rxbag: draw active messages

tools/rxbag/src/rxbag/message_view.py

@@ -35,17 +35,22 @@
 PKG = 'rxbag'
 import roslib; roslib.load_manifest(PKG)
 import rospy
+import bisect
 import time
 
 import wx
 
 from util.layer import Layer
 
-## A widget that can render an interval of time of a topic as a rectangle on the timeline
 class TimelineRenderer:
+    """
+    A widget that can render an interval of time of a topic as a rectangle on the timeline.
+    @param msg_combine_px: don't draw discrete messages if they're less than this many pixels separated [optional]
+    @type  msg_combine_px: float
+    """
     def __init__(self, timeline, msg_combine_px=1.5):
         self.timeline       = timeline
-        self.msg_combine_px = msg_combine_px   # don't draw discrete messages if they're less than this many pixels separated 
+        self.msg_combine_px = msg_combine_px 
 
     def get_segment_height(self, topic):
         return None
@@ -55,13 +60,13 @@ class TimelineRenderer:
 
 class MessageView(Layer):
     """
-    A widget that can display message details
+    A widget that can display message details.
     """
-     
+    
     name = 'Untitled'
     
-    def __init__(self, timeline, parent, title, x, y, width, height, max_repaint=None):
+    def __init__(self, timeline, parent, title, x, y, width, height):
-        Layer.__init__(self, parent, title, x, y, width, height, max_repaint)
+        Layer.__init__(self, parent, title, x, y, width, height)
         
         self.timeline = timeline
         self.border   = False
@@ -76,55 +81,60 @@ class MessageView(Layer):
         pass
 
 class TopicMessageView(MessageView):
-    def __init__(self, timeline, parent, title, x, y, width, height, max_repaint=None):
+    def __init__(self, timeline, parent, title, x, y, width, height):
-        MessageView.__init__(self, timeline, parent, title, x, y, width, height, max_repaint)
+        MessageView.__init__(self, timeline, parent, title, x, y, width, height)
-        
+
-        self.topic     = None
+        self.topic = None
-        self.msg_index = None
+        self.stamp = None
-    
+        self.entry = None
+
         self._create_toolbar()
 
     def message_viewed(self, bag, msg_details):
         topic, msg, t = msg_details
-        
+
-        self.topic     = topic
+        self.topic = topic
-        #self.msg_index = msg_index
+        self.stamp = t
 
     def message_cleared(self):
         pass
-        #self.msg_index = None
         
     def on_close(self, event):
         self.timeline.remove_view(self.topic, self)
 
     def navigate_first(self):
-        # todo: fix
+        if not self.topic:
-        if self.topic and self.msg_index is not None:
+            return
-            topic_positions = self.timeline.bag_index.msg_positions[self.topic]
-            if len(topic_positions) > 0:
-                self.timeline.set_playhead(topic_positions[0][0])
 
-    def navigate_previous(self):
+        for entry in self.timeline.bag_file._get_entries(self.timeline.bag_file._get_connections(self.topic)):
-        # todo: fix
+            self.timeline.set_playhead(entry.time.to_sec())
-        if self.topic and self.msg_index is not None:
+            break
-            new_msg_index = self.msg_index - 1
-            if new_msg_index >= 0:
-                self.timeline.set_playhead(self.timeline.bag_index.msg_positions[self.topic][new_msg_index][0])
 
-    def navigate_next(self):
+#    def navigate_previous(self):
-        # todo: fix
+#        if not self.topic:
-        if self.topic and self.msg_index is not None:
+#            return
-            new_msg_index = self.msg_index + 1
+#        
-            topic_positions = self.timeline.bag_index.msg_positions[self.topic]
+#        index = bisect.bisect_right(self.timeline.message_history_cache[self.topic], self.stamp.to_sec()) - 1
-            if new_msg_index < len(topic_positions):
+#        if index > 0:
-                self.timeline.set_playhead(topic_positions[new_msg_index][0])
+#            self.stamp = self.timeline.message_history_cache[self.topic][index - 1]
+#            self.timeline.set_playhead(self.stamp)
+#
+#    def navigate_next(self):
+#        if not self.topic:
+#            return
+#
+#        index = bisect.bisect_right(self.timeline.message_history_cache[self.topic], self.stamp.to_sec()) - 1
+#        if index < len(self.timeline.message_history_cache[self.topic]) - 1:
+#            self.stamp = self.timeline.message_history_cache[self.topic][index + 1]
+#            self.timeline.set_playhead(self.stamp)
 
     def navigate_last(self):
-        # todo: fix
+        if not self.topic:
-        if self.topic and self.msg_index is not None:
+            return
-            topic_positions = self.timeline.bag_index.msg_positions[self.topic]
+        
-            if len(topic_positions) > 0:
+        for entry in self.timeline.bag_file._get_entries_reverse(self.timeline.bag_file._get_connections(self.topic)):
-                self.timeline.set_playhead(topic_positions[-1][0])
+            self.timeline.set_playhead(entry.time.to_sec())
+            break
 
     @property
     def frame(self):
@@ -135,7 +145,7 @@ class TopicMessageView(MessageView):
 
         tb = self.frame.CreateToolBar()
         tb.Bind(wx.EVT_TOOL, lambda e: self.navigate_first(),    tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'resultset_first.png')))
-        tb.Bind(wx.EVT_TOOL, lambda e: self.navigate_previous(), tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'resultset_previous.png')))
+        #tb.Bind(wx.EVT_TOOL, lambda e: self.navigate_previous(), tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'resultset_previous.png')))
-        tb.Bind(wx.EVT_TOOL, lambda e: self.navigate_next(),     tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'resultset_next.png')))
+        #tb.Bind(wx.EVT_TOOL, lambda e: self.navigate_next(),     tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'resultset_next.png')))
         tb.Bind(wx.EVT_TOOL, lambda e: self.navigate_last(),     tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'resultset_last.png')))
         tb.Realize()

tools/rxbag/src/rxbag/playhead.py

@@ -40,8 +40,8 @@ import wx
 from util.layer import Layer
 
 class PlayheadLayer(Layer):
-    def __init__(self, parent, title, timeline, x, y, width, height, max_repaint=None):
+    def __init__(self, parent, title, timeline, x, y, width, height):
-        Layer.__init__(self, parent, title, x, y, width, height, max_repaint)
+        Layer.__init__(self, parent, title, x, y, width, height)
         
         self.timeline = timeline
         

tools/rxbag/src/rxbag/raw_view.py

@@ -47,8 +47,8 @@ from message_view import TopicMessageView
 class RawView(TopicMessageView):
     name = 'Raw'
     
-    def __init__(self, timeline, parent, title, x, y, width, height, max_repaint=0.1):
+    def __init__(self, timeline, parent, title, x, y, width, height):
-        TopicMessageView.__init__(self, timeline, parent, title, x, y, width, height, max_repaint)
+        TopicMessageView.__init__(self, timeline, parent, title, x, y, width, height)
         
         self._font = wx.Font(9, wx.FONTFAMILY_MODERN, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)
 
@@ -96,6 +96,7 @@ class RawView(TopicMessageView):
         self.msg_tree.SetSize((size[0], size[1] - self.msg_tree.GetPosition()[1]))
 
     def clear(self):
+        self.msg_title.SetValue('')
         self.msg_incoming = None
         self.invalidate()
 

tools/rxbag/src/rxbag/rxbag_main.py

@@ -87,8 +87,8 @@ class RxBagApp(wx.App):
             frame.Bind(wx.EVT_CLOSE, lambda e: wx.Exit())
             
         except Exception, ex:
-            rospy.logerr('Error initializing application: %s' % str(ex))
+            print >> sys.stderr, 'Error initializing application:', ex
-            raise
+            return False
 
         return True
 

tools/rxbag/src/rxbag/status.py

@@ -41,8 +41,8 @@ from util.layer import Layer
 from bag_helper import BagHelper
 
 class StatusLayer(Layer):
-    def __init__(self, parent, title, timeline, x, y, width, height, max_repaint=None):
+    def __init__(self, parent, title, timeline, x, y, width, height):
-        Layer.__init__(self, parent, title, x, y, width, height, max_repaint)
+        Layer.__init__(self, parent, title, x, y, width, height)
         
         self.timeline = timeline
 

tools/rxbag/src/rxbag/timeline.py

@@ -92,7 +92,7 @@ class TimelinePanel(LayerPanel):
 
         x, y = 5, 19
 
-        self.timeline = Timeline(self, 'Timeline', x, y, width - x, height - y, max_repaint=1.0)
+        self.timeline = Timeline(self, 'Timeline', x, y, width - x, height - y)
         self.timeline.set_bag_files(self.bag_files)
 
         self.status = status.StatusLayer(self, 'Status', self.timeline, self.timeline.x, 4, 300, 16)
@@ -142,8 +142,8 @@ class TimelinePanel(LayerPanel):
 class Timeline(Layer):
     name = 'Timeline'
     
-    def __init__(self, parent, title, x, y, width, height, max_repaint=None):
+    def __init__(self, parent, title, x, y, width, height):
-        Layer.__init__(self, parent, title, x, y, width, height, max_repaint)
+        Layer.__init__(self, parent, title, x, y, width, height)
 
         self.bag_files = {}
         self.bag_file  = None
@@ -390,6 +390,7 @@ class Timeline(Layer):
         self.listeners.setdefault(topic, []).append(listener)
 
         self.update_message_view()
+        self.invalidate()
 
     def remove_listener(self, topic, listener):
         topic_listeners = self.listeners.get(topic)
@@ -397,6 +398,7 @@ class Timeline(Layer):
             topic_listeners.remove(listener)
             if len(topic_listeners) == 0:
                 del self.listeners[topic]
+        self.invalidate()
 
     @property
     def history_bottom(self):
@@ -604,7 +606,9 @@ class Timeline(Layer):
             row += 1
 
     def _draw_time_indicators(self, dc):
-        """Draw time indicators on the timeline"""
+        """
+        Draw vertical grid-lines showing major and minor time divisions.
+        """
 
         x_per_sec = self.map_dstamp_to_dx(1.0)
 
@@ -632,7 +636,7 @@ class Timeline(Layer):
         dc.set_line_width(1)
 
         for stamp in stamps:
-            x            = self.map_stamp_to_x(stamp, False)
+            x = self.map_stamp_to_x(stamp, False)
 
             label        = self._get_label(division, stamp - start_stamp)
             label_x      = x + 3
@@ -646,9 +650,9 @@ class Timeline(Layer):
             dc.set_source_rgba(0.25, 0.25, 0.25, 0.3)
             dc.move_to(x, label_y + 1)
             dc.line_to(x, self.history_bottom)
-
-        dc.stroke()
         
+        dc.stroke()
+
     def _draw_minor_divisions(self, dc, stamps, start_stamp, division):
         xs = [self.map_stamp_to_x(stamp) for stamp in stamps]
 
@@ -708,7 +712,7 @@ class Timeline(Layer):
                 break
             else:
                 self._draw_topic_history(dc, topic)
-                
+
     def _draw_topic_history(self, dc, topic):
         """
         Draw boxes to show message regions on timelines.
@@ -733,9 +737,6 @@ class Timeline(Layer):
         if msg_combine_interval is None:
             msg_combine_interval = self.map_dx_to_dstamp(self.default_msg_combine_px)
             
-        start_time = roslib.rostime.Time.from_sec(max(0.0, self.stamp_left))
-        end_time   = roslib.rostime.Time.from_sec(max(0.0, self.stamp_right))
-
         if topic not in self.message_history_cache:
             start_time = roslib.rostime.Time.from_sec(max(0.0, self.start_stamp))
             end_time   = roslib.rostime.Time.from_sec(max(0.0, self.end_stamp))
@@ -744,17 +745,19 @@ class Timeline(Layer):
             self.message_history_cache[topic] = all_stamps
         else:
             all_stamps = self.message_history_cache[topic]
-            
+
         start_index = bisect.bisect_left(all_stamps, self.stamp_left)
         end_index   = bisect.bisect_left(all_stamps, self.stamp_right)
 
         # Set pen based on datatype
         datatype_color = self.datatype_colors.get(datatype, self.default_datatype_color)
-        dc.set_source_rgb(datatype_color.red / 255.0, datatype_color.green / 255.0, datatype_color.blue / 255.0) 
+        datatype_rgb = datatype_color.red / 255.0, datatype_color.green / 255.0, datatype_color.blue / 255.0
 
         # Iterate through regions of connected messages
         width_interval = self.history_width / (self.stamp_right - self.stamp_left)
 
+        dc.set_line_width(1)
+        dc.set_source_rgb(*datatype_rgb) 
         for (stamp_start, stamp_end) in self._find_regions(all_stamps[start_index:end_index], self.map_dx_to_dstamp(self.default_msg_combine_px)):
             region_x_start = self.history_left + (stamp_start - self.stamp_left) * width_interval
             region_x_end   = self.history_left + (stamp_end   - self.stamp_left) * width_interval
@@ -764,6 +767,19 @@ class Timeline(Layer):
 
         dc.fill()
 
+        # Draw active message
+        if topic in self.listeners:
+            dc.set_line_width(3)
+            playhead_stamp = None
+            playhead_index = bisect.bisect_right(all_stamps, self.playhead) - 1
+            if playhead_index >= 0:
+                playhead_stamp = all_stamps[playhead_index]
+                if playhead_stamp > self.stamp_left and playhead_stamp < self.stamp_right:
+                    playhead_x = self.history_left + (all_stamps[playhead_index] - self.stamp_left) * width_interval
+                    dc.move_to(playhead_x, msg_y)
+                    dc.line_to(playhead_x, msg_y + msg_height)
+                    dc.stroke()
+
         # Custom renderer
         if renderer:
             # Iterate through regions of connected messages
@@ -956,11 +972,12 @@ class Timeline(Layer):
             msgs[topic] = None
 
         # Inform the listeners
-        for topic, msg_data in msgs.items():
+        for topic in self.topics:
             topic_listeners = self.listeners.get(topic)
             if not topic_listeners:
                 continue
 
+            msg_data = msgs.get(topic)
             if msg_data:
                 for listener in topic_listeners:
                     listener.message_viewed(self.bag_file, msg_data)

tools/rxbag/src/rxbag/util/layer.py

@@ -40,7 +40,7 @@ import wx.lib.wxcairo
 class Layer:
     name = 'Untitled'
     
-    def __init__(self, parent, title, x, y, width, height, max_repaint=None):
+    def __init__(self, parent, title, x, y, width, height):
         self._x      = x
         self._y      = y
         self._width  = width