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frappy/secop/gui/nodectrl.py
Enrico Faulhaber 29a5b5c49e big rework to comply to current spec 
- adapt to release(v2018-11-07)
- remove duplicate errors.py
- adapt tests

Change-Id: I383bb571f9808c72b37c12fbe55042011c4c0084
Reviewed-on: https://forge.frm2.tum.de/review/19397
Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de>
Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
2018-12-04 10:18:40 +01:00

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Python
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# -*- coding: utf-8 -*-
# *****************************************************************************
# Copyright (c) 2015-2016 by the authors, see LICENSE
#
# This program is free software; you can redistribute it and/or modify it under
# the terms of the GNU General Public License as published by the Free Software
# Foundation; either version 2 of the License, or (at your option) any later
# version.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
# details.
#
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
# Module authors:
# Alexander Lenz <alexander.lenz@frm2.tum.de>
#
# *****************************************************************************
from __future__ import print_function, division
try:
# py2
unicode(u'')
except NameError:
unicode = str # pylint: disable=redefined-builtin
import pprint
import json
from time import sleep
from secop.gui.qt import QWidget, QTextCursor, QFont, QFontMetrics, QLabel, \
QMessageBox, pyqtSlot, toHtmlEscaped
from secop.gui.util import loadUi
from secop.errors import SECoPError
from secop.datatypes import StringType, EnumType
class NodeCtrl(QWidget):
def __init__(self, node, parent=None):
super(NodeCtrl, self).__init__(parent)
loadUi(self, 'nodectrl.ui')
self._node = node
self.contactPointLabel.setText(self._node.contactPoint)
self.equipmentIdLabel.setText(self._node.equipmentId)
self.protocolVersionLabel.setText(self._node.protocolVersion)
self.nodeDescriptionLabel.setText(self._node.describingData['properties'].get(
'description', 'no description available'))
self._clearLog()
# now populate modules tab
self._init_modules_tab()
@pyqtSlot()
def on_sendPushButton_clicked(self):
msg = self.msgLineEdit.text().strip()
if not msg:
return
self._addLogEntry(
'<span style="font-weight:bold">Request:</span> '
'%s:' % msg,
raw=True)
# msg = msg.split(' ', 2)
try:
reply = self._node.syncCommunicate(*self._node.decode_message(msg))
if msg == 'describe':
_, eid, stuff = self._node.decode_message(reply)
reply = '%s %s %s' % (_, eid, json.dumps(
stuff, indent=2, separators=(',', ':'), sort_keys=True))
self._addLogEntry(reply, newline=True, pretty=False)
else:
self._addLogEntry(reply, newline=True, pretty=True)
except SECoPError as e:
self._addLogEntry(
'error %s %s' % (e.name, json.dumps(e.args)),
newline=True,
pretty=True,
error=True)
@pyqtSlot()
def on_clearPushButton_clicked(self):
self._clearLog()
def _clearLog(self):
self.logTextBrowser.clear()
self._addLogEntry('SECoP Communication Shell')
self._addLogEntry('=========================')
self._addLogEntry('', newline=True)
def _addLogEntry(self,
msg,
newline=False,
pretty=False,
raw=False,
error=False):
if pretty:
msg = pprint.pformat(msg, width=self._getLogWidth())
msg = msg[1:-1]
if not raw:
if error:
msg = '<div style="color:#FF0000"><b><pre>%s</pre></b></div>' % toHtmlEscaped(
str(msg)).replace('\n', '<br />')
else:
msg = '<pre>%s</pre>' % toHtmlEscaped(
str(msg)).replace('\n', '<br />')
content = ''
if self.logTextBrowser.toPlainText():
content = self.logTextBrowser.toHtml()
content += msg
if newline:
content += '<br />'
self.logTextBrowser.setHtml(content)
self.logTextBrowser.moveCursor(QTextCursor.End)
def _getLogWidth(self):
fontMetrics = QFontMetrics(QFont('Monospace'))
# calculate max avail characters by using an m (which is possible
# due to monospace)
result = self.logTextBrowser.width() / fontMetrics.width('m')
return result
def _init_modules_tab(self):
self._moduleWidgets = []
layout = self.scrollAreaWidgetContents.layout()
labelfont = self.font()
labelfont.setBold(True)
row = 0
for modname in sorted(self._node.modules):
modprops = self._node.getModuleProperties(modname)
if 'interface_class' in modprops:
interfaces = modprops['interface_class']
else:
interfaces = modprops.get('interfaces', '')
description = modprops.get('description', '!!! missing description !!!')
# fallback: allow (now) invalid 'Driveable'
unit = ''
try:
if 'Drivable' in interfaces or 'Driveable' in interfaces:
widget = DrivableWidget(self._node, modname, self)
unit = self._node.getProperties(modname, 'value').get('unit', '')
elif 'Writable' in interfaces or 'Writeable' in interfaces:
# XXX !!!
widget = DrivableWidget(self._node, modname, self)
unit = self._node.getProperties(modname, 'value').get('unit', '')
elif 'Readable' in interfaces:
widget = ReadableWidget(self._node, modname, self)
unit = self._node.getProperties(modname, 'value').get('unit', '')
else:
widget = QLabel('Unsupported Interfaceclass %r' % interfaces)
except Exception as e:
widget = QLabel('Bad configured Module %s! (%s)' % (modname, e))
if unit:
labelstr = '%s (%s):' % (modname, unit)
else:
labelstr = '%s:' % (modname,)
label = QLabel(labelstr)
label.setFont(labelfont)
if description:
widget.setToolTip(description)
layout.addWidget(label, row, 0)
layout.addWidget(widget, row, 1)
row += 1
self._moduleWidgets.extend((label, widget))
layout.setRowStretch(row, 1)
class ReadableWidget(QWidget):
def __init__(self, node, module, parent=None):
super(ReadableWidget, self).__init__(parent)
self._node = node
self._module = module
# XXX: avoid a nasty race condition, mainly biting on M$
for i in range(15):
if 'status' in self._node.describing_data['modules'][module]['accessibles']:
break
sleep(0.01*i)
self._status_type = self._node.getProperties(
self._module, 'status').get('datatype')
params = self._node.getProperties(self._module, 'value')
datatype = params.get('datatype', StringType())
self._is_enum = isinstance(datatype, EnumType)
loadUi(self, 'modulebuttons.ui')
# populate comboBox, keeping a mapping of Qt-index to EnumValue
if self._is_enum:
self._map = {} # maps QT-idx to name/value
self._revmap = {} # maps value/name to QT-idx
for idx, member in enumerate(datatype._enum.members):
self._map[idx] = member
self._revmap[member.name] = idx
self._revmap[member.value] = idx
self.targetComboBox.addItem(member.name, member.value)
self._init_status_widgets()
self._init_current_widgets()
self._init_target_widgets()
self._node.newData.connect(self._updateValue)
def _get(self, pname, fallback=Ellipsis):
params = self._node.queryCache(self._module)
if pname in params:
return params[pname].value
try:
# if queried, we get the qualifiers as well, but don't want them
# here
import mlzlog
mlzlog.getLogger('cached values').warn(
'no cached value for %s:%s' % (self._module, pname))
val = self._node.getParameter(self._module, pname)[0]
return val
except Exception:
self._node.log.exception()
if fallback is not Ellipsis:
return fallback
raise
def _init_status_widgets(self):
self.update_status(self._get('status', (999, '<not supported>')), {})
# XXX: also connect update_status signal to LineEdit ??
def update_status(self, status, qualifiers=None):
display_string = self._status_type.subtypes[0]._enum[status[0]].name
if status[1]:
display_string += ':' + status[1]
self.statusLineEdit.setText(display_string)
# may change meaning of cmdPushButton
def _init_current_widgets(self):
self.update_current(self._get('value', ''), {})
def update_current(self, value, qualifiers=None):
self.currentLineEdit.setText(str(value))
def _init_target_widgets(self):
# Readable has no target: disable widgets
self.targetLineEdit.setHidden(True)
self.targetComboBox.setHidden(True)
self.cmdPushButton.setHidden(True)
def update_target(self, target, qualifiers=None):
pass
def _updateValue(self, module, parameter, value):
if module != self._module:
return
if parameter == 'status':
self.update_status(*value)
elif parameter == 'value':
self.update_current(*value)
elif parameter == 'target':
self.update_target(*value)
class DrivableWidget(ReadableWidget):
def _init_target_widgets(self):
if self._is_enum:
# EnumType: disable Linedit
self.targetLineEdit.setHidden(True)
self.cmdPushButton.setHidden(True)
else:
# normal types: disable Combobox
self.targetComboBox.setHidden(True)
target = self._get('target', None)
if target:
if isinstance(target, list) and isinstance(target[1], dict):
self.update_target(target[0])
else:
self.update_target(target)
def update_current(self, value, qualifiers=None):
if self._is_enum:
member = self._map[self._revmap[value]]
self.currentLineEdit.setText('%s.%s (%d)' % (member.enum.name, member.name, member.value))
else:
self.currentLineEdit.setText(str(value))
def update_target(self, target, qualifiers=None):
if self._is_enum:
# update selected item
if target in self._revmap:
self.targetComboBox.setCurrentIndex(self._revmap[target])
else:
print(
"%s: Got invalid target value %r!" %
(self._module, target))
else:
self.targetLineEdit.setText(str(target))
def target_go(self, target):
try:
self._node.setParameter(self._module, 'target', target)
except Exception as e:
self._node.log.exception(e)
QMessageBox.warning(self.parent(), 'Operation failed', str(e))
@pyqtSlot()
def on_cmdPushButton_clicked(self):
if self._is_enum:
self.on_targetComboBox_activated(self.targetComboBox.currentText())
else:
self.on_targetLineEdit_returnPressed()
@pyqtSlot()
def on_targetLineEdit_returnPressed(self):
self.target_go(self.targetLineEdit.text())
@pyqtSlot(unicode)
def on_targetComboBox_activated(self, selection):
self.target_go(selection)
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