def get_element(self):
# Create the HTML content for the toolbar
div = document.createElement("span")
def add_spacer():
span = document.createElement("span")
span.style.minWidth = "16px"
span.textContent = "\u00a0"
div.appendChild(span)
for text, tooltip_text, image_file, name_of_method in self.toolitems:
if image_file in _FONTAWESOME_ICONS:
if image_file is None:
add_spacer()
else:
button = document.createElement("button")
button.classList.add("fa")
button.classList.add(_FONTAWESOME_ICONS[image_file])
button.classList.add("matplotlib-toolbar-button")
button.addEventListener("click",
getattr(self, name_of_method))
div.appendChild(button)
for format, mimetype in sorted(list(FILE_TYPES.items())):
button = document.createElement("button")
button.classList.add("fa")
button.textContent = format
button.classList.add("matplotlib-toolbar-button")
button.id = "text"
button.addEventListener("click", self.ondownload)
div.appendChild(button)
return div
def get_element(self):
# Creat the HTML content for the toolbar
div = document.createElement('span')
def add_spacer():
span = document.createElement('span')
span.style.minWidth = '16px'
span.textContent = '\u00a0'
div.appendChild(span)
for text, tooltip_text, image_file, name_of_method in self.toolitems:
if image_file in _FONTAWESOME_ICONS:
if image_file is None:
add_spacer()
else:
button = document.createElement('button')
button.classList.add('fa')
button.classList.add(_FONTAWESOME_ICONS[image_file])
button.addEventListener('click', getattr(self, name_of_method))
div.appendChild(button)
for format, mimetype in sorted(list(FILE_TYPES.items())):
button = document.createElement('button')
button.classList.add('fa')
button.textContent = format
button.addEventListener(
'click', self.ondownload)
div.appendChild(button)
return div
def create_root_element(self):
try:
parent = document.getElementById('imagediv')
if parent.lastElementChild.tagName == 'DIV':
parent.lastElementChild.innerHTML = ''
return parent.lastElementChild
else:
newelement = document.createElement("div")
parent.append(newelement)
return newelement
except Exception as e:
print(e)
return document.createElement("div")
def _add_matplotlib_styles(self):
toolbar_buttons_css_content = """
button.matplotlib-toolbar-button {
font-size: 14px;
color: #495057;
text-transform: uppercase;
background: #e9ecef;
padding: 9px 18px;
border: 1px solid #fff;
border-radius: 4px;
transition-duration: 0.4s;
}
button.matplotlib-toolbar-button#text {
font-family: -apple-system, BlinkMacSystemFont,
"Segoe UI", Roboto, Oxygen, Ubuntu, Cantarell,
"Fira Sans", "Droid Sans", "Helvetica Neue", Arial,
sans-serif, "Apple Color Emoji", "Segoe UI Emoji",
"Segoe UI Symbol";
}
button.matplotlib-toolbar-button:hover {
color: #fff;
background: #495057;
}
"""
toolbar_buttons_style_element = document.createElement("style")
toolbar_buttons_style_element.id = "matplotlib-figure-styles"
toolbar_buttons_css = document.createTextNode(
toolbar_buttons_css_content)
toolbar_buttons_style_element.appendChild(toolbar_buttons_css)
return toolbar_buttons_style_element
async def async_create_available_robots_list(self):
print_div("Auto discovering..")
await self.plugin_discovery.async_autodiscover(None)
try:
# print_div("Clearing the previous available robot options..")
length = self.available_robots_list.options.length
i = length-1
while i >= 0:
self.available_robots_list.options[i] = None
i -= 1
print_div('Creating available robots options..<br>')
self.robot_nodeNames = await self.plugin_discovery.async_available_robot_NodeNames(None)
print_div(str(self.robot_nodeNames) + "<br>")
i = 0
for nodeName in self.robot_nodeNames:
# print_div(str(self.robot_nodeNames[key]) + "<br>") # --> Right
# Add the available robot nodeName to the available_robots list
option = document.createElement("option")
option.text = str(i) + ": " + str(nodeName)
self.available_robots_list.add(option)
i += 1
except:
import traceback
print_div(traceback.format_exc())
def _create_element(self, parent_element: JsProxy) -> JsProxy:
# Create a DOM element to represent this object
self.element = document.createElement(self.tag)
if self.top_custom_component == self:
self.element.setAttribute("identifier", self.identifier)
# Set attributes
for attribute, value in self.attributes.items():
self._set_attribute(attribute, value)
# Add the element to its parent
if parent_element is not None:
parent_element.appendChild(self.element)
# Create event listeners
for event, handler in self.event_handlers.items():
self.element.addEventListener(event, handler)
# Add any content (text)
if self.content is not None:
self.element.appendChild(document.createTextNode(self.content))
# Run the onMount function of the component
self.on_mount()
def download(self, format, mimetype):
"""
Creates a temporary `a` element with a URL containing the image
content, and then virtually clicks it. Kind of magical, but it
works...
"""
element = document.createElement("a")
data = io.BytesIO()
if format == "png":
FigureCanvasHTMLCanvas.print_png(self.canvas, data)
else:
try:
self.canvas.figure.savefig(data, format=format)
except Exception:
raise
element.setAttribute(
"href",
"data:{};base64,{}".format(
mimetype,
base64.b64encode(data.getvalue()).decode("ascii")),
)
element.setAttribute("download", f"plot.{format}")
element.style.display = "none"
document.body.appendChild(element)
element.click()
document.body.removeChild(element)
def create_root_element(self):
# Designed to be overridden by subclasses for use in contexts other
# than iodide.
from js import iodide
if iodide is not None:
return iodide.output.element('div')
else:
return document.createElement('div')
def create_root_element(self):
# Designed to be overridden by subclasses for use in contexts other
# than iodide.
try:
from js import iodide
return iodide.output.element('div')
except ImportError:
return document.createElement('div')
def save_cur_pose_func(self):
print_div('Saving to "Saved Poses" list..<br>')
global d_q # Get the current joint angles in rad ndarray
# Convert them into degrees for text view
joints_text = ""
for i in d_q:
joints_text += "%.2f," % (np.rad2deg(i))
joints_text = joints_text[:-1] # Delete the last comma
# Add the current joint angles to the saved poses list
element_id = "saved_poses_list"
poses_list = document.getElementById(element_id)
option = document.createElement("option")
option.text = joints_text
poses_list.add(option)
async def export_data(self):
data = {}
for db_name in ['recipes', 'plans', 'groceries']:
all_docs = await PromiseProxy(PouchDB.new(db_name).allDocs({'include_docs': True}))
data[db_name] = [row.doc for row in all_docs.rows]
blob = Blob.new([JSON.stringify(data)], {'type': 'application/json'})
print('blob made', blob)
url = URL.createObjectURL(blob)
print('made url', url)
link = document.createElement('a')
link.setAttribute('href', url)
link.setAttribute('download', 'nutrition_export.json')
document.body.appendChild(link)
link.click()
link.remove()
URL.revokeObjectURL(url)
async def async_save_cur_pose_func():
# Get the current joint angles as ndarray and str
# _, joints_text = await update_joint_info() # Current Joint angles in radian ndarray, N x 1 and str
joints_text = await update_joint_info() # Current Joint angles in radian ndarray, N x 1 and str
joints_text = joints_text[:-1] # Delete the last comma
# Add the current joint angles to the saved poses list on web browser UI
element_id = "saved_poses_list"
poses_list = document.getElementById(element_id)
option = document.createElement("option")
option.text = joints_text
poses_list.add(option)
# Save the cur pose to plug in as well
global plugin_savePlayback
await plugin_savePlayback.async_save_cur_pose(None)
def download(self, format, mimetype):
# Creates a temporary `a` element with a URL containing the image
# content, and then virtually clicks it. Kind of magical, but it
# works...
element = document.createElement('a')
data = io.BytesIO()
try:
self.canvas.figure.savefig(data, format=format)
except Exception as e:
raise
element.setAttribute('href', 'data:{};base64,{}'.format(
mimetype, base64.b64encode(data.getvalue()).decode('ascii')))
element.setAttribute('download', 'plot.{}'.format(format))
element.style.display = 'none'
document.body.appendChild(element)
element.click()
document.body.removeChild(element)
async def async_create_available_cams_list(self):
print_div('Creating available cameras options..<br>')
# # Get ref to the html element
# element_id = "available_cams"
# self.available_cams_list = document.getElementById(element_id)
self.webcam_names = await self.c_host.async_get_WebcamNames(
None
) # string{int32} i.e. a map (dictionary) of strings keyed by an integer.
print_div(str(self.webcam_names) +
"<br>") # str(self.webcam_names) --> {0:'Right'}
for key in self.webcam_names:
# print_div(str(self.webcam_names[key]) + "<br>") # --> Right
# Add the current joint angles to the available_cams list
option = document.createElement("option")
option.text = str(key) + ":" + str(self.webcam_names[key])
self.available_cams_list.add(option)
def draw_image(self, gc, x, y, im, transform=None):
im = np.flipud(im)
h, w, d = im.shape
y = self.ctx.height - y - h
im = np.ravel(np.uint8(np.reshape(im, (h * w * d, -1)))).tobytes()
pixels_proxy = create_proxy(im)
pixels_buf = pixels_proxy.getBuffer("u8clamped")
img_data = ImageData.new(pixels_buf.data, w, h)
self.ctx.save()
in_memory_canvas = document.createElement("canvas")
in_memory_canvas.width = w
in_memory_canvas.height = h
in_memory_canvas_context = in_memory_canvas.getContext("2d")
in_memory_canvas_context.putImageData(img_data, 0, 0)
self.ctx.drawImage(in_memory_canvas, x, y, w, h)
self.ctx.restore()
pixels_proxy.destroy()
pixels_buf.release()
def __init__(self, root: Type[Component], selector: str) -> None:
# Gather all components that are defined in the global space
self.components = {
component.tag: component
for component in list([
value for value in globals().values()
if isinstance(value, type) and issubclass(value, Component)
and value.__name__ != "Component"
])
}
# Gather all the CSS
self.css = []
for component in self.components.values():
if component.css != "":
# Scope the CSS by prefixing it with the component tag
css = re.sub(
r"([^\r\n,{}\s]+)(,(?=[^}]*{)|\s*{)",
f"{component.tag} \\1 {{",
component.css,
)
lines = list(
[line for line in css.split("\n") if line.rstrip() != ""])
self.css.append("\n".join(lines))
# Add the CSS to the head of the document
styleElement = document.createElement("style")
styleElement.type = "text/css"
styleElement.innerHTML = "\n".join(self.css)
document.head.appendChild(styleElement)
# Create the root component
self.root = root(dom=self)
self.previous_tree = None
self.state = State(dom=self)
# Find the root element in the document
self.element = document.querySelector(selector)
# Render the DOM, starting from the root component
self.render()
def write(element_id, value, append=False, exec_id=0):
"""Writes value to the element with id "element_id"""
console.log(f"APPENDING: {append} ==> {element_id} --> {value}")
if append:
child = document.createElement('div');
element = document.querySelector(f'#{element_id}');
if not element:
return
exec_id = exec_id or element.childElementCount + 1
element_id = child.id = f"{element_id}-{exec_id}";
element.appendChild(child);
element = document.getElementById(element_id)
html, mime_type = format_mime(value)
if mime_type in ('application/javascript', 'text/html'):
scriptEl = document.createRange().createContextualFragment(html)
element.appendChild(scriptEl)
else:
element.innerHTML = html
def show(self):
# If we've already shown this canvas elsewhere, don't create a new one,
# just reuse it and scroll to the existing one.
existing = self.get_element('')
if existing is not None:
self.draw_idle()
existing.scrollIntoView()
return
# Disable the right-click context menu.
# Doesn't work in all browsers.
def ignore(event):
event.preventDefault()
return False
window.addEventListener('contextmenu', ignore)
# Create the main canvas and determine the physical to logical pixel
# ratio
canvas = document.createElement('canvas')
context = canvas.getContext('2d')
self._ratio = self.get_dpi_ratio(context)
width, height = self.get_width_height()
width *= self._ratio
height *= self._ratio
div = self.create_root_element()
div.setAttribute('style', 'width: {}px'.format(width / self._ratio))
div.id = self._id
# The top bar
top = document.createElement('div')
top.id = self._id + 'top'
top.setAttribute('style', 'font-weight: bold; text-align: center')
top.textContent = self._title
div.appendChild(top)
# A div containing two canvases stacked on top of one another:
# - The bottom for rendering matplotlib content
# - The top for rendering interactive elements, such as the zoom
# rubberband
canvas_div = document.createElement('div')
canvas_div.setAttribute('style', 'position: relative')
canvas.id = self._id + 'canvas'
canvas.setAttribute('width', width)
canvas.setAttribute('height', height)
canvas.setAttribute(
'style', 'left: 0; top: 0; z-index: 0; outline: 0;' +
'width: {}px; height: {}px'.format(
width / self._ratio, height / self._ratio)
)
canvas_div.appendChild(canvas)
rubberband = document.createElement('canvas')
rubberband.id = self._id + 'rubberband'
rubberband.setAttribute('width', width)
rubberband.setAttribute('height', height)
rubberband.setAttribute(
'style', 'position: absolute; left: 0; top: 0; z-index: 0; outline: 0;' +
'width: {}px; height: {}px'.format(
width / self._ratio, height / self._ratio)
)
# Canvas must have a "tabindex" attr in order to receive keyboard events
rubberband.setAttribute('tabindex', '0')
# Event handlers are added to the canvas "on top", even though most of the
# activity happens in the canvas below.
rubberband.addEventListener('mousemove', self.onmousemove)
rubberband.addEventListener('mouseup', self.onmouseup)
rubberband.addEventListener('mousedown', self.onmousedown)
rubberband.addEventListener('mouseenter', self.onmouseenter)
rubberband.addEventListener('mouseleave', self.onmouseleave)
rubberband.addEventListener('keyup', self.onkeyup)
rubberband.addEventListener('keydown', self.onkeydown)
context = rubberband.getContext('2d')
context.strokeStyle = '#000000';
context.setLineDash([2, 2])
canvas_div.appendChild(rubberband)
div.appendChild(canvas_div)
# The bottom bar, with toolbar and message display
bottom = document.createElement('div')
toolbar = self.toolbar.get_element()
bottom.appendChild(toolbar)
message = document.createElement('div')
message.id = self._id + 'message'
message.setAttribute('style', 'min-height: 1.5em')
bottom.appendChild(message)
div.appendChild(bottom)
self.draw()
global pen, lastPoint
pen = True
lastPoint = (e.offsetX, e.offsetY)
def onmouseup(e):
global pen
pen = False
canvas.addEventListener("mousemove", onmousemove)
canvas.addEventListener("mousedown", onmousedown)
canvas.addEventListener("mouseup", onmouseup)
# Colors
div = doc.getElementById("colors")
colors = ["#F4908E", "#F2F097", "#88B0DC", "#F7B5D1", "#53C4AF", "#FDE38C"]
for c in colors:
node = doc.createElement("div")
node.setAttribute("class", "color")
node.setAttribute("id", c)
node.setAttribute("style", f"background-color: {c}")
def setColor(e):
ctx.strokeStyle = e.target.id
node.addEventListener("click", setColor)
div.appendChild(node)
def create_root_element(self):
root_element = document.createElement("div")
document.body.appendChild(root_element)
return root_element
def add_spacer():
span = document.createElement('span')
span.style.minWidth = '16px'
span.textContent = '\u00a0'
div.appendChild(span)
def add_spacer():
span = document.createElement("span")
span.style.minWidth = "16px"
span.textContent = "\u00a0"
div.appendChild(span)
def show(self):
# If we've already shown this canvas elsewhere, don't create a new one,
# just reuse it and scroll to the existing one.
existing = self.get_element("")
if existing is not None:
self.draw_idle()
existing.scrollIntoView()
return
# Disable the right-click context menu.
# Doesn't work in all browsers.
def ignore(event):
event.preventDefault()
return False
# Create the main canvas and determine the physical to logical pixel
# ratio
canvas = document.createElement("canvas")
context = canvas.getContext("2d")
self._ratio = self.get_dpi_ratio(context)
width, height = self.get_width_height()
width *= self._ratio
height *= self._ratio
div = self.create_root_element()
div.addEventListener("contextmenu", ignore)
div.setAttribute(
"style",
"margin: 0 auto; text-align: center;" +
f"width: {width / self._ratio}px",
)
div.id = self._id
# The top bar
top = document.createElement("div")
top.id = self._id + "top"
top.setAttribute("style", "font-weight: bold; text-align: center")
top.textContent = self._title
div.appendChild(top)
# A div containing two canvases stacked on top of one another:
# - The bottom for rendering matplotlib content
# - The top for rendering interactive elements, such as the zoom
# rubberband
canvas_div = document.createElement("div")
canvas_div.setAttribute("style", "position: relative")
canvas.id = self._id + "canvas"
canvas.setAttribute("width", width)
canvas.setAttribute("height", height)
canvas.setAttribute(
"style",
"left: 0; top: 0; z-index: 0; outline: 0;" +
"width: {}px; height: {}px".format(width / self._ratio,
height / self._ratio),
)
canvas_div.appendChild(canvas)
rubberband = document.createElement("canvas")
rubberband.id = self._id + "rubberband"
rubberband.setAttribute("width", width)
rubberband.setAttribute("height", height)
rubberband.setAttribute(
"style",
"position: absolute; left: 0; top: 0; z-index: 0; " +
"outline: 0; width: {}px; height: {}px".format(
width / self._ratio, height / self._ratio),
)
# Canvas must have a "tabindex" attr in order to receive keyboard
# events
rubberband.setAttribute("tabindex", "0")
# Event handlers are added to the canvas "on top", even though most of
# the activity happens in the canvas below.
rubberband.addEventListener("mousemove", self.onmousemove)
rubberband.addEventListener("mouseup", self.onmouseup)
rubberband.addEventListener("mousedown", self.onmousedown)
rubberband.addEventListener("mouseenter", self.onmouseenter)
rubberband.addEventListener("mouseleave", self.onmouseleave)
rubberband.addEventListener("keyup", self.onkeyup)
rubberband.addEventListener("keydown", self.onkeydown)
context = rubberband.getContext("2d")
context.strokeStyle = "#000000"
context.setLineDash([2, 2])
canvas_div.appendChild(rubberband)
div.appendChild(canvas_div)
# The bottom bar, with toolbar and message display
bottom = document.createElement("div")
toolbar = self.toolbar.get_element()
bottom.appendChild(toolbar)
message = document.createElement("div")
message.id = self._id + "message"
message.setAttribute("style", "min-height: 1.5em")
bottom.appendChild(message)
div.appendChild(bottom)
self.draw()
def create_root_element(self):
# Designed to be overridden by subclasses
return document.createElement("div")
