widgets
=======

This module contains useful widgets than can be used for larger applications.
In the following example, we use the action client widget to present an
interface similar to the default `axclient.py` program.

.. code:: python

    from flexx import config
    from flexxros import node
    from flexxros.node import ROSNode
    from flexxros.widgets import ROSActionClientWidget
    from flexxros.msg import TestAction, TestFeedback, TestResult
    import rospy
    import actionlib

    node_name = "action_example_interface"
    config.hostname = "localhost"
    config.port = 8097

    class ActionServer(object):

        _feedback = TestFeedback()
        _result = TestResult()

        def __init__(self, name):
            self._as = actionlib.SimpleActionServer(name, TestAction, execute_cb=self.execute_cb, auto_start=False)
            self._as.start()

        def execute_cb(self, goal):
            self._feedback.data = "Got " + goal.data + ", started running..."
            self._as.publish_feedback(self._feedback)
            rospy.sleep(1.)
            self._feedback.data = "Almost done..."
            self._as.publish_feedback(self._feedback)
            rospy.sleep(1.)
            self._result.data = "Success with " + goal.data + "!"
            self._as.set_succeeded(self._result)

    class ActionExampleInterface(ROSNode):

        def init(self):
            self.client = ROSActionClientWidget(node_name, "flexxros/Test")

    rospy.init_node(node_name, anonymous=True)
    server = ActionServer(node_name)
    node.spin(ActionExampleInterface)

.. automodule:: flexxros.widgets
     :members:
     :undoc-members: