rxbag: re-publish messages #2067
This commit is contained in:
Tim Field
parent
6b740998ac
commit
ecf89a48b2
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@ -0,0 +1,97 @@
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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 Player(object):
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def __init__(self, timeline):
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self.timeline = timeline
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self._publishing = set()
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self._publishers = {}
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if not self.timeline.parent.app.connect_to_ros():
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raise Exception('Error connecting to ROS')
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def is_publishing(self, topic): return topic in self._publishing
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def start_publishing(self, topic):
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if topic in self._publishing:
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return
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self.timeline.add_listener(topic, self)
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self._publishing.add(topic)
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def stop_publishing(self, topic):
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if topic not in self._publishing:
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return
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self.timeline.remove_listener(topic, self)
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self._publishing.remove(topic)
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if topic in self._publishers:
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self._publishers[topic].unregister()
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def stop(self):
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for topic in self._publishing:
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self.stop_publishing(topic)
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def message_viewed(self, bag, msg_data):
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topic, msg, t = msg_data
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if topic not in self._publishers:
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try:
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self._publishers[topic] = rospy.Publisher(topic, type(msg))
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except Exception, ex:
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rospy.logerr('Error creating publisher on topic %s for type %s' % (topic, str(type(msg))))
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self.stop_publishing(topic)
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self._publishers[topic].publish(msg)
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def message_cleared(self):
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pass
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@ -0,0 +1,158 @@
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#!/usr/bin/env python
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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
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# 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
|
||||
# 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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PKG = 'rxbag'
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import roslib; roslib.load_manifest(PKG)
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import rospy
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import sys
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import threading
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import time
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import wx
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import rosbag
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import util.base_frame
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import timeline_panel
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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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self.connected_to_ros = False
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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 self.connect_to_ros():
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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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panel.app = self
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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 connect_to_ros(self, init_timeout=3):
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if self.connected_to_ros:
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return True
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# Attempt to connect to master node
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class InitNodeThread(threading.Thread):
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def __init__(self):
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threading.Thread.__init__(self)
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self.setDaemon(True)
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self.inited = False
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self.init_cv = threading.Condition()
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def run(self):
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rospy.loginfo('Master found. Connecting...')
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rospy.init_node('rxbag', anonymous=True, disable_signals=True)
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self.init_cv.acquire()
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self.inited = True
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self.init_cv.notify_all()
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self.init_cv.release()
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try:
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# Check whether ROS master is running
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master = rospy.get_master()
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master.getPid()
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# If so (i.e. no exception), attempt to initialize node
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init_thread = InitNodeThread()
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init_thread.init_cv.acquire()
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init_thread.start()
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init_thread.init_cv.wait(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 master.')
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self.connected_to_ros = True
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return True
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else:
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rospy.logerr('Couldn\'t connect to ROS master.')
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except:
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rospy.loginfo('ROS master not found.')
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return False
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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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@ -42,6 +42,7 @@ import sys
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import threading
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import time
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# Ensure wxPython version >= 2.8, and install hotfix for 64-bit Cairo support
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import wxversion
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WXVER = '2.8'
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if wxversion.checkInstalled(WXVER):
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@ -57,129 +58,24 @@ if 'wxGTK' in wx.PlatformInfo:
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gdkLib = wx.lib.wxcairo._findGDKLib()
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gdkLib.gdk_cairo_create.restype = ctypes.c_void_p
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import rosbag
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import util.base_frame
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import timeline_panel
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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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class InitNodeThread(threading.Thread):
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def __init__(self):
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threading.Thread.__init__(self)
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self.setDaemon(True)
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self.inited = False
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self.init_cv = threading.Condition()
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def run(self):
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rospy.loginfo('Master found. Connecting...')
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rospy.init_node(node_name, anonymous=True, disable_signals=True)
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self.init_cv.acquire()
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self.inited = True
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self.init_cv.notify_all()
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self.init_cv.release()
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try:
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# Check whether ROS master is running
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master = rospy.get_master()
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master.getPid()
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# If so (i.e. no exception), attempt to initialize node
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init_thread = InitNodeThread()
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init_thread.init_cv.acquire()
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init_thread.start()
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init_thread.init_cv.wait(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 master.')
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return True
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else:
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rospy.logerr('Couldn\'t connect to ROS master.')
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except:
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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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import rxbag_app
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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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def run(options, args):
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app = rxbag_app.RxBagApp(options, args)
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app.MainLoop()
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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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rospy.signal_shutdown('GUI shutdown')
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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( '--profile', dest='profile', default=False, action='store_true', help='profile and write results to rxbag.prof')
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parser.add_option( '--profile', dest='profile', default=False, action='store_true', help='profile and write results to rxbag.prof [advanced]')
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options, args = parser.parse_args(sys.argv[1:])
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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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@ -55,6 +55,7 @@ import wx
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import bag_helper
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import plugins
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from player import Player
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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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@ -172,7 +173,7 @@ class PlayThread(threading.Thread):
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class Timeline(Layer):
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name = 'Timeline'
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def __init__(self, parent, title, x, y, width, height):
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Layer.__init__(self, parent, title, x, y, width, height)
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@ -253,8 +254,9 @@ class Timeline(Layer):
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self.index_cache_lock = threading.RLock()
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self.index_cache = {}
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self.invalidated_caches = set()
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self.recorder = None
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self.player = False
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##
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@ -263,6 +265,15 @@ class Timeline(Layer):
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###
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def on_close(self, event):
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self.index_cache_thread.stop()
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self.play_thread.stop()
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if self.player:
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self.player.stop()
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if self.recorder:
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self.recorder.stop()
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self.recorder.join() # wait for recorder to stop until exiting app (ensures bag is closed gracefully)
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def get_next_message_time(self):
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if self.playhead is None:
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return None
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@ -273,6 +284,38 @@ class Timeline(Layer):
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return entry.time
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def toggle_play_all(self):
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self.play_all = not self.play_all
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### Publishing
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def is_publishing(self, topic):
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return self.player and self.player.is_publishing(topic)
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def start_publishing(self, topic):
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if not self.player and not self._create_player():
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return False
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self.player.start_publishing(topic)
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return True
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def stop_publishing(self, topic):
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if not self.player:
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return False
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self.player.stop_publishing(topic)
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return True
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def _create_player(self):
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if not self.player:
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try:
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self.player = Player(self)
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except Exception, ex:
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print >> sys.stderr, 'Error starting player; aborting publish: %s' % str(ex)
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return False
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return True
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@property
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def play_speed(self):
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if self._paused:
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@ -411,16 +454,6 @@ class Timeline(Layer):
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with self._bag_lock:
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return bag._read_message(position)
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##
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def on_close(self, event):
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self.index_cache_thread.stop()
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self.play_thread.stop()
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if self.recorder:
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self.recorder.stop()
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self.recorder.join()
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### Views / listeners
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def add_view(self, topic, view):
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|
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@ -612,6 +645,8 @@ class Timeline(Layer):
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self._stamp_left -= dstamp
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self._stamp_right -= dstamp
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self.parent.playhead.update_position()
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self._playhead_positions = {}
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for topic in self.topics:
|
||||
bag, entry = self.get_entry(self._playhead, topic)
|
||||
|
|
@ -619,9 +654,7 @@ class Timeline(Layer):
|
|||
self._playhead_positions[topic] = (bag, entry.position)
|
||||
|
||||
self._update_message_view()
|
||||
|
||||
self.parent.playhead.update_position()
|
||||
|
||||
|
||||
self.invalidate()
|
||||
|
||||
### Rendering
|
||||
|
|
@ -1076,7 +1109,7 @@ class Timeline(Layer):
|
|||
|
||||
# Inform the listeners
|
||||
for topic in self.topics:
|
||||
topic_listeners = self.listeners.get(topic)
|
||||
topic_listeners = self.listeners.get(topic)
|
||||
if not topic_listeners:
|
||||
continue
|
||||
|
||||
|
|
|
|||
|
|
@ -132,7 +132,7 @@ class TimelinePopupMenu(wx.Menu):
|
|||
# ---
|
||||
self.thumbnail_menu.AppendSeparator()
|
||||
|
||||
# Thumbnails... / topic/subtopic/subsubtopic
|
||||
# Thumbnails... / topic
|
||||
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)
|
||||
|
|
@ -146,13 +146,13 @@ class TimelinePopupMenu(wx.Menu):
|
|||
for topic in self.timeline.topics:
|
||||
datatype = self.timeline.get_datatype(topic)
|
||||
|
||||
# View... / topic/subtopic/subsubtopic
|
||||
# View... / topic
|
||||
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
|
||||
# View... / topic / Viewer
|
||||
for viewer_type in viewer_types:
|
||||
topic_menu.AppendItem(self.TopicViewMenuItem(topic_menu, wx.NewId(), viewer_type.name, topic, viewer_type, self.timeline))
|
||||
|
||||
|
|
@ -175,17 +175,28 @@ class TimelinePopupMenu(wx.Menu):
|
|||
topic_menu = wx.Menu()
|
||||
datatype_menu.AppendSubMenu(topic_menu, topic.lstrip('/'), topic)
|
||||
|
||||
# View... / datatype / topic/subtopic/subsubtopic / Viewer
|
||||
# View... / datatype / topic / Viewer
|
||||
for viewer_type in viewer_types:
|
||||
topic_menu.AppendItem(self.TopicViewMenuItem(topic_menu, wx.NewId(), viewer_type.name, topic, viewer_type, self.timeline))
|
||||
|
||||
# ---
|
||||
self.AppendSeparator()
|
||||
|
||||
# Play All Messages
|
||||
self.play_all_menu = self.PlayAllMenuItem(self, wx.NewId(), 'Play all messages', self.timeline)
|
||||
# Play all messages
|
||||
self.play_all_menu = wx.MenuItem(self, wx.NewId(), 'Play all messages', kind=wx.ITEM_CHECK)
|
||||
self.AppendItem(self.play_all_menu)
|
||||
self.play_all_menu.Check(self.timeline.play_all)
|
||||
self.Bind(wx.EVT_MENU, lambda e: self.timeline.toggle_play_all(), id=self.play_all_menu.GetId())
|
||||
|
||||
# Publish...
|
||||
self.publish_menu = wx.Menu()
|
||||
self.AppendSubMenu(self.publish_menu, 'Publish...', 'Publish messages')
|
||||
|
||||
for topic in self.timeline.topics:
|
||||
# Publish... / topic
|
||||
publish_topic_menu = self.PublishTopicMenuItem(self.publish_menu, wx.NewId(), topic, self.timeline)
|
||||
self.publish_menu.AppendItem(publish_topic_menu)
|
||||
publish_topic_menu.Check(self.timeline.is_publishing(topic))
|
||||
|
||||
class TimelineRendererMenuItem(wx.MenuItem):
|
||||
def __init__(self, parent, id, label, topic, renderer, timeline):
|
||||
|
|
@ -229,3 +240,18 @@ class TimelinePopupMenu(wx.Menu):
|
|||
|
||||
def on_menu(self, event):
|
||||
self.timeline.play_all = not self.timeline.play_all
|
||||
|
||||
class PublishTopicMenuItem(wx.MenuItem):
|
||||
def __init__(self, parent, id, topic, timeline):
|
||||
wx.MenuItem.__init__(self, parent, id, topic.lstrip('/'), kind=wx.ITEM_CHECK)
|
||||
|
||||
self.topic = topic
|
||||
self.timeline = timeline
|
||||
|
||||
parent.Bind(wx.EVT_MENU, self.on_menu, id=self.GetId())
|
||||
|
||||
def on_menu(self, event):
|
||||
if self.timeline.is_publishing(self.topic):
|
||||
self.timeline.stop_publishing(self.topic)
|
||||
else:
|
||||
self.timeline.start_publishing(self.topic)
|
||||
|
|
|
|||
Loading…
Reference in New Issue