rewrite of rqt_console

rqt_console/resource/console_subscriber_dialog.ui → rqt_console/resource/console_settings_dialog.ui

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>ConsoleSubscriberDialog</class>
- <widget class="QDialog" name="ConsoleSubscriberDialog">
+ <class>ConsoleSettingsDialog</class>
+ <widget class="QDialog" name="ConsoleSettingsDialog">
   <property name="windowModality">
    <enum>Qt::ApplicationModal</enum>
   </property>
@@ -10,7 +10,7 @@
     <x>0</x>
     <y>0</y>
     <width>368</width>
-    <height>119</height>
+    <height>123</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -71,8 +71,7 @@
     </layout>
    </item>
    <item>
-    <layout class="QHBoxLayout" name="levelsLayout">
-    </layout>
+    <layout class="QHBoxLayout" name="levelsLayout"/>
    </item>
    <item>
     <widget class="QDialogButtonBox" name="buttonBox">
@@ -88,7 +87,7 @@
   <connection>
    <sender>buttonBox</sender>
    <signal>accepted()</signal>
-   <receiver>ConsoleSubscriberDialog</receiver>
+   <receiver>ConsoleSettingsDialog</receiver>
    <slot>accept()</slot>
    <hints>
     <hint type="sourcelabel">
@@ -104,7 +103,7 @@
   <connection>
    <sender>buttonBox</sender>
    <signal>rejected()</signal>
-   <receiver>ConsoleSubscriberDialog</receiver>
+   <receiver>ConsoleSettingsDialog</receiver>
    <slot>reject()</slot>
    <hints>
     <hint type="sourcelabel">

rqt_console/resource/console_widget.ui

@@ -131,21 +131,30 @@
        <widget class="QWidget" name="PlaceHolder">
         <layout class="QVBoxLayout" name="verticalLayout_3">
          <item>
-          <widget class="ConsoleTableView" name="table_view">
+          <widget class="QTableView" name="table_view">
+           <property name="alternatingRowColors">
+            <bool>true</bool>
+           </property>
            <property name="selectionBehavior">
             <enum>QAbstractItemView::SelectRows</enum>
            </property>
+           <property name="iconSize">
+            <size>
+             <width>16</width>
+             <height>16</height>
+            </size>
+           </property>
            <property name="horizontalScrollMode">
             <enum>QAbstractItemView::ScrollPerPixel</enum>
            </property>
            <property name="sortingEnabled">
             <bool>true</bool>
            </property>
-           <attribute name="verticalHeaderDefaultSectionSize">
-            <number>18</number>
+           <attribute name="horizontalHeaderShowSortIndicator" stdset="0">
+            <bool>false</bool>
            </attribute>
-           <attribute name="verticalHeaderMinimumSectionSize">
-            <number>18</number>
+           <attribute name="verticalHeaderVisible">
+            <bool>false</bool>
            </attribute>
           </widget>
          </item>
@@ -218,7 +227,7 @@
         </widget>
         <widget class="QGroupBox" name="highlight_group_box">
          <property name="toolTip">
-          <string>Message matching ANY of these rules will be highlighted</string>
+          <string>Messages matching ANY of these rules will be highlighted</string>
          </property>
          <property name="title">
           <string>Highlight Messages...</string>
@@ -313,13 +322,6 @@
    </item>
   </layout>
  </widget>
- <customwidgets>
-  <customwidget>
-   <class>ConsoleTableView</class>
-   <extends>QTableView</extends>
-   <header>rqt_console.console_widget</header>
-  </customwidget>
- </customwidgets>
  <resources/>
  <connections/>
 </ui>

rqt_console/resource/filters/custom_filter_widget.ui

@@ -54,7 +54,7 @@
       </layout>
      </item>
      <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0,0,0,1">
        <property name="spacing">
         <number>0</number>
        </property>
@@ -79,14 +79,27 @@
          <property name="editTriggers">
           <set>QAbstractItemView::NoEditTriggers</set>
          </property>
+         <property name="alternatingRowColors">
+          <bool>true</bool>
+         </property>
          <property name="selectionMode">
           <enum>QAbstractItemView::MultiSelection</enum>
          </property>
          <property name="flow">
           <enum>QListView::LeftToRight</enum>
          </property>
+         <property name="spacing">
+          <number>1</number>
+         </property>
         </widget>
        </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout">
+         <property name="leftMargin">
+          <number>20</number>
+         </property>
+        </layout>
+       </item>
        <item>
         <widget class="QLabel" name="label_3">
          <property name="text">
@@ -108,12 +121,18 @@
          <property name="editTriggers">
           <set>QAbstractItemView::NoEditTriggers</set>
          </property>
+         <property name="alternatingRowColors">
+          <bool>true</bool>
+         </property>
          <property name="selectionMode">
           <enum>QAbstractItemView::MultiSelection</enum>
          </property>
          <property name="flow">
           <enum>QListView::LeftToRight</enum>
          </property>
+         <property name="spacing">
+          <number>1</number>
+         </property>
         </widget>
        </item>
       </layout>
@@ -144,12 +163,18 @@
          <property name="editTriggers">
           <set>QAbstractItemView::NoEditTriggers</set>
          </property>
+         <property name="alternatingRowColors">
+          <bool>true</bool>
+         </property>
          <property name="selectionMode">
           <enum>QAbstractItemView::MultiSelection</enum>
          </property>
          <property name="flow">
           <enum>QListView::LeftToRight</enum>
          </property>
+         <property name="spacing">
+          <number>1</number>
+         </property>
         </widget>
        </item>
       </layout>

rqt_console/resource/filters/list_filter_widget.ui

@@ -33,12 +33,18 @@
        <property name="editTriggers">
         <set>QAbstractItemView::NoEditTriggers</set>
        </property>
+       <property name="alternatingRowColors">
+        <bool>true</bool>
+       </property>
        <property name="selectionMode">
         <enum>QAbstractItemView::MultiSelection</enum>
        </property>
        <property name="flow">
         <enum>QListView::LeftToRight</enum>
        </property>
+       <property name="spacing">
+        <number>1</number>
+       </property>
       </widget>
      </item>
     </layout>

rqt_console/src/rqt_console/console.py

@@ -30,12 +30,16 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from rosgraph_msgs.msg import Log
+import rospy
+
 from python_qt_binding.QtCore import QMutex, QMutexLocker, QTimer
 
 from qt_gui.plugin import Plugin
 
-from .console_subscriber import ConsoleSubscriber
+from .console_settings_dialog import ConsoleSettingsDialog
 from .console_widget import ConsoleWidget
+from .message import Message
 from .message_data_model import MessageDataModel
 from .message_proxy_model import MessageProxyModel
 
@@ -52,54 +56,81 @@ def __init__(self, context):
         super(Console, self).__init__(context)
         self.setObjectName('Console')
 
-        self._datamodel = MessageDataModel()
-        self._proxymodel = MessageProxyModel()
-        self._proxymodel.setSourceModel(self._datamodel)
+        self._model = MessageDataModel()
+        self._proxy_model = MessageProxyModel()
+        self._proxy_model.setSourceModel(self._model)
 
-        self._mainwindow = ConsoleWidget(self._proxymodel)
+        self._widget = ConsoleWidget(self._proxy_model)
         if context.serial_number() > 1:
-            self._mainwindow.setWindowTitle(self._mainwindow.windowTitle() + (' (%d)' % context.serial_number()))
-        context.add_widget(self._mainwindow)
-
-        self._consolesubscriber = ConsoleSubscriber(self.message_callback)
+            self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
+        context.add_widget(self._widget)
 
-        # Timer and Mutex for flushing recieved messages to datamodel.
-        # Required since QSortProxyModel can not handle a high insert rate
+        # queue to store incoming data which get flushed periodically to the model
+        # required since QSortProxyModel can not handle a high insert rate
+        self._message_queue = []
         self._mutex = QMutex()
         self._timer = QTimer()
         self._timer.timeout.connect(self.insert_messages)
         self._timer.start(100)
 
-    def insert_messages(self):
+        self._subscriber = None
+        self._topic = '/rosout_agg'
+        self._subscribe(self._topic)
+
+    def queue_message(self, log_msg):
         """
-        Callback for flushing incoming Log messages from the queue to the datamodel
+        Callback for adding an incomming message to the queue.
         """
-        with QMutexLocker(self._mutex):
-            msgs = self._datamodel._insert_message_queue
-            self._datamodel._insert_message_queue = []
-        self._datamodel.insert_rows(msgs)
-        self._mainwindow.update_status()
+        if not self._widget._paused:
+            msg = Console.convert_rosgraph_log_message(log_msg)
+            with QMutexLocker(self._mutex):
+                self._message_queue.append(msg)
 
-    def message_callback(self, msg):
+    @staticmethod
+    def convert_rosgraph_log_message(log_msg):
+        msg = Message()
+        msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
+        msg.message = log_msg.msg
+        msg.severity = log_msg.level
+        msg.node = log_msg.name
+        msg.stamp = (log_msg.header.stamp.secs, log_msg.header.stamp.nsecs)
+        msg.topics = sorted(log_msg.topics)
+        msg.location = log_msg.file + ':' + log_msg.function + ':' + str(log_msg.line)
+        return msg
+
+    def insert_messages(self):
         """
-        Callback for adding an incomming message to the queue
+        Callback for flushing incoming Log messages from the queue to the model.
         """
-        if not self._datamodel._paused:
-            with QMutexLocker(self._mutex):
-                self._datamodel._insert_message_queue.append(msg)
+        with QMutexLocker(self._mutex):
+            msgs = self._message_queue
+            self._message_queue = []
+        if msgs:
+            self._model.insert_rows(msgs)
 
     def shutdown_plugin(self):
-        self._consolesubscriber.unsubscribe_topic()
+        self._subscriber.unregister()
         self._timer.stop()
-        self._mainwindow.cleanup_browsers_on_close()
+        self._widget.cleanup_browsers_on_close()
 
     def save_settings(self, plugin_settings, instance_settings):
-        self._mainwindow.save_settings(plugin_settings, instance_settings)
+        self._widget.save_settings(plugin_settings, instance_settings)
 
     def restore_settings(self, plugin_settings, instance_settings):
-        self._mainwindow.restore_settings(plugin_settings, instance_settings)
+        self._widget.restore_settings(plugin_settings, instance_settings)
 
     def trigger_configuration(self):
-        self._consolesubscriber.set_message_limit(self._datamodel._message_limit)
-        if self._consolesubscriber.show_dialog():
-            self._datamodel.set_message_limit(self._consolesubscriber.get_message_limit())
+        topics = [t for t in rospy.get_published_topics() if t[1] == 'rosgraph_msgs/Log']
+        topics.sort(key=lambda tup: tup[0])
+        dialog = ConsoleSettingsDialog(topics)
+        (topic, message_limit) = dialog.query(self._topic, self._model.get_message_limit())
+        if topic != self._topic:
+            self._subscribe(topic)
+        if message_limit != self._model.get_message_limit():
+            self._model.set_message_limit(message_limit)
+
+    def _subscribe(self, topic):
+        if self._subscriber:
+            self._subscriber.unregister()
+        self._subscriber = rospy.Subscriber(topic, Log, self.queue_message)
+        self._currenttopic = topic

rqt_console/src/rqt_console/console_subscriber_dialog.py → rqt_console/src/rqt_console/console_settings_dialog.py

@@ -36,23 +36,40 @@
 from python_qt_binding import loadUi
 from python_qt_binding.QtGui import QDialog
 
+from rqt_logger_level.logger_level_widget import LoggerLevelWidget
+from rqt_logger_level.logger_level_service_caller import LoggerLevelServiceCaller
 
-class ConsoleSubscriberDialog(QDialog):
+
+class ConsoleSettingsDialog(QDialog):
     """
-    Dialog for use with ConsoleSubscriber class to change the subscribed topic
-    and alter the message buffer size
+    Dialog to change the subscribed topic and alter the message buffer size.
     """
-    def __init__(self, topics, limit):
+    def __init__(self, topics):
         """
         :param topics: list of topics to allow switching, ''list of string''
         :param limit: displayed in the message buffer size spin box, ''int''
         """
-        super(ConsoleSubscriberDialog, self).__init__()
+        super(ConsoleSettingsDialog, self).__init__()
         rp = rospkg.RosPack()
-        ui_file = os.path.join(rp.get_path('rqt_console'), 'resource', 'console_subscriber_dialog.ui')
+        ui_file = os.path.join(rp.get_path('rqt_console'), 'resource', 'console_settings_dialog.ui')
         loadUi(ui_file, self)
-        topics.sort(reverse=True)
         for topic in topics:
-            if topic[1].find('Log') != -1:
-                self.topic_combo.addItem(topic[0] + ' (' + topic[1] + ')')
-        self.buffer_size_spin.setValue(limit)
+            self.topic_combo.addItem(topic[0] + ' (' + topic[1] + ')', topic[0])
+
+        self._service_caller = LoggerLevelServiceCaller()
+        self._logger_widget = LoggerLevelWidget(self._service_caller)
+        self.levelsLayout.addWidget(self._logger_widget)
+        self.adjustSize()
+
+    def query(self, topic, buffer_size):
+        index = self.topic_combo.findData(topic)
+        if index != -1:
+            self.topic_combo.setCurrentIndex(index)
+        self.buffer_size_spin.setValue(buffer_size)
+        ok = self.exec_()
+        if ok == 1:
+            index = self.topic_combo.currentIndex()
+            if index != -1:
+                topic = self.topic_combo.itemData(index)
+            buffer_size = self.buffer_size_spin.value()
+        return topic, buffer_size