dynreconf_client_widget.py
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00001 # Software License Agreement (BSD License)
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00003 # Copyright (c) 2012, Willow Garage, Inc.
00004 # All rights reserved.
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00007 # modification, are permitted provided that the following conditions
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00010 #  * Redistributions of source code must retain the above copyright
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00012 #  * Redistributions in binary form must reproduce the above
00013 #    copyright notice, this list of conditions and the following
00014 #    disclaimer in the documentation and/or other materials provided
00015 #    with the distribution.
00016 #  * Neither the name of Willow Garage, Inc. nor the names of its
00017 #    contributors may be used to endorse or promote products derived
00018 #    from this software without specific prior written permission.
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00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00033 # Author: Isaac Saito, Ze'ev Klapow
00034 
00035 import rospy
00036 
00037 from .param_editors import EditorWidget
00038 from .param_groups import GroupWidget, find_cfg
00039 from .param_updater import ParamUpdater
00040 
00041 
00042 class DynreconfClientWidget(GroupWidget):
00043     """
00044     A wrapper of dynamic_reconfigure.client instance.
00045     Represents a widget where users can view and modify ROS params.
00046     """
00047 
00048     def __init__(self, reconf, node_name):
00049         """
00050         :type reconf: dynamic_reconfigure.client
00051         :type node_name: str
00052         """
00053 
00054         group_desc = reconf.get_group_descriptions()
00055         rospy.logdebug('DynreconfClientWidget.group_desc=%s', group_desc)
00056         super(DynreconfClientWidget, self).__init__(ParamUpdater(reconf),
00057                                                     group_desc, node_name)
00058 
00059         self.setMinimumWidth(150)
00060 
00061         self.reconf = reconf
00062         self.updater.start()
00063         self.reconf.config_callback = self.config_callback
00064         self._node_grn = node_name
00065 
00066     def get_node_grn(self):
00067 
00068         return self._node_grn
00069 
00070     def config_callback(self, config):
00071 
00072         #TODO: Think about replacing callback architecture with signals.
00073 
00074         if config:
00075             # TODO: should use config.keys but this method doesnt exist
00076 
00077             names = [name for name, v in config.items()]
00078             # v isn't used but necessary to get key and put it into dict.
00079             rospy.logdebug('config_callback name={} v={}'.format(name, v))
00080 
00081             for widget in self.editor_widgets:
00082                 if isinstance(widget, EditorWidget):
00083                     if widget.param_name in names:
00084                         rospy.logdebug('EDITOR widget.param_name=%s',
00085                                        widget.param_name)
00086                         widget.update_value(config[widget.param_name])
00087                 elif isinstance(widget, GroupWidget):
00088                     cfg = find_cfg(config, widget.param_name)
00089                     rospy.logdebug('GROUP widget.param_name=%s',
00090                                    widget.param_name)
00091                     widget.update_group(cfg)
00092 
00093     def close(self):
00094         self.reconf.close()
00095         self.updater.stop()
00096 
00097         for w in self.editor_widgets:
00098             w.close()
00099 
00100         self.deleteLater()
00101 
00102     def filter_param(self, filter_key):
00103         #TODO impl
00104         pass


rqt_reconfigure
Author(s): Isaac Saito, Ze'ev Klapow
autogenerated on Wed Sep 16 2015 06:58:05