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rqt_controller_manager compatibility for humble #1429

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merged 2 commits into from
Mar 11, 2024
Merged

rqt_controller_manager compatibility for humble #1429

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05fe45e
fix parameter_names
christophfroehlich Mar 7, 2024
11081d6
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christophfroehlich Mar 7, 2024
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49 changes: 34 additions & 15 deletions rqt_controller_manager/rqt_controller_manager/controller_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,8 @@ def __init__(self, context):
# Pop-up that displays controller information
self._popup_widget = QWidget()
ui_file = os.path.join(
get_package_share_directory("rqt_controller_manager"), "resource", "controller_info.ui"
get_package_share_directory(
"rqt_controller_manager"), "resource", "controller_info.ui"
)
loadUi(ui_file, self._popup_widget)
self._popup_widget.setObjectName("ControllerInfoUi")
Expand All @@ -71,7 +72,8 @@ def __init__(self, context):
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(f"{self._widget.windowTitle()} {context.serial_number()}")
self._widget.setWindowTitle(
f"{self._widget.windowTitle()} {context.serial_number()}")
# Add widget to the user interface
context.add_widget(self._widget)

Expand Down Expand Up @@ -106,13 +108,15 @@ def __init__(self, context):

# Timer for controller manager updates
self._update_cm_list_timer = QTimer(self)
self._update_cm_list_timer.setInterval(int(1000.0 / self._cm_update_freq))
self._update_cm_list_timer.setInterval(
int(1000.0 / self._cm_update_freq))
self._update_cm_list_timer.timeout.connect(self._update_cm_list)
self._update_cm_list_timer.start()

# Timer for running controller updates
self._update_ctrl_list_timer = QTimer(self)
self._update_ctrl_list_timer.setInterval(int(1000.0 / self._cm_update_freq))
self._update_ctrl_list_timer.setInterval(
int(1000.0 / self._cm_update_freq))
self._update_ctrl_list_timer.timeout.connect(self._update_controllers)
self._update_ctrl_list_timer.start()

Expand Down Expand Up @@ -141,7 +145,8 @@ def restore_settings(self, plugin_settings, instance_settings):
pass

def _update_cm_list(self):
update_combo(self._widget.cm_combo, _list_controller_managers(self._node))
update_combo(self._widget.cm_combo,
_list_controller_managers(self._node))

def _on_cm_change(self, cm_name):
self._cm_name = cm_name
Expand Down Expand Up @@ -181,7 +186,8 @@ def _list_controllers(self):
for name in _get_parameter_controller_names(self._node, self._cm_name):
add_ctrl = all(name != ctrl.name for ctrl in controllers)
if add_ctrl:
type_str = _get_controller_type(self._node, self._cm_name, name)
type_str = _get_controller_type(
self._node, self._cm_name, name)
uninit_ctrl = ControllerState(name=name, type=type_str)
controllers.append(uninit_ctrl)
return controllers
Expand All @@ -205,19 +211,26 @@ def _on_ctrl_menu(self, pos):
# Show context menu
menu = QMenu(self._widget.table_view)
if ctrl.state == "active":
action_deactivate = menu.addAction(self._icons["inactive"], "Deactivate")
action_kill = menu.addAction(self._icons["finalized"], "Deactivate and Unload")
action_deactivate = menu.addAction(
self._icons["inactive"], "Deactivate")
action_kill = menu.addAction(
self._icons["finalized"], "Deactivate and Unload")
elif ctrl.state == "inactive":
action_activate = menu.addAction(self._icons["active"], "Activate")
action_unload = menu.addAction(self._icons["unconfigured"], "Unload")
action_unload = menu.addAction(
self._icons["unconfigured"], "Unload")
elif ctrl.state == "unconfigured":
action_configure = menu.addAction(self._icons["inactive"], "Configure")
action_spawn = menu.addAction(self._icons["active"], "Configure and Activate")
action_configure = menu.addAction(
self._icons["inactive"], "Configure")
action_spawn = menu.addAction(
self._icons["active"], "Configure and Activate")
else:
# Controller isn't loaded
action_load = menu.addAction(self._icons["unconfigured"], "Load")
action_configure = menu.addAction(self._icons["inactive"], "Load and Configure")
action_activate = menu.addAction(self._icons["active"], "Load, Configure and Activate")
action_configure = menu.addAction(
self._icons["inactive"], "Load and Configure")
action_activate = menu.addAction(
self._icons["active"], "Load, Configure and Activate")

action = menu.exec_(self._widget.table_view.mapToGlobal(pos))

Expand Down Expand Up @@ -390,7 +403,8 @@ def _get_controller_type(node, node_name, ctrl_name):
@return Controller type
@rtype str
"""
response = call_get_parameters(node=node, node_name=node_name, parameter_names=[ctrl_name])
response = call_get_parameters(
node=node, node_name=node_name, parameter_names=[ctrl_name])
return response.values[0].string_value if response.values else ""


Expand All @@ -414,4 +428,9 @@ def _get_parameter_controller_names(node, node_name):
"""Get list of ROS parameter names that potentially represent a controller configuration."""
parameter_names = call_list_parameters(node=node, node_name=node_name)
suffix = ".type"
return [n[: -len(suffix)] for n in parameter_names.result().result.names if n.endswith(suffix)]
# @note: The versions conditioning is added here to support the source-compatibility with Humble
try:
return [n[: -len(suffix)] for n in parameter_names.result().result.names if n.endswith(suffix)]
finally:
# for humble, ros2param < 0.20.0
return [n[: -len(suffix)] for n in parameter_names if n.endswith(suffix)]
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