script_viewer.py

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#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import gtk
import gtk.gdk
import xdot

import pygraphviz as pgv

import rospy
from std_msgs.msg import String
from cob_script_server.msg import *

gtk.gdk.threads_init()


# check, if graph is available on parameter server
if rospy.has_param('script_server/graph'):
        dotcode = rospy.get_param("script_server/graph")
        G=pgv.AGraph(dotcode)
else:
        G=pgv.AGraph()
        G.add_node('no graph available')
        dotcode = G.string()

## Graph callback.
def graph_cb(msg):
        print "new graph received"
        global dotcode
        global G
        dotcode = msg.data
        print dotcode
        G=pgv.AGraph(dotcode)

        # update vizualisation
        gtk.gdk.threads_enter()
        widget.set_dotcode(dotcode)
        widget.zoom_to_fit()
        gtk.gdk.threads_leave()


## State callback.
def state_cb(msg):
        global widget

        # modify active node
        active_node = msg.full_graph_name
        rospy.loginfo("Received state <<%s>> from node <<%s>>",str(msg.state),active_node)
        try:
                n=G.get_node(active_node)
        except:
                rospy.logwarn("Node <<%s>> not found in graph",active_node)
                return
        n.attr['style']='filled'
        if msg.state == ScriptState.UNKNOWN:
                n.attr['fillcolor']='white'
        elif msg.state == ScriptState.ACTIVE:
                n.attr['fillcolor']='yellow'
        elif msg.state == ScriptState.SUCCEEDED:
                n.attr['fillcolor']='green'
        elif msg.state == ScriptState.FAILED:
                n.attr['fillcolor']='red'
        elif msg.state == ScriptState.PAUSED:
                n.attr['fillcolor']='orange'
        else:
                n.attr['fillcolor']='blue'
        dotcode = G.string()

        # update vizualisation
        gtk.gdk.threads_enter()
        widget.set_dotcode(dotcode)
        widget.zoom_to_fit()
        gtk.gdk.threads_leave()


# create gtk window
window = gtk.Window()
window.set_title('script viewer')
window.set_default_size(600, 800)
vbox = gtk.VBox()
window.add(vbox)

widget = xdot.DotWidget()
widget.set_dotcode(dotcode)
widget.zoom_to_fit()


vbox.pack_start(widget)

window.show_all()

window.connect('destroy', gtk.main_quit)

rospy.init_node('script_viewer', anonymous=True)
rospy.Subscriber("/script_server/graph", String, graph_cb)
rospy.Subscriber("/script_server/state", ScriptState, state_cb)
gtk.main()