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Re #39: Cleaned up widget. Set up error catching in case you press se…
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…t subs/ pubs before the ROS2 node is instantiated.
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@LauraConnolly
LauraConnolly committed Dec 6, 2022
1 parent 05e5e1f commit 17bee31
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Showing 3 changed files with 59 additions and 71 deletions.
2 changes: 0 additions & 2 deletions Logic/vtkSlicerRos2Logic.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -786,8 +786,6 @@ void vtkSlicerRos2Logic::AddROS2Node(void)

void vtkSlicerRos2Logic::AddToScene(void)
{


vtkSmartPointer<vtkMRMLROS2SubscriberStringNode> subString = vtkMRMLROS2SubscriberStringNode::New();
this->GetMRMLScene()->AddNode(subString);
subString->AddToROS2Node(mROS2Node->GetID(), "/string_sub");
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127 changes: 59 additions & 68 deletions qSlicerRos2ModuleWidget.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -99,58 +99,26 @@ void qSlicerRos2ModuleWidget::setup(void)
connect(mTimer, SIGNAL(timeout()), this, SLOT(onTimerTimeOut()));
connect(qSlicerApplication::application(), SIGNAL(lastWindowClosed()), this, SLOT(stopTimer()));

// Setup state / selection options
// this->connect(d->stateSelectionComboBox, SIGNAL(currentTextChanged(const QString&)), this, SLOT(onStateSelection(const QString&)));

// this->connect(d->descriptionSelectionComboBox, SIGNAL(currentTextChanged(const QString&)), this, SLOT(onDescriptionSelection(const QString&)));

// Set up signals / slots for dynamically loaded widgets
// Note: All of the QLineEdits are triggered by pressing enter in the edit box - the slot functions access the text that was entered themselves
this->connect(d->loadVisualizationButton, SIGNAL(clicked(bool)), this, SLOT(onNodeOrParameterNameEntered()));
this->connect(d->rosSubscriberTableWidget, SIGNAL(cellClicked(int,int)), this, SLOT(subscriberClicked(int, int)));
this->connect(d->rosPublisherTableWidget, SIGNAL(cellClicked(int,int)), this, SLOT(publisherClicked(int, int)));
// file dialog signals are weird so using the button as a place holder just so you can print the name of the file you selected

// Set default, assuming defaults are:
// - state if from tf
// - model is from param
// d->stateWidgetGroupBox->hide();
// d->loadModelButton->hide();
// d->selectFileButton->hide();
d->rosSubscriberTableWidget->resizeColumnsToContents();

this->connect(d->broadcastTransformButton, SIGNAL(clicked(bool)), this, SLOT(onBroadcastButtonPressed()));

}


void qSlicerRos2ModuleWidget::onFileSelected(const QString&)
{
vtkSlicerRos2Logic* logic = vtkSlicerRos2Logic::SafeDownCast(this->logic());
if (!logic) {
qWarning() << Q_FUNC_INFO << " failed: Invalid SlicerROS2 logic";
return;
}

// Check if the timer is on or off before setting up the robot
// Anton: is this still needed?
if (timerOff == true) {
mTimer->start();
timerOff = false;
}
}

void qSlicerRos2ModuleWidget::onNodeAddedButton()
{
vtkSlicerRos2Logic* logic = vtkSlicerRos2Logic::SafeDownCast(this->logic());
if (!logic) {
qWarning() << Q_FUNC_INFO << " failed: Invalid SlicerROS2 logic";
return;
}
// Instantiate ROS2 node
logic->AddROS2Node();

// Setup modified connections for the widget
if (logic->mROS2Node){
std::cerr << "Event connected" << std::endl;
qvtkReconnect(logic->mROS2Node, vtkMRMLNode::ReferenceAddedEvent, this, SLOT(updateWidget())); // Set up observer
}
}
Expand All @@ -167,6 +135,31 @@ void qSlicerRos2ModuleWidget::onTimerTimeOut()
logic->Spin();
}

void qSlicerRos2ModuleWidget::updateWidget()
{
Q_D(qSlicerRos2ModuleWidget);
this->Superclass::setup();
vtkSlicerRos2Logic* logic = vtkSlicerRos2Logic::SafeDownCast(this->logic());
if (!logic) {
qWarning() << Q_FUNC_INFO << " failed: Invalid SlicerROS2 logic";
return;
}

// Check how many subscriber references are on the node vs. how many rows are in the table
int visibleSubscriberRefs = d->rosSubscriberTableWidget->rowCount();
int visiblePublisherRefs = d->rosPublisherTableWidget->rowCount();
int subscriberRefs = logic->mROS2Node->GetNumberOfNodeReferences("subscriber");
int publisherRefs = logic->mROS2Node->GetNumberOfNodeReferences("publisher");

// update subscriber table
if (visibleSubscriberRefs < subscriberRefs){
refreshSubTable();
}
// update publisher table
if (visiblePublisherRefs < publisherRefs){
refreshPubTable();
}
}

void qSlicerRos2ModuleWidget::refreshSubTable()
{
Expand All @@ -177,9 +170,14 @@ void qSlicerRos2ModuleWidget::refreshSubTable()
qWarning() << Q_FUNC_INFO << " failed: Invalid SlicerROS2 logic";
return;
}
// Update the subscriber table widget
size_t subRow = 0;
d->rosSubscriberTableWidget->clearContents();

// Resize the table
d->rosSubscriberTableWidget->setRowCount(logic->mROS2Node->GetNumberOfNodeReferences("subscriber"));

// Iterate through the references
for (int index = 0; index < logic->mROS2Node->GetNumberOfNodeReferences("subscriber"); ++index) {
const char * id = logic->mROS2Node->GetNthNodeReferenceID("subscriber", index);
vtkMRMLROS2SubscriberNode *sub = vtkMRMLROS2SubscriberNode::SafeDownCast(logic->mROS2Node->GetScene()->GetNodeByID(id));
Expand All @@ -200,9 +198,14 @@ void qSlicerRos2ModuleWidget::refreshPubTable()
qWarning() << Q_FUNC_INFO << " failed: Invalid SlicerROS2 logic";
return;
}
// Update the publisher table wideget
size_t pubRow = 0;
d->rosPublisherTableWidget->clearContents();

// Resize the table
d->rosPublisherTableWidget->setRowCount(logic->mROS2Node->GetNumberOfNodeReferences("publisher"));

// Iterate through the references
for (int index = 0; index < logic->mROS2Node->GetNumberOfNodeReferences("publisher"); ++index) {
const char * id = logic->mROS2Node->GetNthNodeReferenceID("publisher", index);
vtkMRMLROS2PublisherNode *pub = vtkMRMLROS2PublisherNode::SafeDownCast(logic->mROS2Node->GetScene()->GetNodeByID(id));
Expand All @@ -214,33 +217,6 @@ void qSlicerRos2ModuleWidget::refreshPubTable()
}
}

void qSlicerRos2ModuleWidget::updateWidget()
{
Q_D(qSlicerRos2ModuleWidget);
this->Superclass::setup();
vtkSlicerRos2Logic* logic = vtkSlicerRos2Logic::SafeDownCast(this->logic());
if (!logic) {
qWarning() << Q_FUNC_INFO << " failed: Invalid SlicerROS2 logic";
return;
}

// Check how many subscriber references are on the node vs. how many rows are in the table
int visibleSubscriberRefs = d->rosSubscriberTableWidget->rowCount();
int visiblePublisherRefs = d->rosPublisherTableWidget->rowCount();

int subscriberRefs = logic->mROS2Node->GetNumberOfNodeReferences("subscriber");
int publisherRefs = logic->mROS2Node->GetNumberOfNodeReferences("publisher");

// update subscriber table
if (visibleSubscriberRefs < subscriberRefs){
refreshSubTable();
}

if (visiblePublisherRefs < publisherRefs){
refreshPubTable();
}
}

void qSlicerRos2ModuleWidget::updateSubscriberTable(vtkMRMLROS2SubscriberNode* sub, size_t row){
Q_D(qSlicerRos2ModuleWidget);
this->Superclass::setup();
Expand All @@ -250,13 +226,13 @@ void qSlicerRos2ModuleWidget::updateSubscriberTable(vtkMRMLROS2SubscriberNode* s
return;
}

// Get the subscriber topic and message type and populate the cells in the table with this info
QString topicName = sub->GetTopic();
QString typeName = sub->GetROSType();

QTableWidgetItem *topic_item = d->rosSubscriberTableWidget->item(row, 0);
QTableWidgetItem *type_item = d->rosSubscriberTableWidget->item(row, 1);

// if the row doesn't exist, populate
if (!topic_item) {
topic_item = new QTableWidgetItem;
d->rosSubscriberTableWidget->setItem(row, 0, topic_item);
Expand All @@ -278,14 +254,13 @@ void qSlicerRos2ModuleWidget::updatePublisherTable(vtkMRMLROS2PublisherNode* sub
return;
}


// Get the subscriber topic and message type and populate the cells in the table with this info
QString topicName = sub->GetTopic();
QString typeName = sub->GetROSType();

QTableWidgetItem *topic_item = d->rosPublisherTableWidget->item(row, 0);
QTableWidgetItem *type_item = d->rosPublisherTableWidget->item(row, 2);

// if the row doesn't exist, populate
if (!topic_item) {
topic_item = new QTableWidgetItem;
d->rosPublisherTableWidget->setItem(row, 0, topic_item);
Expand Down Expand Up @@ -317,8 +292,16 @@ void qSlicerRos2ModuleWidget::onSetSubscribers()
qWarning() << Q_FUNC_INFO << " failed: Invalid SlicerROS2 logic";
return;
}
logic->AddToScene();
refreshSubTable();
if (logic->mROS2Node){
logic->AddToScene();
refreshSubTable();
}
else{
QLabel *popupLabel = new QLabel();
QString message = "ROS2 node has not been added yet.";
popupLabel->setText(message);
popupLabel->show();
}
}

void qSlicerRos2ModuleWidget::onSetPublishers()
Expand All @@ -329,8 +312,16 @@ void qSlicerRos2ModuleWidget::onSetPublishers()
qWarning() << Q_FUNC_INFO << " failed: Invalid SlicerROS2 logic";
return;
}
logic->AddPublisher();
refreshPubTable();
if (logic->mROS2Node){
logic->AddPublisher();
refreshPubTable();
}
else{
QLabel *popupLabel = new QLabel();
QString message = "ROS2 node has not been added yet.";
popupLabel->setText(message);
popupLabel->show();
}
}

void qSlicerRos2ModuleWidget::subscriberClicked(int row, int col)
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1 change: 0 additions & 1 deletion qSlicerRos2ModuleWidget.h
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,6 @@ public slots:


protected slots:
void onFileSelected(const QString&);
void onStateSelection(const QString&);
void onDescriptionSelection(const QString&);
void onTimerTimeOut(void);
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