graphics_view.py

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# Author: William Woodall <william@osrfoundation.org>

"""Extends the InteractiveGraphicsView from rqt_graph to handle special actions
"""

import rospy

from PySide.QtCore import Qt
from PySide.QtCore import QPoint

from PySide.QtGui import QMenu

from rqt_graph.interactive_graphics_view import InteractiveGraphicsView

from qt_dotgraph.node_item import NodeItem

from capabilities.srv import StartCapability
from capabilities.srv import StopCapability


class CapabilitiesInteractiveGraphicsView(InteractiveGraphicsView):
    """Extends the InteractiveGraphicsView from rqt_graph"""
    def __init__(self, parent=None):
        super(InteractiveGraphicsView, self).__init__(parent)
        self._last_pan_point = None
        self._last_scene_center = None
        self._running_providers = []
        self._spec_index = None

    def mousePressEvent(self, mouse_event):
        if mouse_event.button() == Qt.RightButton:
            if self._spec_index is None:
                print("spec_index is None")
                print(self)
                print(self._running_providers)
                return
            pos = mouse_event.pos()
            items = [item for item in self.items(pos) if isinstance(item, NodeItem) and item._label.text()]
            if len(items) != 1:
                print("wrong number of things", [x._label.text() for x in items])
                return

            name = items[0]._label.text().rstrip('(default)').strip()
            if name not in self._spec_index.provider_names:
                print(name, "Not in list of providers")
                return
            provider = self._spec_index.providers[name]

            def start_trigger():
                # TODO: replace 'capability_server' with user provided server name
                service_name = '/{0}/start_capability'.format('capability_server')
                rospy.wait_for_service(service_name)
                start_capability = rospy.ServiceProxy(service_name, StartCapability)
                start_capability(provider.implements, name)

            def stop_trigger():
                # TODO: replace 'capability_server' with user provided server name
                service_name = '/{0}/stop_capability'.format('capability_server')
                rospy.wait_for_service(service_name)
                stop_capability = rospy.ServiceProxy(service_name, StopCapability)
                stop_capability(provider.implements)

            if name not in self._running_providers:
                trigger = start_trigger
                msg = "start => "
            else:
                trigger = stop_trigger
                msg = "stop => "

            menu = QMenu()
            action = menu.addAction(msg + name)
            action.triggered.connect(trigger)
            pos = mouse_event.globalPos()
            pos = QPoint(pos.x(), pos.y())
            menu.exec_(pos)
        else:
            InteractiveGraphicsView.mousePressEvent(self, mouse_event)