node_widget.py

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# Author: Isaac Saito
 
import os
 
from python_qt_binding import loadUi
from python_qt_binding.QtGui import QIcon
from python_qt_binding.QtWidgets import QLineEdit, QWidget
import rospy
 
from rqt_launch.name_surrogate import NamesSurrogate
 
 
class NodeWidget(QWidget):
 
    '''
    Works as a proxy between ROS Node
    (more in particular, roslaunch.nodeprocess) and GUI.
    '''
 
    __slots__ = ['_run_id', 'master_uri', 'config', '_process']
 
    def __init__(self, rospack, master_uri, launch_config,
                 label_status):
        '''
        @type launch_node: roslaunch.core.Node
        @type launch_config: roslaunch.core.Config
        @type label_status: StatusIndicator
        '''
        super(NodeWidget, self).__init__()
        self._rospack = rospack
        self._master_uri = master_uri
        self._launch_config = launch_config
 
        ui_file = os.path.join(self._rospack.get_path('rqt_launch'),
                               'resource', 'node_widget.ui')
        loadUi(ui_file, self)
 
        self.label_status = label_status  # Public
        # stop_button = QPushButton(self.style().standardIcon(
        #                                             QStyle.SP_MediaStop), "")
        self._respawn_toggle.setChecked(self._launch_config.respawn)
        self._lineEdit_launch_args = QLineEdit(self._launch_config.launch_prefix)
 
        rospy.logdebug('_proxy.conf.namespace={} launch_config={}'.format(
            self._launch_config.namespace, self._launch_config.name))
        self._resolved_node_name = NamesSurrogate.ns_join(
            self._launch_config.namespace, self._launch_config.name)
        self._label_nodename.setText(self._get_node_name())
        self._label_pkg_name.setText(self._launch_config.package)
        self._label_name_executable.setText(self._launch_config.type)
 
        self._icon_node_start = QIcon.fromTheme('media-playback-start')
        self._icon_node_stop = QIcon.fromTheme('media-playback-stop')
        self._icon_respawn_toggle = QIcon.fromTheme('view-refresh')
 
        self._pushbutton_start_stop_node.setIcon(self._icon_node_start)
        self._respawn_toggle.setIcon(self._icon_respawn_toggle)
 
        self._node_controller = None  # Connected in self.set_node_controller
 
    def _get_node_name(self):
        return self._resolved_node_name
 
    def connect_start_stop_button(self, slot):
        self._pushbutton_start_stop_node.toggled.connect(slot)
 
    def set_node_started(self, is_started=True):
        # If the button is not down yet
        is_node_running = self._node_controller.is_node_running()
        rospy.logdebug('NodeWidget.set_node_started running?={}'.format(is_node_running))
        # if is_node_running:
        if is_started:
            # and self._pushbutton_start_stop_node.isDown():
            self._pushbutton_start_stop_node.setIcon(self._icon_node_start)
            self._pushbutton_start_stop_node.setDown(False)
 
        # elif not is_node_running:  # To START the node
        else:
            # and not self._pushbutton_start_stop_node.isDown():
            self._pushbutton_start_stop_node.setIcon(self._icon_node_stop)
            self._pushbutton_start_stop_node.setDown(True)
 
    def set_node_controller(self, node_controller):
        # TODO: Null check
        self._node_controller = node_controller
        # self._pushbutton_start_stop_node.pressed.connect(
        #                                self._node_controller.start_stop_slot)