Merge pull request #813 from YoheiKakiuchi/add_tabbed_button_pullreq

jsk_rqt_plugins/bin/rqt_tabbed_buttons

@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+import sys
+
+from rqt_gui.main import Main
+try:
+    from jsk_rqt_plugins.tabbed_button import ServiceTabbedButtons
+except:
+    import roslib; roslib.load_manifest('jsk_rqt_plugins')
+    from jsk_rqt_plugins.tabbed_button import ServiceTabbedButtons
+
+plugin = 'ServiceTabbedButtons'
+main = Main(filename=plugin)
+sys.exit(main.main(standalone=plugin))

jsk_rqt_plugins/plugin.xml

@@ -136,4 +136,17 @@
       <statustip>A plugin to wait for user input.</statustip>
     </qtgui>
   </class>
+  <class name="ServiceTabbedButtons"
+         type="jsk_rqt_plugins.tabbed_button.ServiceTabbedButtons"
+         base_class_type="rqt_gui_py::Plugin">
+    <qtgui>
+      <group>
+        <label>Visualization</label>
+        <icon type="theme">folder</icon>
+        <statustip>Plugins related to visualization.</statustip>
+      </group>
+      <label>ServiceTabbedButton</label>
+      <icon type="theme">utilities-system-monitor</icon>
+    </qtgui>
+  </class>
 </library>

jsk_rqt_plugins/sample/sample_tabbed_buttons.launch

@@ -0,0 +1,23 @@
+<launch>
+  <node name="$(anon sample_buttons)"
+        pkg="jsk_rqt_plugins" type="rqt_tabbed_buttons" output="screen" clear_params="true">
+    <rosparam>
+      tabbed_layout:
+        tab_list: ['push', 'radio']
+        push:
+          name: 'push button'
+          namespace: push
+          type: push
+          yaml_file: 'package://jsk_rqt_plugins/resource/service_button_layout.yaml'
+        radio:
+          name: 'radio button'
+          namespace: radio
+          type: radio
+          yaml_file: 'package://jsk_rqt_plugins/resource/service_radio_button_layout.yaml'
+    </rosparam>
+  </node>
+  <node name="push_sample_service_buttons" pkg="jsk_rqt_plugins" type="sample_service_buttons.py"
+        ns='push' output="screen"/>
+  <node name="sample_service_buttons" pkg="jsk_rqt_plugins" type="sample_service_radio_buttons.py"
+        ns='radio' output="screen"/>
+</launch>

jsk_rqt_plugins/sample_scripts/sample_service_buttons.py

@@ -20,17 +20,18 @@ def __init__(self):
             rospy.Service('dummy/buttonE', Empty, self._empty_cb),
             rospy.Service('dummy/buttonF', Empty, self._empty_cb),
         ]
+        self._name = rospy.get_name()
 
     def _set_bool_cb(self, req):
-        rospy.loginfo('SetBool service called: req.data={}'.format(req.data))
+        rospy.loginfo('{} | SetBool service called: req.data={}'.format(self._name,req.data))
         return SetBoolResponse(success=True)
 
     def _trigger_cb(self, req):
-        rospy.loginfo('Trigger service called')
+        rospy.loginfo('{} | Trigger service called'.format(self._name))
         return TriggerResponse(success=True)
 
     def _empty_cb(self, req):
-        rospy.loginfo('Empty service called')
+        rospy.loginfo('{} | Empty service called'.format(self._name))
         return EmptyResponse()
 
 

jsk_rqt_plugins/sample_scripts/sample_service_radio_buttons.py

@@ -16,9 +16,10 @@ def __init__(self):
             rospy.Service('dummy/buttonE', Empty, self._empty_cb),
             rospy.Service('dummy/buttonF', Empty, self._empty_cb),
         ]
+        self._name = rospy.get_name()
 
     def _empty_cb(self, req):
-        rospy.loginfo('Empty service called')
+        rospy.loginfo('{} | Empty service called'.format(self._name))
         return EmptyResponse()
 
 

jsk_rqt_plugins/src/jsk_rqt_plugins/button_general.py

@@ -127,16 +127,23 @@ def loadLayoutYaml(self, layout_param):
 
     def setupButtons(self, yaml_file):
         """
-        Parse yaml file and setup Buttons. Format of the yaml file should be:
+        Parse yaml file and setup Buttons.
+        """
+        with open(yaml_file) as f:
+            yaml_data = yaml.load(f)
+            self.setupButtons_with_yaml_data(yaml_data)
+
+    def setupButtons_with_yaml_data(self, yaml_data, namespace=None):
+        """
+        Setup Buttons with yaml_data which is loaded in setupButtons. Format of the yaml file should be:
         - name: 'button name' (required)
           image: 'path to image for icon' (optional)
           image_size: 'width and height of icon' (optional)
           service: 'service' (required)
           column: 'column index' (optional, defaults to 0)
         """
         self.buttons = []
-        with open(yaml_file) as f:
-            yaml_data = yaml.load(f)
+        if True:
             # lookup colum direction
             direction = 'vertical'
             for d in yaml_data:
@@ -206,8 +213,17 @@ def setupButtons(self, yaml_file):
                     service_type = Empty
                 if service_type == SetBool:
                     button.setCheckable(True)
-                button.clicked.connect(
-                    self.buttonCallback(button_data['service'], service_type, button))
+                if namespace:
+                    sname = button_data['service']
+                    if sname[0] == '/' or sname[0] == '~':
+                        sname = sname
+                    else:
+                        sname = namespace + '/' + sname
+                    button.clicked.connect(
+                        self.buttonCallback(sname, service_type, button))
+                else:
+                    button.clicked.connect(
+                        self.buttonCallback(button_data['service'], service_type, button))
                 if self.button_type == "push":
                     button.setToolButtonStyle(
                         QtCore.Qt.ToolButtonTextUnderIcon)

jsk_rqt_plugins/src/jsk_rqt_plugins/tabbed_button.py

@@ -0,0 +1,25 @@
+from rqt_gui_py.plugin import Plugin
+from jsk_rqt_plugins.tabbed_button_general import ServiceTabbedButtonGeneralWidget
+
+class ServiceTabbedButtons(Plugin):
+    """
+    rqt class to provide multiple buttons
+    """
+    def __init__(self, context):
+        super(ServiceTabbedButtons, self).__init__(context)
+        self.setObjectName("ServiceTabbedButtons")
+        self._widget = ServiceTabbedButtonWidget()
+        context.add_widget(self._widget)
+    def save_settings(self, plugin_settings, instance_settings):
+        self._widget.save_settings(plugin_settings, instance_settings)
+    def restore_settings(self, plugin_settings, instance_settings):
+        self._widget.restore_settings(plugin_settings, instance_settings)
+    def trigger_configuration(self):
+        self._widget.trigger_configuration()
+
+class ServiceTabbedButtonWidget(ServiceTabbedButtonGeneralWidget):
+    """
+    Qt widget to visualize multiple buttons
+    """
+    def __init__(self):
+        super(ServiceTabbedButtonWidget, self).__init__()

jsk_rqt_plugins/src/jsk_rqt_plugins/tabbed_button_general.py

@@ -0,0 +1,167 @@
+from distutils.version import LooseVersion
+import math
+import os
+import sys
+
+import python_qt_binding
+import python_qt_binding.QtCore as QtCore
+from python_qt_binding.QtCore import QEvent
+from python_qt_binding.QtCore import QSize
+from python_qt_binding.QtCore import Qt
+from python_qt_binding.QtCore import QTimer
+from python_qt_binding.QtCore import qWarning
+from python_qt_binding.QtCore import Slot
+import python_qt_binding.QtGui as QtGui
+from python_qt_binding.QtGui import QBrush
+from python_qt_binding.QtGui import QColor
+from python_qt_binding.QtGui import QFont
+from python_qt_binding.QtGui import QIcon
+from python_qt_binding.QtGui import QPainter
+from python_qt_binding.QtGui import QPen
+import yaml
+
+from resource_retriever import get_filename
+import rospy
+from rqt_gui_py.plugin import Plugin
+from std_msgs.msg import Bool
+from std_msgs.msg import Time
+from std_srvs.srv import Empty
+from std_srvs.srv import SetBool
+from std_srvs.srv import Trigger
+
+if LooseVersion(python_qt_binding.QT_BINDING_VERSION).version[0] >= 5:
+    from python_qt_binding.QtWidgets import QAction
+    from python_qt_binding.QtWidgets import QComboBox
+    from python_qt_binding.QtWidgets import QCompleter
+    from python_qt_binding.QtWidgets import QDialog
+    from python_qt_binding.QtWidgets import QGroupBox
+    from python_qt_binding.QtWidgets import QHBoxLayout
+    from python_qt_binding.QtWidgets import QLineEdit
+    from python_qt_binding.QtWidgets import QMenu
+    from python_qt_binding.QtWidgets import QMessageBox
+    from python_qt_binding.QtWidgets import QPushButton
+    from python_qt_binding.QtWidgets import QRadioButton
+    from python_qt_binding.QtWidgets import QSizePolicy
+    from python_qt_binding.QtWidgets import QToolButton
+    from python_qt_binding.QtWidgets import QVBoxLayout
+    from python_qt_binding.QtWidgets import QWidget
+    from python_qt_binding.QtWidgets import QTabWidget
+else:
+    from python_qt_binding.QtGui import QAction
+    from python_qt_binding.QtGui import QComboBox
+    from python_qt_binding.QtGui import QCompleter
+    from python_qt_binding.QtGui import QDialog
+    from python_qt_binding.QtGui import QGroupBox
+    from python_qt_binding.QtGui import QHBoxLayout
+    from python_qt_binding.QtGui import QLineEdit
+    from python_qt_binding.QtGui import QMenu
+    from python_qt_binding.QtGui import QMessageBox
+    from python_qt_binding.QtGui import QPushButton
+    from python_qt_binding.QtGui import QRadioButton
+    from python_qt_binding.QtGui import QSizePolicy
+    from python_qt_binding.QtGui import QToolButton
+    from python_qt_binding.QtGui import QVBoxLayout
+    from python_qt_binding.QtGui import QWidget
+    from python_qt_binding.QtGui import QTabWidget
+
+from jsk_rqt_plugins.button_general import ServiceButtonGeneralWidget
+from jsk_rqt_plugins.button_general import LineEditDialog
+
+class ServiceTabbedButtonGeneralWidget(QWidget):
+    def __init__(self):
+        super(ServiceTabbedButtonGeneralWidget, self).__init__()
+        self._tab_settings = None
+
+        if rospy.has_param("~tabbed_layout"):
+            tabbed_layout = rospy.get_param("~tabbed_layout")
+            self._tab_list = []
+            if not 'tab_list' in tabbed_layout:
+                self.showError("Cannot find tab_list in %s"%(tabbed_layout))
+                return
+            tab_list = tabbed_layout['tab_list']
+            for tb in tab_list:
+                if tb in tabbed_layout:
+                    param_settings = tabbed_layout[tb]
+                    settings = {}
+                    ##
+                    if 'type' in param_settings:
+                        settings['type'] = param_settings['type']
+                    ##
+                    if not 'name' in param_settings:
+                        settings['name'] = tb
+                    else:
+                        settings['name'] = param_settings['name']
+                    ##
+                    if 'yaml_file' in param_settings:
+                        settings['yaml_file'] =  param_settings['yaml_file']
+                    else:
+                        self.showError("Cannot find yaml_file in %s"%(tb))
+                        settings = None
+                    ##
+                    if 'namespace' in param_settings:
+                        settings['namespace'] =  param_settings['namespace']
+
+                    if settings:
+                        self._tab_list.append(settings)
+                else:
+                    self.showError("Cannot find key %s in %s"%(tb, tabbed_layout))
+        else:
+            self.showError("Cannot find rosparam ~tabbed_layout")
+            return
+
+        if len(self._tab_list) == 0:
+            self.showError("there is no valid param in ~tabbed_layout")
+            return
+
+        qtab = QTabWidget()
+        for tb in self._tab_list:
+            wg = ServiceButtonGeneralWidget_in_tab(tb)
+            qtab.addTab(wg, tb['name'] )
+
+        #self.setWindowTitle('Tab Layout')
+        hbox = QHBoxLayout()
+        hbox.addWidget(qtab)
+        self.setLayout(hbox)
+        self.show()
+
+    def showError(self, message):
+        QMessageBox.about(self, "ERROR", message)
+
+    def save_settings(self, plugin_settings, instance_settings):
+        ## ignore settings
+        pass
+    def restore_settings(self, plugin_settings, instance_settings):
+        ## ignore settings
+        pass
+    def trigger_configuration(self):
+        ## ignore settings
+        pass
+
+class ServiceButtonGeneralWidget_in_tab(ServiceButtonGeneralWidget):
+    """
+    Qt widget to visualize multiple buttons
+    """
+    def __init__(self, settings):
+        super(ServiceButtonGeneralWidget, self).__init__()
+        yaml_file = settings['yaml_file']
+        namespace = None
+        if 'type' in settings:
+            self.button_type = settings['type']
+        else:
+            self.button_type = 'push'
+
+        if 'namespace' in settings:
+            namespace = settings['namespace']
+
+        self._layout_param = None
+        self._dialog = LineEditDialog()
+
+        resolved_yaml = get_filename(yaml_file)
+        if "file://" == resolved_yaml[0:7]:
+            resolved_yaml = resolved_yaml[len("file://"):]
+
+        with open(resolved_yaml) as f:
+            yaml_data = yaml.load(f)
+            self.setupButtons_with_yaml_data(yaml_data=yaml_data, namespace=namespace)
+
+        self.show()