Initial work (fork from rqt_py_console)

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(rqt_dynamic_graph)
+# Load catkin and all dependencies required for this package
+find_package(catkin REQUIRED)
+catkin_package()
+catkin_python_setup()
+
+install(FILES plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY resource
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(PROGRAMS scripts/rqt_dynamic_graph
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

package.xml

+<package>
+  <name>rqt_dynamic_graph</name>
+  <version>0.3.0</version>
+  <description>rqt_dynamic_graph
+  is a Python GUI plugin providing an interactive Python console.</description>
+  <maintainer email="scholz@sim.tu-darmstadt.de">Dorian Scholz</maintainer>
+  <maintainer email="isao.saito@mavs.uta.edu">Isaac Saito</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/rqt_dynamic_graph</url>
+
+  <author>Dorian Scholz</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>python-rospkg</run_depend>
+  <run_depend>qt_gui</run_depend>
+  <run_depend>qt_gui_py_common</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>rqt_gui</run_depend>
+  <run_depend>rqt_gui_py</run_depend>
+
+  <run_depend>rospy</run_depend>
+  <run_depend>dynamic_graph_bridge</run_depend>
+
+  <export>
+    <qt_gui plugin="${prefix}/plugin.xml"/>
+  </export>
+</package>

plugin.xml

+<library path="src">
+  <class name="PyConsole"
+	 type="rqt_dynamic_graph.py_console.PyConsole"
+	 base_class_type="qt_gui_py::Plugin">
+    <description>
+      A Python GUI plugin providing an interactive Python console.
+    </description>
+    <qtgui>
+      <label>Dynamic Graph Console</label>
+      <icon type="theme">applications-python</icon>
+      <statustip>Open a Python interpreter connected to the Stack of
+      Tasks.</statustip>
+    </qtgui>
+  </class>
+</library>

resource/run_command_widget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>RunCommand</class>
+ <widget class="QWidget" name="RunCommand">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>276</width>
+    <height>212</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>RunCommand</string>
+  </property>
+  <layout class="QVBoxLayout" name="_2">
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>3</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <item>
+    <layout class="QHBoxLayout" name="header_layout">
+     <property name="spacing">
+      <number>0</number>
+     </property>
+     <item>
+      <widget class="PyConsoleTextEdit" name="py_console"/>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>PyConsoleTextEdit</class>
+   <extends>QTextEdit</extends>
+   <header>rqt_dynamic_graph.py_console_text_edit</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>

scripts/rqt_dynamic_graph

+#!/usr/bin/env python
+
+import sys
+
+from rqt_gui.main import Main
+
+main = Main()
+sys.exit(main.main(sys.argv, standalone='rqt_dynamic_graph'))

setup.py

+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['rqt_dynamic_graph'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)

src/rqt_dynamic_graph/py_console.py

+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Dorian Scholz
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from python_qt_binding.QtGui import QVBoxLayout, QWidget
+from qt_gui.plugin import Plugin
+from qt_gui_py_common.simple_settings_dialog import SimpleSettingsDialog
+from rqt_dynamic_graph.py_console_widget import PyConsoleWidget
+
+try:
+    from spyder_console_widget import SpyderConsoleWidget
+    _has_spyderlib = True
+except ImportError:
+    _has_spyderlib = False
+
+
+class PyConsole(Plugin):
+    """
+    Plugin providing an interactive Python console
+    """
+    def __init__(self, context):
+        super(PyConsole, self).__init__(context)
+        self.setObjectName('PyConsole')
+
+        self._context = context
+        self._use_spyderlib = _has_spyderlib
+        self._console_widget = None
+        self._widget = QWidget()
+        self._widget.setLayout(QVBoxLayout())
+        self._widget.layout().setContentsMargins(0, 0, 0, 0)
+        if context.serial_number() > 1:
+            self._widget.setWindowTitle(self._widget.windowTitle() + \
+                                            (' (%d)' % context.serial_number()))
+        self._context.add_widget(self._widget)
+
+    def _switch_console_widget(self):
+        self._widget.layout().removeWidget(self._console_widget)
+        self.shutdown_console_widget()
+
+        if _has_spyderlib and self._use_spyderlib:
+            self._console_widget = SpyderConsoleWidget(self._context)
+            self._widget.setWindowTitle('SpyderConsole')
+        else:
+            self._console_widget = PyConsoleWidget(self._context)
+            self._widget.setWindowTitle('PyConsole')
+        if self._context.serial_number() > 1:
+            self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % self._context.serial_number()))
+
+        self._widget.layout().addWidget(self._console_widget)
+
+    def save_settings(self, plugin_settings, instance_settings):
+        instance_settings.set_value('use_spyderlib', self._use_spyderlib)
+
+    def restore_settings(self, plugin_settings, instance_settings):
+        self._use_spyderlib = _has_spyderlib and (instance_settings.value('use_spyderlib', True) in [True, 'true'])
+        self._switch_console_widget()
+
+    def trigger_configuration(self):
+        options = [
+            {'title': 'SpyderConsole', 'description': 'Advanced Python console with tab-completion (needs spyderlib to be installed).', 'enabled': _has_spyderlib},
+            {'title': 'PyConsole', 'description': 'Simple Python console.'},
+        ]
+        dialog = SimpleSettingsDialog(title='PyConsole Options')
+        dialog.add_exclusive_option_group(title='Console Type', options=options, selected_index=int(not self._use_spyderlib))
+        console_type = dialog.get_settings()[0]
+        new_use_spyderlib = {0: True, 1: False}.get(console_type['selected_index'], self._use_spyderlib)
+        if self._use_spyderlib != new_use_spyderlib:
+            self._use_spyderlib = new_use_spyderlib
+            self._switch_console_widget()
+
+    def shutdown_console_widget(self):
+        if self._console_widget is not None and hasattr(self._console_widget, 'shutdown'):
+            self._console_widget.shutdown()
+
+    def shutdown_plugin(self):
+        self.shutdown_console_widget()

src/rqt_dynamic_graph/py_console_text_edit.py

+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Dorian Scholz
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import sys
+from code import InteractiveInterpreter
+from exceptions import SystemExit
+
+from python_qt_binding import QT_BINDING, QT_BINDING_VERSION
+from python_qt_binding.QtCore import Qt, Signal
+
+from qt_gui_py_common.console_text_edit import ConsoleTextEdit
+
+import roslib; roslib.load_manifest('rqt_dynamic_graph')
+import rospy
+
+import dynamic_graph_bridge.srv
+
+class PyConsoleTextEdit(ConsoleTextEdit):
+    _color_stdin = Qt.darkGreen
+    _multi_line_char = ':'
+    _multi_line_indent = '    '
+    _prompt = ('>>> ', '... ')  # prompt for single and multi line
+    exit = Signal()
+
+    def __init__(self, parent=None):
+        super(PyConsoleTextEdit, self).__init__(parent)
+
+        self.cache = ""
+        self._client = rospy.ServiceProxy(
+            'run_command', dynamic_graph_bridge.srv.RunCommand, True)
+
+        self._comment_writer.write('Python %s on %s\n' % (sys.version.replace('\n', ''), sys.platform))
+        self._comment_writer.write('Qt bindings: %s version %s\n' % (QT_BINDING, QT_BINDING_VERSION))
+
+        self._add_prompt()
+
+    def update_interpreter_locals(self, newLocals):
+        pass
+
+    def _exec_code(self, code):
+        try:
+            self._runcode(code)
+        except SystemExit:  # catch sys.exit() calls, so they don't close the whole gui
+            self.exit.emit()
+
+    def _runcode(self, code, retry = True):
+        self.cache += code + "\n"
+        source = self.cache[:-1]
+        self.cache = ""
+        if source != "":
+            try:
+                if not self._client:
+                    if not retry:
+                        print("Connection to remote server lost. Reconnecting...")
+                    self._client = rospy.ServiceProxy(
+                        'run_command', dynamic_graph_bridge.srv.RunCommand, True)
+                response = self._client(str(source))
+                if response.stdout != "":
+                    print(response.stdout[:-1])
+                if response.stderr != "":
+                    print(response.stderr[:-1])
+                elif response.result != "None":
+                    print(response.result)
+            except rospy.ServiceException, e:
+                print("Connection to remote server lost. Reconnecting...")
+                self._client = rospy.ServiceProxy(
+                    'run_command', dynamic_graph_bridge.srv.RunCommand, True)
+                if retry:
+                    self.cache = source
+                    self._runcode(code, False)
+                else:
+                    print("Failed to connect. Is Stack of Tasks running?")

src/rqt_dynamic_graph/py_console_widget.py

+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Dorian Scholz
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+import rospkg
+
+from python_qt_binding import loadUi
+from python_qt_binding.QtGui import QWidget
+import rqt_dynamic_graph.py_console_text_edit
+
+class PyConsoleWidget(QWidget):
+    def __init__(self, context=None):
+        super(PyConsoleWidget, self).__init__()
+        rp = rospkg.RosPack()
+        ui_file = os.path.join(rp.get_path('rqt_dynamic_graph'),
+                               'resource', 'run_command_widget.ui')
+        loadUi(ui_file, self,
+               {'PyConsoleTextEdit':
+                    rqt_dynamic_graph.py_console_text_edit.PyConsoleTextEdit})
+        self.setObjectName('PyConsoleWidget')
+
+        my_locals = {
+            'context': context
+        }
+        self.py_console.update_interpreter_locals(my_locals)
+        self.py_console.print_message('The variable "context" is set to the PluginContext of this plugin.')
+        self.py_console.exit.connect(context.close_plugin)

src/rqt_dynamic_graph/spyder_console_widget.py

+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Dorian Scholz
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from python_qt_binding.QtGui import QFont
+
+from spyderlib.widgets.internalshell import InternalShell
+from spyderlib.utils.module_completion import moduleCompletion
+
+import roslib; roslib.load_manifest('rqt_dynamic_graph')
+import rospy
+
+import dynamic_graph_bridge.srv
+
+class SpyderConsoleWidget(InternalShell):
+    def __init__(self, context=None):
+        my_locals = {
+            'context': context
+        }
+        super(SpyderConsoleWidget, self).__init__(namespace=my_locals)
+
+        self.cache = ""
+        self._client = rospy.ServiceProxy(
+            'run_command', dynamic_graph_bridge.srv.RunCommand, True)
+
+        self.setObjectName('SpyderConsoleWidget')
+        self.set_pythonshell_font(QFont('Mono'))
+        self.interpreter.restore_stds()
+
+    def get_module_completion(self, objtxt):
+        """Return module completion list associated to object name"""
+        return moduleCompletion(objtxt)
+
+    def run_command(self, code):
+        self.interpreter.redirect_stds()
+        super(SpyderConsoleWidget, self).run_command("")
+        self._runcode(code)
+        self.flush()
+        self.interpreter.restore_stds()
+
+    def _runcode(self, code, retry = True):
+        self.cache += code + "\n"
+        source = self.cache[:-1]
+        self.cache = ""
+        if source != "":
+            try:
+                if not self._client:
+                    if not retry:
+                        print("Connection to remote server lost. Reconnecting...")
+                    self._client = rospy.ServiceProxy(
+                        'run_command', dynamic_graph_bridge.srv.RunCommand, True)
+                response = self._client(str(source))
+                if response.stdout != "":
+                    print(response.stdout[:-1])
+                if response.stderr != "":
+                    print(response.stderr[:-1])
+                elif response.result != "None":
+                    print(response.result)
+                print("\n")
+            except rospy.ServiceException, e:
+                print("Connection to remote server lost. Reconnecting...")
+                self._client = rospy.ServiceProxy(
+                    'run_command', dynamic_graph_bridge.srv.RunCommand, True)
+                if retry:
+                    self.cache = source
+                    self._runcode(code, False)
+                else:
+                    print("Failed to connect. Is Stack of Tasks running?")
+
+    def shutdown(self):
+        self.exit_interpreter()