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rqt_reconfigure: Re-write widget data flow #209

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Feb 13, 2014
Merged

rqt_reconfigure: Re-write widget data flow #209

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176 changes: 102 additions & 74 deletions rqt_reconfigure/src/rqt_reconfigure/param_editors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
from python_qt_binding import loadUi
from python_qt_binding.QtGui import (QDoubleValidator, QIntValidator, QLabel,
QWidget)
from decimal import Decimal
import rospkg
import rospy

Expand Down Expand Up @@ -81,6 +82,7 @@ def __init__(self, updater, config):

self._updater = updater
self.param_name = config['name']
self.param_description = config['description']

self.old_value = None

Expand Down Expand Up @@ -115,6 +117,8 @@ def display(self, grid):
# label_paramname.setWordWrap(True)
self._paramname_label.setMinimumWidth(100)
grid.addRow(self._paramname_label, self)
self.setToolTip(self.param_description)
self._paramname_label.setToolTip(self.param_description)

def close(self):
'''
Expand All @@ -128,7 +132,10 @@ def __init__(self, updater, config):
super(BooleanEditor, self).__init__(updater, config)
loadUi(ui_bool, self)

# Initialize to default
self.update_value(config['default'])

# Make checkbox update param server
self._checkbox.clicked.connect(self._update_paramserver)
#TODO: Maybe add slot for stateChanged; it can be just:
# self._checkbox.stateChanged.connect(self._update_paramserver)
Expand All @@ -142,11 +149,11 @@ def __init__(self, updater, config):
super(StringEditor, self).__init__(updater, config)
loadUi(ui_str, self)

# Emit signal when cursor leaves the text field.
self._paramval_lineedit.setText(config['default'])

# Update param server when cursor leaves the text field
# or enter is pressed.
self._paramval_lineedit.editingFinished.connect(self.edit_finished)
# Add textChanged to capture the change while cursor is still in
# the text field.
self._paramval_lineedit.textChanged.connect(self.edit_finished)

def update_value(self, value):
rospy.logdebug('StringEditor update_value={}'.format(value))
Expand All @@ -161,136 +168,152 @@ def edit_finished(self):
class IntegerEditor(EditorWidget):
def __init__(self, updater, config):
super(IntegerEditor, self).__init__(updater, config)

loadUi(ui_int, self)

# Set ranges
self._min = int(config['min'])
self._max = int(config['max'])
self._min_val_label.setText(str(self._min))
self._max_val_label.setText(str(self._max))

self._slider_horizontal.setRange(self._min, self._max)

# TODO: Fix that the naming of _paramval_lineEdit instance is not
# consistent among Editor's subclasses.
self._paramval_lineEdit.setValidator(QIntValidator(self._min,
self._max, self))

# Connect slots
self._paramval_lineEdit.textChanged.connect(self._text_edited)
self._slider_horizontal.sliderReleased.connect(self._slider_released)
#self._slider_horizontal.sliderMoved.connect(self._update_text_gui)
# valueChanged gets called when groove is clicked on.
#self._slider_horizontal.valueChanged.connect(self.update_value)

# TODO: This should not always get set to the default it should be the
# current value
# Initialize to default
self._paramval_lineEdit.setText(str(config['default']))
self._slider_horizontal.setSliderPosition(int(config['default']))
self._slider_horizontal.setValue(int(config['default']))

def _text_edited(self):
self._update_paramserver(int(self._paramval_lineEdit.text()))
# Make slider update text (locally)
self._slider_horizontal.sliderMoved.connect(self._slider_moved)

def _slider_released(self):
'''Slot for mouse being released from slider.'''
_slider_val = self._slider_horizontal.value()
self._update_text_gui(_slider_val)
# Make keyboard input change slider position and update param server
self._paramval_lineEdit.editingFinished.connect(self._text_changed)

def _update_text_gui(self, value):
rospy.logdebug(' IntegerEditor._update_text_gui val=%s', str(value))
self._paramval_lineEdit.setText(str(value))
# Run self._update_paramserver to update the value on PServer
self._update_paramserver(value)
self.update_value(value)
# Make slider update param server
# Turning off tracking means this isn't called during a drag
self._slider_horizontal.setTracking(False)
self._slider_horizontal.valueChanged.connect(self._slider_changed)

def update_value(self, val):
# Can be redundant when the trigger is the move of slider.
self._slider_horizontal.setSliderPosition(val)
def _slider_moved(self):
# This is a "local" edit - only change the text
self._paramval_lineEdit.setText(str(
self._slider_horizontal.sliderPosition()))

def _text_changed(self):
# This is a final change - update param server
# No need to update slider... update_value() will
self._update_paramserver(int(self._paramval_lineEdit.text()))

def _slider_changed(self):
# This is a final change - update param server
# No need to update text... update_value() will
self._update_paramserver(self._slider_horizontal.value())

def update_value(self, val):
# Block all signals so we don't loop
self._slider_horizontal.blockSignals(True)
# Update the slider value
self._slider_horizontal.setValue(val)
# Make the text match
self._paramval_lineEdit.setText(str(val))
self._slider_horizontal.blockSignals(False)


class DoubleEditor(EditorWidget):
def __init__(self, updater, config):
super(DoubleEditor, self).__init__(updater, config)

loadUi(ui_num, self)

# Handle unbounded doubles nicely
if config['min'] != -float('inf'):
self._min = float(config['min'])
self._min_val_label.setText(str(self._min))
self._func = lambda x: x
self._ifunc = self._func
else:
self._min = -1e10000
self._min_val_label.setText('-inf')
self._func = lambda x: math.atan(x)
self._ifunc = lambda x: math.tan(x)

if config['max'] != float('inf'):
self._max = float(config['max'])
self._max_val_label.setText(str(self._max))
self._func = lambda x: x
self._ifunc = self._func
else:
self._max = 1e10000
self._max_val_label.setText('inf')

if config['min'] != -float('inf') and config['max'] != -float('inf'):
self._func = lambda x: x
self._ifunc = self._func
else:
self._func = lambda x: math.atan(x)
self._ifunc = lambda x: math.tan(x)

self.scale = (self._func(self._max) - self._func(self._min)) / 100
if self.scale == 0:
# If we have no range, disable the slider
self.scale = (self._func(self._max) - self._func(self._min))
if self.scale <= 0:
self.scale = 0
self.setDisabled(True)
else:
self.scale = 100 / self.scale

self.offset = self._func(self._min)

# Set ranges
self._slider_horizontal.setRange(self._get_value_slider(self._min),
self._get_value_slider(self._max))

self._paramval_lineEdit.setValidator(QDoubleValidator(
self._min, self._max,
8, self))

# Initialize to defaults
self._paramval_lineEdit.setText(str(config['default']))
self._slider_horizontal.setSliderPosition(
self._slider_horizontal.setValue(
self._get_value_slider(config['default']))

# Connect slots
self._paramval_lineEdit.textChanged.connect(self._text_edited)
self._slider_horizontal.sliderReleased.connect(self._slider_released)
# Make slider update text (locally)
self._slider_horizontal.sliderMoved.connect(self._slider_moved)

# Make keyboard input change slider position and update param server
self._paramval_lineEdit.editingFinished.connect(self._text_changed)

# Make slider update param server
# Turning off tracking means this isn't called during a drag
self._slider_horizontal.setTracking(False)
self._slider_horizontal.valueChanged.connect(self._slider_changed)

def _slider_moved(self):
# This is a "local" edit - only change the text
self._paramval_lineEdit.setText('{0:f}'.format(Decimal(str(
self._get_value_textfield()))))

def _text_edited(self):
'''Slot for text changed event in text field.'''
def _text_changed(self):
# This is a final change - update param server
# No need to update slider... update_value() will
self._update_paramserver(float(self._paramval_lineEdit.text()))

def _slider_changed(self):
# This is a final change - update param server
# No need to update text... update_value() will
self._update_paramserver(self._get_value_textfield())

def _get_value_textfield(self):
'''@return: Current value in text field.'''
return self._ifunc(self._slider_horizontal.value() * self.scale)

def _slider_released(self):
'''Slot for mouse being released from slider.'''
_slider_val = self._get_value_textfield()
self._update_text_gui(_slider_val)
return self._ifunc(self._slider_horizontal.sliderPosition() /
self.scale) if self.scale else 0

def _get_value_slider(self, value):
'''
@rtype: double
'''
return int(round((self._func(value)) / self.scale)) if self.scale else 0

def _update_text_gui(self, value):
self._paramval_lineEdit.setText(str(value))
rospy.loginfo(' DblEditor._update_text_gui val=%s', str(value))
# Run self._update_paramserver to update the value on PServer
self._update_paramserver(value)
self.update_value(value)
return int(round((self._func(value)) * self.scale))

def update_value(self, val):
# Can be redundant when the trigger is the move of slider.
self._slider_horizontal.setSliderPosition(
self._get_value_slider(float(val)))

self._paramval_lineEdit.setText(str(val))
# Block all signals so we don't loop
self._slider_horizontal.blockSignals(True)
# Update the slider value
self._slider_horizontal.setValue(self._get_value_slider(float(val)))
# Make the text match
self._paramval_lineEdit.setText('{0:f}'.format(Decimal(str(val))))
self._slider_horizontal.blockSignals(False)


class EnumEditor(EditorWidget):
Expand All @@ -305,23 +328,28 @@ def __init__(self, updater, config):
rospy.logerr("reconfig EnumEditor) Malformed enum")
return

# Setup the enum items
self.names = [item['name'] for item in enum]
self.values = [item['value'] for item in enum]

items = ["%s (%s)" % (self.names[i], self.values[i])
for i in range(0, len(self.names))]

# Add items to the combo box
self._combobox.addItems(items)

# Initialize to the default
self._combobox.setCurrentIndex(self.values.index(config['default']))

# Make selection update the param server
self._combobox.currentIndexChanged['int'].connect(self.selected)

def selected(self, index):
self._update_paramserver(self.values[index])

def update_value(self, val):
# apparently, when the currentIndexChanged signal is emitted, current
# index internally is still the old value, why the setCurrentIndex call
# below triggers another selected() call ... couldn't fin a better
# solution than this.
self._combobox.currentIndexChanged['int'].disconnect()
# Block all signals so we don't loop
self._combobox.blockSignals(True)
self._combobox.setCurrentIndex(self.values.index(val))
self._combobox.currentIndexChanged['int'].connect(self.selected)
self._combobox.blockSignals(False)