Add parameters to visual states tool.

src/visualstates/core/parameter.py

@@ -0,0 +1,85 @@
+'''
+   Copyright (C) 1997-2019 JDERobot Developers Team
+
+   This program is free software; you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation; either version 2 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU Library General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program; if not, see <http://www.gnu.org/licenses/>.
+
+   Authors : Baidyanath Kundu ([email protected])
+
+  '''
+
+class Parameter:
+    def __init__(self, name='', type='', value='', desc=''):
+        self.name = name
+        self.type = type
+        self.value = value
+        self.desc = desc
+
+    def setName(self, name):
+        self.name = name
+
+    def setType(self, type):
+        self.type = type
+
+    def setValue(self, value):
+        self.value = value
+
+    def setDesc(self, desc):
+        self.desc = desc
+
+    def createDocFromParam(self, doc):
+        paramElement = doc.createElement('param')
+        paramElement.setAttribute('type', self.type)
+        paramElement.setAttribute('name', self.name)
+
+        valueElement = doc.createElement('value')
+        valueElement.appendChild(doc.createTextNode(self.value))
+        paramElement.appendChild(valueElement)
+        descElement = doc.createElement('description')
+        descElement.appendChild(doc.createTextNode(self.desc))
+        paramElement.appendChild(descElement)
+
+        return paramElement
+
+    def parseElement(self, element):
+        for (name, value) in element.attributes.items():
+            if name == 'name':
+                self.name = str(value)
+            elif name == 'type':
+                self.type = str(value)
+        try:
+            self.value = str(element.getElementsByTagName('value')[0].childNodes[0].nodeValue)
+        except IndexError:
+            self.desc = ''
+        try:
+            self.desc = str(element.getElementsByTagName('description')[0].childNodes[0].nodeValue)
+        except IndexError:
+            self.desc = ''
+
+def isTypeEqualValue(type, value):
+    if type == 'Boolean' and not (value == 'True' or value == 'False'):
+        return False
+    elif type == 'Integer' and not value.isdigit():
+        return False
+    elif type == 'Float' and not (value.replace('.', '', 1).isdigit()):
+        return False
+    else:
+        return True
+
+def isParamName(name):
+    if name == '':
+        return False
+    elif name.replace('_', '').isalnum() and name[0].isalpha():
+        return True
+    else:
+        return False

src/visualstates/generators/cpprosgenerator.py

@@ -30,7 +30,7 @@ class CppRosGenerator(BaseGenerator):
     def __init__(self, libraries, config, states, globalNamespace):
         BaseGenerator.__init__(self, libraries, config, states, globalNamespace)
 
-    def generate(self, projectPath, projectName):
+    def generate(self, params, projectPath, projectName):
         # create source dir if not exists
         if not os.path.exists(projectPath + os.sep + 'src'):
             os.makedirs(projectPath + os.sep + 'src')
@@ -42,10 +42,7 @@ def generate(self, projectPath, projectName):
         self.generateStateClasses(stringList)
         self.generateTransitionClasses(stringList)
         stringList.append('#endif')
-        sourceCode = ''.join(stringList)
-        fp = open(projectPath + os.sep + 'src' + os.sep + projectName + '.h', 'w')
-        fp.write(sourceCode)
-        fp.close()
+        headerSourceCode = ''.join(stringList)
 
         stringList = []
         self.generateHeadersForCpp(stringList, projectName)
@@ -56,28 +53,46 @@ def generate(self, projectPath, projectName):
         self.generateMain(stringList, projectName)
         sourceCode = ''.join(stringList)
 
+        stringList = []
+        self.generateRunTimeGui(stringList)
+        guiSourceCode = ''.join(stringList)
+
+        stringList = []
+        self.generateCmake(stringList, projectName, self.config)
+        cmakeString = ''.join(stringList)
+
+        xmlDoc = self.generatePackageXml(self.config, projectName)
+        xmlStr = xmlDoc.toprettyxml(indent='  ')
+
+        # replacing parameters with their values
+        for param in params:
+            findText = '${' + param.name + '}'
+            headerSourceCode = headerSourceCode.replace(findText, param.value)
+            sourceCode = sourceCode.replace(findText, param.value)
+            guiSourceCode = guiSourceCode.replace(findText, param.value)
+            cmakeString = cmakeString.replace(findText, param.value)
+            xmlStr = xmlStr.replace(findText, param.value)
+
+        # writing to files
+        fp = open(projectPath + os.sep + 'src' + os.sep + projectName + '.h', 'w')
+        fp.write(headerSourceCode)
+        fp.close()
+
+
         fp = open(projectPath + os.sep + 'src' + os.sep + projectName + '.cpp', 'w')
         fp.write(sourceCode)
         fp.close()
 
-        stringList = []
-        self.generateRunTimeGui(stringList)
-        sourceCode = ''.join(stringList)
         fp = open(projectPath + os.sep + projectName + '_runtime.py', 'w')
-        fp.write(sourceCode)
+        fp.write(guiSourceCode)
         fp.close()
         # make runtime gui python file executable
         os.chmod(projectPath + os.sep + projectName + '_runtime.py', stat.S_IEXEC | stat.S_IXOTH | stat.S_IWRITE | stat.S_IREAD)
 
-        stringList = []
-        self.generateCmake(stringList, projectName, self.config)
-        cmakeString = ''.join(stringList)
         fp = open(projectPath + os.sep + 'CMakeLists.txt', 'w')
         fp.write(cmakeString)
         fp.close()
 
-        xmlDoc = self.generatePackageXml(self.config, projectName)
-        xmlStr = xmlDoc.toprettyxml(indent='  ')
         with open(projectPath + os.sep + 'package.xml', 'w') as f:
             f.write(xmlStr)
 

src/visualstates/generators/pythonrosgenerator.py

@@ -30,7 +30,7 @@ class PythonRosGenerator(BaseGenerator):
     def __init__(self, libraries, config, states, globalNamespace):
         BaseGenerator.__init__(self, libraries, config, states, globalNamespace)
 
-    def generate(self, projectPath, projectName):
+    def generate(self, params, projectPath, projectName):
         stringList = []
         self.generateImports(stringList)
         self.generateSignalHandling(stringList)
@@ -39,20 +39,31 @@ def generate(self, projectPath, projectName):
         self.generateTransitionClasses(stringList)
         self.generateMain(stringList)
         sourceCode = ''.join(stringList)
+
+        stringList = []
+        self.generateCmake(stringList, projectName)
+        cmakeString = ''.join(stringList)
+
+        xmlDoc = self.generatePackageXml(self.config, projectName)
+        xmlStr = xmlDoc.toprettyxml(indent='  ')
+
+        #replacing parameters with their values
+        for param in params:
+            findText = '${'+param.name+'}'
+            sourceCode = sourceCode.replace(findText, param.value)
+            cmakeString = cmakeString.replace(findText, param.value)
+            xmlStr = xmlStr.replace(findText, param.value)
+
+        #writing to files
         fp = open(projectPath + os.sep + projectName + '.py', 'w')
         fp.write(sourceCode)
         fp.close()
         os.system('chmod +x "' +projectPath+ '"' + os.sep + projectName + '.py')
 
-        stringList = []
-        self.generateCmake(stringList, projectName)
-        cmakeString = ''.join(stringList)
         fp = open(projectPath + os.sep + 'CMakeLists.txt', 'w')
         fp.write(cmakeString)
         fp.close()
 
-        xmlDoc = self.generatePackageXml(self.config, projectName)
-        xmlStr = xmlDoc.toprettyxml(indent='  ')
         with open(projectPath + os.sep + 'package.xml', 'w') as f:
             f.write(xmlStr)
 

src/visualstates/gui/dialogs/paramprop.py

@@ -0,0 +1,128 @@
+'''
+   Copyright (C) 1997-2019 JDERobot Developers Team
+
+   This program is free software; you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation; either version 2 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU Library General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program; if not, see <http://www.gnu.org/licenses/>.
+
+   Authors : Baidyanath Kundu ([email protected])
+
+  '''
+import sys
+from PyQt5.QtWidgets import QDialog, QLabel, QLineEdit, \
+    QPushButton, QApplication, QHBoxLayout, QVBoxLayout, \
+    QScrollArea, QComboBox, QGridLayout, QPlainTextEdit, \
+    QMessageBox
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtCore import *
+from visualstates.core.parameter import Parameter, isParamName, isTypeEqualValue
+
+class ParamPropDialog(QDialog):
+
+    paramAdded = pyqtSignal(list)
+    paramUpdated = pyqtSignal(list, int)
+
+    def __init__(self, params=None, id=-1):
+        super(QDialog, self).__init__()
+        self.params = params
+        self.id = id
+        self.param = Parameter()
+        if self.id != -1:
+            self.param = self.params[self.id]
+        self.setFixedSize(400, 360)
+        if id == -1:
+            self.setWindowTitle('Add Parameter')
+        else:
+            self.setWindowTitle('Edit Parameter')
+
+        Layout = QVBoxLayout()
+        self.setLayout(Layout)
+        rowLayout = QHBoxLayout()
+        nameLbl = QLabel('Name :')
+        nameLbl.setFixedWidth(100)
+        rowLayout.addWidget(nameLbl)
+        self.nameEdit = QLineEdit(self.param.name)
+        rowLayout.addWidget(self.nameEdit)
+        Layout.addLayout(rowLayout)
+
+        rowLayout = QHBoxLayout()
+        typeLbl = QLabel('Type :')
+        typeLbl.setFixedWidth(100)
+        rowLayout.addWidget(typeLbl)
+        self.typeCb = QComboBox()
+        self.typeCb.addItems(['String', 'Integer', 'Float', 'Boolean'])
+        self.typeCb.setCurrentText(self.param.type)
+        rowLayout.addWidget(self.typeCb)
+        Layout.addLayout(rowLayout)
+
+        rowLayout = QHBoxLayout()
+        valueLbl = QLabel('Value :')
+        valueLbl.setFixedWidth(100)
+        rowLayout.addWidget(valueLbl)
+        self.valueEdit = QLineEdit(self.param.value)
+        rowLayout.addWidget(self.valueEdit)
+        Layout.addLayout(rowLayout)
+
+        rowLayout = QHBoxLayout()
+        descLbl = QLabel('Description :')
+        descLbl.setFixedWidth(100)
+        descLbl.setAlignment(Qt.AlignTop)
+        rowLayout.addWidget(descLbl)
+        self.descEdit = QPlainTextEdit(self.param.desc)
+        self.descEdit.setFixedHeight(200)
+        rowLayout.addWidget(self.descEdit)
+        Layout.addLayout(rowLayout)
+
+        btnLayout = QHBoxLayout()
+        btnLayout.setAlignment(Qt.AlignRight)
+        saveBtn = QPushButton("Save")
+        saveBtn.setFixedWidth(80)
+        saveBtn.clicked.connect(self.saveClicked)
+        btnLayout.addWidget(saveBtn)
+        closeBtn = QPushButton("Close")
+        closeBtn.setFixedWidth(80)
+        closeBtn.clicked.connect(self.closeClicked)
+        btnLayout.addWidget(closeBtn)
+        Layout.addLayout(btnLayout)
+        self.setLayout(Layout)
+
+    def saveClicked(self):
+        if not isTypeEqualValue(self.typeCb.currentText(), self.valueEdit.text().strip()):
+            QMessageBox.warning(self, 'Error', 'Value is not same as type')
+        elif not isParamName(self.nameEdit.text().strip()):
+            QMessageBox.warning(self, 'Error', 'Name does not meet requirements of a parameter')
+        else:
+            for param in self.params:
+                if param.name == self.nameEdit.text():
+                    QMessageBox.warning(self, 'Error', 'Name already in use')
+                    return
+            newParam = False
+            if self.id == -1:
+                newParam = True
+            self.param.setName(self.nameEdit.text().strip())
+            self.param.setType(self.typeCb.currentText())
+            self.param.setValue(self.valueEdit.text().strip())
+            self.param.setDesc(self.descEdit.toPlainText())
+            if newParam:
+                self.params.append(self.param)
+                self.paramAdded.emit(self.params)
+            else:
+                self.paramUpdated.emit(self.params, self.id)
+            self.close()
+
+    def closeClicked(self):
+        self.close()
+
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    dialog = ParamPropDialog(params=[])
+    dialog.exec_()