_expanded(item.child(index))
            recursive_set_expanded(item)

    def shutdown_plugin(self):
        for topic in self._topics.values():
            topic['info'].stop_monitoring()
        self._timer_refresh_topics.stop()

    def set_selected_topics(self, selected_topics):
        """
        @param selected_topics: list of tuple. [(topic_name, topic_type)]
        @type selected_topics: []
        """
        rospy.logdebug('set_selected_topics topics={}'.format(
                                                         len(selected_topics)))
        self._selected_topics = selected_topics

    # TODO(Enhancement) Save/Restore tree expansion state
    def save_settings(self, plugin_settings, instance_settings):
        header_state = self.topics_tree_widget.header().saveState()
        instance_settings.set_value('tree_widget_header_state', header_state)

    def restore_settings(self, pluggin_settings, instance_settings):
        if instance_settings.contains('tree_widget_header_state'):
            header_state = instance_settings.value('tree_widget_header_state')
            if not self.topics_tree_widget.header().restoreState(header_state):
                rospy.logwarn("rqt_topic: Failed to restore header state.")

class TreeWidgetItem(QTreeWidgetItem):

    def __init__(self, check_state_changed_callback, topic_name, parent=None):
        super(TreeWidgetItem, self).__init__(parent)
        self._check_state_changed_callback = check_state_changed_callback
        self._topic_name = topic_name
        self.setCheckState(0, Qt.Unchecked)

    def setData(self, column, role, value):
        if role == Qt.CheckStateRole:
            state = self.checkState(column)
        super(TreeWidgetItem, self).setData(column, role, value)
        if role == Qt.CheckStateRole and state != self.checkState(column):
            self._check_state_changed_callback(self._topic_name)