Source Code for Module node_manager_fkie.run_dialog

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  3  # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 
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 32   
 33  from PySide import QtGui 
 34  from PySide import QtCore 
 35   
 36  import os 
 37   
 38  import node_manager_fkie as nm 
 39  from detailed_msg_box import WarningMessageBox 
 40   
 41   
 42 -class RunDialog(QtGui.QDialog): 
 43    ''' 
 44    A dialog to run a ROS node without configuration 
 45    ''' 
 46   
 47 -  def __init__(self, host, parent=None): 
 48      QtGui.QDialog.__init__(self, parent) 
 49      self.host = host 
 50      self.setWindowTitle('Run') 
 51      self.verticalLayout = QtGui.QVBoxLayout(self) 
 52      self.verticalLayout.setObjectName("verticalLayout") 
 53   
 54      self.content = QtGui.QWidget() 
 55      self.contentLayout = QtGui.QFormLayout(self.content) 
 56      self.contentLayout.setVerticalSpacing(0) 
 57      self.verticalLayout.addWidget(self.content) 
 58   
 59      # fill the input fields 
 60      self.root_paths = [os.path.normpath(p) for p in os.getenv("ROS_PACKAGE_PATH").split(':')] 
 61      self.packages = {} 
 62      for p in self.root_paths: 
 63        ret = self._getPackages(p) 
 64        self.packages = dict(ret.items() + self.packages.items()) 
 65   
 66      package_label = QtGui.QLabel("Package:", self.content) 
 67      self.package_field = QtGui.QComboBox(self.content) 
 68      self.package_field.setInsertPolicy(QtGui.QComboBox.InsertAlphabetically) 
 69      self.package_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 70      self.package_field.setEditable(True) 
 71      self.contentLayout.addRow(package_label, self.package_field) 
 72      binary_label = QtGui.QLabel("Binary:", self.content) 
 73      self.binary_field = QtGui.QComboBox(self.content) 
 74  #    self.binary_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents) 
 75      self.binary_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 76      self.binary_field.setEditable(True) 
 77      self.contentLayout.addRow(binary_label, self.binary_field) 
 78      ns_name_label = QtGui.QLabel("NS/Name:", self.content) 
 79      self.ns_field = QtGui.QComboBox(self.content) 
 80      self.ns_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 81      self.ns_field.setEditable(True) 
 82      ns_history = nm.history().cachedParamValues('run_dialog/NS') 
 83      ns_history.insert(0, '/') 
 84      self.ns_field.addItems(ns_history) 
 85      self.name_field = QtGui.QLineEdit(self.content) 
 86      self.name_field.setEnabled(False) 
 87      horizontalLayout = QtGui.QHBoxLayout() 
 88      horizontalLayout.addWidget(self.ns_field) 
 89      horizontalLayout.addWidget(self.name_field) 
 90      self.contentLayout.addRow(ns_name_label, horizontalLayout) 
 91      args_label = QtGui.QLabel("Args:", self.content) 
 92      self.args_field = QtGui.QComboBox(self.content) 
 93      self.args_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToMinimumContentsLength) 
 94  #    self.args_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
 95      self.args_field.setEditable(True) 
 96      self.contentLayout.addRow(args_label, self.args_field) 
 97      args_history = nm.history().cachedParamValues('run_dialog/Args') 
 98      args_history.insert(0, '') 
 99      self.args_field.addItems(args_history) 
100       
101      host_label = QtGui.QLabel("Host:", self.content) 
102      self.host_field = QtGui.QComboBox(self.content) 
103  #    self.host_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents) 
104      self.host_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
105      self.host_field.setEditable(True) 
106      host_label.setBuddy(self.host_field) 
107      self.contentLayout.addRow(host_label, self.host_field) 
108      self.host_history = host_history = nm.history().cachedParamValues('/Host') 
109      if self.host in host_history: 
110        host_history.remove(self.host) 
111      host_history.insert(0, self.host) 
112      self.host_field.addItems(host_history) 
113   
114      master_label = QtGui.QLabel("ROS Master URI:", self.content) 
115      self.master_field = QtGui.QComboBox(self.content) 
116      self.master_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) 
117      self.master_field.setEditable(True) 
118      master_label.setBuddy(self.host_field) 
119      self.contentLayout.addRow(master_label, self.master_field) 
120      self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI') 
121      self.masteruri = "ROS_MASTER_URI" 
122      if self.masteruri in master_history: 
123        master_history.remove(self.masteruri) 
124      master_history.insert(0, self.masteruri) 
125      self.master_field.addItems(master_history) 
126       
127      self.buttonBox = QtGui.QDialogButtonBox(self) 
128      self.buttonBox.setStandardButtons(QtGui.QDialogButtonBox.Ok|QtGui.QDialogButtonBox.Cancel) 
129      self.buttonBox.setOrientation(QtCore.Qt.Horizontal) 
130      self.buttonBox.setObjectName("buttonBox") 
131      self.verticalLayout.addWidget(self.buttonBox) 
132       
133      QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("accepted()"), self.accept) 
134      QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("rejected()"), self.reject) 
135      QtCore.QMetaObject.connectSlotsByName(self) 
136      self.package_field.activated[str].connect(self.on_package_selected) 
137      self.package_field.textChanged.connect(self.on_package_selected) 
138      self.binary_field.activated[str].connect(self.on_binary_selected) 
139       
140      self.package_field.setFocus(QtCore.Qt.TabFocusReason) 
141      self.package = '' 
142      self.binary = '' 
143   
144      packages = self.packages.keys() 
145      packages.sort() 
146      self.package_field.addItems(packages) 
147      if packages: 
148        self.on_package_selected(packages[0]) 
149       
150 -  def runSelected(self): 
151      ''' 
152      Runs the selected node, or do nothing.  
153      ''' 
154      self.binary = self.binary_field.currentText() 
155      self.host = self.host_field.currentText() if self.host_field.currentText() else self.host 
156      self.masteruri = self.master_field.currentText() if self.master_field.currentText() else self.masteruri 
157      if not self.host in self.host_history and self.host != 'localhost' and self.host != '127.0.0.1': 
158        nm.history().add2HostHistory(self.host) 
159      ns = self.ns_field.currentText() 
160      if ns and ns != '/': 
161        nm.history().addParamCache('run_dialog/NS', ns) 
162      args = self.args_field.currentText() 
163      if args: 
164        nm.history().addParamCache('run_dialog/Args', args) 
165      if self.package and self.binary: 
166        nm.history().addParamCache('/Host', self.host) 
167        try: 
168          nm.starter().runNodeWithoutConfig(self.host, self.package, self.binary, str(self.name_field.text()), str(''.join(['__ns:=', ns, ' ', args])).split(' '), None if self.masteruri == 'ROS_MASTER_URI' else self.masteruri) 
169        except Exception as e: 
170          WarningMessageBox(QtGui.QMessageBox.Warning, "Run node",  
171                            ''.join(['Run node ', str(self.binary), '[', str(self.package), '] failed!']), 
172                            str(e)).exec_() 
173   
174 -  def _getPackages(self, path): 
175      result = {} 
176      if os.path.isdir(path): 
177        fileList = os.listdir(path) 
178        if 'manifest.xml' in fileList: 
179          return {os.path.basename(path) : path} 
180        for f in fileList: 
181          ret = self._getPackages(os.path.sep.join([path, f])) 
182          result = dict(ret.items() + result.items()) 
183      return result 
184   
185 -  def _getBinaries(self, path): 
186      result = {} 
187      if os.path.isdir(path): 
188        fileList = os.listdir(path) 
189        for f in fileList: 
190          if f and f[0] != '.' and not f in ['build'] and not f.endswith('.cfg') and not f.endswith('.so'): 
191            ret = self._getBinaries(os.path.sep.join([path, f])) 
192            result = dict(ret.items() + result.items()) 
193      elif os.path.isfile(path) and os.access(path, os.X_OK): 
194        # create a selection for binaries 
195        return {os.path.basename(path) : path} 
196      return result 
197   
198 -  def on_package_selected(self, package): 
199      self.binary_field.clear() 
200      if self.packages.has_key(package): 
201        self.binary_field.setEnabled(True) 
202        self.args_field.setEnabled(True) 
203        self.ns_field.setEnabled(True) 
204        self.name_field.setEnabled(True) 
205        path = self.packages[package] 
206        binaries = self._getBinaries(path).keys() 
207        binaries.sort() 
208        self.binary_field.addItems(binaries) 
209        self.package = package 
210        root, ext = os.path.splitext(os.path.basename(self.binary_field.currentText())) 
211        self.name_field.setText(root) 
212   
213 -  def on_binary_selected(self, binary): 
214      root, ext = os.path.splitext(os.path.basename(binary)) 
215      self.name_field.setText(root) 
216