def _update_service_list(self):
self._widget.service_tree_widget.clear()
self._widget.service_info_text.clear()
self._widgetitem_service_pair = {}
service_list = self.admin_app_info.service_list
for k in service_list.values():
#Top service
service_item = QTreeWidgetItem(self._widget.service_tree_widget)
#service_item=QTreeWidgetItem()
service_item.setText(0, k['name'])
#set Top Level Font
font = service_item.font(0)
font.setPointSize(20)
font.setBold(True)
service_item.setFont(0, font)
#set client item
for l in k["client_list"]:
client_item = QTreeWidgetItem()
client_item.setText(0, l)
font = client_item.font(0)
font.setPointSize(15)
client_item.setFont(0, font)
service_item.addChild(client_item)
self._widgetitem_service_pair[service_item] = k
#self._widget.service_tree_widget.addTopLevelItem(service_item)
pass
def _on_plans(self, msg):
if self._plans == msg.plans:
return
self._plans = msg.plans
mission_tree = self._widget.findChild(QTreeWidget, "missionTreeWidget")
mission_tree.clear()
contigency_combo = self._widget.findChild(QComboBox, "contigencyCombo")
contigency_combo.clear()
for plan in sorted(self._plans, key=lambda plan: plan.name):
item = QTreeWidgetItem([plan.name])
for entry in plan.entries:
contigency = entry.contigency_plan
if len(contigency) == 0:
contigency = "none"
dist = str(entry.dist) if entry.dist != 0 else ""
subitem = QTreeWidgetItem([entry.mission, str(entry.timeout.secs), contigency, entry.path, dist])
item.setFlags(item.flags() | Qt.ItemIsEditable)
item.addChild(subitem)
mission_tree.addTopLevelItem(item)
item.setExpanded(True)
if plan.name != "main":
contigency_combo.addItem(plan.name)
contigency_combo.addItem("none")
mission_combo = self._widget.findChild(QComboBox, "missionCombo")
mission_combo.clear()
mission_combo.addItems(sorted(msg.available_missions))
def loadLocation(self):
self.startTrajectoryButton.setEnabled(False)
self.startButton.setEnabled(False)
self.addButton.setEnabled(False)
self.openHandButton.setEnabled(False)
self.closeHandButton.setEnabled(False)
self.endButton.setEnabled(False)
location = self.demoLocation.text()
if os.path.isdir(location):
locations = [os.path.join(location, f) for f in os.listdir(location) if os.path.isfile(os.path.join(location, f)) and f.split(".")[-1] == "bag"]
else:
locations = [location]
if len(locations) == 0 or len(locations[0]) == 0:
return
self.keyframeCount.setText("")
self.playbackTree.clear()
self.zeroMarker.clear()
self._showStatus("Parsing...")
totalFrames = 0
for location in sorted(locations):
try:
self.keyframeBagInterface = KeyframeBagInterface()
parsedData = self.keyframeBagInterface.parse(location)
objectsInScene = self.keyframeBagInterface.parseContainedObjects(location)
except (rosbag.bag.ROSBagException, ParseException) as err:
self._showStatus(str(err))
rospy.logwarn("[%s] %s", location, str(err))
self.playbackTree.clear()
return
totalFrames += len(parsedData)
objectLabels = []
for item in objectsInScene:
label = item.label
if objectLabels.count(label) > 0:
label = "{} #{}".format(label, objectLabels.count(label) + 1)
objectLabels.append(item.label)
if len(locations) > 1:
self.zeroMarker.addItem(u"{} → {}".format(label, os.path.basename(location)))
else:
self.zeroMarker.addItem(label)
items = []
for i, keyframe in enumerate(parsedData):
item = QTreeWidgetItem()
title = "(#{}) ".format(i) + time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(keyframe["time"]))
item.setText(0, title)
# Add children
for topic in sorted(keyframe["data"]):
data = keyframe["data"][topic]
topicItem = QTreeWidgetItem()
topicItem.setText(0, topic)
for attribute in sorted(data):
attributeValueItem = QTreeWidgetItem()
attributeValueItem.setText(0, attribute)
attributeValueItem.setText(1, str(data[attribute]))
topicItem.addChild(attributeValueItem)
item.addChild(topicItem)
items.append(item)
if len(locations) == 1:
self.playbackTree.addTopLevelItems(items)
else:
item = QTreeWidgetItem()
item.setText(0, location)
item.addChildren(items)
self.playbackTree.addTopLevelItem(item)
if len(locations) == 1:
self.demoName.setText(os.path.basename(locations[0]))
self.keyframeCount.setText("{} keyframe(s) loaded".format(totalFrames))
else:
self.demoName.setText(os.path.basename(self.demoLocation.text()) + os.path.sep)
self.keyframeCount.setText("{} keyframe(s) loaded from {} files".format(totalFrames, len(locations)))
self._showStatus("Parsed {} keyframe(s).".format(totalFrames))
self.playDemoButton.setEnabled(True)
if self.locateObjectsBox.isChecked():
self.zeroMarker.setEnabled(True)
def loadLocation(self):
self.startTrajectoryButton.setEnabled(False)
self.startButton.setEnabled(False)
self.addButton.setEnabled(False)
self.openHandButton.setEnabled(False)
self.closeHandButton.setEnabled(False)
self.endButton.setEnabled(False)
location = self.demoLocation.text()
if os.path.isdir(location):
locations = [
os.path.join(location, f) for f in os.listdir(location)
if os.path.isfile(os.path.join(location, f))
and f.split(".")[-1] == "bag"
]
else:
locations = [location]
if len(locations) == 0 or len(locations[0]) == 0:
return
self.keyframeCount.setText("")
self.playbackTree.clear()
self.zeroMarker.clear()
self._showStatus("Parsing...")
totalFrames = 0
for location in sorted(locations):
try:
self.keyframeBagInterface = KeyframeBagInterface()
parsedData = self.keyframeBagInterface.parse(location)
objectsInScene = self.keyframeBagInterface.parseContainedObjects(
location)
except (rosbag.bag.ROSBagException, ParseException) as err:
self._showStatus(str(err))
rospy.logwarn("[%s] %s", location, str(err))
self.playbackTree.clear()
return
totalFrames += len(parsedData)
objectLabels = []
for item in objectsInScene:
label = item.label
if objectLabels.count(label) > 0:
label = "{} #{}".format(label,
objectLabels.count(label) + 1)
objectLabels.append(item.label)
if len(locations) > 1:
self.zeroMarker.addItem(u"{} → {}".format(
label, os.path.basename(location)))
else:
self.zeroMarker.addItem(label)
items = []
for i, keyframe in enumerate(parsedData):
item = QTreeWidgetItem()
title = "(#{}) ".format(i) + time.strftime(
'%Y-%m-%d %H:%M:%S', time.localtime(keyframe["time"]))
item.setText(0, title)
# Add children
for topic in sorted(keyframe["data"]):
data = keyframe["data"][topic]
topicItem = QTreeWidgetItem()
topicItem.setText(0, topic)
for attribute in sorted(data):
attributeValueItem = QTreeWidgetItem()
attributeValueItem.setText(0, attribute)
attributeValueItem.setText(1, str(data[attribute]))
topicItem.addChild(attributeValueItem)
item.addChild(topicItem)
items.append(item)
if len(locations) == 1:
self.playbackTree.addTopLevelItems(items)
else:
item = QTreeWidgetItem()
item.setText(0, location)
item.addChildren(items)
self.playbackTree.addTopLevelItem(item)
if len(locations) == 1:
self.demoName.setText(os.path.basename(locations[0]))
self.keyframeCount.setText(
"{} keyframe(s) loaded".format(totalFrames))
else:
self.demoName.setText(
os.path.basename(self.demoLocation.text()) + os.path.sep)
self.keyframeCount.setText(
"{} keyframe(s) loaded from {} files".format(
totalFrames, len(locations)))
self._showStatus("Parsed {} keyframe(s).".format(totalFrames))
self.playDemoButton.setEnabled(True)
if self.locateObjectsBox.isChecked():
self.zeroMarker.setEnabled(True)
