Merge branch 'master' into cleanup

dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_follower.py

@@ -33,18 +33,19 @@ def __init__(self, node: Node, debug_topic: str):
         self._cached_dotgraph: Optional[pydot.Dot] = None
 
         # Subscribe to the DSDs tree (latched)
+        dsd_tree_topic = f"{debug_topic}/dsd_tree"
         self.tree_sub = self._node.create_subscription(
             String,
-            f"{debug_topic}/dsd_tree",
+            dsd_tree_topic,
             self._tree_callback,
             qos_profile=QoSProfile(depth=10, durability=DurabilityPolicy.TRANSIENT_LOCAL),
         )
-
-        self._node.get_logger().info(f"Subscribed to {debug_topic}/dsd_tree")
+        self._node.get_logger().info(f"Subscribed to {dsd_tree_topic}")
 
         # Subscribe to the DSDs stack
-        self.stack_sub = self._node.create_subscription(String, f"{debug_topic}/dsd_stack", self._stack_callback, 10)
-        self._node.get_logger().info(f"Subscribed to {debug_topic}/dsd_stack")
+        dsd_stack_topic = f"{debug_topic}/dsd_stack"
+        self.stack_sub = self._node.create_subscription(String, dsd_stack_topic, self._stack_callback, 10)
+        self._node.get_logger().info(f"Subscribed to {dsd_stack_topic}")
 
     def _tree_callback(self, msg):
         self._node.get_logger().info("Received tree")
@@ -158,9 +159,13 @@ def param_string(params: dict) -> str:
 
         # Sanity check
         if stack_element is not None:
-            assert stack_element["type"] == tree_element["type"], "The stack and the tree do not match"
+            assert (
+                stack_element["type"] == tree_element["type"]
+            ), f"The stack and the tree do not match (element type mismatch: {stack_element['type']} vs. {tree_element['type']})"
             if stack_element["type"] != "sequence":
-                assert stack_element["name"] == tree_element["name"], "The stack and the tree do not match"
+                assert (
+                    stack_element["name"] == tree_element["name"]
+                ), f"The stack and the tree do not match (element name mismatch: {stack_element['name']} vs. {tree_element['name']})"
 
         # Initialize parameters of the dot node we are going to create
         dot_node_params = {
@@ -211,9 +216,13 @@ def _stack_to_dotgraph(
         """
         # Sanity check
         if stack_root is not None:
-            assert stack_root["type"] == subtree_root["type"], "The stack and the tree do not match"
+            assert (
+                stack_root["type"] == subtree_root["type"]
+            ), f"The stack element type and the tree element type do not match ({stack_root['type']} vs. {subtree_root['type']})"
             if stack_root["type"] != "sequence":
-                assert stack_root["name"] == subtree_root["name"], "The stack and the tree do not match"
+                assert (
+                    stack_root["name"] == subtree_root["name"]
+                ), f"The stack element name and the tree element name do not match ({stack_root['name']} vs. {subtree_root['name']})"
 
         # Generate dot node for the root and mark it as active if it is on the stack
         dot_node = DsdFollower._dot_node_from_tree_element(subtree_root, stack_root)
@@ -224,7 +233,7 @@ def _stack_to_dotgraph(
         if "children" in subtree_root and (stack_root is not None or full_tree):
             # Go through all children
             for activating_result, child in subtree_root["children"].items():
-                # Get the root of the sub stack if this branch the one which is currently on the stack
+                # Get the root of the sub stack if this branch of the tree is the one which is currently on the stack
                 sub_stack_root = None
                 if (
                     stack_root is not None
@@ -244,7 +253,7 @@ def _append_debug_data_to_item(
         self, parent_item: QStandardItem, debug_data: Union[dict, list, int, float, str, bool]
     ):
         """
-        Append an elements debug_data to a QStandardItem.
+        Appends debug_data of a given element and its children to a QStandardItem.
 
         :type parent_item: python_qt_binding.QtGui.QStandardItem
         :type debug_data: dict or list or int or float or str or bool
@@ -278,7 +287,7 @@ def to_dotgraph(self, full_tree: bool) -> pydot.Dot:
         if self._cached_dotgraph is not None:
             return self._cached_dotgraph
 
-        self._node.get_logger().info("Generating dotgraph")
+        self._node.get_logger().debug("Generating dotgraph")
 
         # Check if we received any data yet
         if self.stack is None or self.tree is None:
@@ -350,8 +359,9 @@ def to_q_item_model(self):
 
     def destroy(self):
         """
-        Cleanup the subscriptions, to we don't receive any more data that we don't need (performance)
-        Also this allows the garbage collector to delete this object and prevent memory leaks
+        Cleanup the subscriptions, so we don't receive any more data that we don't need.
+        This improves the performance.
+        Also this allows the garbage collector to delete this object and prevent memory leaks.
         """
         self._node.destroy_subscription(self.tree_sub)
         self._node.destroy_subscription(self.stack_sub)

dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_visualization_plugin.py

@@ -127,11 +127,10 @@ def wheel_event(event):
             self._widget.auto_fit_graph_check_box.setChecked(False)
             self._widget.graphics_view.__class__.wheelEvent(self._widget.graphics_view, event)
 
-        # Call it as well as the original wheelEvent
+        # Overwrite the original wheelEvent handler
         self._widget.graphics_view.wheelEvent = wheel_event
 
         # Add widget to the user interface
-
         context.add_widget(self._widget)
 
         # Start a timer that calls back every 100 ms