Class: Syskit::GUI::IDE

Inherits:
Qt::Widget
  • Object
show all
Defined in:
lib/syskit/gui/ide.rb

Overview

The main Syskit IDE window

Defined Under Namespace

Classes: Picker

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(parent = nil, runtime_only: false, host: 'localhost', port: Roby::Interface::DEFAULT_PORT, runtime: nil, tests: false, robot_name: 'default') ⇒ IDE

Returns a new instance of IDE



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# File 'lib/syskit/gui/ide.rb', line 21

def initialize(parent = nil,
    runtime_only: false,
    host: 'localhost', port: Roby::Interface::DEFAULT_PORT, runtime: nil, tests: false, robot_name: 'default')
    super(parent)

    @layout = Qt::VBoxLayout.new(self)
    @tab_widget = Qt::TabWidget.new(self)
    @layout.add_widget tab_widget
    @robot_name = robot_name

    unless runtime_only
        @testing = Testing.new
        @model_browser = ModelBrowser.new
        @btn_reload_models = Qt::PushButton.new("Reload Models", self)
        @btn_add = Qt::PushButton.new("Add", self)
        btn_add_menu = Qt::Menu.new
        btn_add_menu.add_action 'OroGen Project'
        btn_add_menu.add_action 'OroGen Type'
        btn_add_menu.add_action 'Model File'
        btn_add_menu.connect(SIGNAL('triggered(QAction*)')) do |action|
            case action.text
            when "OroGen Project"
                add_orogen_project
            when "OroGen Type"
                add_orogen_type
            when "Model File"
                add_model_file
            end
        end
        @btn_add.menu = btn_add_menu

        connect(model_browser, SIGNAL('fileOpenClicked(const QUrl&)'),
                self, SLOT('fileOpenClicked(const QUrl&)'))
        connect(testing, SIGNAL('fileOpenClicked(const QUrl&)'),
                self, SLOT('fileOpenClicked(const QUrl&)'))

        browse_container = Qt::Widget.new
        browse_container_layout = Qt::VBoxLayout.new(browse_container)
        status_bar = testing.create_status_bar_ui
        status_bar.insert_widget(0, @btn_reload_models)
        status_bar.insert_widget(1, @btn_add)
        browse_container_layout.add_layout(status_bar)
        browse_container_layout.add_widget(model_browser)
        tab_widget.add_tab browse_container, "Browse"
        tab_widget.add_tab testing, "Testing"

        btn_reload_models.connect(SIGNAL('clicked()')) do
            reload_models
        end
        model_browser.model_selector.filter_box.set_focus(Qt::OtherFocusReason)
    end

    if runtime != false
        syskit = Roby::Interface::Async::Interface.new(host, port: port)
        create_runtime_state_ui(syskit)
        runtime_idx = tab_widget.add_tab runtime_state, "Runtime"
        connect(@runtime_state, SIGNAL('fileOpenClicked(const QUrl&)'),
                self, SLOT('fileOpenClicked(const QUrl&)'))
    end

    if runtime
        tab_widget.current_index = runtime_idx
    end

    if tests
        testing.start
    end
end

Instance Attribute Details

#btn_reload_models ⇒ Object (readonly)

Returns the value of attribute btn_reload_models



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# File 'lib/syskit/gui/ide.rb', line 14

def btn_reload_models
  @btn_reload_models
end

#connection_state ⇒ Object (readonly)

Returns the value of attribute connection_state



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# File 'lib/syskit/gui/ide.rb', line 18

def connection_state
  @connection_state
end

#layout ⇒ Object (readonly)

Returns the value of attribute layout



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# File 'lib/syskit/gui/ide.rb', line 13

def layout
  @layout
end

#model_browser ⇒ Object (readonly)

Returns the value of attribute model_browser



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# File 'lib/syskit/gui/ide.rb', line 16

def model_browser
  @model_browser
end

#runtime_state ⇒ Object (readonly)

Returns the value of attribute runtime_state



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# File 'lib/syskit/gui/ide.rb', line 17

def runtime_state
  @runtime_state
end

#tab_widget ⇒ Object (readonly)

Returns the value of attribute tab_widget



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# File 'lib/syskit/gui/ide.rb', line 15

def tab_widget
  @tab_widget
end

#testing ⇒ Object (readonly)

Returns the value of attribute testing



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# File 'lib/syskit/gui/ide.rb', line 19

def testing
  @testing
end

Instance Method Details

#add_model_file ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 214

def add_model_file
    models_dir = File.join(Roby.app.app_dir, 'models')
    initial_dir =
        if File.directory?(models_dir)
            models_dir
        else
            Roby.app.app_dir
        end

    existing_models = Roby.app.root_models.
        flat_map { |root| root.each_submodel.to_a }.
        to_set

    files = Qt::FileDialog.getOpenFileNames(
        self, "Pick model file(s) to add", initial_dir)
    files.each do |path|
        Roby.app.require(path)
        Roby.app.additional_model_files << path
        @model_browser.update_exceptions
        @model_browser.reload
    end

    new_models = []
    Roby.app.root_models.each do |root|
        root.each_submodel do |m|
            new_models << m unless existing_models.include?(m)
        end
    end

    orogen_based, other = new_models.partition do |m|
        m <= Syskit::TaskContext && !(m <= Syskit::RubyTaskContext)
    end
    if (new_model = other.first || orogen_based.first)
        @model_browser.select_by_model(new_model)
    end
end

#add_orogen_project ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 171

def add_orogen_project
    loader = Roby.app.default_pkgconfig_loader
    model_names = loader.each_available_task_model_name.to_a
    syskit2orogen = model_names.
        each_with_object(Hash.new) do |(orogen_name, project_name), result|
            unless loader.has_loaded_project?(project_name)
                syskit_path = ['OroGen', *orogen_name.split('::')]
                syskit_name = syskit_path.join(".")
                result[syskit_name] = [syskit_path, project_name]
            end
        end

    if (selected = Picker.select(self, syskit2orogen.keys))
        syskit_path, project_name = syskit2orogen[selected]
        Roby.app.using_task_library(project_name)
        Roby.app.extra_required_task_libraries << project_name
        @model_browser.reload
        @model_browser.select_by_path(*syskit_path)
    end
end

#add_orogen_type ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 192

def add_orogen_type
    loader = Roby.app.default_pkgconfig_loader
    syskit2orogen = loader.each_available_type_name.
        each_with_object(Hash.new) do |(type_name, typekit_name, _), result|
            next if type_name.end_with?("_m")
            next if type_name =~ /\[/
            unless loader.has_loaded_typekit?(typekit_name)
                syskit_path = ["Types", *Typelib.split_typename(type_name)]
                syskit_name = syskit_path.join(".")
                result[syskit_name] = [syskit_path, typekit_name]
            end
        end

    if (selected = Picker.select(self, syskit2orogen.keys))
        syskit_path, typekit_name = syskit2orogen[selected]
        Roby.app.extra_required_typekits << typekit_name
        Roby.app.import_types_from(typekit_name)
        @model_browser.reload
        @model_browser.select_by_path(*syskit_path)
    end
end

#create_runtime_state_ui(syskit) ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 251

def create_runtime_state_ui(syskit)
    @runtime_state = RuntimeState.new(syskit: syskit, robot_name: @robot_name)
    connect(runtime_state, SIGNAL('fileOpenClicked(const QUrl&)'),
            self, SLOT('fileOpenClicked(const QUrl&)'))
    @connection_state = GlobalStateLabel.new(
        actions: runtime_state.global_actions.values,
        name: runtime_state.remote_name)
    @connection_state.connect(SIGNAL('clicked(QPoint)')) do |global_pos|
        @connection_state.app_state_menu(global_pos)
    end

    tab_widget.set_corner_widget(connection_state, Qt::TopLeftCorner)
    runtime_state.on_connection_state_changed do |state|
        connection_state.update_state state
    end
    runtime_state.on_progress do |message|
        state = connection_state.current_state.to_s
        connection_state.update_text("%s - %s" % [state, message])
    end
end

#fileOpenClicked(url) ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 305

def fileOpenClicked(url)
    edit_cmd = global_settings.value('Main/cmdline', Qt::Variant.new)
    if edit_cmd.null?
        Qt::MessageBox.warning(self, "Edit File", "No editor configured to open file #{url.to_string}. Edit #{global_settings.file_name} and add a cmdline= line in the [Main] section there. The %PATH and %LINENO placeholders will be replaced (if present) by the path and line number that should be edited")
    else
        edit_cmd = edit_cmd.to_string.
            gsub("%FILEPATH", url.to_local_file).
            gsub("%LINENO", url.query_item_value('lineno') || '0')

        edit_cmd = Shellwords.shellsplit(edit_cmd)
        stdin, stdout, stderr, wait_thr = Open3.popen3(*edit_cmd)
        status = wait_thr.value
        if !status.success?
            Qt::MessageBox.warning(self, "Edit File", "Runninga \"#{edit_cmd.join('" "')}\" failed\n\nProcess reported: #{stderr.read}")
        end
    end
end

#global_settings ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 272

def global_settings
    @global_settings ||= Qt::Settings.new('syskit')
end

#reload_models ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 90

def reload_models
    if @runtime_state && @runtime_state.current_state != 'UNREACHABLE'
        Qt::MessageBox.warning(
            self, "Cannot Reload while running",
            "Cannot reload while an app is running, quit the app first")
        return
    end

    model_browser.registered_exceptions.clear
    Roby.app.clear_exceptions
    Roby.app.cleanup
    Roby.app.clear_models
    Roby.app.clear_config
    Roby.app.setup
    # HACK: reload_models calls Orocos.clear, which actually
    # HACK: de-initializes Orocos. Overall, this isn't a problem
    # HACK: on the Syskit side as one is not supposed to reload
    # HACK: the models while the app is setup (setup being
    # HACK: what calls Orocos.initialize). However, the IDE also
    # HACK: has a task inspector, which also needs
    # HACK: Orocos.initialize, so the IDE *does* call initialize
    # HACK: explicitely
    @runtime_state.reset if @runtime_state
    model_browser.update_exceptions
    model_browser.reload
    testing.reloaded
end

#restore_from_settings(settings = self.settings) ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 280

def restore_from_settings(settings = self.settings)
    self.size = settings.value("MainWindow/size", Qt::Variant.new(Qt::Size.new(800, 600))).to_size
    %w{model_browser testing}.each do |child_object_name|
        next unless send(child_object_name)
        settings.begin_group(child_object_name)
        begin
            send(child_object_name).restore_from_settings(settings)
        ensure
            settings.end_group
        end
    end
end

#save_to_settings(settings = self.settings) ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 292

def save_to_settings(settings = self.settings)
    settings.set_value("MainWindow/size", Qt::Variant.new(size))
    %w{model_browser testing}.each do |child_object_name|
        next unless send(child_object_name)
        settings.begin_group(child_object_name)
        begin
            send(child_object_name).save_to_settings(settings)
        ensure
            settings.end_group
        end
    end
end

#settings ⇒ Object 



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# File 'lib/syskit/gui/ide.rb', line 276

def settings
    @settings ||= Qt::Settings.new('syskit', 'ide')
end