如何使用 PyQT5 附加和分离外部应用程序或停靠外部应用程序？

Question

我正在使用 ROS 为多机器人系统开发 GUI，但我对界面中最不想要的东西感到困惑：在我的应用程序中嵌入 RVIZ、GMAPPING 或其他屏幕。我已经在界面中放置了一个终端，但我不知道如何将外部应用程序 window 添加到我的应用程序。我知道 PyQt5 有 createWindowContainer，使用 window ID 来停靠外部应用程序，但我没有找到任何例子来帮助我。

如果可能，我想将外部 window 拖放到我的应用程序的选项卡式框架内。但是，如果这不可能或太难，我可以只在单击按钮后打开选项卡式框架内的 window。

我已经尝试打开 window 类似于终端方法（请参阅下面的代码），但是 RVIZ window 在我的应用程序之外打开。

已尝试翻译 attaching/detaching code code to linux using the wmctrl command, but didn't work wither. See my code here。

也已经尝试了 rviz Python Tutorial 但我收到错误消息：

回溯（最后一次调用）：文件 "rvizTutorial.py"，第 23 行，位于导入 rviz 文件“/opt/ros/indigo/lib/python2.7/dist-packages/rviz/init.py”，第 19 行，在导入 librviz_shiboken 导入错误：没有名为 librviz_shiboken

的模块

#  Frame where i want to open the external Window embedded
self.Simulation = QtWidgets.QTabWidget(self.Base)
self.Simulation.setGeometry(QtCore.QRect(121, 95, 940, 367))
self.Simulation.setTabPosition(QtWidgets.QTabWidget.North)
self.Simulation.setObjectName("Simulation")
self.SimulationFrame = QtWidgets.QWidget()
self.SimulationFrame.setObjectName("SimulationFrame")
self.Simulation.addTab(rviz(), "rViz")

# Simulation Approach like Terminal
class rviz(QtWidgets.QWidget):
    def __init__(self, parent=None):
        super(rviz, self).__init__(parent)
        self.process = QtCore.QProcess(self)
        self.rvizProcess = QtWidgets.QWidget(self)
        layout = QtWidgets.QVBoxLayout(self)
        layout.addWidget(self.rvizProcess)
        # Works also with urxvt:
        self.process.start('rViz', [str(int(self.winId()))])
        self.setGeometry(121, 95, 940, 367)

Answer 1

我没有具体测试过这个，因为我有旧版本的 Qt5 我现在不能升级，而从 Qt5 5.10 startDetached 也 returns pid 和 bool 结果开始的过程。在我的测试中，我在开始等待创建 window 的 while 循环之前手动设置 procId（通过静态 QInputBox.getInt()）。显然还有其他方法可以做到这一点（并获得 window 的 xid）。

import sys
from PyQt5 import QtCore, QtGui, QtWidgets
import gi
gi.require_version('Wnck', '3.0')
from gi.repository import Wnck, Gdk


class Container(QtWidgets.QTabWidget):
    def __init__(self):
        QtWidgets.QTabWidget.__init__(self)
        self.embed('xterm')

    def embed(self, command, *args):
        proc = QtCore.QProcess()
        proc.setProgram(command)
        proc.setArguments(args)
        started, procId = proc.startDetached()
        if not started:
            QtWidgets.QMessageBox.critical(self, 'Command "{}" not started!')
            return
        attempts = 0
        while attempts < 10:
            screen = Wnck.Screen.get_default()
            screen.force_update()
            # this is required to ensure that newly mapped window get listed.
            while Gdk.events_pending():
                Gdk.event_get()
            for w in screen.get_windows():
                if w.get_pid() == procId:
                    window = QtGui.QWindow.fromWinId(w.get_xid())
                    container = QtWidgets.QWidget.createWindowContainer(window, self)                    
                    self.addTab(container, command)
                    return
            attempts += 1
        QtWidgets.QMessageBox.critical(self, 'Window not found', 'Process started but window not found')


app = QtWidgets.QApplication(sys.argv)
w = Container()
w.show()
sys.exit(app.exec_())

Answer 2

我无法在 Ubuntu 18.04.3 LTS 上获得已接受答案中的代码；即使我摆脱了阻止代码运行的异常，我仍然会得到一个单独的 PyQt5 window 和单独的 xterm window。

经过一些尝试，我终于在选项卡中打开了 xterm window；这是我在 Ubuntu 18.04.3 LTS 中工作的代码（所有未命中的都已注释）：

#!/usr/bin/env python3
# (same code seems to run both with python3 and python2 with PyQt5 in Ubuntu 18.04.3 LTS)
import sys
from PyQt5 import QtCore, QtGui, QtWidgets
import gi
gi.require_version('Wnck', '3.0')
from gi.repository import Wnck, Gdk
import time

class Container(QtWidgets.QTabWidget):
    def __init__(self):
        QtWidgets.QTabWidget.__init__(self)
        self.embed('xterm')

    def embed(self, command, *args):
        proc = QtCore.QProcess()
        proc.setProgram(command)
        proc.setArguments(args)
        #started, procId = proc.startDetached()
        #pid = None
        #started = proc.startDetached(pid)
        #  : "overload" startDetached : give three arguments, get a tuple(boolean,PID)
        # NB: we will get a failure `xterm: No absolute path found for shell: .` even if we give it an empty string as second argument; must be a proper abs path to a shell
        started, procId = proc.startDetached(command, ["/bin/bash"], ".")
        if not started:
            QtWidgets.QMessageBox.critical(self, 'Command "{}" not started!'.format(command), "Eh")
            return
        attempts = 0
        while attempts < 10:
            screen = Wnck.Screen.get_default()
            screen.force_update()
            # do a bit of sleep, else window is not really found
            time.sleep(0.1)
            # this is required to ensure that newly mapped window get listed.
            while Gdk.events_pending():
                Gdk.event_get()
            for w in screen.get_windows():
                print(attempts, w.get_pid(), procId, w.get_pid() == procId)
                if w.get_pid() == procId:
                    self.window = QtGui.QWindow.fromWinId(w.get_xid())
                    #container = QtWidgets.QWidget.createWindowContainer(window, self)
                    proc.setParent(self)
                    #self.scrollarea = QtWidgets.QScrollArea()
                    #self.container = QtWidgets.QWidget.createWindowContainer(self.window)
                    # via https://vimsky.com/zh-tw/examples/detail/python-method-PyQt5.QtCore.QProcess.html
                    #pid = proc.pid()
                    #win32w = QtGui.QWindow.fromWinId(pid) # nope, broken window
                    win32w = QtGui.QWindow.fromWinId(w.get_xid()) # this finally works
                    win32w.setFlags(QtCore.Qt.FramelessWindowHint)
                    widg = QtWidgets.QWidget.createWindowContainer(win32w)

                    #self.container.layout = QtWidgets.QVBoxLayout(self)
                    #self.addTab(self.container, command)
                    self.addTab(widg, command)
                    #self.scrollarea.setWidget(self.container)
                    #self.container.setParent(self.scrollarea)
                    #self.scrollarea.setWidgetResizable(True)
                    #self.scrollarea.setFixedHeight(400)
                    #self.addTab(self.scrollarea, command)
                    self.resize(500, 400) # set initial size of window
                    return
            attempts += 1
        QtWidgets.QMessageBox.critical(self, 'Window not found', 'Process started but window not found')


app = QtWidgets.QApplication(sys.argv)
w = Container()
w.show()
sys.exit(app.exec_())

如何使用 PyQT5 附加和分离外部应用程序或停靠外部应用程序？

How to attach and detach an external app with PyQT5 or dock an external application?

python

ubuntu

qt

ros

pyqt5