class MetricsRefboxWidget(QWidget):
status_signal = pyqtSignal(object)
timeout_signal = pyqtSignal(object)
result_signal = pyqtSignal(object)
bagfile_signal = pyqtSignal(object)
def __init__(self):
super(MetricsRefboxWidget, self).__init__()
self.status_signal.connect(self.update_status)
self.timeout_signal.connect(self._handle_timeout)
self.result_signal.connect(self.update_result)
self.bagfile_signal.connect(self._update_bagfile_name)
self.timer = QElapsedTimer()
self.timer_interrupt = QTimer(self)
self.timer_interrupt.timeout.connect(self.update_timer)
self.timer_interrupt.start(100)
self.metrics_refbox = metrics_refbox.MetricsRefbox(
self._status_cb, self._start_cb, self._result_cb)
self.trial_configs = {}
self.current_benchmark = None
self.current_benchmark_enum = -1
# once we receive confirmation from robot
self.benchmark_running = False
# once we send the start message to robot
self.benchmark_started = False
# set to True if we're not recording individual trials
# but rather continuously recording all data (hence no timeouts)
self.continuous_recording = False
self.timeout = False
self.stopped = False
self.result_msg = None
self.config_locked = True
self.config = self.metrics_refbox.get_config()
self.setup()
self.show()
def setup(self):
layout = QGridLayout()
# Sidebar
self.benchmark_combo_box = QComboBox()
for key in self.config['benchmarks'].keys():
self.benchmark_combo_box.addItem(
self.config['benchmarks'][key]['name'])
self.benchmark_combo_box.currentIndexChanged.connect(
self._handle_benchmark_selected)
self.benchmark_combo_box.setMaximumWidth(SIDEBAR_WIDTH)
self.set_current_benchmark()
self.team_combo_box = QComboBox()
for key in self.config['teams']:
self.team_combo_box.addItem(key)
self.team_combo_box.setMaximumWidth(SIDEBAR_WIDTH)
self.test_communication_button = QPushButton('Test communication')
self.test_communication_button.clicked.connect(self._handle_test_comm)
self.trial_list_widget = QListWidget()
self.trial_list_widget.currentItemChanged.connect(
self._handle_trial_change)
self.trial_list_widget.setMaximumWidth(SIDEBAR_WIDTH)
sidebar_layout = QVBoxLayout()
sidebar_layout.addWidget(QLabel("Team"))
sidebar_layout.addWidget(self.team_combo_box)
sidebar_layout.addWidget(self.test_communication_button)
sidebar_layout.addWidget(QLabel("Benchmark"))
sidebar_layout.addWidget(self.benchmark_combo_box)
sidebar_layout.addWidget(QLabel("Trial"))
sidebar_layout.addWidget(self.trial_list_widget)
self.generate_button = QPushButton('Generate')
self.generate_button.clicked.connect(self._handle_generate)
self.delete_button = QPushButton('Delete')
self.delete_button.clicked.connect(self._handle_delete)
self.save_trials_button = QPushButton('Save')
self.save_trials_button.clicked.connect(self._handle_save_trial_config)
self.lock_button = QPushButton('Lock')
if self.config_locked:
self.lock_button.setText('Unlock')
self.lock_button.clicked.connect(self._handle_lock)
sidebar_button_layout = QGridLayout()
sidebar_button_layout.addWidget(self.generate_button, 0, 0)
sidebar_button_layout.addWidget(self.delete_button, 0, 1)
sidebar_button_layout.addWidget(self.save_trials_button, 1, 0)
sidebar_button_layout.addWidget(self.lock_button, 1, 1)
sidebar_layout.addLayout(sidebar_button_layout)
layout.addLayout(sidebar_layout, 0, 0)
# Status box
self.status = QPlainTextEdit()
self.status.setReadOnly(True)
self.status.setMaximumHeight(200)
# row 1, col 0, rowspan 1, colspan 2
layout.addWidget(self.status, 1, 0, 1, 2)
# trial config and results
trial_layout = QVBoxLayout()
self.trial_config_layout = QHBoxLayout()
self.trial_results_layout = QVBoxLayout()
self.setup_trial_config()
# benchmark trial controls
benchmark_controls_group_box = QGroupBox('Controls')
benchmark_controls_layout = QHBoxLayout()
self.start_trial_button = QPushButton('Start')
self.start_trial_button.clicked.connect(self._handle_start_trial)
self.stop_trial_button = QPushButton('Stop')
self.stop_trial_button.clicked.connect(self._handle_stop_trial)
self.prev_trial_button = QPushButton('Previous')
self.prev_trial_button.clicked.connect(self._handle_prev_trial)
self.next_trial_button = QPushButton('Next')
self.next_trial_button.clicked.connect(self._handle_next_trial)
self.start_continuous_recording_button = QPushButton(
'Start continuous recording')
self.start_continuous_recording_button.clicked.connect(
self._handle_continuous_recording)
self.timer_field = QLabel()
font = QFont("Arial", 20, QFont.Bold)
self.timer_field.setFont(font)
self.timer_field.setAutoFillBackground(True)
benchmark_controls_layout.addWidget(self.start_trial_button)
benchmark_controls_layout.addWidget(self.stop_trial_button)
benchmark_controls_layout.addWidget(self.prev_trial_button)
benchmark_controls_layout.addWidget(self.next_trial_button)
benchmark_controls_layout.addWidget(
self.start_continuous_recording_button)
benchmark_controls_layout.addWidget(self.timer_field)
benchmark_controls_group_box.setLayout(benchmark_controls_layout)
trial_layout.addLayout(self.trial_config_layout)
trial_layout.addWidget(benchmark_controls_group_box)
trial_layout.addLayout(self.trial_results_layout)
self.save_results_button = QPushButton('Save results')
self.save_results_button.clicked.connect(self._handle_save_result)
trial_layout.addWidget(self.save_results_button)
layout.addLayout(trial_layout, 0, 1)
self.setLayout(layout)
self.show()
self.show_env_var('ROS_MASTER_URI')
self.show_env_var('ROS_IP')
self.show_env_var('ROS_HOSTNAME')
def show_env_var(self, var):
env_str = os.getenv(var) if os.getenv(var) is not None else ''
msg = var + ': ' + env_str + '\n'
self.update_status(msg)
def set_current_benchmark(self):
'''
Sets the current benchmark type based on user selection
Load config file for selected benchmark and setup GUI to show config and results based on that
'''
benchmark_index = self.benchmark_combo_box.currentIndex()
benchmark_name = list(
self.config['benchmarks'].keys())[benchmark_index]
benchmark_result_type = getattr(
metrics_refbox_msgs.msg,
self.config['benchmarks'][benchmark_name]['type'])
config_file_name = benchmark_name + '.json'
config_file = os.path.join(self.metrics_refbox.get_config_file_path(),
config_file_name)
stream = open(config_file, 'r')
benchmark_config = json.load(stream)
module = importlib.import_module(benchmark_config['module'])
self.current_benchmark = getattr(module, benchmark_config['class'])(
benchmark_config, self.metrics_refbox.get_config_file_path(),
benchmark_name, benchmark_result_type)
self.current_benchmark_enum = self.config['benchmarks'][
benchmark_name]['enum']
def setup_trial_config(self):
'''
set up the benchmark specific part of the GUI related to the configuration of
the benchmark (for example, which objects will be used for object detection)
the specific configuration is loaded based on the selected trial_index
'''
for i in reversed(range(self.trial_config_layout.count())):
self.trial_config_layout.itemAt(i).widget().setParent(None)
for i in reversed(range(self.trial_results_layout.count())):
self.trial_results_layout.itemAt(i).widget().setParent(None)
self.current_benchmark.setup(self.trial_config_layout,
self.trial_results_layout,
self.config_locked)
self.trial_list_widget.clear()
self.trial_configs.clear()
path = os.path.join(self.metrics_refbox.get_config_file_path(),
'trials')
trial_config_file = os.path.join(
path, self.current_benchmark.config['trial_config'])
if os.path.exists(trial_config_file):
with open(trial_config_file, "r") as fp:
trial_config = json.load(fp)
for key in sorted(trial_config.keys()):
trial_item = QListWidgetItem(key)
trial_item.setFlags(trial_item.flags() | Qt.ItemIsEditable)
self.trial_list_widget.addItem(trial_item)
self.trial_configs[key] = trial_config[key]
self.trial_list_widget.setCurrentRow(0)
def _handle_test_comm(self):
'''
'Test communication' button
'''
self.metrics_refbox.test_communication()
self.status_signal.emit('Sent test message to all clients\n')
def _handle_benchmark_selected(self, idx):
'''
benchmark selection has changed
'''
self._handle_save_trial_config(None)
self.set_current_benchmark()
self.setup_trial_config()
def _handle_trial_change(self, current_item, previous_item):
'''
Trial selection has changed
'''
if previous_item is not None:
self.trial_configs[previous_item.text(
)] = self.current_benchmark.get_current_selections()
self.current_benchmark.clear_results()
if current_item is not None and current_item.text(
) in self.trial_configs.keys() and self.trial_configs[
current_item.text()] is not None:
self.current_benchmark.apply_selections(
self.trial_configs[current_item.text()])
else:
self.current_benchmark.clear_selections()
def _handle_generate(self, button):
'''
generate a new trial config
'''
trial_config = self.current_benchmark.generate()
names = []
for key in self.trial_configs.keys():
names.append(key)
msg = 'Select a name for this trial configuration'
text = ''
while True:
text, ok = QInputDialog.getText(self, 'Trial name', msg)
if text not in names:
break
QMessageBox.critical(self, "Error", "Name exists already")
if ok:
trial_item = QListWidgetItem(text)
trial_item.setFlags(trial_item.flags() | Qt.ItemIsEditable)
self.trial_list_widget.addItem(trial_item)
self.trial_configs[text] = trial_config
self.trial_list_widget.setCurrentItem(trial_item)
def _handle_delete(self, button):
'''
delete current trial config
'''
selected_items = self.trial_list_widget.selectedItems()
for item in selected_items:
self.trial_list_widget.takeItem(self.trial_list_widget.row(item))
del self.trial_configs[item.text()]
def _handle_save_trial_config(self, button):
'''
save trial config in case it has been edited
'''
if self.trial_list_widget.currentItem() is not None:
self.trial_configs[self.trial_list_widget.currentItem().text(
)] = self.current_benchmark.get_current_selections()
path = os.path.join(self.metrics_refbox.get_config_file_path(),
'trials')
trial_config_file = os.path.join(
path, self.current_benchmark.config['trial_config'])
with open(trial_config_file, "w") as fp:
json.dump(self.trial_configs, fp)
def _handle_lock(self, button):
'''
Lock trial config settings so they are not changed accidentally
'''
if self.config_locked:
self.current_benchmark.unlock_config()
self.config_locked = False
self.lock_button.setText('Lock')
else:
self.current_benchmark.lock_config()
self.config_locked = True
self.lock_button.setText('Unlock')
def _handle_start_trial(self, button):
'''
Trial start button; send command to refbox client via ROS node
'''
if self.benchmark_running or self.benchmark_started:
self.update_status(
"Benchmark has already started. Stop and start the benchmark if you want to restart it\n"
)
else:
self.metrics_refbox.start(
self.current_benchmark_enum,
self.current_benchmark.get_task_info_for_robot())
self.benchmark_started = True
self.current_benchmark.clear_results()
self.update_status("Sent start command\n")
self.timer_field.setText('')
self.disable_buttons()
def _handle_stop_trial(self, button):
'''
Trial stop button
'''
self.metrics_refbox.stop()
self.elapsed_time = self.timer.elapsed()
self.stopped = True
self.benchmark_running = False
self.benchmark_started = False
self.status_signal.emit("Sent stop command\n")
self.result_signal.emit(None)
self.enable_buttons()
def _handle_next_trial(self, button):
'''
Select next trial
'''
row = self.trial_list_widget.currentRow()
if (row + 1 < self.trial_list_widget.count()):
self.trial_list_widget.setCurrentRow(row + 1)
def _handle_prev_trial(self, button):
'''
Select previous trial
'''
row = self.trial_list_widget.currentRow()
if (row - 1 >= 0):
self.trial_list_widget.setCurrentRow(row - 1)
def _handle_continuous_recording(self, button):
'''
Start recording button, not tied to any benchmark, and requires user to stop recording
'''
if self.benchmark_running or self.benchmark_started:
self.metrics_refbox.stop()
self.elapsed_time = self.timer.elapsed()
self.stopped = True
self.benchmark_running = False
self.benchmark_started = False
self.status_signal.emit("Sent stop command\n")
self.start_continuous_recording_button.setText(
'Start continuous recording')
self.enable_buttons()
self.stop_trial_button.setEnabled(True)
self.continuous_recording = False
else:
self.metrics_refbox.start_recording()
self.continuous_recording = True
self.start_continuous_recording_button.setText('Stop recording')
self.benchmark_started = True
self.update_status("Sent start command\n")
self.timer_field.setText('')
self.disable_buttons()
self.stop_trial_button.setEnabled(False)
def _handle_save_result(self, button):
'''
Save results again in case notes were added
'''
self.result_signal.emit(self.result_msg)
def _start_cb(self, msg):
'''
called when we get confirmation that the robot received the start message;
official start of trial time
'''
if msg.data == True:
self.elapsed_time = 0.0
self.timer.start()
self.benchmark_running = True
self.timeout = False
self.stopped = False
self.result_msg = None
if msg.rosbag_filename == '':
self.status_signal.emit(
'Error: rosbag filename not specified although start message confirmed\n'
)
self._handle_stop_trial(None)
return
self.status_signal.emit('Started trial and recording to %s\n' %
msg.rosbag_filename)
self.bagfile_signal.emit(msg.rosbag_filename)
else:
self.status_signal.emit(
'Error: Benchmark did not start, probably because the rosbag recorder is not running\n'
)
self._handle_stop_trial(None)
def _result_cb(self, msg):
'''
called when we get a result from the robot
official end of trial time
'''
if self.benchmark_running:
self.elapsed_time = self.timer.elapsed()
self.benchmark_running = False
self.benchmark_started = False
self.status_signal.emit("Trial completed in %.2f seconds\n" %
(self.elapsed_time / 1000.0))
self.result_msg = msg
self.result_signal.emit(msg)
self.enable_buttons()
def _status_cb(self, msg):
'''
callback to send text to status box
'''
self.status_signal.emit(msg)
def update_status(self, msg):
'''
signal handler for status box
'''
timestamp = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
m = '[' + timestamp + '] ' + msg
self.status.insertPlainText(m)
self.status.ensureCursorVisible()
def _update_bagfile_name(self, name):
self.current_benchmark.set_bagfile_name(name)
def update_result(self, msg):
'''
signal handler for result message; process and save result
'''
self.current_benchmark.show_results(msg, self.timeout, self.stopped)
current_trial_name = self.trial_list_widget.currentItem().text()
current_team_name = self.team_combo_box.currentText()
results_dict = self.current_benchmark.get_trial_result_dict(
msg, current_trial_name, current_team_name, self.timeout,
self.stopped, self.elapsed_time / 1000.0)
filename = self.current_benchmark.get_bagfile_name(
)[:-4] + '_' + self.current_benchmark.benchmark_name + '.json'
path = os.path.join(self.metrics_refbox.get_results_file_path(),
filename)
with open(path, "w") as fp:
json.dump(results_dict, fp)
def update_timer(self):
'''
Timer callback; update GUI, and also check if timeout has expired
'''
if not self.benchmark_running:
return
self.timer_field.setText("Time: %.1f s" %
(self.timer.elapsed() / 1000.0))
# if we're in continuous recording mode, no need to check timeout
if self.continuous_recording:
return
if self.timer.hasExpired(self.current_benchmark.get_timeout() *
1000.0):
self.status_signal.emit(
"Trial timeout of %.2f seconds has expired\n" %
self.current_benchmark.get_timeout())
self.timeout_signal.emit('timeout expired')
def _handle_timeout(self, msg):
'''
timeout has expired, so stop the trial
'''
self.timeout = True
self._handle_stop_trial(None)
def closeEvent(self, event):
'''
make sure we save trial configs when window is closed
'''
self.metrics_refbox.stop()
self._handle_save_trial_config(None)
event.accept()
def disable_buttons(self):
'''
disable buttons when trial is running
'''
self.team_combo_box.setEnabled(False)
self.benchmark_combo_box.setEnabled(False)
self.trial_list_widget.setEnabled(False)
self.next_trial_button.setEnabled(False)
self.prev_trial_button.setEnabled(False)
self.delete_button.setEnabled(False)
self.generate_button.setEnabled(False)
self.save_trials_button.setEnabled(False)
self.lock_button.setEnabled(False)
self.start_trial_button.setEnabled(False)
def enable_buttons(self):
self.team_combo_box.setEnabled(True)
self.benchmark_combo_box.setEnabled(True)
self.trial_list_widget.setEnabled(True)
self.next_trial_button.setEnabled(True)
self.prev_trial_button.setEnabled(True)
self.delete_button.setEnabled(True)
self.generate_button.setEnabled(True)
self.save_trials_button.setEnabled(True)
self.lock_button.setEnabled(True)
self.start_trial_button.setEnabled(True)
