class PropStatus(Plugin):
    def __init__(self, context):
        super(PropStatus, self).__init__(context)
        self.setObjectName('Status')

        self._widget = QWidget()
        loadUi(os.path.join(uipath, 'propagatorstatus.ui'), self._widget)
        context.add_widget(self._widget)
        
        rospy.Subscriber('/thrusters/info',ThrusterInfo,motordriver_callback)
        rospy.Subscriber('/skytraq_serial',SerialPacket,gps_callback)
        rospy.Subscriber('/imu/data_raw',Imu,imu_callback)
        rospy.Subscriber('/scan',LaserScan,lidar_callback)
        rospy.Subscriber('/mv_bluefox_camera_node/image_raw',Image,camera_callback)
        rospy.Timer(rospy.Duration(2),kill)

        self._update_timer = QTimer(self._widget)
        self._update_timer.timeout.connect(self._on_update)
        self._update_timer.start(100)

    def _on_update(self):
        self._widget.findChild(QListWidget, 'list').clear()
        
        for i in ['FR','FL','BR','BL','GPS','IMU','LIDAR','CAMERA']:
                pItem = QListWidgetItem(i);
                if i in active: 
                        pItem.setBackground(Qt.green); 
                else:
                        pItem.setBackground(Qt.red); 
                self._widget.findChild(QListWidget, 'list').addItem(pItem)

 def __init__(self, parent=None):
     super(XTermWidget, self).__init__(parent)
     self.setObjectName('XTermWidget')
     self._process = QProcess(self)
     self._process.finished.connect(self.close_signal)
     # let the widget finish init before embedding xterm
     QTimer.singleShot(100, self._embed_xterm)

 def __init__(self):
     super(StatusLightWidget, self).__init__()
     self.lock = Lock()
     self.status_sub = None
     self.status = 0
     self._status_topics = []
     self._update_topic_timer = QTimer(self)
     self._update_topic_timer.timeout.connect(self.updateTopics)
     self._update_topic_timer.start(1000)
     self._active_topic = None
     self._dialog = ComboBoxDialog()
     self._update_plot_timer = QTimer(self)
     self._update_plot_timer.timeout.connect(self.redraw)
     self._update_plot_timer.start(1000 / 15)

class MicoButtonsWidget(QWidget):
    def __init__(self, widget):
        super(MicoButtonsWidget, self).__init__()
        rospkg_pack = rospkg.RosPack()
        ui_file = os.path.join(rospkg_pack.get_path('mico_controller'), 'resource', 'MicoButtons.ui')
        loadUi(ui_file, self)

        self.start_arm_srv = rospy.ServiceProxy('mico_arm_driver/in/start', MicoStart)
        self.stop_arm_srv = rospy.ServiceProxy('mico_arm_driver/in/stop', MicoStop)
        self.home_arm_srv = rospy.ServiceProxy('mico_arm_driver/in/home_arm', MicoHome)

        self._updateTimer = QTimer(self)
        self._updateTimer.timeout.connect(self.timeout_callback)

    def start(self):
        self._updateTimer.start(1000)  # loop rate[ms]

    def stop(self):
        self._updateTimer.stop()

    def timeout_callback(self):
        pass

    # rqt override
    def save_settings(self, plugin_settings, instance_settings):
        pass
        # instance_settings.set_value('topic_name', self._topic_name)

    def restore_settings(self, plugin_settings, instance_settings):
        pass
        # topic_name = instance_settings.value('topic_name')
        # try:
        # self._topic_name = eval(topic_name)
        # except Exception:
        # self._topic_name = self.TOPIC_NAME

    def shutdown_plugin(self):
        self.stop()

    @Slot()
    def on_qt_start_btn_clicked(self):
        rospy.loginfo(self.start_arm_srv())

    @Slot()
    def on_qt_stop_btn_clicked(self):
        rospy.loginfo(self.stop_arm_srv())

    @Slot()
    def on_qt_home_btn_clicked(self):
        rospy.loginfo(self.home_arm_srv())

    def __init__(self, context):
        super(Control, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('Control')

        # Create QWidget
        self._widget = QWidget()

        # Get path to UI file which should be in the "resource" folder of
        # this package
        ui_file = os.path.join(rospkg.RosPack().get_path('robosub'),
                               'src/rqt/rqt_control/resource', 'Control.ui')
        # Extend the widget with all attributes and children from UI file
        loadUi(ui_file, self._widget)

        self.control_timer = QTimer(self)
        self.control_timer.timeout.connect(self.control_missed)
        self.control_timer.start(1000)

        self.control_status_timer = QTimer(self)
        self.control_status_timer.timeout.connect(self.control_status_missed)
        self.control_status_timer.start(1000)

        # Give QObjects reasonable names
        self._widget.setObjectName('Control')

        if context.serial_number() > 1:
            self._widget.setWindowTitle(self._widget.windowTitle() +
                                        (' (%d)' % context.serial_number()))

        # Add widget to the user interface
        context.add_widget(self._widget)

        self._widget.statusActive.hide()
        self._widget.controlActive.hide()

        self.con_sub = rospy.Subscriber('control', control,
                                        self.control_callback, queue_size=1)
        self.cs_sub = rospy.Subscriber('control_status', control_status,
                                       self.control_status_callback,
                                       queue_size=1)
        img_file = os.path.join(rospkg.RosPack().get_path('robosub'),
                                'src/rqt/resource/robosub_logo.png')

        self._widget.setStyleSheet(".QWidget {background-image: url(" +
                                   img_file +
                                   "); background-repeat: no-repeat;" +
                                   "background-position:bottom right}")

class RosPlot(FigureCanvas):
    """Ultimately, this is a QWidget (as well as a FigureCanvasAgg, etc.)."""
    def __init__(self, parent, label_name,topic_name,topic_type,topic_field,buffer_size):
        
        self.label_name= label_name
        self.topic_type = topic_type
        self.topic_name = topic_name
        self.topic_field = topic_field
        self.buffer_size = buffer_size
        
        self.timer = QTimer()
        self.timer.setInterval(100)
        self.timer.timeout.connect(self.update_figure)
        
        fig = Figure(figsize=(5, 4), dpi=100)
        self.axes = fig.add_subplot(111)
        # We want the axes cleared every time plot() is called
        self.axes.hold(False)

        self.compute_initial_figure()
        self.buffer = collections.deque(maxlen=self.buffer_size)

        
        FigureCanvas.__init__(self, fig)
        self.setParent(parent)

        FigureCanvas.setSizePolicy(self,
                                   QtGui.QSizePolicy.Expanding,
                                   QtGui.QSizePolicy.Expanding)
        FigureCanvas.updateGeometry(self)
        
        self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.on_message)
        self.timer.start()

    def compute_initial_figure(self):
        pass
    
    def on_message(self,msg):
        r = msg
        for subfields in self.topic_field.split(".")[1:]:
            r = getattr(r,subfields) 
        self.buffer.append(r)
        
    def update_figure(self):
        x = np.array(range(0,len(self.buffer)))
        y = np.array(self.buffer)
        self.axes.plot(x, y.T, 'r')
        self.draw()

    def __init__(self, context):
        super(Battery_state, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('Battery_state')

        # Process standalone plugin command-line arguments
        from argparse import ArgumentParser
        parser = ArgumentParser()
        # Add argument(s) to the parser.
        parser.add_argument("-q", "--quiet", action="store_true", dest="quiet", help="Put plugin in silent mode")
        args, unknowns = parser.parse_known_args(context.argv())
        if not args.quiet:
            print 'arguments: ', args
            print 'unknowns: ', unknowns

        self._widget = QWidget()
        ui_file = os.path.join(rospkg.RosPack().get_path('rqt_battery_state'), 'resource', 'qt_gui3.ui')
        loadUi(ui_file, self._widget)
        self._widget.setObjectName('qt_gui3')
        if context.serial_number() > 0:
            self._widget.setWindowTitle('Battery State')
        # Add widget to the user interface
        context.add_widget(self._widget)
        self._update_timer = QTimer(self)
        self._update_timer.timeout.connect(self._handle_update)
        self._update_timer.start(1000)#time step
        
        self.subscriber = rospy.Subscriber('/my_roomba/battery_state', BatteryState, self.subscriber_callback)

    def __init__(self, plugin):
        super(Theta360ViewWidget, self).__init__()
        rp = rospkg.RosPack()
        ui_file = os.path.join(rp.get_path('theta_viewer'), 'resource', 'Theta360ViewWidget.ui')
        loadUi(ui_file, self)
        self.plugin = plugin

        self.position = (0.0, 0.0, 0.0)
        self.orientation = quaternion_about_axis(0.0, (1.0, 0.0, 0.0))
        self.topicName = None
        self.subscriber = None

        # create GL view
        self._glview = MyGLWidget()
        self._glview.setAcceptDrops(True)

        # backup and replace original paint method
        # self.glView.paintGL is callbacked from QGLWidget
        self._glview.paintGL_original = self._glview.paintGL
        self._glview.paintGL = self.glview_paintGL

        # backup and replace original mouse release method
        self._glview.mouseReleaseEvent_original = self._glview.mouseReleaseEvent
        self._glview.mouseReleaseEvent = self.glview_mouseReleaseEvent

        # add GL view to widget layout
        self.layout().addWidget(self._glview)

        # init and start update timer with 40ms (25fps)
        # updateTimeout is called with interval time
        self.update_timer = QTimer(self)
        self.update_timer.timeout.connect(self.update_timeout)
        self.update_timer.start(40)
        self.cnt = 0

    def __init__(self, mainWidget):
        self.mainWidget = mainWidget
        # create GL view
        self._gl_view = mainWidget._gl_view
        self._gl_view.setAcceptDrops(True)
        self.resolution_meters = 50
        self._cross = None

        # backup and replace original paint method
        self._gl_view.paintGL_original = self._gl_view.paintGL
        self._gl_view.paintGL = self._gl_view_paintGL


        self._grid_layer = GridLayer(self.resolution_meters,self._gl_view)
        self._submarine_layer = SubmarineLayer(self.resolution_meters,self._gl_view)
        self._coor_layer = CoorSystemLayer(self._gl_view)
        self._target_layer = TargetLayer(self._gl_view)
        self._path_layer = PathLayer(self.resolution_meters,self._gl_view)

        self._layers = []
        self._layers.append(self._grid_layer)
        self._layers.append(self._submarine_layer)
        self._layers.append(self._coor_layer)
        self._layers.append(self._target_layer)
        self._layers.append(self._path_layer)

        # backup and replace original mouse release method
        self._gl_view.mouseReleaseEvent_original = self._gl_view.mouseReleaseEvent
        self._gl_view.mouseReleaseEvent = self.mainWidget._gl_view_mouseReleaseEvent

        # init and start update timer with 40ms (25fps)
        self._update_timer = QTimer(mainWidget)
        self._update_timer.timeout.connect(self.update_timeout)
        self._update_timer.start(100)

 def __init__(self, topics):
     super(HistogramPlotWidget, self).__init__()
     self.setObjectName('HistogramPlotWidget')
     rp = rospkg.RosPack()
     ui_file = os.path.join(rp.get_path('jsk_rqt_plugins'), 
                            'resource', 'plot_histogram.ui')
     loadUi(ui_file, self)
     self.cv_bridge = CvBridge()
     self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
     self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
     self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
     self.data_plot = MatHistogramPlot(self)
     self.data_plot_layout.addWidget(self.data_plot)
     self._topic_completer = TopicCompleter(self.topic_edit)
     self._topic_completer.update_topics()
     self.topic_edit.setCompleter(self._topic_completer)
     self.data_plot.dropEvent = self.dropEvent
     self.data_plot.dragEnterEvent = self.dragEnterEvent
     self._start_time = rospy.get_time()
     self._rosdata = None
     if len(topics) != 0:
         self.subscribe_topic(topics)
     self._update_plot_timer = QTimer(self)
     self._update_plot_timer.timeout.connect(self.update_plot)
     self._update_plot_timer.start(self._redraw_interval)

    def __init__(self, parent, label_name,topic_name,topic_type,topic_field,buffer_size):
        
        self.label_name= label_name
        self.topic_type = topic_type
        self.topic_name = topic_name
        self.topic_field = topic_field
        self.buffer_size = buffer_size
        
        self.timer = QTimer()
        self.timer.setInterval(100)
        self.timer.timeout.connect(self.update_figure)
        
        fig = Figure(figsize=(5, 4), dpi=100)
        self.axes = fig.add_subplot(111)
        # We want the axes cleared every time plot() is called
        self.axes.hold(False)

        self.compute_initial_figure()
        self.buffer = collections.deque(maxlen=self.buffer_size)

        
        FigureCanvas.__init__(self, fig)
        self.setParent(parent)

        FigureCanvas.setSizePolicy(self,
                                   QtGui.QSizePolicy.Expanding,
                                   QtGui.QSizePolicy.Expanding)
        FigureCanvas.updateGeometry(self)
        
        self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.on_message)
        self.timer.start()

 def __init__(self, mcptam_namespace='mcptam'):
   
   # Init QWidget
   super(SysmonWidget, self).__init__()
   self.setObjectName('SysmonWidget')
   
   # load UI
   ui_file = os.path.join(rospkg.RosPack().get_path('artemis_sysmon'), 'resource', 'widget.ui')
   loadUi(ui_file, self)
           
   # Subscribe to ROS topics and register callbacks
   self._slam_info_sub = rospy.Subscriber(mcptam_namespace+'/system_info', SystemInfo, self.slam_info_cb)
   self._slam_tracker_sub = rospy.Subscriber(mcptam_namespace+'/tracker_state', TrackerState, self.slam_tracker_cb)
   
   # Initialize service call
   print('Waiting for MAV services')
   rospy.wait_for_service(mcptam_namespace+'/init')
   rospy.wait_for_service(mcptam_namespace+'/reset')
   print('Connected to SLAM system')
   self._slam_init_srv = rospy.ServiceProxy(mcptam_namespace+'/init', Empty)
   self._slam_reset_srv = rospy.ServiceProxy(mcptam_namespace+'/reset', Reset)
  
   # init and start update timer for data, the timer calls the function update_info all 40ms    
   self._update_info_timer = QTimer(self)
   self._update_info_timer.timeout.connect(self.update_info)
   self._update_info_timer.start(40)
   
   # set the functions that are called when a button is pressed
   self.button_start.pressed.connect(self.on_start_button_pressed)
   self.button_reset.pressed.connect(self.on_reset_button_pressed)
   self.button_quit.pressed.connect(self.on_quit_button_pressed)

    def __init__(self, context):
        """
        :param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
        """
        super(Console, self).__init__(context)
        self.setObjectName('Console')

        self._rospack = rospkg.RosPack()

        self._model = MessageDataModel()
        self._proxy_model = MessageProxyModel()
        self._proxy_model.setSourceModel(self._model)

        self._widget = ConsoleWidget(self._proxy_model, self._rospack)
        if context.serial_number() > 1:
            self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
        context.add_widget(self._widget)

        # queue to store incoming data which get flushed periodically to the model
        # required since QSortProxyModel can not handle a high insert rate
        self._message_queue = []
        self._mutex = QMutex()
        self._timer = QTimer()
        self._timer.timeout.connect(self.insert_messages)
        self._timer.start(100)

        self._subscriber = None
        self._topic = '/rosout_agg'
        self._subscribe(self._topic)

    def __init__(self, initial_topics=None, start_paused=False):
        super(PlotWidget, self).__init__()
        self.setObjectName('PlotWidget')

        self._initial_topics = initial_topics

        rp = rospkg.RosPack()
        ui_file = os.path.join(rp.get_path('rqt_plot'), 'resource', 'plot.ui')
        loadUi(ui_file, self)
        self.subscribe_topic_button.setIcon(QIcon.fromTheme('list-add'))
        self.remove_topic_button.setIcon(QIcon.fromTheme('list-remove'))
        self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
        self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
        self.data_plot = None

        self.subscribe_topic_button.setEnabled(False)
        if start_paused:
            self.pause_button.setChecked(True)

        self._topic_completer = TopicCompleter(self.topic_edit)
        self._topic_completer.update_topics()
        self.topic_edit.setCompleter(self._topic_completer)

        self._start_time = rospy.get_time()
        self._rosdata = {}
        self._remove_topic_menu = QMenu()

        # init and start update timer for plot
        self._update_plot_timer = QTimer(self)
        self._update_plot_timer.timeout.connect(self.update_plot)

  def __init__(self):
    print('constructor')
    # Init QWidget
    super(CalibWidget, self).__init__()
    self.setObjectName('CalibWidget')

    # load UI
    ui_file = os.path.join(rospkg.RosPack().get_path('dvs_calibration_gui'), 'resource', 'widget.ui')
    loadUi(ui_file, self)

    # init and start update timer for data, the timer calls the function update_info all 40ms    
    self._update_info_timer = QTimer(self)
    self._update_info_timer.timeout.connect(self.update_info)
    self._update_info_timer.start(40)

    self.button_reset.pressed.connect(self.on_button_reset_pressed)
    self.button_start.pressed.connect(self.on_button_start_calibration_pressed)
    self.button_save.pressed.connect(self.on_button_save_calibration_pressed)
    
    self._sub_pattern_detections = rospy.Subscriber('dvs_calibration/pattern_detections', Int32, self.pattern_detections_cb)    
    self._sub_calibration_output = rospy.Subscriber('dvs_calibration/output', String, self.calibration_output_cb)

    print('reset')

    self.on_button_reset_pressed()
    
    print('reset done')

    def __init__(self, plugin):
        super(PoseViewWidget, self).__init__()
        rp = rospkg.RosPack()
        ui_file = os.path.join(rp.get_path('rqt_pose_view'), 'resource', 'PoseViewWidget.ui')
        loadUi(ui_file, self)
        self._plugin = plugin

        self._position = (0.0, 0.0, 0.0)
        self._orientation = quaternion_about_axis(0.0, (1.0, 0.0, 0.0))
        self._topic_name = None
        self._subscriber = None

        # create GL view
        self._gl_view = GLWidget()
        self._gl_view.setAcceptDrops(True)

        # backup and replace original paint method
        self._gl_view.paintGL_original = self._gl_view.paintGL
        self._gl_view.paintGL = self._gl_view_paintGL

        # backup and replace original mouse release method
        self._gl_view.mouseReleaseEvent_original = self._gl_view.mouseReleaseEvent
        self._gl_view.mouseReleaseEvent = self._gl_view_mouseReleaseEvent

        # add GL view to widget layout
        self.layout().addWidget(self._gl_view)

        # init and start update timer with 40ms (25fps)
        self._update_timer = QTimer(self)
        self._update_timer.timeout.connect(self.update_timeout)
        self._update_timer.start(40)

    def __init__(self):
        super(BaseFilter, self).__init__()
        self._enabled = True

        self._timer = QTimer(self)
        self._timer.setSingleShot(True)
        self._timer.timeout.connect(self.filter_changed_signal.emit)

    def __init__(self, topic="diagnostics"):
        super(RuntimeMonitorWidget, self).__init__()
        rp = rospkg.RosPack()
        ui_file = os.path.join(rp.get_path('rqt_runtime_monitor'), 'resource', 'runtime_monitor_widget.ui')
        loadUi(ui_file, self)
        self.setObjectName('RuntimeMonitorWidget')

        self._mutex = threading.Lock()

        self._error_icon = QIcon.fromTheme('dialog-error')
        self._warning_icon = QIcon.fromTheme('dialog-warning')
        self._ok_icon = QIcon.fromTheme('dialog-information')

        self._stale_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Stale (0)'])
        self._stale_node.setIcon(0, self._error_icon)
        self.tree_widget.addTopLevelItem(self._stale_node)

        self._error_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Errors (0)'])
        self._error_node.setIcon(0, self._error_icon)
        self.tree_widget.addTopLevelItem(self._error_node)

        self._warning_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
        self._warning_node.setIcon(0, self._warning_icon)
        self.tree_widget.addTopLevelItem(self._warning_node)

        self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Ok (0)'])
        self._ok_node.setIcon(0, self._ok_icon)
        self.tree_widget.addTopLevelItem(self._ok_node)
        self.tree_widget.itemSelectionChanged.connect(self._refresh_selection)
        self.keyPressEvent = self._on_key_press

        self._name_to_item = {}
        self._new_errors_callback = None

        self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._diagnostics_callback)

        self._previous_ros_time = rospy.Time.now()
        self._timer = QTimer()
        self._timer.timeout.connect(self._on_timer)
        self._timer.start(1000)

        self._msg_timer = QTimer()
        self._msg_timer.timeout.connect(self._update_messages)
        self._msg_timer.start(100)

        self._messages = []
        self._used_items = 0

    def __init__(self, context, topic=None):
        """
        :param context: plugin context hook to enable adding widgets as a
                        ROS_GUI pane, 'PluginContext'
        :param topic: Diagnostic topic to subscribe to 'str'
        """

        super(RobotMonitorWidget, self).__init__()
        rp = rospkg.RosPack()
        ui_file = os.path.join(rp.get_path('rqt_robot_monitor'), 'resource',
                               'robotmonitor_mainwidget.ui')
        loadUi(ui_file, self)

        obj_name = 'Robot Monitor'
        self.setObjectName(obj_name)
        self.setWindowTitle(obj_name)

        self.message_updated.connect(self.message_cb)

        # if we're given a topic, create a timeline. otherwise, don't
        #  this can be used later when writing an rqt_bag plugin
        if topic:
            # create timeline data structure
            self._timeline = Timeline(topic, DiagnosticArray)
            self._timeline.message_updated.connect(self.message_updated)

            # create timeline pane widget
            self.timeline_pane = TimelinePane(self)

            self.timeline_pane.set_timeline(self._timeline)

            self.vlayout_top.addWidget(self.timeline_pane)
            self.timeline_pane.show()
        else:
            self._timeline = None
            self.timeline_pane = None

        self._inspectors = {}
        # keep a copy of the current message for opening new inspectors
        self._current_msg = None

        self.tree_all_devices.itemDoubleClicked.connect(self._tree_clicked)
        self.warn_flattree.itemDoubleClicked.connect(self._tree_clicked)
        self.err_flattree.itemDoubleClicked.connect(self._tree_clicked)
        # TODO: resize on itemCollapsed and itemExpanded

        self._is_stale = False

        self._timer = QTimer()
        self._timer.timeout.connect(self._update_message_state)
        self._timer.start(1000)

        palette = self.tree_all_devices.palette()
        self._original_base_color = palette.base().color()
        self._original_alt_base_color = palette.alternateBase().color()

        self._tree = StatusItem(self.tree_all_devices.invisibleRootItem())
        self._warn_tree = StatusItem(self.warn_flattree.invisibleRootItem())
        self._err_tree = StatusItem(self.err_flattree.invisibleRootItem())

  def __init__(self, context):
        super(MyPlugin, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('MyPlugin')

        #final Inputの取得 TODO:ちゃんと表示させるようにする
        rospy.Subscriber('initialpose',PoseWithCovarianceStamped,self.InitialPoseCallback)

        # Process standalone plugin command-line arguments
        from argparse import ArgumentParser
        parser = ArgumentParser()
        # Add argument(s) to the parser.
        parser.add_argument("-q", "--quiet", action="store_true",dest="quiet",help="Put plugin in silent mode")
        args, unknowns = parser.parse_known_args(context.argv())
        if not args.quiet:
           print 'arguments: ', args
           print 'unknowns: ', unknowns

        # Create QWidget
        self._widget = QWidget()
        # Get path to UI file which is a sibling of this file
        # in this example the .ui and .py file are in the same folder
        ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RvizRuler.ui')

        # Extend the widget with all attributes and children from UI file
        loadUi(ui_file, self._widget)
        # Give QObjects reasonable names
        self._widget.setObjectName('MyPluginUi')
        # Show _widget.windowTitle on left-top of each plugin (when 
        # it's set in _widget). This is useful when you open multiple 
        # plugins at once. Also if you open multiple instances of your 
        
        #Topicデータ表示用タイマ
        self._timer_refresh_topics = QTimer(self)
        self._timer_refresh_topics.timeout.connect(self.printdata)
        #このスロットが一定周期で呼ばれる
        self._timer_refresh_topics.start(500)#スレッドのループ周期 msec
        
        # plugin at once, these lines add number to make it easy to 
        # tell from pane to pane.
        if context.serial_number() > 1:
          self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
        # Add widget to the user interface
        context.add_widget(self._widget)

        def shutdown_plugin(self):
          # TODO unregister all publishers here
          pass

        def save_settings(self, plugin_settings, instance_settings):
          # TODO save intrinsic configuration, usually using:
          # instance_settings.set_value(k, v)
          pass

        def restore_settings(self, plugin_settings, instance_settings):
          # TODO restore intrinsic configuration, usually using:
          # v = instance_settings.value(k)
          pass