paramedit_widget.py

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# Copyright (c) 2012, Willow Garage, Inc.
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#
# Software License Agreement (BSD License 2.0)
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# modification, are permitted provided that the following conditions
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#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
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# Author: Isaac Saito, Ze'ev Klapow
 
from collections import OrderedDict
import os
 
from python_qt_binding import loadUi
from python_qt_binding.QtCore import Signal
from python_qt_binding.QtWidgets import QVBoxLayout, QWidget, QWidgetItem
 
from rqt_py_common.layout_util import LayoutUtil
 
from rqt_reconfigure import logging
 
 
class ParameditWidget(QWidget):
    """
    This class represents a pane where parameter editor widgets of multiple
    nodes are shown. In rqt_reconfigure, this pane occupies right half of the
    entire visible area.
    """
 
    # public signal
    sig_node_disabled_selected = Signal(str)
 
    def __init__(self, rospack):
        """"""
        super(ParameditWidget, self).__init__()
 
        ui_file = os.path.join(rospack.get_path('rqt_reconfigure'),
                               'resource', 'paramedit_pane.ui')
        loadUi(ui_file, self, {'ParameditWidget': ParameditWidget})
 
        self._param_client_widgets = OrderedDict()
 
        # Adding the list of Items
        self.vlayout = QVBoxLayout(self.scrollarea_holder_widget)
 
        # causes error
        # self._set_index_widgets(self.listview, paramitems_dict)
 
        self.destroyed.connect(self.close)
 
    def _set_index_widgets(self, view, paramitems_dict):
        """
        @deprecated: Causes error
        """
        i = 0
        for p in paramitems_dict:
            view.setIndexWidget(i, p)
            i += 1
 
    def show_reconf(self, param_client_widget):
        """
        Callback when user chooses a node.
 
        @param param_client_widget:
        """
        node_grn = param_client_widget.get_node_grn()
        logging.debug('ParameditWidget.show'
                      ' str(node_grn)={}'.format(str(node_grn)))
 
        if node_grn not in self._param_client_widgets.keys():
            # Add param widget if there isn't already one.
 
            # Client gets renewed every time different node_grn was clicked.
 
            self._param_client_widgets.__setitem__(node_grn, param_client_widget)
            self.vlayout.addWidget(param_client_widget)
            param_client_widget.sig_node_disabled_selected.connect(
                self._node_disabled)
 
        else:  # If there has one already existed, remove it.
            self._remove_node(node_grn)
            # LayoutUtil.clear_layout(self.vlayout)
 
            # Re-add the rest of existing items to layout.
            # for k, v in self._param_client_widgets.items():
            #     logging.info('added to layout k={} v={}'.format(k, v))
            #     self.vlayout.addWidget(v)
 
        # Add color to alternate the rim of the widget.
        LayoutUtil.alternate_color(
            self._param_client_widgets.values(),
            [self.palette().window().color().lighter(125),
             self.palette().window().color().darker(125)])
 
    def close(self):
        for dc in self._param_client_widgets:
            # Clear out the old widget
            dc.close()
            dc = None
 
        self._paramedit_scrollarea.deleteLater()
 
    def get_active_grns(self):
        return self._param_client_widgets.keys()
 
    def filter_param(self, filter_key):
        """
        :type filter_key:
        """
        # TODO Pick nodes that match filter_key.
 
        # TODO For the nodes that are kept in previous step, call
        #      ParamClientWidget.filter_param for all of its existing
        #      instances.
        pass
 
    def _remove_node(self, node_grn):
        try:
            i = list(self._param_client_widgets.keys()).index(node_grn)
        except ValueError:
            # ValueError occurring here means that the specified key is not
            # found, most likely already removed, which is possible in the
            # following situation/sequence:
            #
            # Node widget on ParameditWidget removed by clicking disable button
            # --> Node deselected on tree widget gets updated
            # --> Tree widget detects deselection
            # --> Tree widget emits deselection signal, which is captured by
            #     ParameditWidget's slot. Thus reaches this method again.
            return
 
        item = self.vlayout.itemAt(i)
        if isinstance(item, QWidgetItem):
            item.widget().close()
        w = self._param_client_widgets.pop(node_grn)
 
        logging.debug('popped={} Len of left clients={}'.format(
            w, len(self._param_client_widgets)
        ))
 
    def _node_disabled(self, node_grn):
        logging.debug('paramedit_w _node_disabled grn={}'.format(node_grn))
 
        # Signal to notify other GUI components (eg. nodes tree pane) that
        # a node widget is disabled.
        self.sig_node_disabled_selected.emit(node_grn)
 
        # Remove the selected node widget from the internal list of nodes.
        self._remove_node(node_grn)