main.py

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#!/usr/bin/env python
 
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
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#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
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#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
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#    contributors may be used to endorse or promote products derived
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# POSSIBILITY OF SUCH DAMAGE.
 
import os
import sys
 
from qt_gui.main import Main as Base
 
from rospkg.rospack import RosPack
import rospy
 
 
class Main(Base):
 
    def __init__(self, filename=None, ros_pack=None, settings_filename='rqt_gui'):
        rp = ros_pack or RosPack()
        qtgui_path = rp.get_path('qt_gui')
        super(Main, self).__init__(
            qtgui_path, invoked_filename=filename, settings_filename=settings_filename)
        self._ros_pack = rp
 
    def main(self, argv=None, standalone=None, plugin_argument_provider=None):
        if argv is None:
            argv = sys.argv
 
        # ignore ROS specific remapping arguments (see
        # http://www.ros.org/wiki/Remapping%20Arguments)
        argv = rospy.myargv(argv)
 
        return super(
            Main, self).main(argv, standalone=standalone,
                             plugin_argument_provider=plugin_argument_provider,
                             plugin_manager_settings_prefix=str(
                                hash(os.environ['ROS_PACKAGE_PATH'])))
 
    def create_application(self, argv):
        from python_qt_binding.QtGui import QIcon
        app = super(Main, self).create_application(argv)
        logo = os.path.join(self._ros_pack.get_path('rqt_gui'), 'resource', 'rqt.png')
        icon = QIcon(logo)
        app.setWindowIcon(icon)
        return app
 
    def _add_plugin_providers(self):
        # do not import earlier as it would import Qt stuff without the proper
        # initialization from qt_gui.main
        from qt_gui.recursive_plugin_provider import RecursivePluginProvider
        from .rospkg_plugin_provider import RospkgPluginProvider
        RospkgPluginProvider.rospack = self._ros_pack
        self.plugin_providers.append(RospkgPluginProvider('qt_gui', 'qt_gui_py::Plugin'))
        self.plugin_providers.append(RecursivePluginProvider(
            RospkgPluginProvider('qt_gui', 'qt_gui_py::PluginProvider')))
        self.plugin_providers.append(RecursivePluginProvider(
            RospkgPluginProvider('rqt_gui', 'rqt_gui_py::PluginProvider')))
 
    def _add_reload_paths(self, reload_importer):
        super(Main, self)._add_reload_paths(reload_importer)
        reload_importer.add_reload_path(os.path.join(os.path.dirname(__file__), *('..',) * 4))
 
 
if __name__ == '__main__':
    main = Main()
    sys.exit(main.main())