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sotwindow.py
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sotwindow.py
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#! /usr/bin/env python
'''Visualize sot graph'''
__author__ = "Duong Dang"
__version__ = "0.2.1"
from xdot import *
import os,re
import time
from collections import deque
import gobject
import pygtk
pygtk.require('2.0')
import gtk,sys
from textwindow import TextWindowBase
import gtk.glade
from collections import deque
import corba_util
import logging
import logging.handlers
import pickle
sys.path = [os.path.dirname(os.path.abspath(__file__))
+"/idl"] + sys.path
class NullHandler(logging.Handler):
def emit(self, record):
pass
logger = logging.getLogger("sotwindow")
logger.addHandler(NullHandler())
logger.setLevel(logging.DEBUG)
try:
from termwidget import TermWidget
except:
logger.warning("termwidget couldn't be loaded")
class MyHandler(logging.handlers.RotatingFileHandler):
def __init__(self, filename, mode='a',
maxBytes=0, backupCount=0, encoding=None) :
logging.handlers.RotatingFileHandler.__init__\
(self, filename, mode, maxBytes, backupCount, encoding)
self.last_warning = ""
self.last_error = ""
self.last_warning_t = None
self.last_error_t = None
def emit(self,record):
"""
"""
logging.handlers.RotatingFileHandler.emit(self,record)
if record.levelno >= 40:
self.last_error_t = time.time()
self.last_error = record.getMessage()
elif record.levelno == 30:
self.last_warning_t = time.time()
self.last_warning = record.getMessage()
class TextWindow(TextWindowBase):
"""
"""
def __init__(self, sw):
"""
Arguments:
- `sw`:
"""
TextWindowBase.__init__(self)
self.sotwin = sw
self.script_dir = self.sotwin.setting.script_dir
self.sotwin.text_window_destroyed = False
def run_file(self,filename):
"""
Arguments:
- `filename`:
"""
self.sotwin.coshell_entry.set_text("run %s"%filename)
self.sotwin.coshell_entry_activate_cb(
self.sotwin.coshell_entry)
def run_cmd(self,cmd):
"""
Arguments:
- `filename`:
"""
self.sotwin.coshell_entry.set_text("%s"%cmd)
self.sotwin.coshell_entry_activate_cb(
self.sotwin.coshell_entry)
def window_destroy_cb(self, widget, data=None):
self.sotwin.text_window_destroyed = True
self.sotwin.view_editor.set_active(False)
self.destroy()
class TimedMsg(object):
"""
"""
def __init__(self, time,msg):
"""
Arguments:
- `time`:
- `msg`:
"""
self._time = time
self._msg = msg
class Setting(object):
"""
"""
def __init__(self, ):
"""
"""
self.simu_dt = 0.05 # integration interval in s
self.hrp_rvname = 'hrp'
self.lazy_commands = ["zsh","use_profile sotdev","rlwrap $ROBOTPKG_BASE/bin/sot/test_shell",\
# "run /local/nddang/profiles/sotdev/install/stable/script/simu",\
"run /local/nddang/profiles/sotdev/install/stable/script/base",\
"run /local/nddang/profiles/sotdev/install/stable/script/coshell",\
]
self.script_dir = os.environ['ROBOTPKG_BASE']+'/script'
class SotWidget(DotWidget):
"""
"""
graph_name = "sotgraph"
sot_graph_file = "/tmp/sotgraph.dot"
def __init__(self,sw):
"""
"""
DotWidget.__init__(self)
self.sotwin = sw
self.openfilename = self.sot_graph_file
def fetch_info_and_graph(self):
self.sotwin.runAndRead("pool.writegraph %s"%self.sot_graph_file)
return_str = self.sotwin.runAndRead("pool.list")
if not return_str:
return
entities_str = deque(return_str.split())
graph_names = set()
graph_types = dict()
while len(entities_str) > 0:
aname = entities_str.popleft()
atype = entities_str.popleft()
graph_names.add(aname)
graph_types[aname] = atype
model_names = set()
model_iters = dict()
try:
tree_iter = self.sotwin.en_model.get_iter_first()
except:
logger.exception("Caught exception")
else:
while tree_iter:
aname = self.sotwin.en_model[tree_iter]
model_names.add(aname)
model_iters[aname] = tree_iter
tree_iter = self.sotwin.en_model.iter_next(tree_iter)
new_names = graph_names.difference(model_names)
old_names = model_names.difference(graph_names)
for aname in new_names:
atype = graph_types[aname]
self.sotwin.en_model.append([aname,atype])
if aname=='OpenHRP':
self.sotwin.hrp_simuName = aname
self.sotwin.robotType = atype
elif aname == 'dyn':
self.sotwin.has_dyn = True
for aname in old_names:
self.sotwin.en_model.remove(model_iters[aname])
time.sleep(0.1)
if os.path.isfile(self.sot_graph_file):
s = open(self.sot_graph_file).read()
s = s.replace("/%s"%self.graph_name,self.graph_name)
f = open(self.sot_graph_file,'w')
f.write(s)
f.close()
self.sotwin.graph_text = s
return
def reload(self):
self.fetch_info_and_graph()
if self.openfilename is not None:
try:
fp = file(self.openfilename, 'rt')
self.set_dotcode(fp.read(), self.openfilename)
fp.close()
except IOError:
logger.exception("Caught exception")
def mouse_click_action(self,jump):
item = jump.item
str_list = list()
for shape in item.shapes:
if isinstance(shape,TextShape):
str_list.append(shape.t)
entity_name = None
sig_name = None
if isinstance(item,Node):
if len(str_list)!=1:
return
entity_name = str_list[0]
elif isinstance(item,Edge):
hls = jump.highlight;
for hl in hls:
if hl == item.src:
for shape in item.src.shapes:
if isinstance(shape,TextShape):
entity_name = shape.t
break
if len(str_list) >=2 :
sig_name = str_list[1]
elif hl == item.dst:
for shape in item.dst.shapes:
if isinstance(shape,TextShape):
entity_name = shape.t
break
if len(str_list) >=1 :
sig_name = str_list[0]
# print sig_name
if entity_name == None:
return
# select the appropriate entity and signal in treeviews
try:
iter = self.sotwin.en_model.get_iter_first()
while self.sotwin.en_model[iter][0] != entity_name:
iter = self.sotwin.en_model.iter_next(iter)
self.sotwin.en_selection = self.sotwin.en_tree_view.get_selection()
self.sotwin.en_selection.select_iter(iter)
self.sotwin.tree_view_sel_callback(self.sotwin.en_tree_view,False)
if sig_name == None:
return
iter = self.sotwin.sig_model.get_iter_first()
while self.sotwin.sig_model[iter][1] != sig_name:
iter = self.sotwin.sig_model.iter_next(iter)
self.sotwin.sig_selection = self.sotwin.sig_tree_view.get_selection()
self.sotwin.sig_selection.select_iter(iter)
self.sotwin.tree_view_sel_callback(self.sotwin.sig_tree_view,False)
except Exception,error:
logger.exception("Caught exception %s"%error)
return
def on_area_button_release(self, area, event):
self.drag_action.on_button_release(event)
self.drag_action = NullAction(self)
if event.button == 1 and self.is_click(event):
x, y = int(event.x), int(event.y)
url = self.get_url(x, y)
if url is not None:
self.emit('clicked', unicode(url.url), event)
else:
jump = self.get_jump(x, y)
if jump is not None:
self.mouse_click_action(jump)
return True
if event.button == 1 or event.button == 2:
return True
return False
class SotWindow(gtk.Window):
"""
"""
ui = '''
<ui>
<toolbar name="ToolBar">
<toolitem action="Reload"/>
<separator/>
<toolitem action="ZoomIn"/>
<toolitem action="ZoomOut"/>
<toolitem action="ZoomFit"/>
<toolitem action="Zoom100"/>
</toolbar>
</ui>
'''
def __getattr__(self, a):
try:
return self.builder.get_object(a)
except:
raise AttributeError("Invalid attribute/widget name %s "%a)
def __init__(self, options=None,args=None):
"""
"""
gtk.Window.__init__(self)
os.system("rm -f %s"%SotWidget.sot_graph_file)
self.win = self
self.setting = Setting()
self.is_offline = False
self.graph_text = ""
######################################################################
# Main window
#
src_path = os.path.dirname(os.path.abspath(__file__))
mainxml = src_path + "/main.xml"
self.builder = gtk.Builder()
self.builder.add_from_file(mainxml)
window = self.builder.get_object("window")
window.child.reparent(self)
self.setting = Setting()
if options and options.script_dir:
self.setting.script_dir = options.script_dir
######################################################################
# Child widget names
#
# self.coshell_response_cnt_label = self.builder.get_object("coshell_response_cnt_label")
# self.status = self.builder.get_object("status")
# self.statusicon = self.builder.get_object("statusicon")
self.coshell_response_count = -1
self.coshell_timeout_source_id = None
## coshell history
coshell_hist_text_view = self.builder.get_object("coshell_hist_text_view")
self.coshell_hist_text_view_buffer = coshell_hist_text_view.get_buffer()
# self.view_editor = self.builder.get_object("view_editor")
######################################################################
# Mis
#
self.hrp_simuName = None
self.robotType = None
self.has_dyn = False
self.rv_incr_cb_srcid = None
self.rv_cnt = 0
self.text_window_destroyed = False
######################################################################
# Term widget
#
if options and options.with_term:
term_vbox = self.builder.get_object("term_vbox")
self.termwidget = TermWidget()
term_vbox.pack_start(self.termwidget)
if options.lazy_term:
for cmd in self.setting.lazy_commands:
cmd = "%s\n"%cmd
self.termwidget.terminal.feed_child(cmd,len(cmd))
else:
notebook = self.builder.get_object("notebook")
notebook.remove_page(2)
######################################################################
# Treeviews
#
self.en_model = gtk.ListStore(str,str)
rendererText = gtk.CellRendererText()
self.en_column1 = gtk.TreeViewColumn("Entities", rendererText, text=0)
self.en_column2 = gtk.TreeViewColumn("Type", rendererText, text=1)
self.en_column1.set_sort_column_id(0)
self.en_column2.set_sort_column_id(1)
self.sig_model = gtk.ListStore(str,str,str,str)
# entity,sig_name,I/O, type
rendererText = gtk.CellRendererText()
self.sig_column1 = gtk.TreeViewColumn("Sig", rendererText, text=1)
self.sig_column2 = gtk.TreeViewColumn("I/O", rendererText, text=2)
self.sig_column3 = gtk.TreeViewColumn("Type", rendererText, text=3)
self.sig_column1.set_sort_column_id(1)
self.sig_column2.set_sort_column_id(2)
self.sig_column3.set_sort_column_id(3)
self.graph = Graph()
self.widget = SotWidget(self)
vbox_graph = self.builder.get_object("vbox_graph")
vbox_graph.pack_start(self.widget,True,True,0)
# self.coshell_combo_box_entry = self.builder.get_object("coshell_combo_box_entry")
self.coshell_entry = self.coshell_combo_box_entry.child
self.coshell_hist_model = gtk.ListStore(str)
self.coshell_combo_box_entry.set_model( self.coshell_hist_model)
self.coshell_combo_box_entry.set_text_column(0)
self.coshell_entry.connect('activate',self.coshell_entry_activate_cb)
self.coshell_cached = {}
# self.coshell_response = self.builder.get_object("coshell_response")
# self.coshell_frame = self.builder.get_object("coshell_frame")
# self.en_tree_view = self.builder.get_object("en_tree_view")
self.en_tree_view.set_model(self.en_model)
self.en_tree_view.append_column(self.en_column1)
self.en_tree_view.append_column(self.en_column2)
self.en_tree_view.set_enable_search(True)
self.en_tree_view.set_search_column(0)
self.en_tree_view.connect('cursor-changed',self.tree_view_sel_callback)
# self.sig_tree_view = self.builder.get_object("sig_tree_view")
self.sig_tree_view.set_model(self.sig_model)
self.sig_tree_view.append_column(self.sig_column1)
self.sig_tree_view.append_column(self.sig_column2)
self.sig_tree_view.set_enable_search(True)
self.sig_tree_view.set_search_column(0)
self.sig_tree_view.connect('cursor-changed',self.tree_view_sel_callback)
#
# End treeviews
######################################################################
# self.coshell_each_button = self.builder.get_object("coshell_each_button")
# self.coshell_period = self.builder.get_object("coshell_period")
self.coshell_timeout_source_id = None
######################################################################
# Logger
#
os.system('mkdir -p %s/.sot-gui/scripts'%os.environ['HOME'])
os.system('mkdir -p %s/.sot-gui/log'%os.environ['HOME'])
self.log_filename = '%s/.sot-gui/log/SotWindow.log'%os.environ['HOME']
formatter = logging.Formatter("%(asctime)s : %(name)s : %(levelname)s : %(message)s")
self.handler = MyHandler(self.log_filename, maxBytes = 10000000, backupCount=5)
self.handler.setFormatter(formatter)
logger.addHandler(self.handler)
######################################################################
# OpenGL widget
#
self.rvthread = None
if options and options.with_rvwidget:
from robotviewer.rvwidget import RvWidget
self.rvwidget = RvWidget()
vbox_rv = self.builder.get_object("vbox_rv")
vbox_rv.pack_start(self.rvwidget)
def update_HRP_config():
pos = self.get_HRP_config()
if pos:
self.rvwidget.updateElementConfig(self.setting.hrp_rvname,pos)
else:
logger.warning('Couldnt get robot config')
return True
gobject.timeout_add(40,update_HRP_config)
else:
notebook = self.builder.get_object("notebook")
notebook.remove_page(1)
# self.label_time = self.builder.get_object("sig_time_lab")
self.cursor_state = None
self.help_cursor = gtk.gdk.Cursor(gtk.gdk.QUESTION_ARROW)
self.info_cursor = gtk.gdk.Cursor(gtk.gdk.PLUS)
rv_script_filename = self.builder.get_object("rv_script_filename")
if os.path.isfile('%s/.sot-gui/scripts/los.py'%os.environ['HOME']):
rv_script_filename.set_text('%s/.sot-gui/scripts/los.py'%os.environ['HOME'])
######################################################################
# Connnect signals
#
self.connect('destroy', gtk.main_quit)
self.builder.connect_signals(self)
gobject.timeout_add(200,self.house_keep)
######################################################################
# Final main widow inits
#
self.show_all()
if ( options and options.with_rvwidget):
notebook = self.builder.get_object("notebook")
notebook.set_current_page(1)
self.rvwidget.finalInit()
else:
time.sleep(1)
self.widget.reload()
######################################################################
# Text window
#
self.text_window = TextWindow(self)
try:
self.sotobj = corba_util.GetObject("CorbaServer",'CorbaServer.SOT_Server_Command',[('sot','context'),('coshell','servant')])
except:
logger.exception("Couldnt create sotobj")
self.sotobj = None
#
# END __init__
######################################################################
######################################################################
# House keeping callback
#
def house_keep(self):
# update time
result_str = None
self.runAndRead("echo")
if not self.hrp_simuName:
logger.warning("SotWindow.house_keep Can't find OpenHRP entity")
else:
result_str = self.runAndRead("signalTime %s.state"%self.hrp_simuName)
if result_str:
try:
ticks = int(result_str)
except:
logger.warning("wrong time format %s"%result_str )
else:
period = 0.005
robottime = 0.0
if self.robotType == '(RobotSimu)':
period = 0.05
robottime = ticks*period
self.sig_time_lab.set_text("Signal Time: %3.3f (%d ticks)"%(robottime,ticks))
if self.handler.last_error_t and time.time() - self.handler.last_error_t < 0.2 :
self.status.set_text("%s" %(self.handler.last_error))
self.statusicon.set_from_stock(gtk.STOCK_DIALOG_ERROR,gtk.ICON_SIZE_BUTTON)
return True
if self.handler.last_warning_t and time.time() - self.handler.last_warning_t < 0.2 :
self.status.set_text("%s" %(self.handler.last_warning))
self.statusicon.set_from_stock(gtk.STOCK_DIALOG_WARNING,gtk.ICON_SIZE_BUTTON)
return True
self.statusicon.set_from_stock(gtk.STOCK_YES,gtk.ICON_SIZE_BUTTON)
self.status.set_text("")
return True
def open_file(self, filename):
try:
fp = file(filename, 'rt')
self.set_dotcode(fp.read(), filename)
fp.close()
except IOError, ex:
logger.exception("%s"%ex)
def set_dotcode(self, dotcode, filename='<stdin>'):
if self.widget.set_dotcode(dotcode, filename):
self.widget.zoom_to_fit()
def set_xdotcode(self, dotcode, filename='<stdin>'):
if self.widget.set_xdotcode(dotcode, filename):
self.widget.zoom_to_fit()
def take_snapshot_button_clicked_cb(self, widget, data=None):
# cached the following:
# for all entity:
# entity.help
# entity.print
# entity.signals
# for all signals:
# get signal
# entity.signalDep signal
#
sig_pattern = re.compile(r".*(input|output)\((\w+)\)::(\w+)*")
for line in self.en_model:
ent = line[0]
ent_type = line[1]
self.runAndRead("%s.help"%ent)
self.runAndRead("%s.print"%ent)
list_signals = self.runAndRead("%s.signals"%ent)
for line in list_signals.splitlines():
m = sig_pattern.match(line)
if m:
sig = m.group(3)
self.runAndRead('get %s.%s'%(ent,sig))
self.runAndRead('%s.signalDep %s'%(ent,sig))
def tree_view_sel_callback(self,treeview,animate = True):
ent = sig = io = cmd = io = None
# click on an entity entry:
# * update signal treeview
# * display appropriate info
if treeview == self.en_tree_view:
(model, iter) = treeview.get_selection().get_selected()
row = model[iter]
if self.cursor_state == 'help':
cmd = '%s.help'%row[0]
elif self.cursor_state == 'info':
cmd = '%s.print'%row[0]
else :
cmd = '%s.signals'%row[0]
self.coshell_entry.set_text(cmd)
self.coshell_entry_activate_cb(self.coshell_entry)
list_signals = self.runAndRead('%s.signals'%row[0])
lines = list_signals.splitlines()
pattern = re.compile(r".*(input|output)\((\w+)\)::(\w+)*")
self.sig_model.clear()
for line in lines:
m = pattern.match(line)
if m:
ent = row[0]
io = m.group(1)
if io == "input":
io = "I"
else:
io = "O"
type= m.group(2)
sig = m.group(3)
self.sig_model.append([ent,sig,io,type])
del io,type
elif treeview == self.sig_tree_view:
(model, iter) = treeview.get_selection().get_selected()
row = model[iter]
ent = row[0]
sig = row[1]
if self.cursor_state == None:
cmd = 'get %s.%s'%(ent,sig)
else:
cmd = '%s.signalDep %s'%(ent,sig)
self.coshell_entry.set_text(cmd)
self.coshell_entry_activate_cb(self.coshell_entry)
del cmd
# find node and move there
if ent == None or animate!= True:
return
for node in self.widget.graph.nodes:
nodeName = None
for shape in node.shapes:
if isinstance(shape,TextShape):
nodeName = shape.t
break
if nodeName !=None and nodeName == ent:
self.widget.animate_to(node.x,node.y)
self.widget.highlight = [node]
self.widget.queue_draw()
return
# if node not found, highlight nothing
self.widget.hightlight = []
def corba_broken_cb(self):
## robot settings
self.hrp_simuName = None
self.robotType = None
self.has_dyn = False
self.en_model.clear()
self.sig_model.clear()
os.system('rm -f %s'%SotWidget.sot_graph_file)
self.widget.graph=Graph()
self.widget.queue_draw()
def runAndRead(self,s):
if self.is_offline:
if s in self.coshell_cached.keys():
return self.coshell_cached[s]
else:
return ""
try:
logger.debug("coshell-> %s"%s)
result = self.sotobj.runAndRead(s)
self.coshell_cached[s] = result
except Exception,error:
logger.exception("Caught exception %s"%error)
# self.sotobj = corba_util.GetObject("CorbaServer",'CorbaServer.SOT_Server_Command',[('sot','context'),('coshell','servant')])
# self.corba_broken_cb()
return ""
return result
def get_HRP_config(self):
if not self.hrp_simuName:
logger.warning("SotWindow.get_HRP_config Can't find OpenHRP entity")
self.widget.reload()
return None
if not self.has_dyn:
logger.warning("SotWindow.get_HRP_config Can't find dyn entity")
return None
try:
logger.debug("calling self.sotobj.req_obj.readVector('OpenHRP.state')")
pos = self.sotobj.readVector("OpenHRP.state")
logger.debug("calling self.sotobj.req_obj.readVector('dyn.ffposition')")
wst = self.sotobj.readVector("dyn.ffposition")
except Exception,error:
logger.exception("Caught exception %s"%error)
# self.corba_broken_cb()
return None
if len(wst) != 6:
logger.warning("RvWidget: Wrong dimension of waist_pos, robot not updated")
return None
for i in range(len(wst)):
pos[i] = wst[i]
if self.robotType == "(RobotSimu)":
pos[2] += 0.105
# dynsmall thingy
if len(pos) == 36:
pos_full = [0 for i in range(46)]
for i in range(29):
pos_full[i] = pos[i]
for i in range(29,36):
pos_full[i+5] = pos[i]
return pos_full
return pos
######################################################################
# GUI callbacks
#
#
#
def coshell_entry_activate_cb(self, widget, data = None):
self.coshell_response_count += 1
entry_text = widget.get_text()
self.coshell_hist_text_view_buffer.insert_at_cursor("%s\n"%entry_text)
hist = [row[0] for row in self.coshell_hist_model]
if entry_text not in hist:
self.coshell_hist_model.prepend([entry_text])
self.coshell_response.get_buffer().set_text(self.runAndRead(entry_text))
if self.coshell_response_cnt_label:
self.coshell_response_cnt_label.set_text("coshell response <%d>"\
%self.coshell_response_count)
if re.search(r"run|new|plug|unplug|destroy|clear|pop|push",entry_text):
self.widget.reload()
return True
def wordwrap_button_toggled_cb(self, widget, data = None):
if widget.get_active()==0:
self.coshell_response.set_wrap_mode(False)
else:
self.coshell_response.set_wrap_mode(True)
def matlab_button_toggled_cb(self, widget, data = None):
if widget.get_active()==0:
self.runAndRead('dispmat simple')
self.coshell_entry_activate_cb(self.coshell_entry)
else:
self.runAndRead('dispmat matlab')
self.coshell_entry_activate_cb(self.coshell_entry)
def simulate_button_toggled_cb(self, button, data = None):
def rv_incr_cb():
self.rv_cnt += 1
if not self.hrp_simuName:
logger.warning("SotWindow.rv_incr_cb Can't find OpenHRP entity")
return True
cmd = "%s.inc %f"%(self.hrp_simuName, self.setting.simu_dt)
self.runAndRead(cmd)
return True
if self.rv_incr_cb_srcid:
gobject.source_remove(self.rv_incr_cb_srcid)
self.rv_incr_cb_srcid = None
if button.get_active()!=0:
if self.robotType =='(RobotSimu)':
self.rv_incr_cb_srcid = gobject.timeout_add\
(int(1000*self.setting.simu_dt),rv_incr_cb)
return True
warning_msg = gtk.MessageDialog\
(self.win, 0, gtk.MESSAGE_WARNING, \
gtk.BUTTONS_YES_NO, \
"No OpenHRP of type RobotSimu found\n"+\
"Sending OpenHRP.inc command any way?")
response = warning_msg.run()
warning_msg.destroy()
if response == gtk.RESPONSE_YES:
self.rv_incr_cb_srcid = gobject.timeout_add\
(int(1000*self.setting.simu_dt),rv_incr_cb)
elif response == gtk.RESPONSE_NO:
button.set_active(0)
return True
def coshell_period_activate_cb(self, widget, data = None):
if self.coshell_timeout_source_id:
try:
gobject.source_remove(self.coshell_timeout_source_id)
except Exception,error:
logger.exception("Caught exception %s"%error)
if self.coshell_each_button.get_active()==0:
return True
else:
try:
period = float(self.coshell_period.get_text())
except Exception,error:
logger.exception("Caught exception %s"%error)
return True
if period < 0:
return True
period_ms = int(1000*period)
self.coshell_timeout_source_id = gobject.timeout_add\
( period_ms, self.coshell_entry_activate_cb , \
self.coshell_entry )
return True
def coshell_each_button_toggled_cb(self, widget, data = None):
self.coshell_period_activate_cb(widget, data )
def help_button_clicked_cb(self, widget, data = None):
if self.cursor_state != 'help':
widget.window.set_cursor(self.help_cursor)
self.cursor_state = 'help'
else:
widget.window.set_cursor(None)
self.cursor_state = None
def rv_script_open_button_clicked_cb(self, widget, data = None):
chooser = gtk.FileChooserDialog("Save File...", self,
gtk.FILE_CHOOSER_ACTION_OPEN,
(gtk.STOCK_CANCEL,gtk.RESPONSE_CANCEL,
gtk.STOCK_OPEN, gtk.RESPONSE_OK))
response = chooser.run()
if response == gtk.RESPONSE_OK:
filename = chooser.get_filename()
rv_script_filename = self.builder.get_object("rv_script_filename")
rv_script_filename.set_text(filename)
chooser.destroy()
def rv_script_run_button_clicked_cb(self, widget, data = None):
rv_script_filename = self.builder.get_object("rv_script_filename")
filename = rv_script_filename.get_text()
s = open(filename).read()
exec(s)
def info_button_clicked_cb(self, widget, data = None):
if self.cursor_state != 'info':
widget.window.set_cursor(self.info_cursor)
self.cursor_state = 'info'
else:
widget.window.set_cursor(None)
self.cursor_state = None
def signal_button_clicked_cb(self, widget, data = None):
widget.window.set_cursor(None)
self.cursor_state = None
def reset_cam_button_clicked_cb(self, widget, data = None):
self.rvwidget.camera = Camera()
def about_item_activate_cb(self, widget, data = None):
aboutdialog = self.builder.get_object("aboutdialog")
aboutdialog.run()
aboutdialog.hide()
def statusicon_button_press_event_cb(self, widget , event = None, data = None):
log_window = self.builder.get_object('log_window')
log_text_view = self.builder.get_object('log_text_view')
log_buffer = log_text_view.get_buffer()
log_buffer.set_text(open(self.log_filename).read())
# log_scrolled_window = self.builder.get_object('log_scrolled_window')
# vscrollbar = log_scrolled_window.get_vscrollbar()
# vscrollbar.adjustment.set_value(vscrollbar.adjustment.get_upper())
log_window.run()
log_window.hide()
def view_log_activate_cb(self, widget, data = None):
self.statusicon_button_press_event_cb(widget)
def view_editor_toggled_cb(self, widget, data = None):
if not widget.get_active():
self.text_window.hide()
else:
if self.text_window_destroyed:
self.text_window = TextWindow(self)
self.text_window.show_all()
def view_coshell_hist_activate_cb(self, widget, data = None):
logger.debug("view_coshell_hist_menu_activate_cb called")
coshell_hist_window = self.builder.get_object('coshell_hist_window')
coshell_hist_window.run()
coshell_hist_window.hide()
def init_corba_button_clicked_cb(self, widget, data = None):
self.sotobj = corba_util.GetObject("CorbaServer",'CorbaServer.SOT_Server_Command',[('sot','context'),('coshell','servant')])
def gtk_main_quit(self, widget, data = None):
if self.rvthread:
self.rvthread.quit = True
gtk.main_quit()
def refresh_button_clicked_cb(self, widget, data = None):
self.widget.reload()
def run_menu_activate_cb(self, widget, data = None):
chooser = gtk.FileChooserDialog\
(title=None,action=gtk.FILE_CHOOSER_ACTION_OPEN,\
buttons=(gtk.STOCK_CANCEL,gtk.RESPONSE_CANCEL,\
gtk.STOCK_OPEN,gtk.RESPONSE_OK))
chooser.set_current_folder(self.setting.script_dir)
response = chooser.run()
if response == gtk.RESPONSE_OK:
filename = chooser.get_filename()
logger.debug("User selects %s script"%filename)
if filename:
self.coshell_entry.set_text("run %s"%filename)
self.coshell_entry_activate_cb(self.coshell_entry)
elif response == gtk.RESPONSE_CANCEL:
logger.debug("Run script canceled by user")
chooser.destroy()
return
def viewer_console_activate_cb(self, widget, data = None):
text = widget.get_text()
words = text.split()
cmd = str_arg = ""
l = []
if words[:]:
cmd = words[0]
if words[1:]:
str_arg = word[1]
if words[2:]:
l = eval(words[2:])
ret = self.rvwidget.run_cmd(cmd, str_arg, l)
self.coshell_response.get_buffer().set_text(ret)
def clear_button_clicked_cb(self, widget, data = None):
self.coshell_entry.set_text("")
def zoomin_button_clicked_cb(self, widget, data = None):
self.widget.on_zoom_in( widget )
def zoomout_button_clicked_cb(self, widget, data = None):
self.widget.on_zoom_out( widget )
def zoom100_button_clicked_cb(self, widget, data = None):
self.widget.on_zoom_100( widget )
def bestfit_button_clicked_cb(self, widget, data = None):
self.widget.on_zoom_fit( widget )
def debug_menu_item_toggled_cb(self, widget, data = None):
if widget.get_active() == 0:
self.logger.setLevel(logging.CRITICAL)
if widget.get_active() == 0:
self.logger.setLevel(self.log_level)
def offline_button_toggled_cb(self, widget, data = None):
self.is_offline = widget.get_active()
self.coshell_entry.set_editable(not self.is_offline)
self.init_corba_button.set_sensitive(not self.is_offline)
self.take_snapshot_button.set_sensitive(not self.is_offline)
self.refresh_button.set_sensitive(not self.is_offline)
self.save_snapshot.set_sensitive(not self.is_offline)
def save_snapshot_activate_cb(self, widget, data = None):
chooser = gtk.FileChooserDialog("Open File...", self,