00001 # Copyright (c) 2011, Dirk Thomas, Dorian Scholz, TU Darmstadt 00002 # All rights reserved. 00003 # 00004 # Redistribution and use in source and binary forms, with or without 00005 # modification, are permitted provided that the following conditions 00006 # are met: 00007 # 00008 # * Redistributions of source code must retain the above copyright 00009 # notice, this list of conditions and the following disclaimer. 00010 # * Redistributions in binary form must reproduce the above 00011 # copyright notice, this list of conditions and the following 00012 # disclaimer in the documentation and/or other materials provided 00013 # with the distribution. 00014 # * Neither the name of the TU Darmstadt nor the names of its 00015 # contributors may be used to endorse or promote products derived 00016 # from this software without specific prior written permission. 00017 # 00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00019 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00020 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00021 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00022 # COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00023 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00024 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00025 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00026 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00027 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00028 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 # POSSIBILITY OF SUCH DAMAGE. 00030 00031 from python_qt_binding.QtCore import qDebug 00032 00033 from dbus.service import BusName, Object 00034 import dbus 00035 00036 00037 class PerspectiveManagerDBusInterface(Object): 00038 00039 """DBus service of the `PerspectiveManager` available on the unique bus name.""" 00040 00041 def __init__(self, perspective_manager, application_context): 00042 bus_name = BusName(application_context.dbus_unique_bus_name, dbus.SessionBus()) 00043 super(PerspectiveManagerDBusInterface, self).__init__(bus_name, '/PerspectiveManager') 00044 self._perspective_manager = perspective_manager 00045 00046 @dbus.service.method('org.ros.qt_gui.PerspectiveManager', in_signature='s', out_signature='') 00047 def switch_perspective(self, perspective): 00048 qDebug('PerspectiveManagerDBusInterface.switch_perspective(%s)' % perspective) 00049 self._perspective_manager.switch_perspective(perspective)