class StateViewer

Public Class Methods

create_state_label(task_name, task_inspector) click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 65
def self.create_state_label(task_name, task_inspector)
    label = Qt::Label.new 
    label.margin = 5
    singleton_class = (class << label; self end)
    singleton_class.class_eval do
        define_method :mouseDoubleClickEvent do |event|
            task_inspector.add_task task_name
            task_inspector.show
        end
    end
    label.setAutoFillBackground true
    label
end

new(parent=nil) click to toggle source

Calls superclass method

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 4
def initialize(parent=nil)
    super
    #add layout to the widget
    @layout = Qt::GridLayout.new(self)
    @layout.spacing = 0

    @hash_labels = Hash.new
    @tasks = Array.new
    @options = default_options
    @row = 0
    @col = 0

    @red = Qt::Palette.new
    @green = Qt::Palette.new
    @blue = Qt::Palette.new
    @red.setColor(Qt::Palette::Window,Qt::Color.new(0xFF,0x44,0x44))
    @green.setColor(Qt::Palette::Window,Qt::Color.new(0x99,0xCC,0x00))
    @blue.setColor(Qt::Palette::Window,Qt::Color.new(0x33,0xB5,0xE5))

    self.set_size_policy(Qt::SizePolicy::Preferred, Qt::SizePolicy::Minimum)
end

Public Instance Methods

add(task,options=Hash.new) click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 45
def add(task,options=Hash.new)
    task = if task.is_a?(Orocos::Async::TaskContextProxy)
               task
           else
               Orocos::Async.proxy(task)
           end
    running_states = Orocos::TaskContextBase::RUNNING_STATES
    @tasks << task
    task.on_state_change do |state|
        if task.runtime_state?(state)
            update(state,task.name,running_color)
        else
            update(state,task.name,reachable_color)
        end
    end
    task.on_unreachable do
        update("UNREACHABLE",task.name,unreachable_color)
    end
end

add_label_to_layout(label) click to toggle source

Add a new label to the layout and return its position

Where the label is added is controlled by the max_cols or max_rows setting.

@see row_first? max_col= max_row= @return [(Integer,Integer)] the row and column of the new label

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 127
def add_label_to_layout(label)
    row, col = @row, @col
    @layout.addWidget(label,row,col)
    if row_first?
        @col += 1
        if @col == @options[:max_cols]
            @col = 0
            @row += 1
        end
    else
        @row += 1
        if @row == @options[:max_rows]
            @row = 0
            @col += 1
        end
    end

    return row, col
end

default_options() click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 34
def default_options
    options = Hash.new
    options[:max_rows] = 6
    options
end

label_for(task_name) click to toggle source

@api private

Returns the Qt label used to display information about a given task

If it does not exist, one is created and added to the viewer

@param [#to_str] task_name the task name

@return [Qt::Label]

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 156
def label_for(task_name)
    if !(label = @hash_labels[task_name])
        label = self.class.create_state_label(task_name, task_inspector)
        @hash_labels[task_name] = label
        add_label_to_layout(label)
    end
    label
end

max_cols=(value) click to toggle source

Make the widget lay itself out row-first

After this call, the widget will fill a row with 'value' labels before going to the next row. The default is col-first

Note that calling this method does not re-layout the existing labels. New labels will be added starting at the last label added

@see row_first? max_rows=

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 101
def max_cols=(value)
    @options.delete(:max_rows)
    @options[:max_cols] = value
end

max_rows=(value) click to toggle source

Make the widget lay itself out column-first

After this call, the widget will fill a column with 'value' labels before going to the next column. This is the default

Note that calling this method does not re-layout the existing labels. New labels will be added starting at the last label added

@see row_first? max_cols=

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 115
def max_rows=(value)
    @options.delete(:max_cols)
    @options[:max_rows] = value
end

multi_value?() click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 180
def multi_value?
    true
end

options(hash = Hash.new) click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 40
def options(hash = Hash.new)
    @options ||= default_options
    @options.merge!(hash)
end

reachable_color() click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 26
def reachable_color; @blue end

row_first?() click to toggle source

Whether labels are laid out row-first or column-first

In row-first mode, a row is first filled with a maximum set by {row_first=}, and then a new row is created

In column-first mode, a column is first filled with a maximum set by {col_first=}, and then a new column is created

The default is to be column-first

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 88
def row_first?
    !@options[:max_rows]
end

running_color() click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 27
def running_color; @green end

task_inspector() click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 30
def task_inspector
    @task_inspector ||= Vizkit.default_loader.TaskInspector 
end

unreachable_color() click to toggle source

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 28
def unreachable_color; @red end

update(data, task_name, color = unreachable_color) click to toggle source

Update the display for a single task

@param [#to_s] data the label that should be displayed after the task

name, usually the state name

@param [#to_str] task_name the name of the task that should be displayed @param [Qt::Palette,nil] color the label's color. If nil, it is left

unchanged

# File lib/vizkit/widgets/state_viewer/state_viewer.rb, line 172
def update(data, task_name, color = unreachable_color)
    label = label_for(task_name)
    label.setText("<b>#{task_name}</b>: #{data}")
    if color && (label.palette != color)
        label.setPalette color 
    end
end