rxbag: hardening
This commit is contained in:
Tim Field
parent
b4d97854c0
commit
e052be9eae
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@ -37,8 +37,9 @@ import roslib; roslib.load_manifest(PKG)
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import time
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def stamp_to_str(t): return time.strftime('%b %d %Y %H:%M:%S', time.localtime(t.to_sec())) + '.%03d' % (t.nsecs / 1000000)
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def get_topics(bag): return sorted(set([c.topic for c in bag._get_connections()]))
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def stamp_to_str(t): return time.strftime('%b %d %Y %H:%M:%S', time.localtime(t.to_sec())) + '.%03d' % (t.nsecs / 1000000)
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def get_topics(bag): return sorted(set([c.topic for c in bag._get_connections()]))
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def get_start_stamp(bag):
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starts = [index[0].time.to_sec() for index in bag._connection_indexes.values()]
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@ -64,15 +64,17 @@ class RawView(TopicMessageView):
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self.self_paint = True
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def message_viewed(self, bag_file, msg_details):
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TopicMessageView.message_viewed(self, bag_file, msg_details)
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def message_viewed(self, bag, msg_details):
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TopicMessageView.message_viewed(self, bag, msg_details)
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topic, msg, t = msg_details
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if t is None:
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self.message_cleared()
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else:
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self.msg_title.SetValue(time.strftime("%a, %d %b %Y %H:%M:%S", time.localtime(t.to_sec())) + '.%03d' % (t.nsecs / 1000000))
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time_str = time.strftime("%a, %d %b %Y %H:%M:%S", time.localtime(t.to_sec())) + '.%03d' % (t.nsecs / 1000000)
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self.msg_title.SetValue('%s (%s)' % (time_str, bag.filename))
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self.msg_title.Refresh()
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self.msg_incoming = msg
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@ -0,0 +1,145 @@
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2009, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Revision $Id$
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from __future__ import with_statement
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PKG = 'rxbag'
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import roslib; roslib.load_manifest(PKG)
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import threading
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import time
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import rosbag
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import rosgraph.masterapi
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import rospy
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import sys
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class Recorder(threading.Thread):
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def __init__(self, filename, bag_lock=None, master_check_interval=5):
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"""
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Subscribe to ROS messages and record them to a bag file.
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@param filename: filename of bag to write to
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@type filename: str
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@param master_check_interval: period to check master for new topic publications [default: 5]
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@type master_check_interval: float
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"""
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threading.Thread.__init__(self, target=self._run)
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self._master_check_interval = master_check_interval
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self._bag = rosbag.Bag(filename, 'w')
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self._bag_lock = bag_lock if bag_lock else threading.Lock()
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self._listeners = []
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self._subscriber_helpers = {}
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self._failed_topics = set()
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self._last_update = time.time()
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self._stop_condition = threading.Condition()
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self._stop_flag = False
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self.setDaemon(False)
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@property
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def bag(self): return self._bag
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def add_listener(self, listener):
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"""
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Add a listener which gets called whenever a message is recorded.
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@param listener: function to call
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@type listener: function taking (topic, message, time)
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"""
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self._listeners.append(listener)
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def stop(self):
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"""
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Stop recording.
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"""
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self._stop_condition.acquire()
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self._stop_flag = True
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self._stop_condition.notify()
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self._stop_condition.release()
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## Implementation
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def _run(self):
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master = rosgraph.masterapi.Master('rxbag.recorder')
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try:
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while not self._stop_flag:
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# Subscribe to any new topics
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for topic, datatype in master.getPublishedTopics(''):
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if topic not in self._subscriber_helpers and topic not in self._failed_topics:
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print 'Found new topic: %s [%s]' % (topic, datatype)
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try:
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pytype = roslib.message.get_message_class(datatype)
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self._subscriber_helpers[topic] = _SubscriberHelper(self, topic, pytype)
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except Exception, ex:
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print >> sys.stderr, 'Error subscribing to %s (ignoring): %s' % (topic, str(ex))
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self._failed_topics.add(topic)
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# Wait a while
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self._stop_condition.acquire()
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self._stop_condition.wait(self._master_check_interval)
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except Exception, ex:
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print >> sys.stderr, 'Error recording to bag: %s' % str(ex)
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# Unsubscribe from all topics
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for subscriber_helper in self._subscriber_helpers.values():
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subscriber_helper.subscriber.unregister()
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# Close the bag file
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self._bag.close()
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def _record(self, topic, m):
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# Write the message to the bag
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t = roslib.rostime.Time.from_sec(time.time())
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with self._bag_lock:
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self._bag.write(topic, m, t)
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# Notify listeners that a message has been recorded
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for listener in self._listeners:
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listener(topic, m, t)
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class _SubscriberHelper(object):
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def __init__(self, recorder, topic, pytype):
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self.recorder = recorder
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self.topic = topic
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self.subscriber = rospy.Subscriber(self.topic, pytype, self.callback)
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def callback(self, m):
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self.recorder._record(self.topic, m)
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@ -60,44 +60,24 @@ if 'wxGTK' in wx.PlatformInfo:
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import rosbag
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import util.base_frame
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import timeline
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import timeline_panel
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class RxBagApp(wx.App):
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def __init__(self, input_files, options):
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self.input_files = input_files
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self.options = options
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wx.App.__init__(self)
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def OnInit(self):
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try:
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if len(self.input_files) == 1:
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frame_title = 'rxbag - ' + self.input_files[0]
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else:
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frame_title = 'rxbag - [%d bags]' % len(self.input_files)
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frame = util.base_frame.BaseFrame(None, 'rxbag', 'Timeline', title=frame_title)
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timeline_panel = timeline.TimelinePanel(frame, -1)
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if self.options.record:
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connect_to_ros('rxbag', 3)
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timeline_panel.timeline.record_bag()
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else:
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for input_file in self.input_files:
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try:
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bag = rosbag.Bag(input_file)
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timeline_panel.timeline.add_bag(bag)
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except Exception, ex:
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print >> sys.stderr, 'Error loading [%s]: %s' % (input_file, str(ex))
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frame.Show()
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self.SetTopWindow(frame)
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except Exception, ex:
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print >> sys.stderr, 'Error initializing application:', ex
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return False
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return True
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class RxBagInitThread(threading.Thread):
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def __init__(self, app, timeline):
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threading.Thread.__init__(self)
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self.app = app
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self.timeline = timeline
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self.start()
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def run(self):
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for input_file in self.app.args:
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try:
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bag = rosbag.Bag(input_file)
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self.timeline.add_bag(bag)
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except Exception, ex:
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print >> sys.stderr, 'Error loading [%s]: %s' % (input_file, str(ex))
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def connect_to_ros(node_name, init_timeout):
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# Attempt to connect to master node
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@ -129,23 +109,77 @@ def connect_to_ros(node_name, init_timeout):
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if init_thread.inited:
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rospy.core.register_signals()
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rospy.loginfo('Connected to ROS.')
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rospy.loginfo('Connected to ROS master.')
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return True
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else:
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rospy.logerr('Couldn\'t connect to ROS. Running in unconnected mode.')
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rospy.logerr('Couldn\'t connect to ROS master.')
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except:
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rospy.loginfo('Master not found. Running in unconnected mode.')
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rospy.loginfo('ROS master not found.')
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return False
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class RxBagApp(wx.App):
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def __init__(self, options, args):
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self.options = options
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self.args = args
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wx.App.__init__(self)
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def OnInit(self):
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try:
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# Get filename to record to
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if self.options.record:
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if not connect_to_ros('rxbag', 3):
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raise Exception('recording requires connection to master')
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# Get filename to record to
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if len(self.args) > 0:
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record_filename = self.args[0]
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else:
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record_filename = 'rxbag.bag'
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# Title bar
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if self.options.record:
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frame_title = 'rxbag - %s [recording]' % record_filename
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elif len(self.args) == 1:
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frame_title = 'rxbag - ' + self.args[0]
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else:
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frame_title = 'rxbag - [%d bags]' % len(self.args)
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# Create main timeline frame
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frame = util.base_frame.BaseFrame(None, 'rxbag', 'Timeline', title=frame_title)
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panel = timeline_panel.TimelinePanel(frame, -1)
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frame.Show()
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self.SetTopWindow(frame)
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if self.options.record:
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panel.timeline.record_bag(record_filename)
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else:
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RxBagInitThread(self, panel.timeline)
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except Exception, ex:
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print >> sys.stderr, 'Error initializing application:', ex
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raise
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return False
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return True
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def rxbag_main():
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# Parse command line for input files and options
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usage = "usage: %prog [options] BAG_FILE1 [BAG_FILE2 ...]"
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parser = optparse.OptionParser(usage=usage)
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parser.add_option('-r', '--record', dest='record', default=False, action='store_true', help='record to a bag file')
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parser.add_option('-r', '--record', dest='record', default=False, action='store_true', help='record to a bag file')
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parser.add_option( '--profile', dest='profile', default=False, action='store_true', help='profile and write results to rxbag.prof')
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options, args = parser.parse_args(sys.argv[1:])
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input_files = args[:]
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# Start application
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app = RxBagApp(input_files, options)
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if options.profile:
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import cProfile
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cProfile.runctx('run(options, args)', globals(), locals(), 'rxbag.prof')
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else:
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run(options, args)
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def run(options, args):
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app = RxBagApp(options, args)
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app.MainLoop()
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rospy.signal_shutdown('GUI shutdown')
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@ -55,67 +55,9 @@ import wx
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import bag_helper
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import playhead
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import plugins
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from raw_view import RawView
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import status
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from util.base_frame import BaseFrame
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from util.layer import Layer, LayerPanel
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class TimelinePanel(LayerPanel):
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def __init__(self, *args, **kwargs):
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LayerPanel.__init__(self, *args, **kwargs)
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self._create_controls()
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self._create_toolbar()
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def _create_controls(self):
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(width, height) = self.GetParent().GetClientSize()
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x, y = 5, 19
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self.timeline = Timeline(self, 'Timeline', x, y, width - x, height - y)
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self.status = status.StatusLayer(self, 'Status', self.timeline, self.timeline.x, 4, 300, 16)
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self.playhead = playhead.PlayheadLayer(self, 'Playhead', self.timeline, 0, 0, 12, self.timeline.height)
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#self.timeline.set_renderers_active(True)
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self.layers = [self.timeline, self.status, self.playhead]
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def _create_toolbar(self):
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icons_dir = roslib.packages.get_pkg_dir(PKG) + '/icons/'
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tb = self.GetParent().CreateToolBar()
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start_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_start_blue.png'))
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rewind_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_rewind_blue.png'))
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play_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_play_blue.png'))
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fastforward_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_fastforward_blue.png'))
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end_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_end_blue.png'))
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stop_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_stop_blue.png'))
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tb.AddSeparator()
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zoom_in_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'zoom_in.png'))
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zoom_out_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'zoom_out.png'))
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zoom_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'zoom.png'))
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tb.AddSeparator()
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thumbnails_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'pictures.png'))
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#tb.AddSeparator()
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#save_layout_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'application_put.png'))
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#load_layout_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'application_get.png'))
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_start(), start_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_rewind(), rewind_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_play(), play_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_fastforward(), fastforward_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_end(), end_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_stop(), stop_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.zoom_in(), zoom_in_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.zoom_out(), zoom_out_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.reset_zoom(), zoom_tool)
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tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.toggle_renderers(), thumbnails_tool)
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#tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.save_layout(), save_layout_tool)
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#tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.load_layout(), load_layout_tool)
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tb.Realize()
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from raw_view import RawView
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from recorder import Recorder
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from util.layer import Layer
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class IndexCacheThread(threading.Thread):
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def __init__(self, timeline, period=0.5):
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@ -146,69 +88,6 @@ class IndexCacheThread(threading.Thread):
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def stop(self): self.stop_flag = True
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class MasterCheckThread(threading.Thread):
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def __init__(self, timeline, period=5):
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threading.Thread.__init__(self)
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self.setDaemon(True)
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self.timeline = timeline
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self.period = period
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self.stop_flag = False
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self.subscriber_helpers = {}
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self.failed_topics = set()
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self.start()
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def run(self):
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master = rosgraph.masterapi.Master('rxbag')
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while not self.stop_flag:
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# Subscribe to any new topics
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for topic, datatype in master.getPublishedTopics(''):
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if topic not in self.subscriber_helpers and topic not in self.failed_topics:
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print 'Found new topic: %s [%s]' % (topic, datatype)
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try:
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pytype = roslib.message.get_message_class(datatype)
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self.subscriber_helpers[topic] = SubscriberHelper(self.timeline, topic, pytype)
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except Exception, ex:
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print >> sys.stderr, 'Error subscribing to %s (ignoring): %s' % (topic, str(ex))
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self.failed_topics.add(topic)
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# Wait a while
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time.sleep(self.period)
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for subscriber_helper in self.subscriber_helpers.values():
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subscriber_helper.subscriber.unregister()
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||||
|
||||
def stop(self): self.stop_flag = True
|
||||
|
||||
class SubscriberHelper(object):
|
||||
def __init__(self, timeline, topic, pytype):
|
||||
self.timeline = timeline
|
||||
self.subscriber = rospy.Subscriber(topic, pytype, self.callback)
|
||||
self.topic = topic
|
||||
self.pytype = pytype
|
||||
|
||||
self.last_update = time.time()
|
||||
|
||||
def callback(self, msg):
|
||||
# Write the message to the bag file
|
||||
with self.timeline._bag_lock:
|
||||
self.timeline.recording_bag.write(self.topic, msg)
|
||||
|
||||
# Invalidate the topic
|
||||
self.timeline.invalidated_caches.add(self.topic)
|
||||
|
||||
# Periodically invalidate the timeline
|
||||
now = time.time()
|
||||
if now - self.last_update > 2.0:
|
||||
wx.CallAfter(self.timeline.invalidate)
|
||||
self.last_update = now
|
||||
|
||||
class PlayThread(threading.Thread):
|
||||
def __init__(self, timeline):
|
||||
threading.Thread.__init__(self)
|
||||
|
|
@ -218,38 +97,92 @@ class PlayThread(threading.Thread):
|
|||
self.timeline = timeline
|
||||
self.stop_flag = False
|
||||
|
||||
self.fixed_step_mode = False
|
||||
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
self.last_frame, self.last_playhead = None, None
|
||||
self.last_frame = None
|
||||
self.last_playhead = None
|
||||
|
||||
try:
|
||||
while not self.stop_flag:
|
||||
wx.CallAfter(self.step)
|
||||
while not self.stop_flag:
|
||||
if self.fixed_step_mode:
|
||||
wx.CallAfter(self.step_fixed)
|
||||
time.sleep(0.04) # 25 Hz
|
||||
except:
|
||||
pass
|
||||
else:
|
||||
self.step_next()
|
||||
|
||||
def step(self):
|
||||
def step_fixed(self):
|
||||
if self.timeline.play_speed == 0.0:
|
||||
self.last_frame = None
|
||||
self.last_playhead = None
|
||||
else:
|
||||
now = time.time()
|
||||
if self.last_frame and self.timeline.playhead == self.last_playhead:
|
||||
new_playhead = self.timeline.playhead + (now - self.last_frame) * self.timeline.play_speed
|
||||
return
|
||||
|
||||
start_stamp = self.timeline.start_stamp
|
||||
end_stamp = self.timeline.end_stamp
|
||||
if new_playhead > end_stamp:
|
||||
new_playhead = start_stamp
|
||||
elif new_playhead < start_stamp:
|
||||
new_playhead = end_stamp
|
||||
now = time.time()
|
||||
if self.last_frame and self.timeline.playhead == self.last_playhead:
|
||||
new_playhead = self.timeline.playhead + (now - self.last_frame) * self.timeline.play_speed
|
||||
|
||||
start_stamp = self.timeline.start_stamp
|
||||
end_stamp = self.timeline.end_stamp
|
||||
if new_playhead > end_stamp:
|
||||
new_playhead = start_stamp
|
||||
elif new_playhead < start_stamp:
|
||||
new_playhead = end_stamp
|
||||
|
||||
self.timeline.set_playhead(new_playhead)
|
||||
|
||||
self.last_frame = now
|
||||
self.last_playhead = self.timeline.playhead
|
||||
|
||||
def step_next(self):
|
||||
if self.timeline.play_speed <= 0.0:
|
||||
self.last_frame = None
|
||||
self.last_playhead = None
|
||||
return
|
||||
|
||||
now = time.time()
|
||||
if self.last_frame and self.timeline.playhead == self.last_playhead:
|
||||
next_message_time = self.get_next_message_time()
|
||||
if next_message_time is not None:
|
||||
if self.last_playhead is None:
|
||||
new_playhead = next_message_time
|
||||
else:
|
||||
if next_message_time > self.last_playhead:
|
||||
delta = (next_message_time - self.last_playhead) * self.timeline.play_speed
|
||||
if delta > 0.05:
|
||||
delta = 0.05
|
||||
time.sleep(delta)
|
||||
|
||||
new_playhead = self.last_playhead + delta
|
||||
else:
|
||||
delta = (self.timeline.end_stamp - self.last_playhead) * self.timeline.play_speed
|
||||
if delta > 0.05:
|
||||
delta = 0.05
|
||||
time.sleep(delta)
|
||||
new_playhead = self.last_playhead + delta
|
||||
else:
|
||||
time.sleep(delta)
|
||||
new_playhead = next_message_time
|
||||
|
||||
self.timeline.set_playhead(new_playhead)
|
||||
else:
|
||||
time.sleep(0.5)
|
||||
|
||||
self.last_frame = now
|
||||
self.last_playhead = self.timeline.playhead
|
||||
self.last_frame = now
|
||||
self.last_playhead = self.timeline.playhead
|
||||
|
||||
def get_next_message_time(self):
|
||||
if not self.timeline.playhead:
|
||||
return None
|
||||
|
||||
# NOTE: add an epsilon due to imperfect conversion from roslib.Time <-> float
|
||||
playhead_time = roslib.rostime.Time.from_sec(self.timeline.playhead + 0.000001)
|
||||
|
||||
_, entry = self.timeline.get_entry_after(playhead_time)
|
||||
if entry is None:
|
||||
return self.timeline.start_stamp
|
||||
|
||||
return entry.time.to_sec()
|
||||
|
||||
def stop(self): self.stop_flag = True
|
||||
|
||||
|
|
@ -261,7 +194,6 @@ class Timeline(Layer):
|
|||
|
||||
self._bag_lock = threading.RLock()
|
||||
self.bags = []
|
||||
self.recording_bag = None
|
||||
|
||||
## Rendering parameters
|
||||
|
||||
|
|
@ -309,11 +241,14 @@ class Timeline(Layer):
|
|||
self.timeline_renderers = {}
|
||||
self.rendered_topics = set()
|
||||
|
||||
self.last_invalidated = 0.0
|
||||
|
||||
self.load_plugins()
|
||||
|
||||
##
|
||||
|
||||
self.clicked_pos = None
|
||||
self.dragged_pos = None
|
||||
|
||||
self.history_left = 0
|
||||
self.history_height = 0
|
||||
|
|
@ -325,7 +260,6 @@ class Timeline(Layer):
|
|||
self.playhead = None
|
||||
self.playhead_lock = threading.RLock()
|
||||
|
||||
self.play_thread = PlayThread(self)
|
||||
self.play_speed = 0.0
|
||||
self.playhead_positions = None
|
||||
|
||||
|
|
@ -336,36 +270,61 @@ class Timeline(Layer):
|
|||
self.index_cache_lock = threading.RLock()
|
||||
self.index_cache = {}
|
||||
self.invalidated_caches = set()
|
||||
self.index_cache_thread = IndexCacheThread(self)
|
||||
|
||||
self.master_check_thread = None
|
||||
self.recorder = None
|
||||
|
||||
##
|
||||
|
||||
self.play_thread = PlayThread(self)
|
||||
self.index_cache_thread = IndexCacheThread(self)
|
||||
|
||||
###
|
||||
|
||||
def record_bag(self):
|
||||
self.master_check_thread = MasterCheckThread(self)
|
||||
self.recording_bag = rosbag.Bag('rxbag.bag', 'w')
|
||||
def invalidate(self):
|
||||
Layer.invalidate(self)
|
||||
self.last_invalidated = time.time()
|
||||
|
||||
def message_recorded(self, topic, msg, t):
|
||||
# Invalidate the topic
|
||||
self.invalidated_caches.add(topic)
|
||||
|
||||
# Periodically invalidate the timeline
|
||||
now = time.time()
|
||||
if now - self.last_invalidated > 2.0:
|
||||
wx.CallAfter(self.invalidate)
|
||||
|
||||
def record_bag(self, filename):
|
||||
try:
|
||||
self.recorder = Recorder(filename, bag_lock=self._bag_lock)
|
||||
except Exception, ex:
|
||||
print >> sys.stderr, 'Error opening bag for recording [%s]: %s' % (self._filename, str(ex))
|
||||
return
|
||||
|
||||
self.recorder.add_listener(self.message_recorded)
|
||||
|
||||
self.bags.append(self.recorder.bag)
|
||||
|
||||
self.recorder.start()
|
||||
|
||||
def add_bag(self, bag):
|
||||
print 'adding bag ' + bag.filename
|
||||
self.bags.append(bag)
|
||||
|
||||
# Invalidate entire index cache for all topics in this bag
|
||||
with self.index_cache_lock:
|
||||
for topic in bag_helper.get_topics(bag):
|
||||
if topic in self.index_cache:
|
||||
print 'removing index for ' + topic
|
||||
del self.index_cache[topic]
|
||||
self._update_index_cache(topic)
|
||||
|
||||
@property
|
||||
def start_stamp(self):
|
||||
with self._bag_lock:
|
||||
start_stamp = None
|
||||
for bag in self.bags:
|
||||
for bag in self.bags:
|
||||
bag_start_stamp = bag_helper.get_start_stamp(bag)
|
||||
if not bag_start_stamp:
|
||||
if bag_start_stamp is None:
|
||||
continue
|
||||
if not start_stamp:
|
||||
if start_stamp is None:
|
||||
start_stamp = bag_start_stamp
|
||||
else:
|
||||
start_stamp = min(start_stamp, bag_start_stamp)
|
||||
|
|
@ -377,9 +336,9 @@ class Timeline(Layer):
|
|||
end_stamp = 0.0
|
||||
for bag in self.bags:
|
||||
bag_end_stamp = bag_helper.get_end_stamp(bag)
|
||||
if not bag_end_stamp:
|
||||
if bag_end_stamp is None:
|
||||
continue
|
||||
if not end_stamp:
|
||||
if end_stamp is None:
|
||||
end_stamp = bag_end_stamp
|
||||
else:
|
||||
end_stamp = max(end_stamp, bag_end_stamp)
|
||||
|
|
@ -413,14 +372,25 @@ class Timeline(Layer):
|
|||
datatype = bag_datatype
|
||||
return datatype
|
||||
|
||||
def get_entries(self, topic, start_time, end_time):
|
||||
def get_entries(self, topic, start_stamp, end_stamp):
|
||||
with self._bag_lock:
|
||||
from rosbag import bag
|
||||
|
||||
start_time = start_stamp.to_sec()
|
||||
end_time = end_stamp.to_sec()
|
||||
|
||||
bag_entries = []
|
||||
for b in self.bags:
|
||||
bag_start_time = bag_helper.get_start_stamp(b)
|
||||
if bag_start_time > end_time:
|
||||
continue
|
||||
|
||||
bag_end_time = bag_helper.get_end_stamp(b)
|
||||
if bag_end_time < start_time:
|
||||
continue
|
||||
|
||||
connections = list(b._get_connections(topic))
|
||||
bag_entries.append(b._get_entries(connections, start_time, end_time))
|
||||
bag_entries.append(b._get_entries(connections, start_stamp, end_stamp))
|
||||
|
||||
for entry, _ in bag._mergesort(bag_entries, key=lambda entry: entry.time):
|
||||
yield entry
|
||||
|
|
@ -431,8 +401,18 @@ class Timeline(Layer):
|
|||
for bag in self.bags:
|
||||
bag_entry = bag._get_entry(t, bag._get_connections(topic))
|
||||
if bag_entry and (not entry or bag_entry.time > entry.time):
|
||||
entry_bag = bag
|
||||
entry = bag_entry
|
||||
entry_bag, entry = bag, bag_entry
|
||||
|
||||
return entry_bag, entry
|
||||
|
||||
def get_entry_after(self, t):
|
||||
with self._bag_lock:
|
||||
entry_bag, entry = None, None
|
||||
for bag in self.bags:
|
||||
bag_entry = bag._get_entry_after(t, bag._get_connections())
|
||||
if bag_entry and (not entry or bag_entry.time < entry.time):
|
||||
entry_bag, entry = bag, bag_entry
|
||||
|
||||
return entry_bag, entry
|
||||
|
||||
def read_message(self, bag, position):
|
||||
|
|
@ -442,13 +422,12 @@ class Timeline(Layer):
|
|||
##
|
||||
|
||||
def on_close(self, event):
|
||||
if self.master_check_thread:
|
||||
self.master_check_thread.stop()
|
||||
self.index_cache_thread.stop()
|
||||
self.play_thread.stop()
|
||||
|
||||
if self.recording_bag:
|
||||
self.recording_bag.close()
|
||||
if self.recorder:
|
||||
self.recorder.stop()
|
||||
self.recorder.join()
|
||||
|
||||
### Views / listeners
|
||||
|
||||
|
|
@ -640,7 +619,7 @@ class Timeline(Layer):
|
|||
self.invalidate()
|
||||
|
||||
playhead_time = roslib.rostime.Time.from_sec(self.playhead)
|
||||
|
||||
|
||||
self.playhead_positions = {}
|
||||
for topic in self.topics:
|
||||
bag, entry = self.get_entry(playhead_time, topic)
|
||||
|
|
@ -769,7 +748,7 @@ class Timeline(Layer):
|
|||
self._draw_minor_divisions(dc, minor_stamps, start_stamp, minor_division)
|
||||
|
||||
def _draw_major_divisions(self, dc, stamps, start_stamp, division):
|
||||
dc.set_line_width(1)
|
||||
dc.set_line_width(1.0)
|
||||
|
||||
for stamp in stamps:
|
||||
x = self.map_stamp_to_x(stamp, False)
|
||||
|
|
@ -917,7 +896,7 @@ class Timeline(Layer):
|
|||
dc.fill()
|
||||
|
||||
# Draw active message
|
||||
if topic in self.listeners:
|
||||
if topic in self.listeners or True:
|
||||
dc.set_line_width(3)
|
||||
playhead_stamp = None
|
||||
playhead_index = bisect.bisect_right(all_stamps, self.playhead) - 1
|
||||
|
|
@ -1021,7 +1000,7 @@ class Timeline(Layer):
|
|||
### Mouse events
|
||||
|
||||
def on_left_down(self, event):
|
||||
self.clicked_pos = event.GetPosition()
|
||||
self.clicked_pos = self.dragged_pos = event.GetPosition()
|
||||
if not self.contains(*self.clicked_pos):
|
||||
return
|
||||
|
||||
|
|
@ -1035,14 +1014,14 @@ class Timeline(Layer):
|
|||
self.set_playhead(self.map_x_to_stamp(x))
|
||||
|
||||
def on_middle_down(self, event):
|
||||
self.clicked_pos = event.GetPosition()
|
||||
self.clicked_pos = self.dragged_pos = event.GetPosition()
|
||||
|
||||
def on_right_down(self, event):
|
||||
self.clicked_pos = event.GetPosition()
|
||||
self.clicked_pos = self.dragged_pos = event.GetPosition()
|
||||
if not self.contains(*self.clicked_pos):
|
||||
return
|
||||
|
||||
self.parent.PopupMenu(TimelinePopupMenu(self.parent, self), self.clicked_pos)
|
||||
self.parent.display_popup(self.clicked_pos)
|
||||
|
||||
def on_mousewheel(self, event):
|
||||
dz = event.GetWheelRotation() / event.GetWheelDelta()
|
||||
|
|
@ -1053,25 +1032,24 @@ class Timeline(Layer):
|
|||
|
||||
if not event.Dragging():
|
||||
return
|
||||
|
||||
|
||||
left, middle, right = event.LeftIsDown(), event.MiddleIsDown(), event.RightIsDown()
|
||||
|
||||
if middle or event.ShiftDown():
|
||||
x, y = mouse_pos
|
||||
|
||||
dx, dy = x - self.clicked_pos[0], y - self.clicked_pos[1]
|
||||
dx_click, dy_click = x - self.clicked_pos[0], y - self.clicked_pos[1]
|
||||
dx_drag, dy_drag = x - self.dragged_pos[0], y - self.dragged_pos[1]
|
||||
|
||||
if not self.history_left:
|
||||
if not self.history_left: # @todo: need a better notion of initialized
|
||||
return
|
||||
|
||||
if dx != 0:
|
||||
self.translate_timeline(dx)
|
||||
if dy != 0:
|
||||
zoom = min(self.max_zoom_speed, max(self.min_zoom_speed, 1.0 + self.zoom_sensitivity * dy))
|
||||
if dx_drag != 0:
|
||||
self.translate_timeline(dx_drag)
|
||||
if (dx_drag == 0 and abs(dy_drag) > 0) or (dx_drag != 0 and abs(float(dy_drag) / dx_drag) > 0.2 and abs(dy_drag) > 1):
|
||||
zoom = min(self.max_zoom_speed, max(self.min_zoom_speed, 1.0 + self.zoom_sensitivity * dy_drag))
|
||||
self.zoom_timeline(zoom)
|
||||
|
||||
self.clicked_pos = mouse_pos
|
||||
|
||||
self.parent.playhead.update_position()
|
||||
|
||||
elif left:
|
||||
|
|
@ -1082,7 +1060,7 @@ class Timeline(Layer):
|
|||
|
||||
self.set_playhead(self.map_x_to_stamp(x))
|
||||
|
||||
self.clicked_pos = mouse_pos
|
||||
self.dragged_pos = mouse_pos
|
||||
|
||||
###
|
||||
|
||||
|
|
@ -1099,16 +1077,14 @@ class Timeline(Layer):
|
|||
msgs[topic] = (bag, self.read_message(bag, playhead_position))
|
||||
continue
|
||||
|
||||
msgs[topic] = None
|
||||
|
||||
# Inform the listeners
|
||||
for topic in self.topics:
|
||||
topic_listeners = self.listeners.get(topic)
|
||||
if not topic_listeners:
|
||||
continue
|
||||
|
||||
bag, msg_data = msgs.get(topic)
|
||||
if msg_data:
|
||||
if topic in msgs:
|
||||
bag, msg_data = msgs[topic]
|
||||
for listener in topic_listeners:
|
||||
try:
|
||||
listener.message_viewed(bag, msg_data)
|
||||
|
|
@ -1145,118 +1121,3 @@ class Timeline(Layer):
|
|||
config = wx.Config(localFilename=layout_file)
|
||||
|
||||
# TODO
|
||||
|
||||
class TimelinePopupMenu(wx.Menu):
|
||||
"""
|
||||
Timeline popup menu. Allows user to manipulate the timeline view, and open new message views.
|
||||
"""
|
||||
def __init__(self, parent, timeline):
|
||||
wx.Menu.__init__(self)
|
||||
|
||||
self.parent = parent
|
||||
self.timeline = timeline
|
||||
|
||||
# Reset Timeline
|
||||
self.reset_timeline_menu = wx.MenuItem(self, wx.NewId(), 'Reset Timeline')
|
||||
self.AppendItem(self.reset_timeline_menu)
|
||||
self.Bind(wx.EVT_MENU, lambda e: self.timeline.reset_timeline(), id=self.reset_timeline_menu.GetId())
|
||||
|
||||
# Get the renderers
|
||||
renderers = self.timeline.get_renderers()
|
||||
|
||||
# Thumbnails...
|
||||
if len(renderers) > 0:
|
||||
self.thumbnail_menu = wx.Menu()
|
||||
self.AppendSubMenu(self.thumbnail_menu, 'Thumbnails...', 'View message thumbnails')
|
||||
|
||||
# Thumbnails... / Show All
|
||||
self.show_thumbnails_menu = wx.MenuItem(self.thumbnail_menu, wx.NewId(), 'Show All')
|
||||
self.thumbnail_menu.AppendItem(self.show_thumbnails_menu)
|
||||
self.thumbnail_menu.Bind(wx.EVT_MENU, lambda e: self.timeline.set_renderers_active(True), id=self.show_thumbnails_menu.GetId())
|
||||
|
||||
# Thumbnails... / Hide All
|
||||
self.hide_thumbnails_menu = wx.MenuItem(self.thumbnail_menu, wx.NewId(), 'Hide All')
|
||||
self.thumbnail_menu.AppendItem(self.hide_thumbnails_menu)
|
||||
self.thumbnail_menu.Bind(wx.EVT_MENU, lambda e: self.timeline.set_renderers_active(False), id=self.hide_thumbnails_menu.GetId())
|
||||
|
||||
# ---
|
||||
self.thumbnail_menu.AppendSeparator()
|
||||
|
||||
# Thumbnails... / topic/subtopic/subsubtopic
|
||||
for topic, renderer in renderers:
|
||||
renderer_item = self.TimelineRendererMenuItem(self.thumbnail_menu, wx.NewId(), topic.lstrip('/'), topic, renderer, self.timeline)
|
||||
self.thumbnail_menu.AppendItem(renderer_item)
|
||||
|
||||
renderer_item.Check(topic in self.timeline.rendered_topics)
|
||||
|
||||
# View (by topic)...
|
||||
self.view_topic_menu = wx.Menu()
|
||||
self.AppendSubMenu(self.view_topic_menu, 'View (by topic)...', 'View message detail')
|
||||
|
||||
for topic in self.timeline.topics:
|
||||
datatype = self.timeline.get_datatype(topic)
|
||||
|
||||
# View... / topic/subtopic/subsubtopic
|
||||
topic_menu = wx.Menu()
|
||||
self.view_topic_menu.AppendSubMenu(topic_menu, topic.lstrip('/'), topic)
|
||||
|
||||
viewer_types = self.timeline.get_viewer_types(datatype)
|
||||
|
||||
# View... / topic/subtopic/subsubtopic / Viewer
|
||||
for viewer_type in viewer_types:
|
||||
topic_menu.AppendItem(self.TopicViewMenuItem(topic_menu, wx.NewId(), viewer_type.name, topic, viewer_type, self.timeline))
|
||||
|
||||
# View (by datatype)...
|
||||
self.view_datatype_menu = wx.Menu()
|
||||
self.AppendSubMenu(self.view_datatype_menu, 'View (by datatype)...', 'View message detail')
|
||||
|
||||
topics_by_datatype = self.timeline.topics_by_datatype
|
||||
|
||||
for datatype in sorted(topics_by_datatype):
|
||||
# View... / datatype
|
||||
datatype_menu = wx.Menu()
|
||||
self.view_datatype_menu.AppendSubMenu(datatype_menu, datatype, datatype)
|
||||
|
||||
topics = topics_by_datatype[datatype]
|
||||
|
||||
viewer_types = self.timeline.get_viewer_types(datatype)
|
||||
|
||||
for topic in [t for t in self.timeline.topics if t in topics]: # use timeline ordering
|
||||
topic_menu = wx.Menu()
|
||||
datatype_menu.AppendSubMenu(topic_menu, topic.lstrip('/'), topic)
|
||||
|
||||
# View... / datatype / topic/subtopic/subsubtopic / Viewer
|
||||
for viewer_type in viewer_types:
|
||||
topic_menu.AppendItem(self.TopicViewMenuItem(topic_menu, wx.NewId(), viewer_type.name, topic, viewer_type, self.timeline))
|
||||
|
||||
class TimelineRendererMenuItem(wx.MenuItem):
|
||||
def __init__(self, parent, id, label, topic, renderer, timeline):
|
||||
wx.MenuItem.__init__(self, parent, id, label, kind=wx.ITEM_CHECK)
|
||||
|
||||
self.topic = topic
|
||||
self.renderer = renderer
|
||||
self.timeline = timeline
|
||||
|
||||
parent.Bind(wx.EVT_MENU, self.on_menu, id=self.GetId())
|
||||
|
||||
def on_menu(self, event):
|
||||
self.timeline.set_renderer_active(self.topic, not self.timeline.is_renderer_active(self.topic))
|
||||
|
||||
class TopicViewMenuItem(wx.MenuItem):
|
||||
def __init__(self, parent, id, label, topic, viewer_type, timeline):
|
||||
wx.MenuItem.__init__(self, parent, id, label)
|
||||
|
||||
self.topic = topic
|
||||
self.viewer_type = viewer_type
|
||||
self.timeline = timeline
|
||||
|
||||
parent.Bind(wx.EVT_MENU, self.on_menu, id=self.GetId())
|
||||
|
||||
def on_menu(self, event):
|
||||
frame = BaseFrame(None, 'rxbag', self.topic, title='rxbag - %s [%s]' % (self.topic.lstrip('/'), self.viewer_type.name), pos=(4, 4), size=(640, 480))
|
||||
panel = LayerPanel(frame, -1)
|
||||
view = self.viewer_type(self.timeline, panel, self.topic, 0, 0, *frame.GetClientSize())
|
||||
panel.layers = [view]
|
||||
frame.Show()
|
||||
|
||||
self.timeline.add_view(self.topic, view)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,211 @@
|
|||
# Software License Agreement (BSD License)
|
||||
#
|
||||
# Copyright (c) 2009, Willow Garage, Inc.
|
||||
# All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# * Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# * Redistributions in binary form must reproduce the above
|
||||
# copyright notice, this list of conditions and the following
|
||||
# disclaimer in the documentation and/or other materials provided
|
||||
# with the distribution.
|
||||
# * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
# contributors may be used to endorse or promote products derived
|
||||
# from this software without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
PKG = 'rxbag'
|
||||
import roslib; roslib.load_manifest(PKG)
|
||||
|
||||
import wx
|
||||
|
||||
from playhead import PlayheadLayer
|
||||
from status import StatusLayer
|
||||
from timeline import Timeline
|
||||
from util.layer import LayerPanel
|
||||
|
||||
class TimelinePanel(LayerPanel):
|
||||
def __init__(self, *args, **kwargs):
|
||||
LayerPanel.__init__(self, *args, **kwargs)
|
||||
|
||||
self._create_controls()
|
||||
self._create_toolbar()
|
||||
|
||||
def display_popup(self, pos):
|
||||
self.PopupMenu(TimelinePopupMenu(self, self.timeline), pos)
|
||||
|
||||
def _create_controls(self):
|
||||
(width, height) = self.GetParent().GetClientSize()
|
||||
|
||||
self.timeline = Timeline (self, 'Timeline', 5, 19, width - 5, height - 19)
|
||||
self.status = StatusLayer (self, 'Status', self.timeline, self.timeline.x, 4, 300, 16)
|
||||
self.playhead = PlayheadLayer(self, 'Playhead', self.timeline, 0, 0, 12, self.timeline.height)
|
||||
|
||||
self.layers = [self.timeline, self.status, self.playhead]
|
||||
|
||||
def _create_toolbar(self):
|
||||
icons_dir = roslib.packages.get_pkg_dir(PKG) + '/icons/'
|
||||
|
||||
tb = self.GetParent().CreateToolBar()
|
||||
|
||||
start_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_start_blue.png'))
|
||||
rewind_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_rewind_blue.png'))
|
||||
play_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_play_blue.png'))
|
||||
fastforward_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_fastforward_blue.png'))
|
||||
end_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_end_blue.png'))
|
||||
stop_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'control_stop_blue.png'))
|
||||
tb.AddSeparator()
|
||||
zoom_in_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'zoom_in.png'))
|
||||
zoom_out_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'zoom_out.png'))
|
||||
zoom_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'zoom.png'))
|
||||
tb.AddSeparator()
|
||||
thumbnails_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'pictures.png'))
|
||||
#tb.AddSeparator()
|
||||
#save_layout_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'application_put.png'))
|
||||
#load_layout_tool = tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'application_get.png'))
|
||||
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_start(), start_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_rewind(), rewind_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_play(), play_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_fastforward(), fastforward_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_end(), end_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.navigate_stop(), stop_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.zoom_in(), zoom_in_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.zoom_out(), zoom_out_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.reset_zoom(), zoom_tool)
|
||||
tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.toggle_renderers(), thumbnails_tool)
|
||||
#tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.save_layout(), save_layout_tool)
|
||||
#tb.Bind(wx.EVT_TOOL, lambda e: self.timeline.load_layout(), load_layout_tool)
|
||||
|
||||
tb.Realize()
|
||||
|
||||
class TimelinePopupMenu(wx.Menu):
|
||||
"""
|
||||
Timeline popup menu. Allows user to manipulate the timeline view, and open new message views.
|
||||
"""
|
||||
def __init__(self, parent, timeline):
|
||||
wx.Menu.__init__(self)
|
||||
|
||||
self.parent = parent
|
||||
self.timeline = timeline
|
||||
|
||||
# Reset Timeline
|
||||
self.reset_timeline_menu = wx.MenuItem(self, wx.NewId(), 'Reset Timeline')
|
||||
self.AppendItem(self.reset_timeline_menu)
|
||||
self.Bind(wx.EVT_MENU, lambda e: self.timeline.reset_timeline(), id=self.reset_timeline_menu.GetId())
|
||||
|
||||
# Get the renderers
|
||||
renderers = self.timeline.get_renderers()
|
||||
|
||||
# Thumbnails...
|
||||
if len(renderers) > 0:
|
||||
self.thumbnail_menu = wx.Menu()
|
||||
self.AppendSubMenu(self.thumbnail_menu, 'Thumbnails...', 'View message thumbnails')
|
||||
|
||||
# Thumbnails... / Show All
|
||||
self.show_thumbnails_menu = wx.MenuItem(self.thumbnail_menu, wx.NewId(), 'Show All')
|
||||
self.thumbnail_menu.AppendItem(self.show_thumbnails_menu)
|
||||
self.thumbnail_menu.Bind(wx.EVT_MENU, lambda e: self.timeline.set_renderers_active(True), id=self.show_thumbnails_menu.GetId())
|
||||
|
||||
# Thumbnails... / Hide All
|
||||
self.hide_thumbnails_menu = wx.MenuItem(self.thumbnail_menu, wx.NewId(), 'Hide All')
|
||||
self.thumbnail_menu.AppendItem(self.hide_thumbnails_menu)
|
||||
self.thumbnail_menu.Bind(wx.EVT_MENU, lambda e: self.timeline.set_renderers_active(False), id=self.hide_thumbnails_menu.GetId())
|
||||
|
||||
# ---
|
||||
self.thumbnail_menu.AppendSeparator()
|
||||
|
||||
# Thumbnails... / topic/subtopic/subsubtopic
|
||||
for topic, renderer in renderers:
|
||||
renderer_item = self.TimelineRendererMenuItem(self.thumbnail_menu, wx.NewId(), topic.lstrip('/'), topic, renderer, self.timeline)
|
||||
self.thumbnail_menu.AppendItem(renderer_item)
|
||||
|
||||
renderer_item.Check(topic in self.timeline.rendered_topics)
|
||||
|
||||
# View (by topic)...
|
||||
self.view_topic_menu = wx.Menu()
|
||||
self.AppendSubMenu(self.view_topic_menu, 'View (by topic)...', 'View message detail')
|
||||
|
||||
for topic in self.timeline.topics:
|
||||
datatype = self.timeline.get_datatype(topic)
|
||||
|
||||
# View... / topic/subtopic/subsubtopic
|
||||
topic_menu = wx.Menu()
|
||||
self.view_topic_menu.AppendSubMenu(topic_menu, topic.lstrip('/'), topic)
|
||||
|
||||
viewer_types = self.timeline.get_viewer_types(datatype)
|
||||
|
||||
# View... / topic/subtopic/subsubtopic / Viewer
|
||||
for viewer_type in viewer_types:
|
||||
topic_menu.AppendItem(self.TopicViewMenuItem(topic_menu, wx.NewId(), viewer_type.name, topic, viewer_type, self.timeline))
|
||||
|
||||
# View (by datatype)...
|
||||
self.view_datatype_menu = wx.Menu()
|
||||
self.AppendSubMenu(self.view_datatype_menu, 'View (by datatype)...', 'View message detail')
|
||||
|
||||
topics_by_datatype = self.timeline.topics_by_datatype
|
||||
|
||||
for datatype in sorted(topics_by_datatype):
|
||||
# View... / datatype
|
||||
datatype_menu = wx.Menu()
|
||||
self.view_datatype_menu.AppendSubMenu(datatype_menu, datatype, datatype)
|
||||
|
||||
topics = topics_by_datatype[datatype]
|
||||
|
||||
viewer_types = self.timeline.get_viewer_types(datatype)
|
||||
|
||||
for topic in [t for t in self.timeline.topics if t in topics]: # use timeline ordering
|
||||
topic_menu = wx.Menu()
|
||||
datatype_menu.AppendSubMenu(topic_menu, topic.lstrip('/'), topic)
|
||||
|
||||
# View... / datatype / topic/subtopic/subsubtopic / Viewer
|
||||
for viewer_type in viewer_types:
|
||||
topic_menu.AppendItem(self.TopicViewMenuItem(topic_menu, wx.NewId(), viewer_type.name, topic, viewer_type, self.timeline))
|
||||
|
||||
class TimelineRendererMenuItem(wx.MenuItem):
|
||||
def __init__(self, parent, id, label, topic, renderer, timeline):
|
||||
wx.MenuItem.__init__(self, parent, id, label, kind=wx.ITEM_CHECK)
|
||||
|
||||
self.topic = topic
|
||||
self.renderer = renderer
|
||||
self.timeline = timeline
|
||||
|
||||
parent.Bind(wx.EVT_MENU, self.on_menu, id=self.GetId())
|
||||
|
||||
def on_menu(self, event):
|
||||
self.timeline.set_renderer_active(self.topic, not self.timeline.is_renderer_active(self.topic))
|
||||
|
||||
class TopicViewMenuItem(wx.MenuItem):
|
||||
def __init__(self, parent, id, label, topic, viewer_type, timeline):
|
||||
wx.MenuItem.__init__(self, parent, id, label)
|
||||
|
||||
self.topic = topic
|
||||
self.viewer_type = viewer_type
|
||||
self.timeline = timeline
|
||||
|
||||
parent.Bind(wx.EVT_MENU, self.on_menu, id=self.GetId())
|
||||
|
||||
def on_menu(self, event):
|
||||
frame = BaseFrame(None, 'rxbag', self.topic, title='rxbag - %s [%s]' % (self.topic.lstrip('/'), self.viewer_type.name), pos=(4, 4), size=(640, 480))
|
||||
panel = LayerPanel(frame, -1)
|
||||
view = self.viewer_type(self.timeline, panel, self.topic, 0, 0, *frame.GetClientSize())
|
||||
panel.layers = [view]
|
||||
frame.Show()
|
||||
|
||||
self.timeline.add_view(self.topic, view)
|
||||
Loading…
Reference in New Issue