paramedit_widget.py

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# Author: Isaac Saito, Ze'ev Klapow

import os

import dynamic_reconfigure.client
from python_qt_binding import loadUi
from python_qt_binding.QtGui import QWidget
import rospy

from .param_dynreconf_client import ClientWidget
from .param_editors import EditorWidget, BooleanEditor, DoubleEditor, EnumEditor, IntegerEditor, StringEditor
from .param_groups import GroupWidget
from .param_updater import ParamUpdater

class ParameditWidget(QWidget):
    def __init__(self):
        super(ParameditWidget, self).__init__()
        
        ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 
                               'ui/paramedit_pane.ui')
        loadUi(ui_file, self)
                
        self._dynreconf_client = None

        self.destroyed.connect(self.close)  # func in mercurial?

    def show_reconf(self, node):
        rospy.logdebug('ParameditWidget.show str(node)=%s', str(node))

        reconf = None        
        try:
            reconf = dynamic_reconfigure.client.Client(str(node), 
                                                                  timeout=5.0)
        except rospy.exceptions.ROSException:
            rospy.logerr("Could not connect to %s" % node)
            #@todo: Needs to show err msg on GUI too. 
            return
        finally:
            if self._dynreconf_client:
                self._dynreconf_client.close()

        self._dynreconf_client = ClientWidget(reconf) 
        # Client gets renewed every time different node was clicked.

        self._paramedit_scrollarea.setWidget(self._dynreconf_client)
        self._paramedit_scrollarea.setWidgetResizable(True)

    def close(self):
        if self._dynreconf_client is not None:
            # Clear out the old widget
            self._dynreconf_client.close()
            self._dynreconf_client = None

            self._paramedit_scrollarea.deleteLater()