nav_view_dash_widget.py

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from python_qt_binding.QtCore import QMutex, QMutexLocker, QSize
from rqt_nav_view.nav_view import NavViewWidget

from .icon_tool_button import IconToolButton


class NavViewDashWidget(IconToolButton):
    """
    A widget which launches a nav_view widget in order to view and interact with the ROS nav stack

    :param context: The plugin context in which to dsiplay the nav_view, ''qt_gui.plugin_context.PluginContext''
    :param name: The widgets name, ''str''
    """
    def __init__(self, context, name='NavView', icon_paths=None):
        self._icons = [['bg-grey.svg', 'ic-navigation.svg']]
        super(NavViewDashWidget, self).__init__(name, icons=self._icons, suppress_overlays=True, icon_paths=icon_paths)
        self.context = context
        self.update_state(0)
        self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))

        self._navview = None
        self._navview_shown = False
        self.clicked.connect(self._show_navview)
        self._show_mutex = QMutex()

    def _show_navview(self):
        with QMutexLocker(self._show_mutex):
            if self._navview is None:
                self._navview = NavViewWidget()
            try:
                if self._navview_shown:
                    self.context.remove_widget(self._navview)
                    self._navview_shown = not self._navview_shown
                else:
                    self.context.add_widget(self._navview)
                    self._navview_shown = not self._navview_shown
            except Exception:
                self._navview_shown = not self._navview_shown
                self._show_navview()

    def shutdown_widget(self):
        if self._navview:
            self._navview.close()

    def save_settings(self, plugin_settings, instance_settings):
        self._navview.save_settings(plugin_settings, instance_settings)

    def restore_settings(self, plugin_settings, instance_settings):
        self._navview.restore_settings(plugin_settings, instance_settings)