param_client_widget.py

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# Copyright (c) 2012, Willow Garage, Inc.
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# Author: Isaac Saito, Ze'ev Klapow

from dynamic_reconfigure import (DynamicReconfigureCallbackException,
                                 DynamicReconfigureParameterException)
from dynamic_reconfigure.encoding import Config

from python_qt_binding.QtCore import QMargins
from python_qt_binding.QtGui import QIcon
from python_qt_binding.QtWidgets import (QFileDialog, QHBoxLayout,
                                         QPushButton, QWidget)

from rospy.service import ServiceException

import yaml

from rqt_reconfigure import logging
from rqt_reconfigure.param_editors import EditorWidget
from rqt_reconfigure.param_groups import find_cfg, GroupWidget
from rqt_reconfigure.param_updater import ParamUpdater


def config_constructor(loader, node):
    mapping = loader.construct_mapping(node, deep=True)
    assert 'state' in mapping
    return Config(mapping.get('dictitems', {}))


yaml.add_constructor(
    u'tag:yaml.org,2002:python/object/new:dynamic_reconfigure.encoding.Config',
    config_constructor, Loader=yaml.SafeLoader)


class ParamClientWidget(GroupWidget):
    """
    A wrapper of dynamic_reconfigure.client instance.

    Represents a widget where users can view and modify ROS params.
    """

    def __init__(self, reconf, node_name):
        """
        :type reconf: dynamic_reconfigure.client
        :type node_name: str
        """
        group_desc = reconf.get_group_descriptions()
        logging.debug('ParamClientWidget.group_desc={}'.format(group_desc))
        super(ParamClientWidget, self).__init__(ParamUpdater(reconf),
                                                group_desc, node_name)

        # Save and load buttons
        self.button_widget = QWidget(self)
        self.button_header = QHBoxLayout(self.button_widget)
        self.button_header.setContentsMargins(QMargins(0, 0, 0, 0))

        self.load_button = QPushButton()
        self.save_button = QPushButton()

        self.load_button.setIcon(QIcon.fromTheme('document-open'))
        self.save_button.setIcon(QIcon.fromTheme('document-save'))

        self.load_button.clicked[bool].connect(self._handle_load_clicked)
        self.save_button.clicked[bool].connect(self._handle_save_clicked)

        self.button_header.addWidget(self.save_button)
        self.button_header.addWidget(self.load_button)

        self.setMinimumWidth(150)

        self.reconf = reconf
        self.updater.start()
        self.reconf.config_callback = self.config_callback
        self._node_grn = node_name

    def get_node_grn(self):
        return self._node_grn

    def config_callback(self, config):

        # TODO: Think about replacing callback architecture with signals.

        if config:
            # TODO: should use config.keys but this method doesnt exist

            names = [name for name, v in config.items()]
            # v isn't used but necessary to get key and put it into dict.
            # logging.debug('config_callback name={} v={}'.format(name, v))

            for widget in self.editor_widgets:
                if isinstance(widget, EditorWidget):
                    if widget.param_name in names:
                        logging.debug('EDITOR widget.param_name={}'.format(
                                      widget.param_name))
                        widget.update_value(config[widget.param_name])
                elif isinstance(widget, GroupWidget):
                    cfg = find_cfg(config, widget.param_name)
                    logging.debug('GROUP widget.param_name={}'.format(
                                  widget.param_name))
                    widget.update_group(cfg)

    def _handle_load_clicked(self):
        filename = QFileDialog.getOpenFileName(
            self, self.tr('Load from File'), '.',
            self.tr('YAML file {.yaml} (*.yaml)'))
        if filename[0] != '':
            self.load_param(filename[0])

    def _handle_save_clicked(self):
        filename = QFileDialog.getSaveFileName(
            self, self.tr('Save parameters to file...'), '.',
            self.tr('YAML files {.yaml} (*.yaml)'))
        if filename[0] != '':
            self.save_param(filename[0])

    def save_param(self, filename):
        configuration = self.reconf.get_configuration()
        if configuration is not None:
            with open(filename, 'w') as f:
                yaml.dump(configuration, f)

    def load_param(self, filename):
        with open(filename, 'r') as f:
            configuration = {}
            for doc in yaml.safe_load_all(f.read()):
                configuration.update(doc)

        try:
            self.reconf.update_configuration(configuration)
        except ServiceException as e:
            logging.warn(
                "Call for reconfiguration wasn't successful"
                ' because: {}'.format(e.message)
            )
        except DynamicReconfigureParameterException as e:
            logging.warn(
                "Reconfiguration wasn't successful"
                ' because: {}'.format(e.message)
            )
        except DynamicReconfigureCallbackException as e:
            logging.warn(
                "Reconfiguration wasn't successful"
                ' because: {}'.format(e.message)
            )

    def close(self):
        self.reconf.close()
        self.updater.stop()

        for w in self.editor_widgets:
            w.close()

        self.deleteLater()

    def filter_param(self, filter_key):
        # TODO impl
        pass