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Adding logic for rqt_action #4

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merged 2 commits into from
Jan 31, 2019
Merged

Adding logic for rqt_action #4

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62bc4b7
Adding logic for rqt_action
brawner Dec 21, 2018
fae7171
Modifications for latest rosidl_interface action changes
brawner Jan 15, 2019
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53 changes: 39 additions & 14 deletions src/rqt_msg/messages_widget.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,9 @@
from rqt_py_common import message_helpers
from rqt_py_common.rqt_roscomm_util import RqtRoscommUtil
from rqt_py_common.topic_helpers import is_primitive_type
from rqt_py_common.message_helpers import get_message_class, get_service_class
from rqt_py_common.message_helpers import get_message_text_from_class, get_service_text_from_class
from rqt_py_common.message_helpers import get_action_class, get_message_class, get_service_class
from rqt_py_common.message_helpers import \
get_action_text_from_class, get_message_text_from_class, get_service_text_from_class


class MessagesWidget(QWidget):
Expand Down Expand Up @@ -107,23 +108,28 @@ def _refresh_msgs(self, package=None):
if package is None or len(package) == 0:
return
self._msgs = []
if self._mode == message_helpers.MSG_MODE or self._mode == message_helpers.ACTION_MODE:
if self._mode == message_helpers.MSG_MODE:
msg_list = [
''.join([package, '/', msg])
for msg in message_helpers.get_message_types(package)]
elif self._mode == message_helpers.SRV_MODE:
msg_list = [
''.join([package, '/', srv])
for srv in message_helpers.get_service_types(package)]
elif self._mode == message_helpers.ACTION_MODE:
msg_list = [
''.join([package, '/', action])
for action in message_helpers.get_action_types(package)]

self._logger.debug(
'_refresh_msgs package={} msg_list={}'.format(package, msg_list))
for msg in msg_list:
if (self._mode == message_helpers.MSG_MODE or
self._mode == message_helpers.ACTION_MODE):
if (self._mode == message_helpers.MSG_MODE):
msg_class = get_message_class(msg)
elif self._mode == message_helpers.SRV_MODE:
msg_class = get_service_class(msg)
elif self._mode == message_helpers.ACTION_MODE:
msg_class = get_action_class(msg)

self._logger.debug('_refresh_msgs msg_class={}'.format(msg_class))

Expand All @@ -143,16 +149,11 @@ def _add_message(self):

self._logger.debug('_add_message msg={}'.format(msg))

if (self._mode == message_helpers.MSG_MODE or
self._mode == message_helpers.ACTION_MODE):
if self._mode == message_helpers.MSG_MODE:
msg_class = get_message_class(msg)()
if self._mode == message_helpers.MSG_MODE:
text_tree_root = 'Msg Root'
elif self._mode == message_helpers.ACTION_MODE:
text_tree_root = 'Action Root'
text_tree_root = 'Msg Root'
self._messages_tree.model().add_message(msg_class,
self.tr(text_tree_root), msg, msg)

elif self._mode == message_helpers.SRV_MODE:
msg_class = get_service_class(msg)
self._messages_tree.model().add_message(msg_class.Request,
Expand All @@ -161,6 +162,27 @@ def _add_message(self):
self._messages_tree.model().add_message(msg_class.Response,
self.tr('Service Response'),
msg, msg)
elif self._mode == message_helpers.ACTION_MODE:
action_class = get_action_class(msg)
text_tree_root = 'Action Root'
self._messages_tree.model().add_message(action_class.Goal.Request,
self.tr('Action Goal Request'),
msg + '/Goal/Request', msg + '/Goal/Request')
self._messages_tree.model().add_message(action_class.Goal.Response,
self.tr('Action Goal Response'),
msg + '/Goal/Response', msg + '/Goal/Response')
self._messages_tree.model().add_message(action_class.Result.Request,
self.tr('Action Result Request'),
msg + '/Result/Request',
msg + '/Result/Request')
self._messages_tree.model().add_message(action_class.Result.Response,
self.tr('Action Result Response'),
msg + '/Result/Response',
msg + '/Result/Response')
self._messages_tree.model().add_message(action_class.Feedback,
self.tr('Action Feedback'),
msg + '/Feedback', msg + '/Feedback')

self._messages_tree._recursive_set_editable(
self._messages_tree.model().invisibleRootItem(), False)

Expand Down Expand Up @@ -211,15 +233,18 @@ def _rightclick_menu(self, event):
browsetext = get_message_text_from_class(msg_class)

elif self._mode == message_helpers.SRV_MODE:

if is_primitive_type(selected_type):
browsetext = selected_type
else:
msg_class = get_service_class(selected_type)
browsetext = get_service_text_from_class(msg_class)

elif self._mode == message_helpers.ACTION_MODE:
self._logger.warn('browsetext not available for actions yet')
if is_primitive_type(selected_type):
browsetext = selected_type
else:
msg_class = get_action_class(selected_type)
browsetext = get_action_text_from_class(msg_class)

if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext))
Expand Down