cosmos 3.9.2 → 4.0.0

data/lib/cosmos/tools/cmd_sequence/cmd_sequence.rb

@@ -0,0 +1,652 @@
+# encoding: ascii-8bit
+
+# Copyright 2014 Ball Aerospace & Technologies Corp.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+
+require 'time'
+require 'cosmos'
+Cosmos.catch_fatal_exception do
+  require 'cosmos/script'
+  require 'cosmos/config/config_parser'
+  require 'cosmos/gui/qt_tool'
+  require 'cosmos/gui/utilities/script_module_gui'
+  require 'cosmos/gui/dialogs/splash'
+  require 'cosmos/gui/widgets/realtime_button_bar'
+  require 'cosmos/gui/choosers/file_chooser'
+  require 'cosmos/tools/cmd_sequence/sequence_list'
+end
+
+module Cosmos
+  # Creates and executes command sequences. Commands are choosen through a GUI
+  # similar to CmdSender where the user selects a target, command, and then
+  # sets the command parameters in a table layout. Sequences can be saved and
+  # loaded and can have relative or absolute delays.
+  class CmdSequence < QtTool
+    # Runs the CmdSequence application
+    def self.run(option_parser = nil, options = nil)
+      Cosmos.catch_fatal_exception do
+        unless option_parser && options
+          option_parser, options = create_default_options()
+          options.width = 600
+          options.height = 425
+          option_parser.on("-o", "--output DIRECTORY", "Save files in the specified directory") do |arg|
+            options.output_dir = File.expand_path(arg)
+          end
+          options.run_sequence = nil
+          option_parser.on("-r", "--run FILE", "Open and run the specified sequence") do |arg|
+            options.run_sequence = arg
+          end
+        end
+        super(option_parser, options)
+      end
+    end
+
+    # Creates the CmdSequence instance
+    # @param options [OpenStruct] Application command line options
+    def initialize(options)
+      # MUST BE FIRST - All code before super is executed twice in RubyQt Based classes
+      super(options)
+      Cosmos.load_cosmos_icon("cmd_sequence.png")
+      if options.output_dir
+        @sequence_dir = options.output_dir
+      else
+        @sequence_dir = System.paths['SEQUENCES']
+      end
+      @filename = "Untitled"
+      @run_thread = nil
+
+      initialize_actions()
+      initialize_menus()
+      initialize_central_widget()
+      complete_initialize() # defined in qt_tool
+      update_title()
+
+      # Bring up slash screen for long duration tasks after creation
+      Splash.execute(self) do |splash|
+        # Configure CosmosConfig to interact with splash screen
+        ConfigParser.splash = splash
+
+        System.commands
+        Qt.execute_in_main_thread(true) do
+          update_targets()
+          @target_select.setCurrentText(options.packet[0]) if options.packet
+          update_commands()
+          @cmd_select.setCurrentText(options.packet[1]) if options.packet
+        end
+        # Unconfigure CosmosConfig to interact with splash screen
+        ConfigParser.splash = nil
+      end
+      run_sequence(options.run_sequence) if options.run_sequence
+    end
+
+    # Creates the menu actions
+    def initialize_actions
+      super()
+
+      @file_new = Qt::Action.new(Cosmos.get_icon('file.png'), tr('&New'), self)
+      @file_new_keyseq = Qt::KeySequence.new(tr('Ctrl+N'))
+      @file_new.shortcut  = @file_new_keyseq
+      @file_new.statusTip = tr('Start a new sequence')
+      @file_new.connect(SIGNAL('triggered()')) { file_new() }
+
+      @file_save = Qt::Action.new(Cosmos.get_icon('save.png'), tr('&Save'), self)
+      @file_save_keyseq = Qt::KeySequence.new(tr('Ctrl+S'))
+      @file_save.shortcut  = @file_save_keyseq
+      @file_save.statusTip = tr('Save the sequence')
+      @file_save.connect(SIGNAL('triggered()')) { file_save(false) }
+
+      @file_save_as = Qt::Action.new(Cosmos.get_icon('save_as.png'), tr('Save &As'), self)
+      @file_save_as.statusTip = tr('Save the sequence')
+      @file_save_as.connect(SIGNAL('triggered()')) { file_save(true) }
+
+      @export_action = Qt::Action.new(tr('&Export Sequence'), self)
+      @export_action.shortcut = Qt::KeySequence.new(tr('Ctrl+E'))
+      @export_action.statusTip = tr('Export the current sequence to a custom binary format')
+      @export_action.connect(SIGNAL('triggered()')) { export() }
+
+      @show_ignored = Qt::Action.new(tr('&Show Ignored Parameters'), self)
+      @show_ignored.statusTip = tr('Show ignored parameters which are normally hidden')
+      @show_ignored.setCheckable(true)
+      @show_ignored.setChecked(false)
+      @show_ignored.connect(SIGNAL('toggled(bool)')) do |bool|
+        @sequence_list.map {|item| item.show_ignored(bool) }
+      end
+
+      @states_in_hex = Qt::Action.new(tr('&Display State Values in Hex'), self)
+      @states_in_hex.statusTip = tr('Display states values in hex instead of decimal')
+      @states_in_hex.setCheckable(true)
+      @states_in_hex.setChecked(false)
+      @states_in_hex.connect(SIGNAL('toggled(bool)')) do |bool|
+        @sequence_list.map {|item| item.states_in_hex(bool) }
+      end
+
+      @expand_action = Qt::Action.new(tr('&Expand All'), self)
+      @expand_action.statusTip = tr('Expand all currently visible commands')
+      @expand_action.connect(SIGNAL('triggered()')) do
+        @sequence_list.map {|item| item.expand }
+      end
+
+      @collapse_action = Qt::Action.new(tr('&Collapse All'), self)
+      @collapse_action.statusTip = tr('Collapse all currently visible commands')
+      @collapse_action.connect(SIGNAL('triggered()')) do
+        @sequence_list.map {|item| item.collapse }
+      end
+
+      @script_disconnect = Qt::Action.new(Cosmos.get_icon('disconnected.png'), tr('&Toggle Disconnect'), self)
+      @script_disconnect_keyseq = Qt::KeySequence.new(tr('Ctrl+T'))
+      @script_disconnect.shortcut  = @script_disconnect_keyseq
+      @script_disconnect.statusTip = tr('Toggle disconnect from the server')
+      @script_disconnect.connect(SIGNAL('triggered()')) do
+        @server_config_file ||= CmdTlmServer::DEFAULT_CONFIG_FILE
+        @server_config_file = toggle_disconnect(@server_config_file)
+      end
+    end
+
+    # Create the application menus and assign the actions
+    def initialize_menus
+      file_menu = menuBar.addMenu(tr('&File'))
+      file_menu.addAction(@file_new)
+
+      open_action = Qt::Action.new(self)
+      open_action.shortcut = Qt::KeySequence.new(tr('Ctrl+O'))
+      open_action.connect(SIGNAL('triggered()')) { file_open(@sequence_dir) }
+      self.addAction(open_action)
+
+      file_open = file_menu.addMenu(tr('&Open'))
+      file_open.setIcon(Cosmos.get_icon('open.png'))
+      target_dirs_action(file_open, System.paths['SEQUENCES'], 'sequences', method(:file_open))
+
+      file_menu.addAction(@file_save)
+      file_menu.addAction(@file_save_as)
+      file_menu.addSeparator()
+      file_menu.addAction(@exit_action)
+
+      action_menu = menuBar.addMenu(tr('&Actions'))
+      action_menu.addAction(@show_ignored)
+      action_menu.addAction(@states_in_hex)
+      action_menu.addSeparator()
+      action_menu.addAction(@expand_action)
+      action_menu.addAction(@collapse_action)
+      action_menu.addSeparator()
+      action_menu.addAction(@script_disconnect)
+
+      @about_string = "Sequence Generator generates and executes sequences of commands."
+      initialize_help_menu()
+    end
+
+    # Create the CmdSequence GUI
+    def initialize_central_widget
+      central_widget = Qt::Widget.new
+      setCentralWidget(central_widget)
+      central_layout = Qt::VBoxLayout.new
+      central_widget.layout = central_layout
+
+      @realtime_button_bar = RealtimeButtonBar.new(self)
+      @realtime_button_bar.start_callback = method(:handle_start)
+      @realtime_button_bar.pause_callback = method(:handle_pause)
+      @realtime_button_bar.stop_callback  = method(:handle_stop)
+      @realtime_button_bar.state = 'Stopped'
+      central_layout.addWidget(@realtime_button_bar)
+
+      @target_select = Qt::ComboBox.new
+      @target_select.setMaxVisibleItems(6)
+      @target_select.connect(SIGNAL('activated(const QString&)')) do |target|
+        target_changed()
+      end
+      target_label = Qt::Label.new(tr("&Target:"))
+      target_label.setBuddy(@target_select)
+
+      @cmd_select = Qt::ComboBox.new
+      @cmd_select.setMaxVisibleItems(20)
+      cmd_label = Qt::Label.new(tr("&Command:"))
+      cmd_label.setBuddy(@cmd_select)
+
+      add = Qt::PushButton.new("Add")
+      add.connect(SIGNAL('clicked()')) do
+        command = System.commands.packet(@target_select.text, @cmd_select.text).dup
+        command.restore_defaults
+        item = @sequence_list.add(command)
+        item.show_ignored(@show_ignored.isChecked())
+        item.states_in_hex(@states_in_hex.isChecked())
+      end
+
+      # Layout the target and command selection with Add button
+      select_layout = Qt::HBoxLayout.new
+      select_layout.addWidget(target_label)
+      select_layout.addWidget(@target_select, 1)
+      select_layout.addWidget(cmd_label)
+      select_layout.addWidget(@cmd_select, 1)
+      select_layout.addWidget(add)
+      central_layout.addLayout(select_layout)
+
+      # Create a splitter to hold the sequence area and the script output text area
+      splitter = Qt::Splitter.new(Qt::Vertical, self)
+      central_layout.addWidget(splitter)
+
+      @sequence_list = SequenceList.new
+      @sequence_list.connect(SIGNAL("modified()")) { update_title }
+
+      @scroll = Qt::ScrollArea.new()
+      @scroll.setSizePolicy(Qt::SizePolicy::Preferred, Qt::SizePolicy::Expanding)
+      @scroll.setWidgetResizable(true)
+      @scroll.setWidget(@sequence_list)
+      connect(@scroll.verticalScrollBar(), SIGNAL("valueChanged(int)"), @sequence_list, SLOT("update()"))
+      splitter.addWidget(@scroll)
+
+      bottom_frame = Qt::Widget.new
+      bottom_layout = Qt::VBoxLayout.new
+      bottom_layout.setContentsMargins(0,0,0,0)
+      bottom_layout_label = Qt::Label.new("Sequence Output:")
+      bottom_layout.addWidget(bottom_layout_label)
+      @output = Qt::TextEdit.new
+      @output.setReadOnly(true)
+      bottom_layout.addWidget(@output)
+      bottom_frame.setLayout(bottom_layout)
+      splitter.addWidget(bottom_frame)
+      splitter.setStretchFactor(0,1)
+      splitter.setStretchFactor(1,0)
+    end
+
+    # Clears the sequence list
+    def file_new
+      return unless prompt_for_save_if_needed()
+      @sequence_list.clear
+      @filename = "Untitled"
+    end
+
+    # Opens a sequence list file and populates the GUI
+    # @param filename [String] Name of the file to open
+    def file_open(filename = nil)
+      return unless prompt_for_save_if_needed()
+      if File.directory?(filename)
+        filename = Qt::FileDialog.getOpenFileName(self, "Select Sequence", filename)
+      else
+        filename = Qt::FileDialog.getOpenFileName(self, "Select Sequence")
+      end
+      if !filename.nil? && File.exist?(filename) && !File.directory?(filename)
+        # Try to open and load the file. Errors are handled here.
+        @sequence_list.open(filename)
+        @sequence_list.map {|item| item.show_ignored(@show_ignored.isChecked()) }
+        @sequence_list.map {|item| item.states_in_hex(@states_in_hex.isChecked()) }
+        @filename = filename
+        @sequence_dir = File.dirname(filename)
+        @sequence_dir << '/' if @sequence_dir[-1..-1] != '/' and @sequence_dir[-1..-1] != '\\'
+        update_title()
+      end
+    rescue => error
+      @sequence_list.clear() # Errors during load invalidate the sequence
+      Qt::MessageBox.critical(self, 'Error', error.message)
+    end
+
+    # Saves the GUI configuration to file. Also performs SaveAs by prompting
+    # for a new filename.
+    # @param save_as [Boolean] Whether to SaveAs and prompt for a filename
+    def file_save(save_as = false)
+      filename = @filename # Start with the current filename
+      saved = false
+      if filename == 'Untitled' # No file is currently open
+        filename = Qt::FileDialog::getSaveFileName(self,         # parent
+                                                   'Save As...', # caption
+                                                   @sequence_dir + '/sequence.txt', # dir
+                                                   'Sequence Files (*.txt)') # filter
+      elsif save_as
+        filename = Qt::FileDialog::getSaveFileName(self,         # parent
+                                                   'Save As...', # caption
+                                                   filename,     # dir
+                                                   'Sequence Files (*.txt)') # filter
+      end
+      if !filename.nil? && !filename.empty?
+        begin
+          @sequence_list.save(filename)
+          saved = true
+          @filename = filename
+          update_title()
+          @sequence_dir = File.dirname(filename)
+          @sequence_dir << '/' if @sequence_dir[-1..-1] != '/' and @sequence_dir[-1..-1] != '\\'
+        rescue => error
+          Qt::MessageBox.critical(self, 'Error', error.message)
+        end
+      end
+      saved
+    end
+
+    # Toggles whether CmdSequence is sending files to the CmdTlmServer (default)
+    # or disconnects and processes them all internally. The disconnected mode
+    # sets the background color to red to visually distinguish that no commands
+    # are actually going to the server.
+    # @param config_file [String] cmd_tlm_server.txt configuration file to
+    #   process when creating the disconnected server
+    def toggle_disconnect(config_file)
+      if get_cmd_tlm_disconnect
+        set_cmd_tlm_disconnect(false)
+        self.setPalette(Cosmos::DEFAULT_PALETTE)
+      else
+        dialog = Qt::Dialog.new(self, Qt::WindowTitleHint | Qt::WindowSystemMenuHint)
+        dialog.setWindowTitle(tr("Server Config File"))
+        dialog_layout = Qt::VBoxLayout.new
+
+        chooser = FileChooser.new(self, "Config File", config_file, 'Select',
+                                  File.dirname(config_file))
+        chooser.callback = lambda do |filename|
+          chooser.filename = filename
+        end
+        dialog_layout.addWidget(chooser)
+
+        button_layout = Qt::HBoxLayout.new
+        ok = Qt::PushButton.new("Ok")
+        ok.setDefault(true)
+        ok.connect(SIGNAL('clicked()')) do
+          dialog.accept()
+        end
+        button_layout.addWidget(ok)
+        cancel = Qt::PushButton.new("Cancel")
+        cancel.connect(SIGNAL('clicked()')) do
+          dialog.reject()
+        end
+        button_layout.addWidget(cancel)
+        dialog_layout.addLayout(button_layout)
+
+        dialog.setLayout(dialog_layout)
+        if dialog.exec == Qt::Dialog::Accepted
+          config_file = chooser.filename
+          self.setPalette(Qt::Palette.new(Cosmos.getColor(170, 57, 57)))
+          Splash.execute(self) do |splash|
+            ConfigParser.splash = splash
+            splash.message = "Initializing Command and Telemetry Server"
+            set_cmd_tlm_disconnect(true, config_file)
+            ConfigParser.splash = nil
+          end
+        end
+        dialog.dispose
+      end
+      config_file
+    end
+
+    # Handle the closeEvent to check if we're running or a sequence needs to
+    # be saved before closing. Must be part of the public API.
+    def closeEvent(event)
+      if prompt_if_running_on_close()
+        handle_stop()
+        if prompt_for_save_if_needed()
+          super(event)
+        else
+          event.ignore()
+        end
+      else
+        event.ignore()
+      end
+    end
+
+    # Handles the start button on the realtime_button_bar. This button changes
+    # as sequences are running to "Go" which skips any remaining wait time on
+    # the command. It also continues any paused sequences.
+    def handle_start
+      case @realtime_button_bar.state
+      when 'Stopped'
+        return unless prompt_for_save_if_needed()
+        # Collapse all items
+        @sequence_list.map {|item| item.collapse }
+        @pause = false
+        @go = false
+        @realtime_button_bar.state = 'Running'
+        @realtime_button_bar.start_button.setText('Go')
+        output_append("*** Sequence Started ***")
+        @run_thread = Thread.new do
+          @sequence_list.each do |item|
+            Qt.execute_in_main_thread { @scroll.ensureWidgetVisible(item) }
+            execute_item(item)
+          end
+          # Since we're inside a new Ruby thread
+          Qt.execute_in_main_thread do
+            output_append("*** Sequence Complete ***")
+            @output.append("") # delimit the sequences in the output log
+            @realtime_button_bar.start_button.setText('Start')
+            @realtime_button_bar.state = 'Stopped'
+          end
+        end
+      when 'Paused'
+        output_append("User pressed #{@realtime_button_bar.start_button.text}")
+        @realtime_button_bar.state = 'Running'
+        @pause = false
+      when 'Running'
+        output_append("User pressed #{@realtime_button_bar.start_button.text}")
+        @go = true
+      end
+    end
+
+    # Handles the pause button on the realtime_button_bar.
+    def handle_pause
+      @pause = true
+      @realtime_button_bar.state = 'Paused'
+      @realtime_button_bar.start_button.setEnabled(true)
+      output_append("User pressed Pause")
+    end
+
+    # Handles the stop button on the realtime_button_bar. This kills the
+    # run_thread which requires the user to restart the sequence.
+    def handle_stop
+      Cosmos.kill_thread(nil, @run_thread)
+      @run_thread = nil
+      @realtime_button_bar.start_button.setEnabled(true)
+      @realtime_button_bar.start_button.setText('Start')
+      @realtime_button_bar.state = 'Stopped'
+      output_append("User pressed Stop")
+      @output.append("") # delimit the sequences in the output log
+    end
+
+    protected
+
+    # Executes a particular sequence item (command) by delaying for the given
+    # time and then sending the command via cmd_no_hazardous_check.
+    # @param item [SequenceItem] Item to execute, e.g. send the command
+    def execute_item(item)
+      Qt.execute_in_main_thread do
+        item.read_only(true)
+        item.setStyleSheet("color: green")
+      end
+      result = process_delay(item)
+      command = item.command_string
+      result += command # += in case we added a warning above
+      cmd_no_hazardous_check(command)
+    rescue DRb::DRbConnError
+      result = "Error Connecting to Command and Telemetry Server"
+    rescue Exception => err
+      result = "Error executing #{item.save} due to #{err}\n#{err.backtrace}"
+    ensure
+      Qt.execute_in_main_thread do
+        item.setStyleSheet("")
+        item.read_only(false)
+        output_append(result)
+      end
+    end
+
+    # Delays for the absolute or relative time given for the item
+    # @param item [SequenceItem] Item with given delay time
+    def process_delay(item)
+      result = ''
+      time = item.time
+      # Check for item containing a date
+      if time.include?('/')
+        start_time = Time.parse(time)
+        if start_time - Time.now > 0
+          while start_time - Time.now > 0
+            break if check_go_and_pause()
+          end
+        else
+          result = "WARNING: Start time #{start_time} has already passed!\n"
+        end
+      else # Relative delay
+        start = Time.now
+        while Time.now - start < time.to_f
+          break if check_go_and_pause()
+        end
+      end
+      result
+    end
+
+    # Checks the @go and @pause instance variables to determine how to proceed.
+    # If @go is true it returns true immediately. If @pause is true it sleeps
+    # continously while @pause is true. Otherwise it sleeps for a short time
+    # and returns false.
+    # @return [Boolean] true if @go is true, else false
+    def check_go_and_pause
+      if @go
+        @go = false
+        return true
+      end
+      if @pause
+        sleep 0.01 while @pause
+      else
+        sleep 0.01
+      end
+      false
+    end
+
+    # Called when the target select dropdown changes to force the command
+    # select to update
+    def target_changed
+      update_commands()
+    end
+
+    # Called once at initialization to populate the target select dropdown
+    def update_targets
+      @target_select.clearItems()
+      target_names = System.commands.target_names
+      target_names_to_delete = []
+      target_names.each do |target_name|
+        found_non_hidden = false
+        begin
+          packets = System.commands.packets(target_name)
+          packets.each do |packet_name, packet|
+            found_non_hidden = true unless packet.hidden
+          end
+        rescue
+          # Don't do anything
+        end
+        target_names_to_delete << target_name unless found_non_hidden
+      end
+      target_names_to_delete.each do |target_name|
+        target_names.delete(target_name)
+      end
+      target_names.each do |target_name|
+        @target_select.addItem(target_name)
+      end
+    end
+
+    # Updates the command select dropdown based on the currently selected target
+    def update_commands
+      @cmd_select.clearItems()
+      target_name = @target_select.text
+      if target_name
+        commands = System.commands.packets(target_name)
+        command_names = []
+        commands.each do |command_name, command|
+          command_names << command_name unless command.hidden
+        end
+        command_names.sort!
+        command_names.each do |command_name|
+          @cmd_select.addItem(command_name)
+        end
+      end
+    end
+
+    # Opens the given filename and executes the sequence. Implemented to allow
+    # for a command line option to immediately load and execute a sequence.
+    # @param filename [String] Sequence file to open and run
+    def run_sequence(filename)
+      filename = find_sequence(filename)
+      return unless filename
+      @sequence_list.open(filename)
+      @filename = filename
+      update_title()
+      handle_start()
+    end
+
+    # Finds the given filename by looking in the system sequences path as
+    # well as in each target's sequences directory. If the file can not be
+    # found an Error dialog is created.
+    # @param filename [String] Filename to locate
+    def find_sequence(filename)
+      # If the filename is already sufficient, just expand the path.
+      return File.expand_path(filename) if File.exist?(filename)
+
+      # If the filename wasn't sufficient, can we find the file in the
+      # system sequence directory?
+      new_filename = File.join(System.paths['SEQUENCES'], filename)
+      return File.expand_path(new_filename) if File.exist?(new_filename)
+
+      # Ok, how about one of the target sequence directories?
+      System.targets.each do |target_name, target|
+        new_filename = File.join(target.dir, 'sequences', filename)
+        return File.expand_path(new_filename) if File.exist?(new_filename)
+      end
+      Qt::MessageBox.critical(self, 'Error', "Could not find #{filename}")
+
+      # Couldn't find the file anywhere.
+      return nil
+    end
+
+    # Prompts the user that a sequence is running before they close the app
+    def prompt_if_running_on_close
+      safe_to_continue = true
+      # Check for not Stopped since it can also be Running or Paused
+      if @realtime_button_bar.state != "Stopped"
+        case Qt::MessageBox.warning(
+          self,      # parent
+          'Warning!', # title
+          'A Sequence is Running! Close Anyways?', # text
+          Qt::MessageBox::Yes | Qt::MessageBox::No, # buttons
+          Qt::MessageBox::No) # default button
+        when Qt::MessageBox::Yes
+          safe_to_continue = true
+        else
+          safe_to_continue = false
+        end
+      end
+      safe_to_continue
+    end
+
+    # Prompts for save if the current sequence has been modified
+    def prompt_for_save_if_needed(message = 'Save Current Sequence?')
+      safe_to_continue = true
+      if @sequence_list.modified?
+        case Qt::MessageBox.question(
+          self,    # parent
+          'Save?', # title
+          message, # text
+          Qt::MessageBox::Yes | Qt::MessageBox::No | Qt::MessageBox::Cancel, # buttons
+          Qt::MessageBox::Cancel) # default button
+        when Qt::MessageBox::Cancel
+          safe_to_continue = false
+        when Qt::MessageBox::Yes
+          saved = file_save(false) # Try save which returns true if successful
+          safe_to_continue = false if !saved
+        end
+      end
+      safe_to_continue
+    end
+
+    # Updates the title to show the sequence filename and modified status
+    def update_title
+      self.setWindowTitle("Command Sequence : #{@filename}")
+      self.setWindowTitle(self.windowTitle << '*') if @sequence_list.modified?
+    end
+
+    # Append string to the output with the current time
+    def output_append(string)
+      return unless string
+      Qt.execute_in_main_thread do
+        string.split("\n").each do |line|
+          @output.append(Time.now.sys.formatted + ':  ' + line)
+        end
+        @output.moveCursor(Qt::TextCursor::End)
+        @output.ensureCursorVisible()
+      end
+    end
+  end
+end