plugin_manager_dbus_interface.py

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# Copyright (c) 2011, Dirk Thomas, Dorian Scholz, TU Darmstadt
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from dbus.service import BusName, Object
import dbus

from python_qt_binding.QtCore import qDebug, qWarning


class PluginManagerDBusInterface(Object):

    """DBus service of the `PluginManager` available on the unique bus name."""

    def __init__(self, plugin_manager, application_context):
        bus_name = BusName(application_context.dbus_unique_bus_name, dbus.SessionBus())
        super(PluginManagerDBusInterface, self).__init__(bus_name, '/PluginManager')
        self._plugin_manager = plugin_manager

    @dbus.service.method('org.ros.qt_gui.PluginManager', in_signature='ss', out_signature='is')
    def start_plugin(self, plugin_name, argv):
        qDebug('PluginManagerDBusInterface.start_plugin(%s)' % plugin_name)
        plugins = self._plugin_manager.find_plugins_by_name(plugin_name)
        if len(plugins) == 0:
            msg = 'PluginManagerDBusInterface.start_plugin() found no plugin matching "%s"' % plugin_name
            qWarning(msg)
            return (1, msg)
        elif len(plugins) > 1:
            msg = 'PluginManagerDBusInterface.start_plugin() found multiple plugins matching "%s"\n%s' % (plugin_name, '\n'.join(plugins.values()))
            qWarning(msg)
            return (1, msg)
        plugin_id = plugins.keys()[0]
        self._plugin_manager.load_plugin(plugin_id, argv=argv.split(' ') if argv else [])
        return (0, plugin_id)