├── .gitignore ├── LICENSE ├── README.md ├── doc ├── ros2_launch_gui_example.png └── ros2_launch_gui_nav2_example.png ├── package.xml ├── resource └── ros2launch_gui ├── ros2launch_gui ├── __init__.py ├── actions │ ├── __init__.py │ └── display_user_interface.py ├── api │ ├── __init__.py │ ├── create_default_user_interface.py │ ├── describe.py │ └── user_interface.py ├── event_handlers │ ├── __init__.py │ └── on_user_interface_event.py ├── events │ ├── __init__.py │ └── query_user_interface.py ├── option │ ├── __init__.py │ └── gui.py ├── qt │ ├── __init__.py │ ├── details_widget.py │ ├── launch_description_widget.py │ ├── main.py │ └── process_output_widget.py └── tk │ ├── __init__.py │ ├── event_viewer.py │ ├── launch_description_treeview.py │ ├── process_manager.py │ └── user_interface.py ├── setup.cfg ├── setup.py └── test ├── test_ansi_to_html.py ├── test_copyright.py ├── test_flake8.py └── test_pep257.py /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | 2 | Apache License 3 | Version 2.0, January 2004 4 | http://www.apache.org/licenses/ 5 | 6 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 7 | 8 | 1. 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We also recommend that a 186 | file or class name and description of purpose be included on the 187 | same "printed page" as the copyright notice for easier 188 | identification within third-party archives. 189 | 190 | Copyright [yyyy] [name of copyright owner] 191 | 192 | Licensed under the Apache License, Version 2.0 (the "License"); 193 | you may not use this file except in compliance with the License. 194 | You may obtain a copy of the License at 195 | 196 | http://www.apache.org/licenses/LICENSE-2.0 197 | 198 | Unless required by applicable law or agreed to in writing, software 199 | distributed under the License is distributed on an "AS IS" BASIS, 200 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 201 | See the License for the specific language governing permissions and 202 | limitations under the License. 203 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # ROS 2 Launch GUI 2 | 3 | This package provides a Graphical User Interface for the ROS 2 Launch System. 4 | 5 | ![Example screenshot](./doc/ros2_launch_gui_example.png) 6 | 7 | The above screenshot is from running: 8 | 9 | ros2 launch -g turtlesim multisim.launch.py 10 | 11 | On the left is a tree representation of the launch description while on the right, the output of each process is separated into tabs. 12 | 13 | For a more complex example, here is a screenshot from the nav2 tutorial. 14 | 15 | ![Nav2 example screenshot](./doc/ros2_launch_gui_nav2_example.png) 16 | 17 | ## Usage 18 | 19 | So far, testing has been as a ros2 launch option. The design should allow for a DisplayUserInterface action to be manually added to a launch description, but this has not yet been tested. 20 | 21 | ### Command line option 22 | 23 | An option is add to the `ros2 launch command for enabling a gui. 24 | 25 | ros2 launch --gui my_package my_launch.py 26 | 27 | or 28 | 29 | ros2 launch -g my_package my_launch.xml 30 | 31 | ### DisplayUserInterface action 32 | 33 | This is a work in progress... 34 | 35 | ## Design 36 | 37 | The system interfaces with the launch system using the DisplayUserInterface action. This action will create a user interface and return actions from it. It also contains the LaunchDescription to display. 38 | The default user interface supplies an event handler so the ui can react to launch events. The OnUserInterfaceEvent handler will forward events to the ui and respond to QueryUserInterface events to send pending events from the ui to the launch system. 39 | In order for the ui to be able to send events to the launch system, TimerActions are used to periodically send QueryUserInterface events allowing the launch system to regularly check for new ui actions. 40 | -------------------------------------------------------------------------------- /doc/ros2_launch_gui_example.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rolker/ros2launch_gui/36729b3d413ed90711a1f46c1075522de9d80f75/doc/ros2_launch_gui_example.png -------------------------------------------------------------------------------- /doc/ros2_launch_gui_nav2_example.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rolker/ros2launch_gui/36729b3d413ed90711a1f46c1075522de9d80f75/doc/ros2_launch_gui_nav2_example.png -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | ros2launch_gui 5 | 0.0.0 6 | Provides a gui option to the ros2 launch command 7 | Roland Arsenault 8 | Apache-2.0 9 | 10 | python_qt_binding 11 | ros2launch 12 | 13 | ament_copyright 14 | ament_flake8 15 | ament_pep257 16 | python3-pytest 17 | 18 | 19 | ament_python 20 | 21 | 22 | -------------------------------------------------------------------------------- /resource/ros2launch_gui: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rolker/ros2launch_gui/36729b3d413ed90711a1f46c1075522de9d80f75/resource/ros2launch_gui -------------------------------------------------------------------------------- /ros2launch_gui/__init__.py: -------------------------------------------------------------------------------- 1 | from . import actions 2 | from . import option 3 | 4 | __all__ = [ 5 | 'actions', 6 | 'option' 7 | ] 8 | -------------------------------------------------------------------------------- /ros2launch_gui/actions/__init__.py: -------------------------------------------------------------------------------- 1 | from .display_user_interface import DisplayUserInterface 2 | 3 | __all__ = [ 4 | 'DisplayUserInterface', 5 | ] 6 | -------------------------------------------------------------------------------- /ros2launch_gui/actions/display_user_interface.py: -------------------------------------------------------------------------------- 1 | 2 | from typing import Callable 3 | from typing import List 4 | from typing import Optional 5 | 6 | from launch import Action 7 | from launch import LaunchContext 8 | from launch import LaunchDescription 9 | from launch import LaunchDescriptionEntity 10 | 11 | from ..api.create_default_user_interface import create_default_user_interface 12 | from ..api import UserInterface 13 | 14 | class DisplayUserInterface(Action): 15 | """Action to display a user interface for the launch system.""" 16 | def __init__( 17 | self, 18 | *, 19 | launch_description: LaunchDescription, 20 | ui_launcher: Callable[[LaunchDescription, LaunchContext, bool], UserInterface] = create_default_user_interface, 21 | debug: bool = False 22 | ): 23 | """ 24 | Create a DisplayUserInterface action. 25 | 26 | 27 | 28 | :param launch_description: The launch description to display the user interface for. 29 | :param ui_launcher: The function to use to create the user interface. 30 | :param debug: Whether to run the user interface in debug mode. 31 | """ 32 | super().__init__() 33 | self._launch_description = launch_description 34 | self._ui_launcher = ui_launcher 35 | self._debug = debug 36 | self._ui = None 37 | 38 | def execute(self, context) -> Optional[List[LaunchDescriptionEntity]]: 39 | self._ui = self._ui_launcher(self._launch_description, context, self._debug) 40 | return self._ui.get_pending_actions() 41 | -------------------------------------------------------------------------------- /ros2launch_gui/api/__init__.py: -------------------------------------------------------------------------------- 1 | from .describe import DescribedLaunchEntity 2 | from .user_interface import UserInterface 3 | 4 | 5 | __all__ = [ 6 | 'DescribedLaunchEntity', 7 | 'UserInterface', 8 | ] 9 | -------------------------------------------------------------------------------- /ros2launch_gui/api/create_default_user_interface.py: -------------------------------------------------------------------------------- 1 | 2 | from launch import LaunchContext 3 | from launch import LaunchDescription 4 | 5 | from ros2launch_gui.api import UserInterface 6 | 7 | def create_default_user_interface( 8 | launch_description: LaunchDescription, 9 | context: LaunchContext, 10 | debug: bool = False 11 | ) -> UserInterface: 12 | """Create a ui for monitoring launch events.""" 13 | 14 | from ros2launch_gui.qt import UserInterface 15 | 16 | return UserInterface(launch_description, debug=debug) 17 | 18 | -------------------------------------------------------------------------------- /ros2launch_gui/api/describe.py: -------------------------------------------------------------------------------- 1 | 2 | from launch import Action 3 | from launch import Condition 4 | from launch import LaunchContext 5 | from launch import LaunchDescription 6 | from launch import LaunchDescriptionEntity 7 | from launch.launch_introspector import format_action 8 | from launch.launch_introspector import format_substitutions 9 | from launch.actions import DeclareLaunchArgument 10 | from launch.actions import IncludeLaunchDescription 11 | from launch.utilities import normalize_to_list_of_substitutions 12 | from launch.utilities import perform_substitutions 13 | 14 | from launch_ros.actions import Node 15 | from launch_ros.actions import PushRosNamespace 16 | from launch_ros.actions import SetParameter 17 | from launch_ros.actions import SetParametersFromFile 18 | 19 | 20 | class DescribedLaunchEntity: 21 | """A human readable description of launch entity and its children. 22 | This is used to decouple the launch context from the description to be used 23 | in a GUI which may be running in a different thread. 24 | """ 25 | 26 | def __init__( 27 | self, 28 | launch_entity: LaunchDescriptionEntity, 29 | context: LaunchContext = None 30 | ): 31 | if launch_entity is None: 32 | self.type_name = 'None' 33 | self.label = '' 34 | self.description = '' 35 | self.id = 0 36 | 37 | self.id = id(launch_entity) 38 | 39 | self.type_name = type(launch_entity).__name__ 40 | self.label = '' 41 | if isinstance(launch_entity, Action): 42 | try: 43 | self.description = format_action(launch_entity) 44 | except Exception as e: 45 | self.description = str(e) 46 | else: 47 | try: 48 | self.description = launch_entity.describe() 49 | except NotImplementedError: 50 | self.description = '' 51 | 52 | self.conditional_children = [] 53 | 54 | # IncludeLaunchDescription's describe_sub_entities() method returns temporary entities with different ids than the entities actually run, so try to get the real ones. 55 | if isinstance(launch_entity, IncludeLaunchDescription): 56 | try: 57 | self.children = [DescribedLaunchEntity(launch_entity.launch_description_source.get_launch_description(context)),] 58 | except Exception as e: 59 | self.children = [] 60 | else: 61 | self.children = [DescribedLaunchEntity(child) for child in launch_entity.describe_sub_entities()] 62 | for condition, sub_entities in launch_entity.describe_conditional_sub_entities(): 63 | self.conditional_children.append((condition, [DescribedLaunchEntity(child) for child in sub_entities])) 64 | 65 | self.condition = None 66 | if isinstance(launch_entity, Action): 67 | if launch_entity.condition is not None: 68 | self.condition = describe_condition(launch_entity.condition, context) 69 | 70 | if isinstance(launch_entity, IncludeLaunchDescription): 71 | self.description = launch_entity.launch_description_source.location 72 | self.launch_arguments = [] 73 | for la in launch_entity.launch_arguments: 74 | self.launch_arguments.append((describe_substitution(la[0], context), describe_substitution(la[1], context))) 75 | 76 | elif isinstance(launch_entity, DeclareLaunchArgument): 77 | self.label = str(launch_entity.name) 78 | if context is not None and launch_entity.name in context.launch_configurations: 79 | self.description = context.launch_configurations[launch_entity.name] 80 | else: 81 | self.description = describe_substitution(launch_entity.default_value, context) 82 | 83 | elif isinstance(launch_entity, SetParameter): 84 | self.label = describe_substitution(launch_entity.name, context) 85 | self.description = describe_substitution(launch_entity.value, context) 86 | 87 | elif isinstance(launch_entity, SetParametersFromFile): 88 | self.description = describe_substitution(launch_entity._input_file, context) 89 | 90 | elif isinstance(launch_entity, Node): 91 | try: 92 | self.label = launch_entity.node_name 93 | except RuntimeError: 94 | pass 95 | self.description = "package: {}, executable: {}".format(launch_entity.node_package, launch_entity.node_executable) 96 | 97 | elif isinstance(launch_entity, PushRosNamespace): 98 | self.label = describe_substitution(launch_entity.namespace, context) 99 | self.description = describe_substitution(launch_entity.namespace, None) 100 | 101 | 102 | 103 | 104 | def __repr__(self): 105 | return 'id: {} ({}) name: {} desc: {}'.format(self.id, self.type_name, self.label, self.description) 106 | 107 | def describe_condition(condition: Condition, context: LaunchContext) -> str: 108 | if condition is not None: 109 | value = '?' 110 | if context is not None: 111 | value = condition.evaluate(context) 112 | return '{}: {}'.format(type(condition).__name__, value) 113 | return '' 114 | 115 | def describe_substitution(substitution, context: LaunchContext) -> str: 116 | if substitution is None: 117 | return '' 118 | if context is not None: 119 | return perform_substitutions(context, normalize_to_list_of_substitutions(substitution)) 120 | return format_substitutions(substitution) 121 | 122 | -------------------------------------------------------------------------------- /ros2launch_gui/api/user_interface.py: -------------------------------------------------------------------------------- 1 | 2 | from typing import List 3 | from typing import Optional 4 | 5 | from launch import Event 6 | from launch import LaunchContext 7 | from launch import LaunchDescription 8 | from launch import LaunchDescriptionEntity 9 | 10 | from launch.actions import EmitEvent 11 | from launch.actions import RegisterEventHandler 12 | from launch.actions import Shutdown 13 | 14 | from launch.events import ExecutionComplete 15 | from launch.events import IncludeLaunchDescription 16 | 17 | from launch.events.process import ProcessStarted 18 | from launch.events.process import ProcessExited 19 | from launch.events.process import ProcessIO 20 | from launch.events.process import RunningProcessEvent 21 | 22 | import os 23 | 24 | # Get ROS distro 25 | __installed_distro = os.environ.get("ROS_DISTRO", "").lower() 26 | 27 | if __installed_distro in ["humble", "galactic", "foxy"]: 28 | # Get some_action_type for older distributions 29 | from launch.some_actions_type import SomeActionsType as SomeEntitiesType 30 | else: 31 | from launch.some_entities_type import SomeEntitiesType 32 | 33 | from launch_ros.events.lifecycle import ChangeState 34 | from launch_ros.events.lifecycle import StateTransition 35 | 36 | from .describe import DescribedLaunchEntity 37 | 38 | from ..event_handlers import OnUserInterfaceEvent 39 | from ..events import QueryUserInterface 40 | 41 | class UserInterface: 42 | """Base class for a launch system user interface""" 43 | 44 | def __init__( 45 | self, 46 | launch_description: LaunchDescription, 47 | debug: bool = False 48 | ): 49 | self._pending_actions = [ 50 | RegisterEventHandler(OnUserInterfaceEvent(self, debug)), 51 | EmitEvent(event=QueryUserInterface()), 52 | EmitEvent(event=IncludeLaunchDescription(launch_description)) 53 | ] 54 | self._close_requested = False 55 | 56 | def close(self) -> None: 57 | """Request the GUI to close.""" 58 | self._close_requested = True 59 | 60 | @property 61 | def close_requested(self) -> bool: 62 | """Check if the GUI has been requested to close.""" 63 | return self._close_requested 64 | 65 | def get_pending_actions(self) -> List[LaunchDescriptionEntity]: 66 | actions = self._pending_actions 67 | self._pending_actions = [] 68 | return actions 69 | 70 | def add_pending_action(self, action: LaunchDescriptionEntity) -> None: 71 | self._pending_actions.append(action) 72 | 73 | def on_process_started(self, process_name: str, pid: int, action: DescribedLaunchEntity) -> None: 74 | """Display a process start event in the GUI.""" 75 | pass 76 | 77 | def on_process_exited(self, process_name: str, pid: int, action: DescribedLaunchEntity, return_code) -> None: 78 | """Display a process exit event in the GUI.""" 79 | pass 80 | 81 | def on_process_io(self, process_name: str, text: str) -> None: 82 | """Display process output in the GUI.""" 83 | pass 84 | 85 | def on_describe_launch_entity(self, entity: DescribedLaunchEntity) -> None: 86 | """Display a description of a launch entity in the GUI.""" 87 | pass 88 | 89 | def on_execution_complete(self, entity: DescribedLaunchEntity) -> None: 90 | """Display a completion event in the GUI.""" 91 | pass 92 | 93 | def on_state_transition(self, entity: DescribedLaunchEntity, start_state: str, goal_state: str) -> None: 94 | """Display a state transition in the GUI.""" 95 | pass 96 | 97 | def on_close(self): 98 | """Called when the GUI is closed.""" 99 | # only shutdown the launch if close was requested from the gui 100 | if not self.close_requested: 101 | self.add_pending_action(Shutdown()) 102 | 103 | def handle(self, event: Event, context: LaunchContext) -> Optional[SomeEntitiesType]: 104 | """Handle a launch event.""" 105 | if isinstance(event, RunningProcessEvent): 106 | if isinstance(event, ProcessStarted): 107 | self.on_process_started(event.process_name, event.pid, DescribedLaunchEntity(event.action, context)) 108 | elif isinstance(event, ProcessExited): 109 | self.on_process_exited(event.process_name, event.pid, DescribedLaunchEntity(event.action, context), event.returncode) 110 | elif isinstance(event, ProcessIO): 111 | self.on_process_io(event.process_name, event.text) 112 | elif isinstance(event, ExecutionComplete): 113 | self.on_execution_complete(DescribedLaunchEntity(event.action, context)) 114 | elif isinstance(event, IncludeLaunchDescription): 115 | self.on_describe_launch_entity(DescribedLaunchEntity(event.launch_description, context)) 116 | elif isinstance(event, StateTransition): 117 | self.on_state_transition( 118 | DescribedLaunchEntity(event.action, context), 119 | event.start_state, 120 | event.goal_state 121 | ) 122 | return None 123 | -------------------------------------------------------------------------------- /ros2launch_gui/event_handlers/__init__.py: -------------------------------------------------------------------------------- 1 | from .on_user_interface_event import OnUserInterfaceEvent 2 | 3 | __all__ = [ 4 | 'OnUserInterfaceEvent', 5 | ] 6 | -------------------------------------------------------------------------------- /ros2launch_gui/event_handlers/on_user_interface_event.py: -------------------------------------------------------------------------------- 1 | from launch.actions import TimerAction 2 | from launch.actions import EmitEvent 3 | from launch.actions import LogInfo 4 | from launch.event_handler import BaseEventHandler 5 | from launch.events import Shutdown 6 | from ros2launch_gui.events import QueryUserInterface 7 | 8 | class OnUserInterfaceEvent(BaseEventHandler): 9 | def __init__(self, ui, debug: bool = False): 10 | super().__init__(matcher=lambda event: True) 11 | self._ui = ui 12 | self._debug = debug 13 | 14 | def handle(self, event, context): 15 | super().handle(event, context) 16 | if self._ui is None: 17 | return None 18 | if isinstance(event, Shutdown): 19 | self._ui.close() 20 | self._ui = None 21 | return None 22 | if isinstance(event, QueryUserInterface): 23 | return [TimerAction( 24 | period=0.5, 25 | actions=[EmitEvent(event=QueryUserInterface())]) 26 | ] + self._ui.get_pending_actions() 27 | try: 28 | return self._ui.handle(event, context) 29 | except Exception as e: 30 | if self._debug: 31 | self._ui.close() 32 | self._ui = None 33 | raise 34 | return [LogInfo(msg=f'Exception while ui was handling event: {event.name}, exception: {e}')] 35 | -------------------------------------------------------------------------------- /ros2launch_gui/events/__init__.py: -------------------------------------------------------------------------------- 1 | from .query_user_interface import QueryUserInterface 2 | 3 | __all__ = [ 4 | 'QueryUserInterface', 5 | ] 6 | -------------------------------------------------------------------------------- /ros2launch_gui/events/query_user_interface.py: -------------------------------------------------------------------------------- 1 | 2 | from launch import Event 3 | 4 | class QueryUserInterface(Event): 5 | """Event sent at regular interval to collect Actions from a user interface""" 6 | 7 | name = 'ros2launch_gui.events.QueryUserInterface' 8 | 9 | def __init__(self): 10 | super().__init__() 11 | -------------------------------------------------------------------------------- /ros2launch_gui/option/__init__.py: -------------------------------------------------------------------------------- 1 | from . import gui 2 | 3 | __all__ = [ 4 | 'gui' 5 | ] 6 | -------------------------------------------------------------------------------- /ros2launch_gui/option/gui.py: -------------------------------------------------------------------------------- 1 | 2 | from launch import LaunchDescription 3 | 4 | from ros2launch_gui.actions import DisplayUserInterface 5 | from ros2launch.option import OptionExtension 6 | 7 | from typing import Tuple 8 | 9 | 10 | class GuiOption(OptionExtension): 11 | 12 | def add_arguments(self, parser, cli_name, *, argv=None): 13 | parser.add_argument( 14 | '-g', '--gui', 15 | action='store_true', 16 | help='Display launch status in a GUI' 17 | ) 18 | 19 | def prelaunch( 20 | self, 21 | launch_description: LaunchDescription, 22 | args 23 | ) -> Tuple[LaunchDescription,]: 24 | if(args.gui): 25 | return LaunchDescription( 26 | [ 27 | DisplayUserInterface(launch_description=launch_description, debug=args.debug), 28 | ] 29 | ), 30 | 31 | return launch_description, 32 | 33 | 34 | -------------------------------------------------------------------------------- /ros2launch_gui/qt/__init__.py: -------------------------------------------------------------------------------- 1 | from .main import UserInterface 2 | 3 | __all__ = [ 4 | 'UserInterface', 5 | ] 6 | -------------------------------------------------------------------------------- /ros2launch_gui/qt/details_widget.py: -------------------------------------------------------------------------------- 1 | from python_qt_binding.QtWidgets import QPushButton 2 | from python_qt_binding.QtWidgets import QWidget 3 | from python_qt_binding.QtWidgets import QVBoxLayout 4 | 5 | from .process_output_widget import ProcessOutputWidget 6 | 7 | class DetailsWidget(QWidget): 8 | """A widget to manage and display detail widgets.""" 9 | 10 | def __init__(self, parent=None): 11 | """Create a DetailsWidget.""" 12 | super().__init__(parent) 13 | 14 | self.all_process_output_widget = ProcessOutputWidget(self) 15 | self.process_output_widgets = {} 16 | 17 | self.layout = QVBoxLayout() 18 | 19 | show_all_button = QPushButton('Show All Processes') 20 | show_all_button.clicked.connect(self.show_all_processes_output) 21 | self.layout.addWidget(show_all_button) 22 | 23 | self.layout.addWidget(self.all_process_output_widget) 24 | self.current_widget = self.all_process_output_widget 25 | 26 | self.setLayout(self.layout) 27 | 28 | def on_process_started(self, process_name, pid): 29 | if process_name in self.process_output_widgets: 30 | process_output_widget = self.process_output_widgets[process_name] 31 | else: 32 | process_output_widget = ProcessOutputWidget(self, show_process_name=False) 33 | self.process_output_widgets[process_name] = process_output_widget 34 | process_output_widget.hide() 35 | self.layout.addWidget(process_output_widget) 36 | 37 | process_output_widget.on_process_io(process_name, f'Process {pid} started for {process_name}') 38 | 39 | def on_process_io(self, process_name, text): 40 | self.all_process_output_widget.on_process_io(process_name, text) 41 | if process_name in self.process_output_widgets: 42 | self.process_output_widgets[process_name].on_process_io(process_name, text) 43 | 44 | def on_process_exited(self, process_name, return_code): 45 | if process_name in self.process_output_widgets: 46 | self.process_output_widgets[process_name].on_process_io(process_name, f'Process exited with return code {return_code}') 47 | 48 | def show_all_processes_output(self): 49 | self.current_widget.hide() 50 | self.current_widget = self.all_process_output_widget 51 | self.current_widget.show() 52 | 53 | def show_process_output(self, process_name): 54 | if process_name in self.process_output_widgets: 55 | self.current_widget.hide() 56 | self.current_widget = self.process_output_widgets[process_name] 57 | self.current_widget.show() 58 | -------------------------------------------------------------------------------- /ros2launch_gui/qt/launch_description_widget.py: -------------------------------------------------------------------------------- 1 | import signal 2 | 3 | from typing import Callable 4 | 5 | from python_qt_binding.QtCore import Qt 6 | from python_qt_binding.QtGui import QBrush 7 | from python_qt_binding.QtGui import QColor 8 | from python_qt_binding.QtWidgets import QMenu 9 | from python_qt_binding.QtWidgets import QTreeWidgetItem 10 | from python_qt_binding.QtWidgets import QTreeWidget 11 | from python_qt_binding.QtWidgets import QVBoxLayout 12 | from python_qt_binding.QtWidgets import QWidget 13 | 14 | from launch.actions import EmitEvent 15 | from launch.events.process import SignalProcess 16 | from launch.events.process.process_matchers import matches_pid 17 | from launch_ros.events.lifecycle import ChangeState 18 | from launch_ros.events import matches_node_name 19 | from ros2launch_gui.api.describe import DescribedLaunchEntity 20 | 21 | from lifecycle_msgs.msg import Transition 22 | 23 | 24 | class LaunchDescriptionWidget(QWidget): 25 | """ 26 | A widget that displays a launch description as a tree. 27 | 28 | The tree is updated when the launch is executed showing the status of processes. 29 | """ 30 | 31 | DetailsCallbackRole = Qt.UserRole 32 | ContextMenuRole = Qt.UserRole + 1 33 | 34 | 35 | lifecycle_transitions = { 36 | 'unconfigured': ( 37 | ('Configure', Transition.TRANSITION_CONFIGURE), 38 | ('Shutdown', Transition.TRANSITION_UNCONFIGURED_SHUTDOWN) 39 | ), 40 | 'inactive': ( 41 | ('Activate', Transition.TRANSITION_ACTIVATE), 42 | ('Shutdown', Transition.TRANSITION_INACTIVE_SHUTDOWN), 43 | ('Cleanup', Transition.TRANSITION_CLEANUP) 44 | ), 45 | 'active': ( 46 | ('Deactivate', Transition.TRANSITION_DEACTIVATE), 47 | ('Shutdown', Transition.TRANSITION_ACTIVE_SHUTDOWN) 48 | ), 49 | } 50 | 51 | 52 | def __init__(self, ui, parent=None): 53 | super().__init__(parent) 54 | 55 | self._ui = ui 56 | self.tree = QTreeWidget(self) 57 | self.tree.setHeaderLabels(['Launch Entity', 'Status', 'Name', 'Description']) 58 | self.tree.header().resizeSection(0, 350) 59 | self.tree.header().resizeSection(1, 75) 60 | self.tree.header().resizeSection(2, 200) 61 | 62 | self.tree.itemActivated.connect(self.on_item_selected) 63 | self.tree.itemClicked.connect(self.on_item_selected) 64 | self.tree.currentItemChanged.connect(self.on_item_selected) 65 | 66 | self.tree.setContextMenuPolicy(Qt.CustomContextMenu) 67 | self.tree.customContextMenuRequested.connect(self.show_context_menu) 68 | 69 | layout = QVBoxLayout() 70 | layout.addWidget(self.tree) 71 | self.setLayout(layout) 72 | 73 | self.entity_items = {} 74 | self.process_items = {} 75 | self.launch_arguments_items = {} 76 | self.entity_condition_items = {} 77 | 78 | 79 | def on_item_selected(self, item, column): 80 | if item is not None: 81 | selected_callback = item.data(0, self.DetailsCallbackRole) 82 | if selected_callback is not None: 83 | selected_callback() 84 | 85 | def on_describe_launch_entity(self, entity: DescribedLaunchEntity) -> None: 86 | self.add_launch_entity_to_tree(entity) 87 | self.tree.expandAll() 88 | 89 | def on_execution_complete(self, entity: DescribedLaunchEntity) -> None: 90 | self.updated_launch_entity(entity, status='done') 91 | 92 | def on_entity_process_started( 93 | self, 94 | entity: DescribedLaunchEntity, 95 | process_name: str, 96 | pid: int, 97 | selected_callback=None 98 | ) -> None: 99 | if process_name in self.process_items: 100 | process_item = self.process_items[process_name] 101 | else: 102 | process_item = QTreeWidgetItem(['Process', 'running', process_name, f'PID: {pid}']) 103 | self.process_items[process_name] = process_item 104 | if entity.id in self.entity_items: 105 | item = self.entity_items[entity.id] 106 | item.addChild(process_item) 107 | item.setExpanded(True) 108 | if entity.type_name == "LifecycleNode": 109 | self.on_state_transition(entity, 'unknown', 'unconfigured') 110 | else: 111 | self.tree.addTopLevelItem(process_item) 112 | 113 | process_item.setText(1, 'running') 114 | process_item.setText(3, f'PID: {pid}') 115 | process_item.setData(0, self.DetailsCallbackRole, selected_callback) 116 | process_item.setData(1, Qt.BackgroundRole, QBrush(QColor(100, 255, 100))) 117 | process_item.setData( 118 | 0, 119 | self.ContextMenuRole, 120 | lambda menu: menu.addAction( 121 | f'Stop {process_name}', 122 | lambda: self._ui.add_pending_action( 123 | EmitEvent( 124 | event=SignalProcess( 125 | signal_number= signal.SIGINT, 126 | process_matcher=matches_pid(pid) 127 | ) 128 | ) 129 | ) 130 | ) 131 | ) 132 | 133 | def get_lifecycle_menu_items(self, menu: QMenu, node_name: str, current_state: str) -> None: 134 | for label, transition_id in self.lifecycle_transitions[current_state]: 135 | menu.addAction( 136 | f'{label} {node_name}', 137 | lambda id=transition_id: self._ui.add_pending_action( 138 | EmitEvent( 139 | event=ChangeState( 140 | lifecycle_node_matcher=matches_node_name(node_name), 141 | transition_id=id 142 | ) 143 | ) 144 | ) 145 | ) 146 | 147 | 148 | def on_entity_process_exited(self, entity: DescribedLaunchEntity, process_name: str, pid: int, return_code) -> None: 149 | if process_name in self.process_items: 150 | item = self.process_items[process_name] 151 | item.setText(1, f'exit: {return_code}') 152 | if return_code == 0: 153 | item.setData(1, Qt.BackgroundRole, QBrush(QColor(200, 255, 200))) 154 | else: 155 | item.setData(1, Qt.BackgroundRole, QBrush(QColor(255, 128, 128))) 156 | item.setData(0, self.ContextMenuRole, None) 157 | 158 | def updated_launch_entity(self, launch_entity: DescribedLaunchEntity, status=None): 159 | if launch_entity.condition is not None: 160 | if launch_entity.id in self.entity_condition_items: 161 | item = self.entity_condition_items[launch_entity.id] 162 | item.setText(2, launch_entity.condition) 163 | if launch_entity.id in self.entity_items: 164 | item = self.entity_items[launch_entity.id] 165 | item.setText(2, launch_entity.label) 166 | item.setText(3, str(launch_entity.description)) 167 | if status is not None: 168 | item.setText(1, status) 169 | if launch_entity.type_name == "IncludeLaunchDescription": 170 | for child in launch_entity.children: 171 | if child.id not in self.entity_items: 172 | self.add_launch_entity_to_tree(child, launch_entity) 173 | for child in launch_entity.children: 174 | self.updated_launch_entity(child) 175 | 176 | def on_state_transition(self, entity: DescribedLaunchEntity, start_state: str, goal_state: str) -> None: 177 | if entity.id in self.entity_items: 178 | item = self.entity_items[entity.id] 179 | item.setText(1, f'{goal_state}') 180 | if goal_state == 'active': 181 | item.setData(1, Qt.BackgroundRole, QBrush(QColor(100, 255, 100))) 182 | else: 183 | item.setData(1, Qt.BackgroundRole, QBrush(QColor(255, 255, 100))) 184 | if goal_state in self.lifecycle_transitions: 185 | item.setData(0, self.ContextMenuRole, lambda menu: self.get_lifecycle_menu_items(menu, entity.label, goal_state)) 186 | else: 187 | item.setData(0, self.ContextMenuRole, None) 188 | 189 | def add_launch_entity_to_tree( 190 | self, 191 | launch_entity: DescribedLaunchEntity, 192 | parent: DescribedLaunchEntity=None, 193 | status=None 194 | ): 195 | if launch_entity.id in self.entity_items: 196 | item = self.entity_items[launch_entity.id] 197 | if status is not None: 198 | item.setText(1, status) 199 | else: 200 | status_text = status if status is not None else '' 201 | item = QTreeWidgetItem([launch_entity.type_name, status_text, launch_entity.label, str(launch_entity.description), status]) 202 | parent_item = None 203 | expand_parent = True 204 | if parent is not None: 205 | if parent.id in self.entity_items: 206 | parent_item = self.entity_items[parent.id] 207 | if launch_entity.type_name == "DeclareLaunchArgument": 208 | if not parent.id in self.launch_arguments_items: 209 | self.launch_arguments_items[parent.id] = QTreeWidgetItem(['Launch Arguments', '', '', '']) 210 | parent_item.addChild(self.launch_arguments_items[parent.id]) 211 | parent_item = self.launch_arguments_items[parent.id] 212 | expand_parent = False 213 | if launch_entity.condition is not None: 214 | if launch_entity.id in self.entity_condition_items: 215 | condition_item = self.entity_condition_items[launch_entity.id] 216 | else: 217 | condition_item = QTreeWidgetItem(['Condition', '', launch_entity.condition, '']) 218 | self.entity_condition_items[launch_entity.id] = condition_item 219 | if parent_item is not None: 220 | parent_item.addChild(condition_item) 221 | parent_item.setExpanded(True) 222 | else: 223 | self.tree.addTopLevelItem(condition_item) 224 | parent_item = condition_item 225 | if parent_item is not None: 226 | parent_item.addChild(item) 227 | if expand_parent: 228 | parent_item.setExpanded(True) 229 | else: 230 | self.tree.addTopLevelItem(item) 231 | item.setExpanded(True) 232 | self.entity_items[launch_entity.id] = item 233 | if launch_entity.type_name == "LifecycleNode": 234 | item.setData(1, Qt.BackgroundRole, QBrush(QColor(255, 255, 100))) 235 | if status is None: 236 | # assuming lifecycle node is unconfigured until we know otherwise 237 | status = 'unconfigured' 238 | if status in self.lifecycle_transitions: 239 | item.setData(0, self.ContextMenuRole, lambda menu: self.get_lifecycle_menu_items(menu, launch_entity.label, status)) 240 | 241 | 242 | for child in launch_entity.children: 243 | self.add_launch_entity_to_tree(child, launch_entity) 244 | for condition, sub_entities in launch_entity.conditional_children: 245 | for sub_entity in sub_entities: 246 | self.add_launch_entity_to_tree(sub_entity, launch_entity) 247 | 248 | def show_context_menu(self, pos): 249 | item = self.tree.itemAt(pos) 250 | if item is not None: 251 | context_menu_callback = item.data(0, self.ContextMenuRole) 252 | if context_menu_callback is not None: 253 | menu = QMenu(self) 254 | context_menu_callback(menu) 255 | menu.exec_(self.tree.mapToGlobal(pos)) 256 | 257 | -------------------------------------------------------------------------------- /ros2launch_gui/qt/main.py: -------------------------------------------------------------------------------- 1 | import asyncio 2 | 3 | from python_qt_binding.QtWidgets import QApplication 4 | from python_qt_binding.QtWidgets import QMainWindow 5 | from python_qt_binding.QtWidgets import QSplitter 6 | 7 | 8 | from ..api import UserInterface as UserInterfaceBase 9 | 10 | from launch import LaunchDescription 11 | from launch.actions import OpaqueCoroutine 12 | 13 | from .details_widget import DetailsWidget 14 | from .launch_description_widget import LaunchDescriptionWidget 15 | 16 | 17 | class MainWindow(QMainWindow): 18 | def __init__(self, ui: 'UserInterface'=None): 19 | super().__init__() 20 | 21 | self._ui = ui 22 | self.setWindowTitle("ROS 2 Launch GUI") 23 | self.launch_description_widget = LaunchDescriptionWidget(ui, self) 24 | self.details_widget = DetailsWidget(self) 25 | 26 | splitter = QSplitter() 27 | splitter.addWidget(self.launch_description_widget) 28 | splitter.addWidget(self.details_widget) 29 | 30 | 31 | self.setCentralWidget(splitter) 32 | self.show() 33 | 34 | def on_process_started(self, action, process_name, pid): 35 | self.details_widget.on_process_started(process_name, pid) 36 | self.launch_description_widget.on_entity_process_started(action, process_name, pid, lambda: self.details_widget.show_process_output(process_name)) 37 | 38 | def on_process_exited(self, action, process_name, pid, return_code): 39 | self.details_widget.on_process_exited(process_name, return_code) 40 | self.launch_description_widget.on_entity_process_exited(action, process_name, pid, return_code) 41 | 42 | def on_process_io(self, process_name, text): 43 | self.details_widget.on_process_io(process_name, text) 44 | 45 | def on_describe_launch_entity(self, entity): 46 | self.launch_description_widget.on_describe_launch_entity(entity) 47 | 48 | def on_execution_complete(self, entity): 49 | self.launch_description_widget.on_execution_complete(entity) 50 | 51 | def on_state_transition(self, entity, start_state, goal_state): 52 | self.launch_description_widget.on_state_transition(entity, start_state, goal_state) 53 | 54 | def closeEvent(self, event): 55 | if self._ui is not None: 56 | self._ui.on_close() 57 | event.accept() 58 | 59 | class UserInterface(UserInterfaceBase): 60 | def __init__( 61 | self, 62 | launch_description: LaunchDescription, 63 | debug: bool = False, 64 | 65 | ): 66 | super().__init__(launch_description, debug) 67 | 68 | self.closing = False 69 | 70 | self.app = QApplication([]) 71 | self.main_window = MainWindow(self) 72 | self.main_window.resize(1280, 720) 73 | self.main_window.show() 74 | 75 | self.add_pending_action(OpaqueCoroutine(coroutine=self.run_qt)) 76 | 77 | async def run_qt(self, *args, **kwargs): 78 | while not self.closing: 79 | if self.close_requested: 80 | self.main_window.close() 81 | self.app.processEvents() 82 | await asyncio.sleep(0.05) 83 | 84 | def on_process_started(self, process_name, pid, action): 85 | self.main_window.on_process_started(action, process_name, pid) 86 | 87 | def on_process_exited(self, process_name, pid, action, return_code): 88 | self.main_window.on_process_exited(action, process_name, pid, return_code) 89 | 90 | def on_process_io(self, process_name, text): 91 | self.main_window.on_process_io(process_name, text.decode()) 92 | 93 | def on_describe_launch_entity(self, entity): 94 | self.main_window.on_describe_launch_entity(entity) 95 | 96 | def on_execution_complete(self, entity): 97 | self.main_window.on_execution_complete(entity) 98 | 99 | def on_state_transition(self, entity, start_state, goal_state): 100 | self.main_window.on_state_transition(entity, start_state, goal_state) 101 | 102 | def on_close(self): 103 | self.closing = True 104 | super().on_close() 105 | 106 | -------------------------------------------------------------------------------- /ros2launch_gui/qt/process_output_widget.py: -------------------------------------------------------------------------------- 1 | import re 2 | from python_qt_binding.QtWidgets import QPlainTextEdit 3 | from python_qt_binding.QtWidgets import QVBoxLayout 4 | from python_qt_binding.QtWidgets import QWidget 5 | 6 | # ANSI color code mapping to HTML colors 7 | ANSI_COLOR_MAP = { 8 | '30': '#FFFFFF', # Black 9 | '31': '#FF0000', # Red 10 | '32': '#00FF00', # Green 11 | '33': '#FF7F00', # Yellow (actually Orange for better readability) 12 | '34': '#0000FF', # Blue 13 | '35': '#FF00FF', # Magenta 14 | '36': '#00FFFF', # Cyan 15 | '37': '#FFFFFF', # White (actually Black to see it on white background) 16 | } 17 | 18 | # Regular expression to match ANSI escape codes 19 | ansi_color_re = re.compile(r'\033\[([0-9;]*)m') 20 | 21 | def ansi_to_html(text): 22 | matches = ansi_color_re.match(text) 23 | if not matches: 24 | return text 25 | codes = matches.group(1).split(';') 26 | # remove the ANSI escape codes from the text 27 | text = ansi_color_re.sub('', text) 28 | if not codes: 29 | return text 30 | 31 | modifier = None 32 | color_code = None 33 | # reset case 34 | if codes[0] == '0': 35 | return text 36 | # color + modifier 37 | if len(codes) > 1: 38 | modifier = codes[0] 39 | color_code = ANSI_COLOR_MAP.get(codes[1]) 40 | # only color code present 41 | else: 42 | color_code = ANSI_COLOR_MAP.get(codes[0]) 43 | 44 | html_start = f'' 45 | html_end = '' 46 | if modifier == '1': 47 | html_text = f'{html_start}{text}{html_end}' 48 | elif modifier == '3': 49 | html_text = f'{html_start}{text}{html_end}' 50 | elif modifier == '4': 51 | html_text = f'{html_start}{text}{html_end}' 52 | else: 53 | html_text = f'{html_start}{text}{html_end}' 54 | return html_text 55 | 56 | class ProcessOutputWidget(QWidget): 57 | """Widget to display output from launch processes.""" 58 | 59 | def __init__(self, parent, show_process_name = True): 60 | """Create a ProcessOutputWidget.""" 61 | super().__init__(parent) 62 | 63 | self.show_process_name = show_process_name 64 | 65 | self.text_edit = QPlainTextEdit(self) 66 | self.text_edit.setReadOnly(True) 67 | 68 | layout = QVBoxLayout() 69 | layout.addWidget(self.text_edit) 70 | self.setLayout(layout) 71 | self.text_edit.show() 72 | 73 | 74 | def on_process_io(self, process_name, text): 75 | for line in text.split('\n'): 76 | line = line.rstrip() 77 | if line: 78 | line = ansi_to_html(line) 79 | if self.show_process_name: 80 | self.text_edit.appendHtml(f'[{process_name}] {line}') 81 | else: 82 | self.text_edit.appendHtml(line) 83 | -------------------------------------------------------------------------------- /ros2launch_gui/tk/__init__.py: -------------------------------------------------------------------------------- 1 | from .user_interface import UserInterface 2 | 3 | __all__ = [ 4 | 'UserInterface', 5 | ] 6 | -------------------------------------------------------------------------------- /ros2launch_gui/tk/event_viewer.py: -------------------------------------------------------------------------------- 1 | from tkinter import ttk 2 | from tkinter.scrolledtext import ScrolledText 3 | 4 | from ros2launch_gui.api import DescribedEvent 5 | 6 | class EventViewer(ttk.Frame): 7 | """A widget that shows launch events.""" 8 | 9 | def __init__(self, parent=None): 10 | super().__init__(parent) 11 | 12 | self.text = ScrolledText(self, state='disabled') 13 | self.text.grid(column=0, row=0, sticky=('N', 'W', 'E', 'S')) 14 | self.rowconfigure(0, weight=1) 15 | self.columnconfigure(0, weight=1) 16 | 17 | def on_event(self, event: DescribedEvent) -> None: 18 | self.text.config(state='normal') 19 | self.text.insert('end', '{}\n'.format(event)) 20 | #self.text.see('end') 21 | self.text.config(state='disabled') 22 | 23 | 24 | -------------------------------------------------------------------------------- /ros2launch_gui/tk/launch_description_treeview.py: -------------------------------------------------------------------------------- 1 | from tkinter import ttk 2 | 3 | from ros2launch_gui.api.describe import DescribedLaunchEntity 4 | 5 | class LaunchDescriptionTreeview(ttk.Frame): 6 | """A widget that displays a launch description as a tree.""" 7 | 8 | def __init__(self, parent=None): 9 | super().__init__(parent) 10 | 11 | self.tree = ttk.Treeview(self, columns=('name', 'description', 'status')) 12 | self.tree.heading('#0', text='Launch Entity') 13 | self.tree.column('#0', width=350, stretch=False) 14 | self.tree.heading('name', text='Name') 15 | self.tree.column('name', width=200, stretch=False) 16 | self.tree.heading('description', text='Description') 17 | self.tree.heading('status', text='Status') 18 | self.tree.column('status', width=80, stretch=False) 19 | self.tree.grid(column=0, row=0, sticky=('N', 'W', 'E', 'S')) 20 | self.columnconfigure(0, weight=1) 21 | self.rowconfigure(0, weight=1) 22 | 23 | self.tree_ids = {} 24 | self.process_ids = {} 25 | 26 | self.process_selected_callbacks = [] 27 | 28 | self.tree.bind("<>", self.on_tree_item_selected) 29 | 30 | 31 | 32 | def add_process_selected_callback(self, callback): 33 | self.process_selected_callbacks.append(callback) 34 | 35 | def on_describe_launch_entity(self, entity: DescribedLaunchEntity) -> None: 36 | self.add_launch_entity_to_tree(entity) 37 | 38 | def on_execution_complete(self, entity: DescribedLaunchEntity) -> None: 39 | self.updated_launch_entity(entity, status='done') 40 | 41 | def on_entity_process_started(self, entity: DescribedLaunchEntity, process_name: str, pid: int) -> None: 42 | if entity.id in self.tree_ids: 43 | item_id = self.tree_ids[entity.id] 44 | self.tree.item(item_id, open=True) 45 | self.process_ids[process_name] = self.tree.insert(item_id, 'end', text="Process", values=(process_name, 'PID: {}'.format(pid), 'running')) 46 | 47 | def on_entity_process_exited(self, entity: DescribedLaunchEntity, process_name: str, pid: int, return_code) -> None: 48 | if process_name in self.process_ids: 49 | item_id = self.process_ids[process_name] 50 | self.tree.item(item_id, values=(process_name, 'PID: {}'.format(pid), 'exit: {}'.format(return_code))) 51 | 52 | def updated_launch_entity(self, launch_entity: DescribedLaunchEntity, status=None): 53 | if launch_entity.id in self.tree_ids: 54 | item_id = self.tree_ids[launch_entity.id] 55 | status_text = status if status is not None else '' 56 | self.tree.item(item_id, values=(launch_entity.label, launch_entity.description, status_text)) 57 | if launch_entity.type_name == "IncludeLaunchDescription": 58 | for child in launch_entity.children: 59 | if child.id not in self.tree_ids: 60 | self.add_launch_entity_to_tree(child, item_id) 61 | for child in launch_entity.children: 62 | self.updated_launch_entity(child) 63 | 64 | def add_launch_entity_to_tree( 65 | self, 66 | launch_entity: DescribedLaunchEntity, 67 | parent='', 68 | status=None 69 | ): 70 | if launch_entity.id in self.tree_ids: 71 | item_id = self.tree_ids[launch_entity.id] 72 | else: 73 | item_id = self.tree.insert(parent, 'end', text=launch_entity.type_name, open=True) 74 | self.tree_ids[launch_entity.id] = item_id 75 | status_text = status if status is not None else '' 76 | self.tree.item(item_id, values=(launch_entity.label, launch_entity.description, status_text)) 77 | for child in launch_entity.children: 78 | self.add_launch_entity_to_tree(child, item_id) 79 | 80 | def on_tree_item_selected(self, event): 81 | selected_id = self.tree.selection()[0] 82 | for name in self.process_ids: 83 | if selected_id == self.process_ids[name]: 84 | for callback in self.process_selected_callbacks: 85 | callback(name) 86 | return 87 | -------------------------------------------------------------------------------- /ros2launch_gui/tk/process_manager.py: -------------------------------------------------------------------------------- 1 | from tkinter import ttk 2 | from tkinter.scrolledtext import ScrolledText 3 | 4 | from ros2launch_gui.api.describe import DescribedLaunchEntity 5 | 6 | class ProcessList(ttk.Frame): 7 | """A widget that displays a list of launch processes and their status.""" 8 | 9 | def __init__(self, parent=None): 10 | super().__init__(parent) 11 | 12 | self.tree = ttk.Treeview(self, columns=('pid', 'status')) 13 | self.tree.heading('#0', text='Name') 14 | self.tree.heading('pid', text='PID') 15 | self.tree.heading('status', text='Status') 16 | self.tree.grid(column=0, row=0, sticky=('N', 'W', 'E', 'S')) 17 | self.columnconfigure(0, weight=1) 18 | self.rowconfigure(0, weight=1) 19 | 20 | self.tree.column('pid', width=100) 21 | self.tree.column('status', width=100) 22 | 23 | self.tree_ids = {} 24 | 25 | 26 | def get_item_id(self, process_name: str) -> str: 27 | if not process_name in self.tree_ids: 28 | self.tree_ids[process_name] = self.tree.insert('', 'end', text=process_name, values=(0, 'unknown')) 29 | return self.tree_ids[process_name] 30 | 31 | 32 | def on_process_started( 33 | self, 34 | process_name: str, 35 | pid: int, 36 | action: DescribedLaunchEntity 37 | ) -> None: 38 | item_id = self.get_item_id(process_name) 39 | self.tree.item(item_id, values=(pid, 'active')) 40 | 41 | def on_process_exited( 42 | self, 43 | process_name: str, 44 | pid: int, 45 | action: DescribedLaunchEntity, 46 | return_code 47 | ) -> None: 48 | item_id = self.get_item_id(process_name) 49 | self.tree.item(item_id, values=(pid, 'exit: {}'.format(return_code))) 50 | 51 | class ProcessIOView(ttk.Frame): 52 | def __init__(self, parent=None, show_process_name: bool = False): 53 | super().__init__(parent) 54 | 55 | self.text = ScrolledText(self, state='disabled') 56 | self.text.grid(column=0, row=0, sticky=('N', 'W', 'E', 'S')) 57 | self.rowconfigure(0, weight=1) 58 | self.columnconfigure(0, weight=1) 59 | 60 | self.show_process_name = show_process_name 61 | 62 | 63 | def on_process_io(self, process_name: str, data: str) -> None: 64 | self.text.config(state='normal') 65 | if self.show_process_name: 66 | for line in data.splitlines(): 67 | self.text.insert('end', '[{}] {}\n'.format(process_name, line.decode())) 68 | else: 69 | self.text.insert('end', data) 70 | #self.text.see('end') 71 | self.text.config(state='disabled') 72 | 73 | class ProcessIONotebook(ttk.Frame): 74 | def __init__(self, parent=None): 75 | super().__init__(parent) 76 | 77 | self.notebook = ttk.Notebook(self) 78 | self.notebook.grid(column=0, row=0, sticky=('N', 'W', 'E', 'S')) 79 | self.columnconfigure(0, weight=1) 80 | self.rowconfigure(0, weight=1) 81 | 82 | self.io_widgets = {} 83 | self.all = ProcessIOView(self, show_process_name=True) 84 | self.notebook.add(self.all, text='All') 85 | 86 | def on_select_process(self, process_name: str) -> None: 87 | if process_name in self.io_widgets: 88 | self.notebook.select(self.io_widgets[process_name]) 89 | 90 | def on_process_io( 91 | self, 92 | process_name: str, 93 | data: str 94 | ) -> None: 95 | if process_name in self.io_widgets: 96 | io_widget = self.io_widgets[process_name] 97 | else: 98 | io_widget = ProcessIOView(self) 99 | self.io_widgets[process_name] = io_widget 100 | self.notebook.add(io_widget, text=process_name) 101 | 102 | io_widget.on_process_io(process_name, data) 103 | self.all.on_process_io(process_name, data) 104 | 105 | def on_process_started( 106 | self, 107 | process_name: str, 108 | pid: int, 109 | action: DescribedLaunchEntity 110 | ) -> None: 111 | if process_name in self.io_widgets: 112 | io_widget = self.io_widgets[process_name] 113 | else: 114 | io_widget = ProcessIOView(self) 115 | self.io_widgets[process_name] = io_widget 116 | self.notebook.add(io_widget, text=process_name) 117 | io_widget.on_process_io(process_name, 'Process {} started for action: {}\n'.format(pid, action)) 118 | 119 | def on_process_exited( 120 | self, 121 | process_name: str, 122 | pid: int, 123 | action: DescribedLaunchEntity, 124 | return_code 125 | ) -> None: 126 | if process_name in self.io_widgets: 127 | io_widget = self.io_widgets[process_name] 128 | io_widget.on_process_io(process_name, 'Process {} exited with return code: {}\n'.format(pid, return_code)) 129 | 130 | class ProcessManager(ttk.Frame): 131 | """A widget that displays a list of launch processes as well as their output in a tabbed display.""" 132 | 133 | def __init__(self, parent=None): 134 | super().__init__(parent) 135 | 136 | self.io_notebook = ProcessIONotebook(self) 137 | self.io_notebook.grid(column=0, row=0, sticky=('N', 'W', 'E', 'S')) 138 | self.columnconfigure(0, weight=1) 139 | self.rowconfigure(0, weight=1) 140 | 141 | def on_select_process(self, process_name: str) -> None: 142 | self.io_notebook.on_select_process(process_name) 143 | 144 | def on_process_io( 145 | self, 146 | process_name: str, 147 | data: str 148 | ) -> None: 149 | self.io_notebook.on_process_io(process_name, data) 150 | 151 | def on_process_started( 152 | self, 153 | process_name: str, 154 | pid: int, 155 | action: DescribedLaunchEntity 156 | ) -> None: 157 | self.io_notebook.on_process_started(process_name, pid, action) 158 | 159 | def on_process_exited( 160 | self, 161 | process_name: str, 162 | pid: int, 163 | action: DescribedLaunchEntity, 164 | return_code 165 | ) -> None: 166 | self.io_notebook.on_process_exited(process_name, pid, action, return_code) 167 | -------------------------------------------------------------------------------- /ros2launch_gui/tk/user_interface.py: -------------------------------------------------------------------------------- 1 | 2 | import asyncio 3 | 4 | from tkinter import Tk 5 | from tkinter import ttk 6 | 7 | from launch import LaunchDescription 8 | from launch.actions import OpaqueCoroutine 9 | 10 | from ..api import DescribedLaunchEntity 11 | from ..api import UserInterface as UserInterfaceBase 12 | from .launch_description_treeview import LaunchDescriptionTreeview 13 | from .process_manager import ProcessManager 14 | 15 | class UserInterface(UserInterfaceBase): 16 | def __init__( 17 | self, 18 | launch_description: LaunchDescription, 19 | debug: bool = False 20 | ): 21 | super().__init__(launch_description, debug) 22 | self.root = Tk() 23 | self.root.title("ROS 2 Launch GUI") 24 | self.root.grid_rowconfigure(0, weight=1) 25 | self.root.grid_columnconfigure(0, weight=1) 26 | 27 | self.closing = False 28 | self.root.protocol("WM_DELETE_WINDOW", self.on_close) 29 | 30 | main_window = ttk.PanedWindow(self.root, orient='horizontal') 31 | main_window.grid(column=0, row=0, sticky=('N', 'W', 'E', 'S')) 32 | self.root.columnconfigure(0, weight=1) 33 | self.root.rowconfigure(0, weight=1) 34 | 35 | self.launch_description_viewer = LaunchDescriptionTreeview(main_window) 36 | main_window.add(self.launch_description_viewer, weight=1) 37 | 38 | self.process_manager = ProcessManager(main_window) 39 | main_window.add(self.process_manager, weight=1) 40 | 41 | self.launch_description_viewer.add_process_selected_callback(self.process_manager.on_select_process) 42 | 43 | self.add_pending_action(OpaqueCoroutine(coroutine=self.run_tk)) 44 | 45 | async def run_tk(self, *args, **kwargs): 46 | while not self.closing: 47 | self.root.update() 48 | await asyncio.sleep(0.05) 49 | self.root.destroy() 50 | 51 | def on_process_started(self, process_name, pid, action: DescribedLaunchEntity): 52 | if not self.closing: 53 | self.process_manager.on_process_started(process_name, pid, action) 54 | self.launch_description_viewer.on_entity_process_started(action, process_name, pid) 55 | 56 | def on_process_exited(self, process_name, pid, action, return_code): 57 | if not self.closing: 58 | self.process_manager.on_process_exited(process_name, pid, action, return_code) 59 | self.launch_description_viewer.on_entity_process_exited(action, process_name, pid, return_code) 60 | 61 | def on_process_io(self, process_name, text): 62 | if not self.closing: 63 | self.process_manager.on_process_io(process_name, text) 64 | 65 | def on_describe_launch_entity(self, entity): 66 | if not self.closing: 67 | self.launch_description_viewer.on_describe_launch_entity(entity) 68 | 69 | def on_execution_complete(self, entity): 70 | if not self.closing: 71 | self.launch_description_viewer.on_execution_complete(entity) 72 | 73 | def on_close(self): 74 | self.closing = True 75 | super().on_close() 76 | 77 | 78 | -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/ros2launch_gui 3 | [install] 4 | install_scripts=$base/lib/ros2launch_gui 5 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import find_packages, setup 2 | 3 | package_name = 'ros2launch_gui' 4 | 5 | setup( 6 | name=package_name, 7 | version='0.0.0', 8 | packages=find_packages(exclude=['test']), 9 | data_files=[ 10 | ('share/ament_index/resource_index/packages', 11 | ['resource/' + package_name]), 12 | ('share/' + package_name, ['package.xml']), 13 | ], 14 | install_requires=['setuptools'], 15 | zip_safe=True, 16 | maintainer='Roland Arsenault', 17 | maintainer_email='roland@ccom.unh.edu', 18 | description='Provides a gui option to the ros2 launch command', 19 | license='Apache-2.0', 20 | tests_require=['pytest'], 21 | entry_points={ 22 | 'ros2launch.option': [ 23 | 'gui = ros2launch_gui.option.gui:GuiOption', 24 | ], 25 | }, 26 | ) 27 | -------------------------------------------------------------------------------- /test/test_ansi_to_html.py: -------------------------------------------------------------------------------- 1 | #import pytest 2 | from ros2launch_gui.qt.process_output_widget import ansi_to_html 3 | 4 | def test_plain_text_to_html(): 5 | input = "my text" 6 | assert ansi_to_html(input) == input 7 | 8 | def test_info_text_to_html(): 9 | input = "\033[0m[INFO] my text\033[0m" 10 | expected = '[INFO] my text' 11 | assert ansi_to_html(input) == expected 12 | 13 | def test_colored_text_to_html(): 14 | input = "\033[31mmy text\033[0m" 15 | expected = 'my text' 16 | assert ansi_to_html(input) == expected 17 | 18 | def test_bold_colored_text_to_html(): 19 | input = "\033[1;32mmy text\033[0m" 20 | expected = 'my text' 21 | assert ansi_to_html(input) == expected 22 | 23 | def test_underlined_colored_text_to_html(): 24 | input = "\033[4;34mmy text\033[0m" 25 | expected = 'my text' 26 | assert ansi_to_html(input) == expected 27 | 28 | def test_italic_colored_text_to_html(): 29 | input = "\033[3;34mmy text\033[0m" 30 | expected = 'my text' 31 | assert ansi_to_html(input) == expected 32 | -------------------------------------------------------------------------------- /test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_copyright.main import main 16 | import pytest 17 | 18 | 19 | # Remove the `skip` decorator once the source file(s) have a copyright header 20 | @pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', 'test']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=[]) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | --------------------------------------------------------------------------------