tunable param support

Author: alaurenzi

server/src/xbot2_gui_server/parameters.py

@@ -21,18 +21,19 @@ def __init__(self, srv: ServerBase, config=dict()) -> None:
 
         self.requested_pages = ['Parameters']
 
-        self.rate = config.get('rate', 10.0)
-
         self.srv = srv
 
-        self.srv.schedule_task(self.run())
-
         self.srv.add_route('GET', '/parameters/info',
                            self.parameters_get_info,
                            'parameters_get_info')
 
+        self.srv.add_route('POST', '/parameters/set_value',
+                           self.parameters_set_value,
+                           'parameters_set_value')
+
         # subscribe to stats
         self.get_info = rospy.ServiceProxy('xbotcore/get_parameter_info', GetParameterInfo)
+        self.set_parameters = rospy.ServiceProxy('xbotcore/set_parameters', SetString)
 
 
     @utils.handle_exceptions
@@ -50,204 +51,19 @@ async def parameters_get_info(self, request):
                 'descriptor': [json.dumps(yaml.safe_load(v)) for v in response.descriptor]
             }
         )
+    
+    @utils.handle_exceptions
+    async def parameters_set_value(self, request: web.Request):
 
+        body = await request.text()
 
-    @utils.handle_exceptions
-    async def dashboard_robot_switch(self, request: web.Request):
-        
-        # we need the command name (start or stop)
-        command = request.match_info.get('command', None)
-
-        l : launcher.Launcher = self.get_launcher()
-
-        if command == 'start':
-            
-            # start ecat
-            await self.send_status('starting robot 1/3 (ecat)')
-            
-            if not await l.start(process='ecat'):
-                raise RuntimeError('could not start ecat')
-            
-            # check slaves
-            await self.send_status('starting robot 2/3 (ecat_slave_check)')
-
-            if not await l.start(process='wait_ecat_online'):
-                raise RuntimeError('could not find slaves')
-            
-            await self.send_status('starting robot 3/3 (xbot2)')
-
-            # start xbot2
-            if not await l.start(process='xbot2',
-                          user_variants=['ec_imp']):
-                raise RuntimeError('could not start xbot2')
-            
-            # wait alive 
-            while not self.xbot2_alive:
-                await asyncio.sleep(0.1)
-            
-            self.active_state = 'ready'
-            
-        elif command == 'stop':
-
-            # check xbot2 is down
-            sdict = await l.status()
-
-            if sdict.get('xbot2', '') == 'Running':
-                raise RuntimeError('xbot2 is up: have you pressed the emergency button?') 
-
-            # kill ecat and hope for the best
-            await self.send_status('stopping robot (ecat)')
-
-            if not await l.kill(process='ecat', graceful=True):
-                raise RuntimeError('could not stop ecat')
-            
-            self.active_state = 'inactive'
-            
-        else:
-
-            raise KeyError(f'bad command {command}')
-                
-        
-        return web.Response(text=json.dumps(
-            {
-                'success': True,
-                'message': 'ok',
-            }
-        ))
+        print(body)
 
+        res = await utils.to_thread(self.set_parameters, request=body)
 
-    @utils.handle_exceptions
-    async def dashboard_start(self, request: web.Request):
-
-        # check xbot2 alive
-        if self.stats is None:
-            raise RuntimeError('xbot2 is not alive')
-
-        # we need the task name and ctrl mode
-        task_name = request.match_info.get('task_name', None)
-        
-        if task_name is None:
-            raise ValueError('no task name specified in url')
-        
-        task = self.states[task_name]
-
-        # stop all plugins
-        all_plugins = [t.name for t in self.stats.task_stats if t.name in self.all_plugins]
-        plugins_to_start = plugins = task['plugin']
-        plugins_to_stop = [p for p in all_plugins if p not in plugins_to_start]
-
-        for p in plugins_to_stop:
-            await self.send_status(f'stopping plugin {p}')
-            await self.plugin_switch(p, 0)
-
-        for p in plugins_to_stop:
-            await self.send_status(f'waiting for plugin {p} to stop...')
-            await asyncio.wait_for(self.wait_for_state(p, ['Stopped', 'Initialized']),
-                                   timeout=10.0)
-
-        # start required plugins
-        for p in plugins_to_start:
-            await self.send_status(f'starting plugin {p}')
-            await self.plugin_switch(p, 1)
-        for p in plugins_to_start:
-            await self.send_status(f'waiting for plugin {p} to start...')
-            await self.wait_for_state(p, 'Running')
-
-        # kill all active processes
-        process_to_start = task['process']
-        process_to_stop = [p for p in self.all_processes if p not in process_to_start]
-        for p in process_to_stop:
-            await self.send_status(f'killing process {p}')
-            l : launcher.Launcher = self.get_launcher()
-            await asyncio.wait_for(l.kill(process=p, graceful=True),
-                                   timeout=30)
-            
-        # start required processes
-        for p in process_to_start:
-            await self.send_status(f'starting process {p}')
-            l : launcher.Launcher = self.get_launcher()
-            await asyncio.wait_for(l.start(process=p),
-                                   timeout=30)
-            
-
-        await self.send_status(f'done')
-            
-        self.active_state = task_name
-
-        return web.Response(text=json.dumps(
+        return web.json_response(
             {
-                'success': True,
-                'message': 'ok',
+                'success': res.success,
+                'message': res.message
             }
-        ))
-    
-
-    async def plugin_switch(self, plugin_name, switch_flag):
-        switch = rospy.ServiceProxy(f'xbotcore/{plugin_name}/switch', service_class=SetBool)
-        await utils.to_thread(switch.wait_for_service, timeout=1.0)
-        res = await utils.to_thread(switch, switch_flag)
-        return res.success
-
-
-    async def run(self):
-
-        while True:
-
-            # if not self.xbot2_alive:
-            #     self.active_state = 'inactive'
-            # elif self.active_state == 'inactive':
-            #    self.active_state = 'ready'
-
-            # self.xbot2_alive = False
-
-            await self.srv.ws_send_to_all(
-                {
-                    'type': 'dashboard_msg',
-                    'active_state': self.active_state
-                }
-            )
-
-            await asyncio.sleep(0.666)
-
-
-    def on_stats_recv(self, msg):
-        self.stats = msg
-        self.xbot2_alive = True
-        
-
-
-    async def wait_for_state(self, plugin_name, state):
-
-        if isinstance(state, str):
-            state = [state]
-
-        idx = -1
-        
-        for i, t in enumerate(self.stats.task_stats):
-            if t.name in plugin_name:
-                idx = i
-                break
-        
-        if idx == -1:
-            raise KeyError(plugin_name)
-        
-        while self.stats.task_stats[idx].state not in state:
-            await asyncio.sleep(0.1)
-    
-
-    def get_launcher(self):
-        if self.launcher is not None:
-            return self.launcher
-        for e in self.srv.extensions:
-            if isinstance(e, launcher.Launcher):
-                self.launcher = e 
-                return e
-        raise ValueError('launcher unavailable')
-    
-
-    async def send_status(self, txt):
-        print(txt)
-        await self.srv.ws_send_to_all(
-            dict(type='dashboard_msg',
-                 msg=txt)
         )

xbot2_gui/Common/SectionHeader.qml

@@ -11,6 +11,7 @@ RowLayout {
     property alias font: title.font
     signal clicked()
     property alias iconText: iconLabel.text
+    property int pixelSize: CommonProperties.font.h1
 
     //
     id: root
@@ -21,7 +22,8 @@ RowLayout {
         id: iconLabel
 
         font.family: CommonProperties.fontAwesome.solid.family
-        font.pixelSize: CommonProperties.font.h1
+        font.pixelSize: root.pixelSize
+        visible: text !== ''
 
         MouseArea {
             anchors.fill: parent
@@ -33,7 +35,7 @@ RowLayout {
     Label {
         id: title
         text: 'Title'
-        font.pixelSize: CommonProperties.font.h1
+        font.pixelSize: root.pixelSize
         Layout.fillWidth: true
         wrapMode: Text.Wrap
 

xbot2_gui/Monitoring/CMakeLists.txt

@@ -11,10 +11,23 @@ qt_add_qml_module(xbot2_gui_monitoring
     Monitoring.qml
     RobotModelViewer.js
     RobotModelViewer.qml
-    QML_FILES Parameters.qml
-    QML_FILES Parameters.js
+    Parameters.qml
+    Parameters.js
+    SOURCES
+    Parameter/parameter_tree_item.h
+    Parameter/parameter_tree_item.cpp
+    Parameter/parameter_tree_model.h
+    Parameter/parameter_tree_model.cpp
+    QML_FILES Parameter/BoolDelegate.qml
+    QML_FILES Parameter/RealDelegate.qml
+    QML_FILES Parameter/VectorDelegate.qml
+    QML_FILES Parameter/IntDelegate.qml
+    QML_FILES Parameter/DiscreteValuesDelegate.qml
+    QML_FILES Parameter/ParameterView.qml
 )
 
+target_include_directories(xbot2_gui_monitoring PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/Parameter)
+
 target_link_libraries(xbot2_gui PRIVATE xbot2_gui_monitoringplugin)
 
 add_subdirectory(BarPlot)

xbot2_gui/Monitoring/Parameter/BoolDelegate.qml

@@ -0,0 +1,9 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+CheckBox {
+
+    readonly property bool value: checked
+
+}

xbot2_gui/Monitoring/Parameter/DiscreteValuesDelegate.qml

@@ -0,0 +1,11 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+ComboBox {
+
+    readonly property string value: currentText
+
+    //
+    id: control
+}

xbot2_gui/Monitoring/Parameter/IntDelegate.qml

@@ -0,0 +1,15 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import Common
+
+SpinBox {
+
+    property alias min: control.from
+    property alias max: control.to
+
+    //
+    id: control
+
+}

xbot2_gui/Monitoring/Parameter/ParameterView.qml

@@ -0,0 +1,65 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import Common
+
+Control {
+
+    function addChild(paramView) {
+        paramView.parent = contentColumn
+        console.log(`${viewName}: added child ${paramView}`)
+        paramView.width = Qt.binding(() => { return contentColumn.width })
+    }
+
+    function hasChild(name) {
+        for(let i = 0; i < contentColumn.children.length; i++) {
+            let child = contentColumn.children[i]
+            if(child instanceof ParameterView &&
+                    child.viewName === name){
+                return child
+            }
+        }
+        return null
+    }
+
+    function clear() {
+        contentColumn.children = []
+    }
+
+    property string viewName
+
+    property int treeDepth: 0
+
+    id: root
+
+
+
+    leftPadding: 8*root.treeDepth
+    rightPadding: 0
+
+    contentItem: Column {
+
+        spacing: 16
+
+        SectionHeader {
+            id: header
+            width: parent.width
+            text: root.viewName
+            iconText: contentColumn.visible ? '\uf077' : '\uf078'
+            pixelSize: CommonProperties.font.h3
+
+            onClicked: {
+                contentColumn.visible = !contentColumn.visible
+            }
+        }
+
+        Column {
+            id: contentColumn
+            width: parent.width
+            spacing: 8
+        }
+
+    }
+
+}