messages_widget.py

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import os
 
from python_qt_binding import loadUi
from python_qt_binding.QtCore import Qt
from python_qt_binding.QtGui import QIcon
from python_qt_binding.QtWidgets import (QAction, QMenu, QMessageBox,
                                         QTreeView, QWidget)
import roslib
import rosmsg
import rospkg
import rospy
 
 
from .messages_tree_view import MessagesTreeView
from rqt_py_common import rosaction
from rqt_console.text_browse_dialog import TextBrowseDialog
 
 
class MessagesWidget(QWidget):
 
    """
    This class is intended to be able to handle msg, srv & action (actionlib).
    The name of the class is kept to use message, by following the habit of
    rosmsg (a script that can handle both msg & srv).
    """
 
    def __init__(self, mode=rosmsg.MODE_MSG,
                 pkg_name='rqt_msg',
                 ui_filename='messages.ui'):
        """
        :param ui_filename: This Qt-based .ui file must have elements that are
                            referred from this class. Otherwise unexpected
                            errors are likely to happen. Best way to avoid that
                            situation when you want to give your own .ui file
                            is to implement all Qt components in
                            rqt_msg/resource/message.ui file.
        """
 
        super(MessagesWidget, self).__init__()
        self._rospack = rospkg.RosPack()
        ui_file = os.path.join(self._rospack.get_path(pkg_name), 'resource', ui_filename)
        loadUi(ui_file, self, {'MessagesTreeView': MessagesTreeView})
        self.setObjectName(ui_filename)
        self._mode = mode
 
        self._add_button.setIcon(QIcon.fromTheme('list-add'))
        self._add_button.clicked.connect(self._add_message)
        self._refresh_packages(mode)
        self._refresh_msgs(self._package_combo.itemText(0))
        self._package_combo.currentIndexChanged[str].connect(self._refresh_msgs)
        self._messages_tree.mousePressEvent = self._handle_mouse_press
 
        self._browsers = []
 
    def _refresh_packages(self, mode=rosmsg.MODE_MSG):
        if (self._mode == rosmsg.MODE_MSG) or self._mode == rosmsg.MODE_SRV:
            packages = sorted([pkg_tuple[0] for pkg_tuple in
                               rosmsg.iterate_packages(self._rospack, self._mode)])
        elif self._mode == rosaction.MODE_ACTION:
            packages = sorted([pkg_tuple[0]
                               for pkg_tuple in rosaction.iterate_packages(
                self._rospack, self._mode)])
        self._package_list = packages
        rospy.logdebug('pkgs={}'.format(self._package_list))
        self._package_combo.clear()
        self._package_combo.addItems(self._package_list)
        self._package_combo.setCurrentIndex(0)
 
    def _refresh_msgs(self, package=None):
        if package is None or len(package) == 0:
            return
        self._msgs = []
        if (self._mode == rosmsg.MODE_MSG or
                self._mode == rosaction.MODE_ACTION):
            msg_list = rosmsg.list_msgs(package)
        elif self._mode == rosmsg.MODE_SRV:
            msg_list = rosmsg.list_srvs(package)
 
        rospy.logdebug(
            '_refresh_msgs package={} msg_list={}'.format(package, msg_list))
        for msg in msg_list:
            if (self._mode == rosmsg.MODE_MSG or
                    self._mode == rosaction.MODE_ACTION):
                msg_class = roslib.message.get_message_class(msg)
            elif self._mode == rosmsg.MODE_SRV:
                msg_class = roslib.message.get_service_class(msg)
 
            rospy.logdebug('_refresh_msgs msg_class={}'.format(msg_class))
 
            if msg_class is not None:
                self._msgs.append(msg)
 
        self._msgs = [x.split('/')[1] for x in self._msgs]
 
        self._msgs_combo.clear()
        self._msgs_combo.addItems(self._msgs)
 
    def _add_message(self):
        if self._msgs_combo.count() == 0:
            return
        msg = (self._package_combo.currentText() +
               '/' + self._msgs_combo.currentText())
 
        rospy.logdebug('_add_message msg={}'.format(msg))
 
        if (self._mode == rosmsg.MODE_MSG or
                self._mode == rosaction.MODE_ACTION):
            msg_class = roslib.message.get_message_class(msg)()
            if self._mode == rosmsg.MODE_MSG:
                text_tree_root = 'Msg Root'
            elif self._mode == rosaction.MODE_ACTION:
                text_tree_root = 'Action Root'
            self._messages_tree.model().add_message(msg_class,
                                                    self.tr(text_tree_root), msg, msg)
 
        elif self._mode == rosmsg.MODE_SRV:
            msg_class = roslib.message.get_service_class(msg)()
            self._messages_tree.model().add_message(msg_class._request_class,
                                                    self.tr('Service Request'),
                                                    msg, msg)
            self._messages_tree.model().add_message(msg_class._response_class,
                                                    self.tr('Service Response'),
                                                    msg, msg)
        self._messages_tree._recursive_set_editable(
            self._messages_tree.model().invisibleRootItem(), False)
 
    def _handle_mouse_press(self, event,
                            old_pressEvent=QTreeView.mousePressEvent):
        if (event.buttons() & Qt.RightButton and
                event.modifiers() == Qt.NoModifier):
            self._rightclick_menu(event)
            event.accept()
        return old_pressEvent(self._messages_tree, event)
 
    def _rightclick_menu(self, event):
        """
        :type event: QEvent
        """
 
        # QTreeview.selectedIndexes() returns 0 when no node is selected.
        # This can happen when after booting no left-click has been made yet
        # (ie. looks like right-click doesn't count). These lines are the
        # workaround for that problem.
        selected = self._messages_tree.selectedIndexes()
        if len(selected) == 0:
            return
 
        menu = QMenu()
        text_action = QAction(self.tr('View Text'), menu)
        menu.addAction(text_action)
        raw_action = QAction(self.tr('View Raw'), menu)
        menu.addAction(raw_action)
        remove_action = QAction(self.tr('Remove message'), menu)
        menu.addAction(remove_action)
 
        action = menu.exec_(event.globalPos())
 
        if action == raw_action or action == text_action:
            rospy.logdebug('_rightclick_menu selected={}'.format(selected))
            selected_type = selected[1].data()
 
            if selected_type[-2:] == '[]':
                selected_type = selected_type[:-2]
            browsetext = None
            try:
                if (self._mode == rosmsg.MODE_MSG or
                        self._mode == rosaction.MODE_ACTION):
                    browsetext = rosmsg.get_msg_text(selected_type,
                                                     action == raw_action)
                elif self._mode == rosmsg.MODE_SRV:
                    browsetext = rosmsg.get_srv_text(selected_type,
                                                     action == raw_action)
 
                else:
                    raise
            except rosmsg.ROSMsgException as e:
                QMessageBox.warning(self, self.tr('Warning'),
                                    self.tr('The selected item component ' +
                                            'does not have text to view.'))
            if browsetext is not None:
                self._browsers.append(TextBrowseDialog(browsetext,
                                                       self._rospack))
                self._browsers[-1].show()
 
        if action == remove_action:
            self._messages_tree.model().removeRow(selected[0].row())
 
    def cleanup_browsers_on_close(self):
        for browser in self._browsers:
            browser.close()