Skip to content
New issue

Have a question about this project? # for a free GitHub account to open an issue and contact its maintainers and the community.

#

By clicking “#”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? # to your account

rqt_runtime_monitor fixes #59

Merged
merged 1 commit into from
Jan 27, 2014
Merged

rqt_runtime_monitor fixes #59

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
107 changes: 58 additions & 49 deletions rqt_runtime_monitor/src/rqt_runtime_monitor/runtime_monitor_widget.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@
import rospkg
import threading

from diagnostic_msgs.msg import DiagnosticArray
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
from python_qt_binding import loadUi
from python_qt_binding.QtGui import QIcon, QTreeWidgetItem, QWidget
from python_qt_binding.QtCore import Qt, QTimer, QObject
Expand All @@ -47,14 +47,12 @@
class TreeItem(QObject):
##\param status DiagnosticsStatus : Diagnostic data of item
##\param tree_node wxTreeItemId : Tree ID of item in display
##\param stamp ros::Time : Stamp when message was received
def __init__(self, status, tree_node, stamp=None):
def __init__(self, status, tree_node):
super(TreeItem, self).__init__()
self.status = status
self.mark = False
self.stale = False
self.tree_node = tree_node
self.stamp = stamp


class RuntimeMonitorWidget(QWidget):
Expand Down Expand Up @@ -93,38 +91,44 @@ def __init__(self, topic="/diagnostics"):
self._new_errors_callback = None

self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._diagnostics_callback)

self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(5000)

self._msg_timer = QTimer()
self._msg_timer.timeout.connect(self._update_messages)
self._msg_timer.start(100)

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

The new timer (as well as the old one) is not stopped anywhere.

self._messages = []
self._used_items = 0

def __del__(self):
if self._subscriber is not None:
self._subscriber.unregister()
self._subscriber = None

self.shutdown()

def shutdown(self):
"""
Unregisters diagnostics subscriber for clean shutdown
Unregisters subscriber and stops timers
"""
self._msg_timer.stop()
self._timer.stop()

if rospy.is_shutdown():
return

if self._subscriber is not None:
if self._subscriber:
self._subscriber.unregister()
self._subscriber = None

def change_diagnostic_topic(self, topic):
"""
Changes diagnostics topic name. Must be of type diagnostic_msgs/DiagnosticArray
"""
if len(topic) == 0:
if not topic:
self.reset_monitor()
return

if self._subscriber is not None:
if self._subscriber:
self._subscriber.unregister()
self._subscriber = rospy.Subscriber(str(topic), DiagnosticArray, self._diagnostics_callback)
self.reset_monitor()
Expand All @@ -148,67 +152,68 @@ def _clear_tree(self):
self._ok_node.removeChild(self._ok_node.child(index))
self._update_root_labels()

# Diagnostics callbacks (subscriber thread)
def _diagnostics_callback(self, message):
with self._mutex:
self._messages.append(message)

self.new_message(rospy.get_rostime())

def new_message(self, stamp=None):
# Update display of messages from main thread
def _update_messages(self):
with self._mutex:
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I would recommend the following change to reduce the duration of the locked area: within the lock mutex just copy the queued messages in a local variable and empty the queue variable. Then the processing can happen outside of the mutex.

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Done.

had_errors = False

for message in self._messages:
for status in message.status:
was_selected = False
if (self._name_to_item.has_key(status.name)):
item = self._name_to_item[status.name]
if self.tree_widget.selectedItems() != [] and self.tree_widget.selectedItems()[0] == item:
was_selected = True
if (item.status.level == 2 and status.level != 2):
had_errors = True
self._update_item(item, status, was_selected, stamp)
else:
self._create_item(status, was_selected, True, stamp)
if (status.level == 2):
had_errors = True
messages = self._messages[:]
self._messages = []

had_errors = False
for message in messages:
for status in message.status:
was_selected = False
if (self._name_to_item.has_key(status.name)):
item = self._name_to_item[status.name]
if self.tree_widget.selectedItems() != [] and self.tree_widget.selectedItems()[0] == item:
was_selected = True
if (item.status.level == DiagnosticStatus.ERROR and status.level != DiagnosticStatus.ERROR):
had_errors = True
self._update_item(item, status, was_selected)
else:
self._create_item(status, was_selected, True)
if (status.level == DiagnosticStatus.ERROR):
had_errors = True

if (had_errors and self._new_errors_callback != None):
self._new_errors_callback()

self._update_root_labels()
self.update()
self._refresh_selection()

def _update_item(self, item, status, was_selected, stamp):
def _update_item(self, item, status, was_selected):
change_parent = False
if (item.status.level != status.level):
change_parent = True
if (change_parent):
if (item.status.level == 0):
if (item.status.level == DiagnosticStatus.OK):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == 1):
elif (item.status.level == DiagnosticStatus.WARN):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1):
elif (item.status.level == -1):
self._stale_node.removeChild(item.tree_node)
else:
else: # ERROR
self._error_node.removeChild(item.tree_node)

if (status.level == 0):
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == 1):
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1):
parent_node = self._stale_node
else:
else: # ERROR
parent_node = self._error_node

item.tree_node.setText(0, status.name + ": " + status.message)
item.stamp = stamp
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)

# expand errors automatically
if (status.level > 1 or status.level == -1):
parent_node.setExpanded(True)

Expand All @@ -227,17 +232,17 @@ def _update_item(self, item, status, was_selected, stamp):

item.mark = True

def _create_item(self, status, select, expand_if_error, stamp):
if (status.level == 0):
def _create_item(self, status, select, expand_if_error):
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == 1):
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1):
parent_node = self._stale_node
else:
else: # ERROR
parent_node = self._error_node

item = TreeItem(status, QTreeWidgetItem(parent_node, [status.name + ": " + status.message]), stamp)
item = TreeItem(status, QTreeWidgetItem(parent_node, [status.name + ": " + status.message]))
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)

Expand All @@ -257,9 +262,10 @@ def _create_item(self, status, select, expand_if_error, stamp):

def _fillout_info(self, node):
item = node.data(0, Qt.UserRole)
if (item == None):
if not item:
return

scroll_value = self.html_browser.verticalScrollBar().value()
status = item.status

s = cStringIO.StringIO()
Expand All @@ -277,10 +283,13 @@ def _fillout_info(self, node):
s.write("</table></body></html>")

self.html_browser.setHtml(s.getvalue())
if self.html_browser.verticalScrollBar().maximum() < scroll_value:
scroll_value = self.html_browser.verticalScrollBar().maximum()
self.html_browser.verticalScrollBar().setValue(scroll_value)

def _refresh_selection(self):
current_item = self.tree_widget.selectedItems()
if current_item is not None:
if current_item:
self._fillout_info(current_item[0])

def _on_key_press(self, event):
Expand Down Expand Up @@ -315,8 +324,8 @@ def _on_timer(self):
was_selected = True

new_status = copy.deepcopy(item.status)
new_status.level = -1
self._update_item(item, new_status, was_selected, item.stamp)
new_status.level = -1 # mark stale
self._update_item(item, new_status, was_selected)
item.mark = False
self._update_root_labels()
self.update()
Expand Down