def shape(self):
if self.hovershape is not None:
path = QPainterPath()
path.addRect(self.hovershape)
return path
else:
return super(self.__class__, self).shape()
def shape(self):
if self.hover_shape is not None:
path = QPainterPath()
path.addRect(self.hover_shape)
return path
return super(GraphItem, self).shape()
def shape(self):
if self.hover_shape is not None:
path = QPainterPath()
path.addRect(self.hover_shape)
return path
return super(GraphItem, self).shape()
def shape(self):
if self.hover_shape is not None:
path = QPainterPath()
path.addRect(self.hover_shape)
return path
else:
return super(HoveredNodeItem, self).shape()
def _draw_major_divisions(self, painter, stamps, start_stamp, division):
"""
Draw black hashed vertical grid-lines showing major time divisions.
:param painter: allows access to paint functions,''QPainter''
"""
label_y = self._history_top - self._playhead_pointer_size[1] - 5
for stamp in stamps:
x = self.map_stamp_to_x(stamp, False)
label = self._get_label(division, stamp - start_stamp)
label_x = x + self._major_divisions_label_indent
if label_x + QFontMetrics(
self._topic_font).width(label) < self.scene().width():
painter.setPen(self._default_pen)
painter.setBrush(QBrush(Qt.black))
path = QPainterPath()
path.addText(label_x, label_y, self._time_font, label)
painter.drawPath(path)
painter.setPen(self._major_division_pen)
painter.drawLine(
x, label_y - self._time_tick_height - self._time_font_size, x,
self._history_bottom)
painter.setBrush(self._default_brush)
painter.setPen(self._default_pen)
def c(msg):
if not self._map:
return
pp = QPainterPath()
# Transform everything in to the map frame
if not (msg.header.frame_id == '/map' or msg.header.frame_id == ''):
try:
self._tf.waitForTransform(msg.header.frame_id, '/map', rospy.Time(), rospy.Duration(10))
data = [self._tf.transformPose('/map', pose) for pose in msg.poses]
except tf.Exception:
rospy.logerr("TF Error")
data = []
else:
data = msg.poses
if len(data) > 0:
start = data[0].pose.position
pp.moveTo(start.x / self.resolution, start.y / self.resolution)
for pose in data:
pt = pose.pose.position
pp.lineTo(pt.x / self.resolution, pt.y / self.resolution)
path.path = pp
self.path_changed.emit(name)
def _draw_topic_names(self, painter):
"""
Calculate positions of existing topic names and draw them on the left, one for each row
:param painter: ,''QPainter''
"""
topics = self._history_bounds.keys()
coords = [(self._margin_left,
y + (h / 2) + (self._topic_font_height / 2))
for (_, y, _, h) in self._history_bounds.values()]
for text, coords in zip([t.lstrip('/') for t in topics], coords):
path = QPainterPath()
path.addText(coords[0], coords[1], self._topic_font, text)
painter.setBrush(self._default_brush)
painter.setPen(self._default_pen)
painter.drawPath(path)
def cb(msg):
if not self._map:
return
pp = QPainterPath()
# Transform everything in to the map frame
if not (msg.header.frame_id == self.frame_id
or msg.header.frame_id == ''):
try:
self._tf.waitForTransform(msg.header.frame_id,
self.frame_id, rospy.Time(),
rospy.Duration(10))
data = [
self._tf.transformPose(self.frame_id, pose)
for pose in msg.poses
]
except tf.Exception:
rospy.logerr("TF Error")
data = []
else:
data = msg.poses
if len(data) > 0:
start = data[0].pose.position
pp.moveTo(*self.point_map_to_qt((start.x, start.y)))
for pose in data:
pt = pose.pose.position
pp.lineTo(*self.point_map_to_qt((pt.x, pt.y)))
path.path = pp
self.path_changed.emit(name)
def c(msg):
pp = QPainterPath()
# Transform everything in to the map frame
if not (msg.header.frame_id == '/map' or msg.header.frame_id == ''):
try:
self._tf.waitForTransform(msg.header.frame_id, '/map', rospy.Time(), rospy.Duration(10))
data = [self._tf.transformPose('/map', pose) for pose in msg.poses]
except tf.Exception:
rospy.logerr("TF Error")
data = []
else:
data = msg.poses
if len(data) > 0:
start = data[0].pose.position
pp.moveTo(start.x / self.resolution, start.y / self.resolution)
for pose in data:
pt = pose.pose.position
pp.lineTo(pt.x / self.resolution, pt.y / self.resolution)
path.path = pp
self.path_changed.emit(name)
def __init__(self,
spline,
label,
label_center,
from_node,
to_node,
parent=None,
**kwargs):
super(EdgeItem, self).__init__(parent, **kwargs)
self._edge_pen_width = kwargs.get('edge_pen_width',
self.EDGE_PEN_WIDTH)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._brush = QBrush(self._color)
self._label_pen = QPen()
self._label_pen.setColor(self._color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._label_pen.setWidthF(self._label_pen_width)
self._edge_pen = QPen()
self._edge_pen.setColor(self._color)
self._edge_pen.setWidthF(self._edge_pen_width)
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
font = self._label.font()
font.setPointSize(8)
self._label.setFont(font)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if coordinates[0].startswith('e,'):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if coordinates[0].startswith('s,'):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self._brush.setColor(self._color)
self._edge_pen.setColor(self._color)
self._label_pen.setColor(self._color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
def __init__(self, highlight_level, spline, label_center, label, from_node, to_node, parent=None, penwidth=1, edge_color=None, style='solid'):
super(EdgeItem, self).__init__(highlight_level, parent)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._default_edge_color = self._COLOR_BLACK
if edge_color is not None:
self._default_edge_color = edge_color
self._default_text_color = self._COLOR_BLACK
self._default_color = self._COLOR_BLACK
self._text_brush = QBrush(self._default_color)
self._shape_brush = QBrush(self._default_color)
if style in ['dashed', 'dotted']:
self._shape_brush = QBrush(Qt.transparent)
self._label_pen = QPen()
self._label_pen.setColor(self._default_text_color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._edge_pen = QPen(self._label_pen)
self._edge_pen.setWidth(penwidth)
self._edge_pen.setColor(self._default_edge_color)
self._edge_pen.setStyle(self._qt_pen_styles.get(style, Qt.SolidLine))
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
self._label.hoverEnterEvent = self._handle_hoverEnterEvent
self._label.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._label.setAcceptHoverEvents(True)
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if (coordinates[0].startswith('e,')):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if (coordinates[0].startswith('s,')):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._arrow.hoverEnterEvent = self._handle_hoverEnterEvent
self._arrow.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._arrow.setAcceptHoverEvents(True)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self.set_node_color()
self.set_label_color()
def __init__(self,
highlight_level,
spline,
label_center,
label,
from_node,
to_node,
parent=None,
penwidth=1,
edge_color=None,
style='solid'):
super(EdgeItem, self).__init__(highlight_level, parent)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._default_edge_color = self._COLOR_BLACK
if edge_color is not None:
self._default_edge_color = edge_color
self._default_text_color = self._COLOR_BLACK
self._default_color = self._COLOR_BLACK
self._text_brush = QBrush(self._default_color)
self._shape_brush = QBrush(self._default_color)
if style in ['dashed', 'dotted']:
self._shape_brush = QBrush(Qt.transparent)
self._label_pen = QPen()
self._label_pen.setColor(self._default_text_color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._edge_pen = QPen(self._label_pen)
self._edge_pen.setWidth(penwidth)
self._edge_pen.setColor(self._default_edge_color)
self._edge_pen.setStyle(self._qt_pen_styles.get(style, Qt.SolidLine))
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
self._label.hoverEnterEvent = self._handle_hoverEnterEvent
self._label.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._label.setAcceptHoverEvents(True)
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if (coordinates[0].startswith('e,')):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if (coordinates[0].startswith('s,')):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._arrow.hoverEnterEvent = self._handle_hoverEnterEvent
self._arrow.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._arrow.setAcceptHoverEvents(True)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self.set_node_color()
self.set_label_color()
def addGraph(self, graph_str):
graph = graph_str.splitlines()
header = graph[0].split()
if header[0] != 'graph':
raise Exception('wrong graph format', 'header is: ' + graph[0])
self.scale_factor = 100.0
self.width = float(header[2])
self.height = float(header[3])
print "QGraphicsScene size:", self.width, self.height
self.scene = GraphScene(
QRectF(0, 0, self.scX(self.width), self.scY(self.height)))
for l in graph:
items = l.split()
if len(items) == 0:
continue
elif items[0] == 'stop':
break
elif items[0] == 'node':
#node CImp 16.472 5.25 0.86659 0.5 CImp filled ellipse lightblue lightblue
if len(items) != 11:
raise Exception('wrong number of items in line',
'line is: ' + l)
name = items[6]
if name == "\"\"":
name = ""
w = self.scX(items[4])
h = self.scY(items[5])
x = self.tfX(items[2])
y = self.tfY(items[3])
self.nodes[name] = self.scene.addEllipse(
x - w / 2, y - h / 2, w, h)
self.nodes[name].setData(0, name)
text_item = self.scene.addSimpleText(name)
br = text_item.boundingRect()
text_item.setPos(x - br.width() / 2, y - br.height() / 2)
elif items[0] == 'edge':
# without label:
# edge CImp Ts 4 16.068 5.159 15.143 4.9826 12.876 4.5503 11.87 4.3583 solid black
#
# with label:
# edge b_stSplit TorsoVelAggregate 7 7.5051 6.3954 7.7054 6.3043 7.9532 6.1899 8.1728 6.0833 8.4432 5.9522 8.7407 5.8012 8.9885 5.6735 aa 8.6798 5.9792 solid black
line_len = int(items[3])
label_text = None
label_pos = None
if (line_len * 2 + 6) == len(items):
# no label
pass
elif (line_len * 2 + 9) == len(items):
# edge with label
label_text = items[4 + line_len * 2]
label_pos = QPointF(self.tfX(items[4 + line_len * 2 + 1]),
self.tfY(items[4 + line_len * 2 + 2]))
else:
raise Exception(
'wrong number of items in line',
'should be: ' + str(line_len * 2 + 6) + " or " +
str(line_len * 2 + 9) + ', line is: ' + l)
line = []
for i in range(line_len):
line.append((self.tfX(items[4 + i * 2]),
self.tfY(items[5 + i * 2])))
control_points_idx = 1
path = QPainterPath(QPointF(line[0][0], line[0][1]))
while True:
q1 = line[control_points_idx]
q2 = line[control_points_idx + 1]
p2 = line[control_points_idx + 2]
path.cubicTo(q1[0], q1[1], q2[0], q2[1], p2[0], p2[1])
control_points_idx = control_points_idx + 3
if control_points_idx >= len(line):
break
edge = self.scene.addPath(path)
edge.setData(0, (items[1], items[2]))
self.edges.append(edge)
end_p = QPointF(line[-1][0], line[-1][1])
p0 = end_p - QPointF(line[-2][0], line[-2][1])
p0_norm = math.sqrt(p0.x() * p0.x() + p0.y() * p0.y())
p0 = p0 / p0_norm
p0 = p0 * self.scale_factor * 0.15
p1 = QPointF(p0.y(), -p0.x()) * 0.25
p2 = -p1
poly = QPolygonF()
poly.append(p0 + end_p)
poly.append(p1 + end_p)
poly.append(p2 + end_p)
poly.append(p0 + end_p)
# poly_path = QPainterPath()
# poly_path.addPolygon(poly)
# painter = QPainter()
self.scene.addPolygon(poly)
if label_text and label_pos:
if label_text[0] == "\"":
label_text = label_text[1:]
if label_text[-1] == "\"":
label_text = label_text[:-1]
label_text = label_text.replace("\\n", "\n")
label_item = self.scene.addSimpleText(label_text)
br = label_item.boundingRect()
label_item.setPos(label_pos.x() - br.width() / 2,
label_pos.y() - br.height() / 2)
def __init__(self, spline, label, label_center, from_node, to_node, parent=None, **kwargs):
super(EdgeItem, self).__init__(parent, **kwargs)
self._edge_pen_width = kwargs.get('edge_pen_width', self.EDGE_PEN_WIDTH)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._brush = QBrush(self._color)
self._label_pen = QPen()
self._label_pen.setColor(self._color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._label_pen.setWidthF(self._label_pen_width)
self._edge_pen = QPen()
self._edge_pen.setColor(self._color)
self._edge_pen.setWidthF(self._edge_pen_width)
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
font = self._label.font()
font.setPointSize(8)
self._label.setFont(font)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if coordinates[0].startswith('e,'):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if coordinates[0].startswith('s,'):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self._brush.setColor(self._color)
self._edge_pen.setColor(self._color)
self._label_pen.setColor(self._color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
