noetic support, based on InigoMoreno's work. see ros-visualization#39

smach_viewer/scripts/smach_viewer.py

@@ -42,41 +42,63 @@
 import pickle
 import pprint
 import copy
-import StringIO
+try:
+    from StringIO import StringIO  # for Python 2
+except ImportError:
+    from io import StringIO  # for Python 3
 import colorsys
 import time
 import base64
 
-import wxversion
-if wxversion.checkInstalled("2.8"):
-    wxversion.select("2.8")
-else:
-    print("wxversion 2.8 is not installed, installed versions are {}".format(wxversion.getInstalled()))
+try:
+    import wxversion
+    if wxversion.checkInstalled("2.8"):
+        wxversion.select("2.8")
+    else:
+        print("wxversion 2.8 is not installed, installed versions are {}".format(wxversion.getInstalled()))
+
+    ## this import system (or ros-released) xdot
+    # import xdot
+    ## need to import currnt package, but not to load this file
+    # http://stackoverflow.com/questions/6031584/importing-from-builtin-library-when-module-with-same-name-exists
+    def import_non_local(name, custom_name=None):
+        import imp, sys
+
+        custom_name = custom_name or name
+
+        path = filter(lambda x: x != os.path.dirname(os.path.abspath(__file__)), sys.path)
+        f, pathname, desc = imp.find_module(name, path)
+
+        module = imp.load_module(custom_name, f, pathname, desc)
+        if f:
+            f.close()
+
+        return module
+
+    smach_viewer = import_non_local('smach_viewer')
+    from smach_viewer import xdot
+    from smach_viewer.xdot import wxxdot
+    from smach_viewer.xdot.xdot import TextShape
+except:
+    # Guard against self import
+    this_dir = os.path.dirname(__file__)
+    # Use os.getcwd() to aovid weird symbolic link problems
+    cur_dir = os.getcwd()
+    os.chdir(this_dir)
+    this_dir_cwd = os.getcwd()
+    os.chdir(cur_dir)
+    # Remove this dir from path
+    sys.path = [a for a in sys.path if a not in [this_dir, this_dir_cwd]]
+    #
+    from smach_viewer.xdot import wxxdot
+    from xdot.ui.elements import *
+
+
 import wx
 import wx.richtext
 
 import textwrap
 
-## this import system (or ros-released) xdot
-# import xdot
-## need to import currnt package, but not to load this file
-# http://stackoverflow.com/questions/6031584/importing-from-builtin-library-when-module-with-same-name-exists
-def import_non_local(name, custom_name=None):
-    import imp, sys
-
-    custom_name = custom_name or name
-
-    path = filter(lambda x: x != os.path.dirname(os.path.abspath(__file__)), sys.path)
-    f, pathname, desc = imp.find_module(name, path)
-
-    module = imp.load_module(custom_name, f, pathname, desc)
-    if f:
-        f.close()
-
-    return module
-
-smach_viewer = import_non_local('smach_viewer')
-from smach_viewer import xdot
 ##
 import smach
 import smach_ros
@@ -167,8 +189,11 @@ def _load_local_data(self, msg):
         """Unpack the user data"""
         try:
             local_data = pickle.loads(msg.local_data)
-        except KeyError:
-            local_data = pickle.loads(base64.b64decode(msg.local_data.encode('utf-8')))
+        except:
+            if isinstance(msg.local_data, str):
+                local_data = pickle.loads(base64.b64decode(msg.local_data))
+            else:
+                local_data = pickle.loads(base64.b64decode(bytes(str(msg.local_data).encode('utf-8'))))
         return local_data
 
     def update_status(self, msg):
@@ -460,7 +485,7 @@ def set_styles(self, selected_paths, depth, max_depth, items, subgraph_shapes, c
                 else:
                     if child_path in items:
                         for shape in items[child_path].shapes:
-                            if not isinstance(shape,xdot.xdot.TextShape):
+                            if not isinstance(shape,TextShape):
                                 shape.pen.color = child_color
                                 shape.pen.fillcolor = child_fillcolor
                                 shape.pen.linewidth = child_linewidth
@@ -565,7 +590,7 @@ def __init__(self):
         self.Bind(wx.EVT_TOOL, self.SaveDotGraph, id=wx.ID_SAVE)
 
         # Create dot graph widget
-        self.widget = xdot.wxxdot.WxDotWindow(graph_view, -1)
+        self.widget = wxxdot.WxDotWindow(graph_view, -1)
 
         gv_vbox.Add(toolbar, 0, wx.EXPAND)
         gv_vbox.Add(self.widget, 1, wx.EXPAND)
@@ -1071,4 +1096,4 @@ def main():
 if __name__ == '__main__':
     rospy.init_node('smach_viewer',anonymous=False, disable_signals=True,log_level=rospy.INFO)
     sys.argv = rospy.myargv()
-    main()
+    main()

smach_viewer/setup.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(

smach_viewer/src/smach_viewer/__init__.py

@@ -0,0 +1 @@
+

smach_viewer/src/smach_viewer/xdot/wxxdot.py

@@ -19,29 +19,67 @@
 # You should have received a copy of the GNU Lesser General Public License
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-from .xdot import *
-
+try:
+    from xdot.ui.elements import *
+    from xdot.ui.animation import *
+    from xdot.dot.lexer import *
+    from xdot.dot.parser import *
+    import subprocess
+except:
+    from xdot import *
+
+# Python 3 renamed the unicode type to str, the old str type has been replaced by bytes.
+if sys.version_info[0] >= 3:
+    unicode = str
 
 __all__ = ['WxDotWindow', 'WxDotFrame']
 
 # We need to get the wx version with built-in cairo support
-import wxversion
-if wxversion.checkInstalled("2.8"):
-    wxversion.select("2.8")
-else:
-    print("wxversion 2.8 is not installed, installed versions are {}".format(wxversion.getInstalled()))
+try:
+    import wxversion
+    if wxversion.checkInstalled("2.8"):
+        wxversion.select("2.8")
+    else:
+        print("wxversion 2.8 is not installed, installed versions are {}".format(wxversion.getInstalled()))
+except:
+    pass  # Python3
+
 import wx
 import wx.lib.wxcairo as wxcairo
 
 # This is a crazy hack to get this to work on 64-bit systems
-if 'wxMac' in wx.PlatformInfo:
-  pass # Implement if necessary
-elif 'wxMSW' in wx.PlatformInfo:
-  pass # Implement if necessary
-elif 'wxGTK' in wx.PlatformInfo:
-  import ctypes
-  gdkLib = wx.lib.wxcairo._findGDKLib()
-  gdkLib.gdk_cairo_create.restype = ctypes.c_void_p
+try:
+    if 'wxMac' in wx.PlatformInfo:
+        pass # Implement if necessary
+    elif 'wxMSW' in wx.PlatformInfo:
+        pass # Implement if necessary
+    elif 'wxGTK' in wx.PlatformInfo:
+        import ctypes
+        gdkLib = wx.lib.wxcairo._findGDKLib()
+        gdkLib.gdk_cairo_create.restype = ctypes.c_void_p
+except:
+    pass  # Python3
+
+class MyXDotParser(XDotParser):
+
+  def __init__(self, xdotcode):
+    XDotParser.__init__(self,xdotcode)
+    self.subgraph_shapes = {}
+
+  def parse_subgraph(self):
+    shapes_before = set(self.shapes)
+
+    id = XDotParser.parse_subgraph(self)
+
+    new_shapes = set(self.shapes) - shapes_before
+    self.subgraph_shapes[id.decode()] = [s for s in new_shapes if not any([s in ss for ss in self.subgraph_shapes.values()])]
+
+    return id
+
+  def parse(self):
+    graph = XDotParser.parse(self)
+    graph.subgraph_shapes = self.subgraph_shapes
+    return graph
 
 class WxDragAction(object):
   def __init__(self, dot_widget):
@@ -436,8 +474,9 @@ def set_filter(self, filter):
     self.filter = filter
 
   def set_dotcode(self, dotcode, filename='<stdin>'):
-    if isinstance(dotcode, unicode):
-      dotcode = dotcode.encode('utf8')
+    # Python 3 renamed the unicode type to str, the old str type has been replaced by bytes.
+    if sys.version_info[0] < 3 and isinstance(dotcode, unicode):
+          dotcode = dotcode.encode('utf8')
     p = subprocess.Popen(
       [self.filter, '-Txdot'],
       stdin=subprocess.PIPE,
@@ -484,7 +523,7 @@ def set_dotcode(self, dotcode, filename='<stdin>'):
   def set_xdotcode(self, xdotcode):
     """Set xdot code."""
     #print xdotcode
-    parser = XDotParser(xdotcode)
+    parser = MyXDotParser(bytes(str(xdotcode).encode("utf-8")))
     self.graph = parser.parse()
     self.highlight = None
     #self.zoom_image(self.zoom_ratio, center=True)