param_widget.py

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# Author: Isaac Saito

from __future__ import division

import os
import sys

from python_qt_binding import loadUi
from python_qt_binding.QtGui import QHBoxLayout, QSplitter, QWidget

from .node_selector_widget import NodeSelectorWidget
from .paramedit_widget import ParameditWidget

class ParamWidget(QWidget):
    _TITLE_PLUGIN = 'Param'

    def __init__(self, context, node=None):
        """
        This class is intended to be called by rqt plugin framework class.
        Currently (12/12/2012) the whole widget is splitted into 2 panes:
        one on left allows you to choose the node(s) you work on. Right side 
        pane lets you work with the parameters associated with the node(s) you
        select on the left.  
        """
        #TODO(Isaac) .ui file needs to replace the GUI components declaration
        #            below. 
        
        super(ParamWidget, self).__init__()
        self.setObjectName(self._TITLE_PLUGIN)
        
        _hlayout_top = QHBoxLayout(self)
        self._splitter = QSplitter(self)        
        _hlayout_top.addWidget(self._splitter)

        nodesel = NodeSelectorWidget()
        reconf_widget = ParameditWidget()

        self._splitter.insertWidget(0, nodesel)
        self._splitter.insertWidget(1, reconf_widget)
        
        nodesel.sig_node_selected.connect(reconf_widget.show_reconf)
     
        if node is not None:
            title = self._TITLE_PLUGIN + ' %s' % node
        else:
            title = self._TITLE_PLUGIN
        self.setObjectName(title)
                 
    def shutdown(self):
        #TODO(Isaac) Needs implemented. Trigger dynamic_reconfigure to unlatch
        #            subscriber.
        pass

    def save_settings(self, plugin_settings, instance_settings):
        instance_settings.set_value('splitter', self._splitter.saveState())

    def restore_settings(self, plugin_settings, instance_settings):
        if instance_settings.contains('splitter'):
            self._splitter.restoreState(instance_settings.value('splitter'))
        else:
            self._splitter.setSizes([100, 100, 200])