improve startup time

qt_dotgraph/src/qt_dotgraph/dot_to_qt.py

@@ -32,9 +32,6 @@
 
 import pydot
 
-import roslib
-roslib.load_manifest('qt_dotgraph')
-
 from python_qt_binding.QtCore import QPointF, QRectF
 from python_qt_binding.QtGui import QColor
 

qt_gui/package.xml

@@ -20,5 +20,6 @@
   <build_depend>python-qt-bindings</build_depend>
 
   <run_depend>python_qt_binding</run_depend>
+  <run_depend>python-rospkg</run_depend>
   <run_depend>tango-icon-theme</run_depend>
 </package>

qt_gui/src/qt_gui/about_handler.py

@@ -35,7 +35,6 @@
 from python_qt_binding import QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION
 from python_qt_binding.QtCore import QObject, qVersion
 from python_qt_binding.QtGui import QMessageBox
-from rospkg.rospack import RosPack
 
 from .ros_package_helper import get_package_path
 
@@ -44,8 +43,9 @@ class AboutHandler(QObject):
 
     """Handler for the about action in the menu bar showing a message box with details on the used libraries and their versions."""
 
-    def __init__(self, parent=None):
+    def __init__(self, qtgui_path, parent=None):
         super(AboutHandler, self).__init__(parent)
+        self._qtgui_path = qtgui_path
 
     def show(self):
         # append folder of 'qt_gui_cpp/lib' to module search path
@@ -54,15 +54,10 @@ def show(self):
         sys.path.append(os.path.join(qt_gui_cpp_path, 'src'))
         from qt_gui_cpp.cpp_binding_helper import qt_gui_cpp
 
-        _rospkg_version = None
-        try:
-            import rospkg
-            _rospkg_version = getattr(rospkg, '__version__', '< 0.2.4')
-        except ImportError:
-            pass
+        import rospkg
+        _rospkg_version = getattr(rospkg, '__version__', '< 0.2.4')
 
-        rp = RosPack()
-        logo = os.path.join(rp.get_path('qt_gui'), 'resource', 'ros_org_vertical.png')
+        logo = os.path.join(self._qtgui_path, 'resource', 'ros_org_vertical.png')
         text = '<img src="%s" width="56" height="200" style="float: left;"/>' % logo
 
         text += '<h3 style="margin-top: 1px;">%s</h3>' % self.tr('ROS GUI')
@@ -74,10 +69,7 @@ def show(self):
 
         text += 'Python %s, ' % platform.python_version()
 
-        if _rospkg_version is not None:
-            text += 'rospkg %s, ' % _rospkg_version
-        else:
-            text += '%s, ' % self.tr('rospkg not found - using roslib')
+        text += 'rospkg %s, ' % _rospkg_version
 
         if QT_BINDING == 'pyside':
             text += 'PySide'

qt_gui/src/qt_gui/application_context.py

@@ -29,7 +29,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 
-class ApplicationContext():
+class ApplicationContext(object):
 
     """Application wide context containing variables used in various places."""
 
@@ -48,3 +48,6 @@ def __init__(self):
 
         self.options = None
         """The parsed command line options."""
+
+        self.qtgui_path = None
+        """The path of the qt_gui package."""

qt_gui/src/qt_gui/composite_plugin_provider.py

@@ -50,12 +50,12 @@ def __init__(self, plugin_providers=None):
     def set_plugin_providers(self, plugin_providers):
         self._plugin_providers = plugin_providers
 
-    def discover(self):
+    def discover(self, discovery_data):
         # discover plugins from all providers
         discovered_plugins = []
         for plugin_provider in self._plugin_providers:
             try:
-                plugin_descriptors = plugin_provider.discover()
+                plugin_descriptors = plugin_provider.discover(discovery_data)
             except Exception:
                 qCritical('CompositePluginProvider.discover() could not discover plugins from provider "%s":\n%s' % (type(plugin_provider), traceback.format_exc()))
             else:

qt_gui/src/qt_gui/dock_widget_title_bar.py

@@ -33,19 +33,17 @@
 from python_qt_binding import loadUi
 from python_qt_binding.QtCore import QEvent, QObject, Qt, qWarning
 from python_qt_binding.QtGui import QDockWidget, QIcon, QWidget
-from rospkg.rospack import RosPack
 
 
 class DockWidgetTitleBar(QWidget):
 
     """Title bar for dock widgets providing custom actions."""
 
-    def __init__(self, dock_widget):
+    def __init__(self, dock_widget, qtgui_path):
         super(DockWidgetTitleBar, self).__init__(dock_widget)
         self._dock_widget = dock_widget
 
-        rp = RosPack()
-        ui_file = os.path.join(rp.get_path('qt_gui'), 'resource', 'dock_widget_title_bar.ui')
+        ui_file = os.path.join(qtgui_path, 'resource', 'dock_widget_title_bar.ui')
         loadUi(ui_file, self)
         self._extra_buttons = {
             'configuration': self.configuration_button,

qt_gui/src/qt_gui/help_provider.py

@@ -31,9 +31,10 @@
 import webbrowser
 
 from python_qt_binding.QtCore import QObject, Slot
-from roslib.packages import get_pkg_dir, InvalidROSPkgException
 from rospkg import InvalidManifest, MANIFEST_FILE, parse_manifest_file
 
+from .ros_package_helper import get_package_path
+
 
 class HelpProvider(QObject):
 
@@ -45,10 +46,7 @@ def __init__(self):
     @Slot(object)
     def plugin_help_request(self, plugin_descriptor):
         package_name = plugin_descriptor.attributes()['package_name']
-        try:
-            package_path = get_pkg_dir(package_name)
-        except InvalidROSPkgException:
-            return
+        package_path = get_package_path(package_name)
         try:
             manifest = parse_manifest_file(package_path, MANIFEST_FILE)
         except (InvalidManifest, IOError):

qt_gui/src/qt_gui/main.py

@@ -43,13 +43,15 @@ class Main(object):
 
     main_filename = None
 
-    def __init__(self, invoked_filename=None, settings_filename=None):
+    def __init__(self, qtgui_path, invoked_filename=None, settings_filename=None):
+        self._qtgui_path = qtgui_path
         if invoked_filename is None:
             invoked_filename = os.path.abspath(__file__)
         Main.main_filename = invoked_filename
         if settings_filename is None:
             settings_filename = 'qt_gui'
         self._settings_filename = settings_filename
+
         self.plugin_providers = []
         self._options = None
 
@@ -75,11 +77,14 @@ def add_arguments(self, parser, standalone=False, plugin_argument_provider=None)
             help='choose Qt bindings to be used [pyqt|pyside]')
         common_group.add_argument('--clear-config', dest='clear_config', default=False, action='store_true',
             help='clear the configuration (including all perspectives and plugin settings)')
-        common_group.add_argument('-h', '--help', action='help',
-            help='show this help message and exit')
         if not standalone:
             common_group.add_argument('-f', '--freeze-layout', dest='freeze_layout', action='store_true',
                 help='freeze the layout of the GUI (prevent rearranging widgets, disable undock/redock)')
+        common_group.add_argument('--force-discover', dest='force_discover', default=False, action='store_true',
+            help='force a rediscover of plugins')
+        common_group.add_argument('-h', '--help', action='help',
+            help='show this help message and exit')
+        if not standalone:
             common_group.add_argument('-l', '--lock-perspective', dest='lock_perspective', action='store_true',
                 help='lock the GUI to the used perspective (hide menu bar and close buttons of plugins)')
             common_group.add_argument('-m', '--multi-process', dest='multi_process', default=False, action='store_true',
@@ -144,9 +149,6 @@ def add_arguments(self, parser, standalone=False, plugin_argument_provider=None)
     def _add_plugin_providers(self):
         pass
 
-    def _caching_hook(self):
-        pass
-
     def _add_reload_paths(self, reload_importer):
         reload_importer.add_reload_path(os.path.join(os.path.dirname(__file__), *('..',) * 4))
 
@@ -273,6 +275,7 @@ def main(self, argv=None, standalone=None, plugin_argument_provider=None):
         # create application context containing various relevant information
         from .application_context import ApplicationContext
         context = ApplicationContext()
+        context.qtgui_path = self._qtgui_path
         context.options = self._options
 
         if self._dbus_available:
@@ -363,8 +366,8 @@ def message_handler(type_, msg):
 
         self._check_icon_theme_compliance()
 
+        settings = QSettings(QSettings.IniFormat, QSettings.UserScope, 'ros.org', self._settings_filename)
         if len(embed_options_set) == 0:
-            settings = QSettings(QSettings.IniFormat, QSettings.UserScope, 'ros.org', self._settings_filename)
             if self._options.clear_config:
                 settings.clear()
 
@@ -401,15 +404,14 @@ def sigint_handler(*args):
         else:
             app.setQuitOnLastWindowClosed(False)
 
-            settings = None
             main_window = None
             menu_bar = None
 
         self._add_plugin_providers()
 
         # setup plugin manager
         plugin_provider = CompositePluginProvider(self.plugin_providers)
-        plugin_manager = PluginManager(plugin_provider, context)
+        plugin_manager = PluginManager(plugin_provider, settings, context)
 
         if self._options.list_plugins:
             # output available plugins
@@ -420,7 +422,7 @@ def sigint_handler(*args):
         plugin_manager.plugin_help_signal.connect(help_provider.plugin_help_request)
 
         # setup perspective manager
-        if settings is not None:
+        if main_window is not None:
             perspective_manager = PerspectiveManager(settings, context)
 
             if self._options.list_perspectives:
@@ -438,7 +440,7 @@ def sigint_handler(*args):
                 main_window.addToolBar(Qt.BottomToolBarArea, minimized_dock_widgets_toolbar)
                 plugin_manager.set_minimized_dock_widgets_toolbar(minimized_dock_widgets_toolbar)
 
-        if settings is not None and menu_bar is not None:
+        if menu_bar is not None:
             perspective_menu = menu_bar.addMenu(menu_bar.tr('Perspectives'))
             perspective_manager.set_menu(perspective_menu)
 
@@ -468,7 +470,7 @@ def sigint_handler(*args):
             plugin_manager.close_application_signal.connect(main_window.close, type=Qt.QueuedConnection)
 
         if main_window is not None and menu_bar is not None:
-            about_handler = AboutHandler(main_window)
+            about_handler = AboutHandler(context.qtgui_path, main_window)
             help_menu = menu_bar.addMenu(menu_bar.tr('Help'))
             action = QAction(file_menu.tr('About'), help_menu)
             action.setIcon(QIcon.fromTheme('help-about'))
@@ -508,8 +510,6 @@ def sigint_handler(*args):
 
         plugin_manager.discover()
 
-        self._caching_hook()
-
         if self._options.reload_import:
             qDebug('ReloadImporter() automatically reload all subsequent imports')
             from .reload_importer import ReloadImporter

qt_gui/src/qt_gui/perspective_manager.py

@@ -34,7 +34,6 @@
 from python_qt_binding import loadUi
 from python_qt_binding.QtCore import QByteArray, qDebug, QObject, QSignalMapper, Signal, Slot
 from python_qt_binding.QtGui import QAction, QFileDialog, QIcon, QInputDialog, QMessageBox, QValidator
-from rospkg.rospack import RosPack
 
 from .menu_manager import MenuManager
 from .settings import Settings
@@ -56,6 +55,8 @@ def __init__(self, settings, application_context):
         super(PerspectiveManager, self).__init__()
         self.setObjectName('PerspectiveManager')
 
+        self._qtgui_path = application_context.qtgui_path
+
         self._settings_proxy = SettingsProxy(settings)
         self._global_settings = Settings(self._settings_proxy, 'global')
         self._perspective_settings = None
@@ -182,8 +183,7 @@ def _on_create_perspective(self):
     def _choose_new_perspective_name(self, show_cloning=True):
         # input dialog for new perspective name
         if self._create_perspective_dialog is None:
-            rp = RosPack()
-            ui_file = os.path.join(rp.get_path('qt_gui'), 'resource', 'perspective_create.ui')
+            ui_file = os.path.join(self._qtgui_path, 'resource', 'perspective_create.ui')
             self._create_perspective_dialog = loadUi(ui_file)
 
             # custom validator preventing forward slashs

qt_gui/src/qt_gui/plugin_handler.py

@@ -252,7 +252,7 @@ def _update_dock_widget_features(self, dock_widget):
     def _update_title_bar(self, dock_widget, hide_help=False, hide_reload=False):
         title_bar = dock_widget.titleBarWidget()
         if title_bar is None:
-            title_bar = DockWidgetTitleBar(dock_widget)
+            title_bar = DockWidgetTitleBar(dock_widget, self._application_context.qtgui_path)
             dock_widget.setTitleBarWidget(title_bar)
 
             # connect extra buttons

qt_gui/src/qt_gui/plugin_manager.py

@@ -28,16 +28,20 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+import os
+import time
 import traceback
 
-from python_qt_binding.QtCore import qCritical, qDebug, QObject, Qt, qWarning, Signal, Slot
+from python_qt_binding.QtCore import qCritical, qDebug, QObject, QSettings, Qt, qWarning, Signal, Slot
 
 from .container_manager import ContainerManager
 from .errors import PluginLoadError
 from .plugin_handler_container import PluginHandlerContainer
 from .plugin_handler_direct import PluginHandlerDirect
 from .plugin_instance_id import PluginInstanceId
 from .plugin_menu import PluginMenu
+from .settings import Settings
+from .settings_proxy import SettingsProxy
 
 
 class PluginManager(QObject):
@@ -54,11 +58,14 @@ class PluginManager(QObject):
     close_application_signal = Signal()
     _deferred_reload_plugin_signal = Signal(str)
 
-    def __init__(self, plugin_provider, application_context):
+    discovery_cache_max_age = 60 * 60 * 24  # one day
+
+    def __init__(self, plugin_provider, settings, application_context):
         super(PluginManager, self).__init__()
         self.setObjectName('PluginManager')
 
         self._plugin_provider = plugin_provider
+        self._settings = Settings(SettingsProxy(settings), 'plugin_manager')
         self._application_context = application_context
 
         self._main_window = None
@@ -104,8 +111,9 @@ def discover(self):
         if self._plugin_descriptors is not None:
             return
         self._plugin_descriptors = {}
+
         # register discovered plugins
-        plugin_descriptors = self._plugin_provider.discover()
+        plugin_descriptors = self._discover()
         for plugin_descriptor in plugin_descriptors:
             self._plugin_descriptors[plugin_descriptor.plugin_id()] = plugin_descriptor
 
@@ -118,6 +126,30 @@ def discover(self):
             if self._plugin_menu is not None:
                 self._container_manager.add_to_plugin_menu(self._plugin_menu)
 
+    def _discover(self):
+        discovery_data = self._settings.get_settings('discovery_data')
+        # check timestamp of the cached discovery data
+        cache_stamp = self._settings.value('discovery_timestamp', default_value=None)
+        if cache_stamp:
+            cache_stamp = float(cache_stamp)
+
+        # wipe cached data when forcing discovery or when cache is to old (or from the future)
+        now = time.time()
+        if self._application_context.options.force_discover or not cache_stamp or cache_stamp > now or cache_stamp + PluginManager.discovery_cache_max_age < now:
+            qDebug('PluginManager._discover() force discovery of plugins')
+            for k in discovery_data.all_keys():
+                discovery_data.remove(k)
+        else:
+            qDebug('PluginManager._discover() using cached plugin discovery information')
+
+        plugin_descriptors = self._plugin_provider.discover(discovery_data)
+
+        # store timestamp and newly discovered data
+        if not cache_stamp:
+            self._settings.set_value('discovery_timestamp', now)
+
+        return plugin_descriptors
+
     def find_plugins_by_name(self, lookup_name):
         plugins = {}
         for plugin_id, plugin_full_name in self.get_plugins().items():

qt_gui/src/qt_gui/plugin_provider.py

@@ -39,9 +39,10 @@ def __init__(self):
         super(PluginProvider, self).__init__()
         self.setObjectName('PluginProvider')
 
-    def discover(self):
+    def discover(self, discovery_data):
         """
         Discover the plugins.
+        @param discovery_data: The settings containing any discovery data which is cached between invocations
         @return: Dictionary of plugin ids to `PluginDescriptor`s
         """
         raise NotImplementedError