Ros2 keyboard fixed

jupyros/__init__.py

@@ -24,6 +24,7 @@
     from .ros2.publisher import *
     from .ros2.ros_widgets import *
     from .ros2.subscriber import *
+    from .ros2.key_input import *
 
 else:
     # Default to ROS1

jupyros/ros2/__init__.py

@@ -16,3 +16,4 @@
 from ..ros2.publisher import *
 from ..ros2.ros_widgets import *
 from ..ros2.subscriber import *
+from ..ros2.key_input import *

jupyros/ros2/key_input.py

@@ -0,0 +1,107 @@
+## Keyboard input for Jupyter Ros 2
+"""
+Author:         Luigi Dania
+Email:          Luigi@dobots.nl
+Github:         https://github.com/ldania
+
+Company:        Dobots
+Company Repo:   https://github.com/dobots/ 
+
+
+"""
+
+from ipywidgets import Output
+from ipycanvas import Canvas
+
+
+# Method to receive keyboard input commands and send a String message to a Subscriber
+# It is recommended to use a secondary node to translate your String message to an appropriate msg type
+
+
+class KeyInput:
+
+    # Initiate values
+    def __init__(self, node, msg_type, topic, key_bindings=None):
+        # Set default window size and colors
+        self.width = 400
+        self.height = 400
+        self.color = "#1E3888"
+        self.font_color = "#E3DFFF"
+
+        # Initiate values for ipycanvas to
+        self.canvas = Canvas() 
+        self.canvas.fill_style = self.color 
+        self.canvas.fill_rect(0, 0, self.width, self.height)
+
+        self.out = Output()
+        self.msg_inst = msg_type()
+        self.node = node
+        self.__publisher = self.node.create_publisher(msg_type, topic, 10)
+
+        self.print_outgoing_msg = True
+        self.canvas.text_align = "center"
+        self.key_bindings = key_bindings
+        self.smallest_size = min(self.width, self.height)
+
+    # Method to change the window color
+    def set_color(self, color):
+        self.color = color
+        self.canvas.fill_style = self.color
+        self.update()
+
+    # Method to change the window width
+    def set_width(self, width):
+        self.width = width
+        self.smallest_size = min(self.width, self.height)
+        self.update()
+
+    # Method to change the window height
+    def set_height(self, height):
+        self.height = height
+        self.smallest_size = min(self.width, self.height)
+        self.update()
+
+    def print_outgoing(self, var: bool):
+        self.print_outgoing_msg = var
+
+    def update(self):
+        self.canvas.clear()
+        self.canvas.fill_rect(0, 0, self.width, self.height)
+
+    # Method to display the screen and to receive keyboard inputs
+    def display_inputs(self):
+        self.update()
+
+        @self.out.capture()
+        def on_keyboard_event(key, shift_key, ctrl_key, meta_key):
+            if key:
+                if self.print_outgoing_msg:
+                    self.canvas.fill_rect(0, 0, self.width, self.height)
+                    if str(key) == "ArrowRight":
+                        print_key = "⇒"
+                    elif str(key) == "ArrowDown":
+                        print_key = "⇓"
+                    elif str(key) == "ArrowLeft":
+                        print_key = "⇐"
+                    elif str(key) == "ArrowUp":
+                        print_key = "⇑"
+                    else:
+                        print_key = key
+
+                    if len(str(print_key)) > 2:
+                        factor = 5.5
+                    else:
+                        factor = 3
+
+                    self.canvas.fill_style = self.font_color
+                    self.font_size = self.smallest_size/factor
+                    self.canvas.font = "{}px sans-serif".format(self.font_size)
+                    self.canvas.fill_text(print_key, self.width/2, self.height/2+self.font_size/3)
+                    self.canvas.fill_style = self.color
+
+                self.msg_inst.data = str(key)
+                self.__publisher.publish(self.msg_inst)
+
+        self.canvas.on_key_down(on_keyboard_event)
+        display(self.canvas)
+        display(self.out)

jupyros/ros2/publisher.py

@@ -1,29 +1,29 @@
 """
 Publisher class for jupyter-ros2 Project
 
+Modified by:    Luigi Dania
+Email:          Luigi@dobots.nl
+Github:         https://github.com/ldania
+
+Company:        Dobots
+Company Repo:   https://github.com/dobots/ 
+
+
+
+
 Original Author: zmk5 (Zahi Kakish)
 
-Adjusted by: ldania (Luigi Dania)
-Date: 19 July 2022
+
 
 """
 from typing import TypeVar
 import threading
 import time
 import ipywidgets as widgets
-from .ros_widgets import add_widgets
+from .ros_widgets import add_widgets, rsetattr, rgetattr
 import functools
 
-def rsetattr(obj, attr, val):
-    pre, _, post = attr.rpartition('.')
-    return setattr(rgetattr(obj, pre) if pre else obj, post, val)
-
-# using wonder's beautiful simplification: https://stackoverflow.com/questions/31174295/getattr-and-setattr-on-nested-objects/31174427?noredirect=1#comment86638618_31174427
 
-def rgetattr(obj, attr, *args):
-    def _getattr(obj, attr):
-        return getattr(obj, attr, *args)
-    return functools.reduce(_getattr, [obj] + attr.split('.'))
 
 
 try:
@@ -54,7 +54,7 @@ class Publisher():
     :param topic: The topic name on which to publish the message.
 
     """
-    def __init__(self, node: Node, msg_type: MsgType, topic: str) -> None:
+    def __init__(self, node: Node, msg_type: MsgType, topic: str, rate = None ) -> None:
         # Check if a ros2 node is provided.
         if (not isinstance(node, Node) or not issubclass(type(node), Node)):
             raise TypeError(
@@ -77,6 +77,7 @@ def __init__(self, node: Node, msg_type: MsgType, topic: str) -> None:
         self.msg_type = msg_type
         self.__publisher = self.node.create_publisher(msg_type, topic, 10)
         self.__thread_map = {}
+        self.__thread_map[self.topic] = False
         self.__widget_list = []
         self.__widget_dict = {}
         self.__widgets = {
@@ -85,7 +86,8 @@ def __init__(self, node: Node, msg_type: MsgType, topic: str) -> None:
             "send_btn": widgets.Button(description="Send Message"),
             "txt_input": widgets.Text(description="Message", value="Something")
             }
-
+        if(rate):
+            self.node.create_timer(rate, self.__send_msg)
         self.widget_dict, self.widget_list = add_widgets(self.msg_type, self.__widget_dict, self.__widget_list)
 
     def widget_dict_to_msg(self):
@@ -107,10 +109,6 @@ def widget_dict_to_msg(self):
                 head_class = key.value
 
 
-            #submsg = getattr(msg_instance, key)
-            #self._sub_msg[key] =
-            #widget_dict_to_msg(submsg, d[key])
-
 
 
     def display(self) -> widgets.VBox:
@@ -131,18 +129,25 @@ def display(self) -> widgets.VBox:
 
         return vbox
 
+    def send_msg(self, args):
+        """Call to send message directly"""
+        self._send_msg(args)
 
 
     def __send_msg(self, args):
 
 
         """ Generic call to send message. """
         self.msg_inst =  self.msg_type()
-        self.widget_dict_to_msg()
-        self.__publisher.publish(self.msg_inst)
-        #self.__publisher.publish()
-
+        if(self.widget_list):
+            self.widget_dict_to_msg()
+            self.__publisher.publish(self.msg_inst)
+        else:
+            self.__publisher.publish(args)
 
+    def send_msg(self, args):
+        """Call to send message directly"""
+        self.__send_msg(args)
 
     def __thread_target(self) -> None:
         d = 1.0 / float(self.__widgets["rate_field"].value)
@@ -151,10 +156,7 @@ def __thread_target(self) -> None:
             time.sleep(d)
 
     def __start_thread(self, _) -> None:
-        try:
-            self.__thread_map[self.topic] = not self.__thread_map[self.topic]
-        except:
-            self.__thread_map[self.topic] = self.node
+        self.__thread_map[self.topic] = not self.__thread_map[self.topic]
         if self.__thread_map[self.topic]:
             local_thread = threading.Thread(target=self.__thread_target)
             local_thread.start()

jupyros/ros2/ros_widgets.py

@@ -2,7 +2,7 @@
 import ipywidgets as widgets
 from ament_index_python.packages import get_package_share_directory
 import rosidl_runtime_py.utilities as rut
-
+import functools
 
 
 
@@ -44,18 +44,28 @@ def add_widgets(msg_instance, widget_dict, widget_list, prefix=''):
             msg_inst = msg_instance()
         except:
             msg_inst = msg_instance
+
         attr = getattr(msg_inst, slot)
+
 
-        #s_t = msg_instance._fields_and_field_types[slot]
 
-        try:
+## Determine if the Message is the a basic form of Messages such as Point, String etc        
+        if(type(attr) in [int, str, float]):
+            msg_attr = msg_inst.get_fields_and_field_types()
+            basic_flag = 1
+            if(idx != 0):
+                continue
+
+        else:
             msg_attr = attr.get_fields_and_field_types()
-        except:
-            next
+            basic_flag = 0
+
 
         w = None
 
         if(rut.is_message(msg_instance)):
+            if(basic_flag == 1):
+                slot = type(msg_inst).__name__
             widget_list.append(widgets.Label(value=slot))
 
             widget_dict[slot] = {}
@@ -96,3 +106,14 @@ def add_widgets(msg_instance, widget_dict, widget_list, prefix=''):
             else:
                 print("No inst")
 """
+
+def rsetattr(obj, attr, val):
+    pre, _, post = attr.rpartition('.')
+    return setattr(rgetattr(obj, pre) if pre else obj, post, val)
+
+# using wonder's beautiful simplification: https://stackoverflow.com/questions/31174295/getattr-and-setattr-on-nested-objects/31174427?noredirect=1#comment86638618_31174427
+
+def rgetattr(obj, attr, *args):
+    def _getattr(obj, attr):
+        return getattr(obj, attr, *args)
+    return functools.reduce(_getattr, [obj] + attr.split('.'))

jupyros/ros2/subscriber.py

@@ -1,8 +1,14 @@
 """
-Subscription class for jupyter-ros2 Project
+Subscriber class for jupyter-ros2 Project
+
+Modified by:    Luigi Dania
+Email:          Luigi@dobots.nl
+Github:         https://github.com/ldania
+
+Company:        Dobots
+Company Repo:   https://github.com/dobots/ 
+
 
-Modified by: ldania (Luigi Dania)
-Date: 22-July-2022
 
 
 Original Author: zmk5 (Zahi Kakish)
@@ -11,6 +17,7 @@
 """
 from typing import TypeVar
 from typing import Callable
+import time
 import threading
 import functools
 import ipywidgets as widgets
@@ -72,6 +79,18 @@ def __init__(self, node: Node, msg_type: MsgType, topic: str,
         self.msg_type = msg_type
         self.data = None
         self.__thread_state = False
+        self.callback= callback
+
+
+
+
+        """
+        Different than Ros1, in Ros2 an Multithreadedexecutor is needed for multiple silmultaneous nodes
+        """
+        self.executor = rclpy.executors.MultiThreadedExecutor()
+        self.executor.add_node(self.node)
+        self.rate = self.node.create_rate(2)
+
         self.__widgets = {
             "start_btn": widgets.Button(description='Start'),
             "stop_btn": widgets.Button(description='Stop'),
@@ -102,18 +121,17 @@ def display(self) -> widgets.VBox:
         return vbox
 
 
-    def __thread_target(self) -> None:
-        while self.__thread_state:
-            rclpy.spin_once(self.node, timeout_sec=1)
-        self.__widgets["out"].append_stdout("Done!\n")
 
     def _stop_subscription(self, _) -> None:
         self.__thread_state = False
 
     def _start_subscription(self, _) -> None:
         self.__thread_state = True
-        local_thread = threading.Thread(target=self.__thread_target)
+
+        print("started")
+        local_thread = threading.Thread( target = self.executor.spin, daemon = True)
         local_thread.start()
+        self.rate.sleep()
 
     def __data_msg(self, func: Callable) -> Callable:
         """