class RosTopicTreeTester(QWidget):
def __init__(self):
super(RosTopicTreeTester, self).__init__()
self.initUI()
def initUI(self):
self.setGeometry(800, 300, 400, 400)
self.setWindowTitle('QtGui.QLineEdit')
start_time = rospy.Time.now()
self.ros_topic_tree = RosTopicTree()
print( 'It took %.2f ms to pupulate the tree' % ((rospy.Time.now() - start_time).to_sec()*1000 ) )
self.topic_tree_view= QTreeView(self)
self.topic_tree_view.setModel(self.ros_topic_tree)
self.topic_tree_completer = TopicCompleter(self)
self.topic_tree_completer.setModel(self.ros_topic_tree)
self.text_field = QLineEdit(self)
self.text_field.move(0, 200)
self.text_field.resize(300,20)
self.text_field.setCompleter(self.topic_tree_completer)
self.show()
class RosTopicTreeTester(QWidget):
def __init__(self):
super(RosTopicTreeTester, self).__init__()
self.initUI()
def initUI(self):
self.setGeometry(800, 300, 400, 400)
self.setWindowTitle('QtGui.QLineEdit')
start_time = rospy.Time.now()
self.ros_topic_tree = RosTopicTree()
print('It took %.2f ms to pupulate the tree' %
((rospy.Time.now() - start_time).to_sec() * 1000))
self.topic_tree_view = QTreeView(self)
self.topic_tree_view.setModel(self.ros_topic_tree)
self.topic_tree_completer = TopicCompleter(self)
self.topic_tree_completer.setModel(self.ros_topic_tree)
self.text_field = QLineEdit(self)
self.text_field.move(0, 200)
self.text_field.resize(300, 20)
self.text_field.setCompleter(self.topic_tree_completer)
self.show()
def __init__(self, arguments=None, initial_topics=None):
super(RosplotWidget, self).__init__()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'../../resource/plot_widget.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.remove_topic_button.setIcon(QIcon.fromTheme('remove'))
self.clear_button.setText('Remove all Topics')
self.subscribe_topic_button.setEnabled(False)
self.zoom_button.setText('Zoom: On ')
# Topic Tree and Topic Completer
self.ros_topic_tree = RosTopicTree(self)
self._topic_completer = TopicCompleter(self)
self._topic_completer.setModel(self.ros_topic_tree)
self.topic_edit.setCompleter(self._topic_completer)
self.connect(self.topic_edit, SIGNAL("tabPressed"),
self.on_topic_edit_tabPressed)
# the rosstuff
self._start_time = rospy.get_time()
self._rosdata = {}
self._remove_topic_menu = QMenu()
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
# graph window
self.graph_widget = GraphWidget(self)
self.graph_widget_layout.addWidget(self.graph_widget)
QObject.connect(self.graph_widget,
SIGNAL("legendChecked(QwtPlotItem *,bool)"),
self.legend_clicked)
self.subscribed_topics_changed()
self.show()
def __init__(self, arguments = None, initial_topics = None):
super(RosplotWidget, self).__init__()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../resource/plot_widget.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.remove_topic_button.setIcon(QIcon.fromTheme('remove'))
self.clear_button.setText('Remove all Topics')
self.subscribe_topic_button.setEnabled(False)
self.zoom_button.setText('Zoom: On ')
# Topic Tree and Topic Completer
self.ros_topic_tree = RosTopicTree(self)
self._topic_completer = TopicCompleter(self)
self._topic_completer.setModel(self.ros_topic_tree)
self.topic_edit.setCompleter(self._topic_completer)
self.connect(self.topic_edit, SIGNAL("tabPressed"), self.on_topic_edit_tabPressed)
# the rosstuff
self._start_time = rospy.get_time()
self._rosdata = {}
self._remove_topic_menu = QMenu()
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
# graph window
self.graph_widget = GraphWidget(self)
self.graph_widget_layout.addWidget(self.graph_widget)
QObject.connect(self.graph_widget, SIGNAL("legendChecked(QwtPlotItem *,bool)"), self.legend_clicked)
self.subscribed_topics_changed()
self.show()
class RosplotWidget(QWidget):
_redraw_interval = 40
def __init__(self, arguments=None, initial_topics=None):
super(RosplotWidget, self).__init__()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'../../resource/plot_widget.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.remove_topic_button.setIcon(QIcon.fromTheme('remove'))
self.clear_button.setText('Remove all Topics')
self.subscribe_topic_button.setEnabled(False)
self.zoom_button.setText('Zoom: On ')
# Topic Tree and Topic Completer
self.ros_topic_tree = RosTopicTree(self)
self._topic_completer = TopicCompleter(self)
self._topic_completer.setModel(self.ros_topic_tree)
self.topic_edit.setCompleter(self._topic_completer)
self.connect(self.topic_edit, SIGNAL("tabPressed"),
self.on_topic_edit_tabPressed)
# the rosstuff
self._start_time = rospy.get_time()
self._rosdata = {}
self._remove_topic_menu = QMenu()
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
# graph window
self.graph_widget = GraphWidget(self)
self.graph_widget_layout.addWidget(self.graph_widget)
QObject.connect(self.graph_widget,
SIGNAL("legendChecked(QwtPlotItem *,bool)"),
self.legend_clicked)
self.subscribed_topics_changed()
self.show()
def legend_clicked(self, item, val):
topic_path = item.title().text()
topic_path = str(topic_path)
self.remove_topic(topic_path)
@pyqtSlot(str)
def on_topic_edit_textChanged(self, slot_name):
if slot_name == "":
print 'Updating topics'
self.ros_topic_tree.update()
return
is_num = self.ros_topic_tree.isNummeric(slot_name)
all_children_num = self.ros_topic_tree.allChildrenNummeric(slot_name)
self.subscribe_topic_button.setEnabled(is_num or all_children_num)
# Perform autocompletion when tab is pressed topic_edit text box
def on_topic_edit_tabPressed(self):
if self._topic_completer.completionCount(
) == 1: # If there is a single autocompletion, use that
updated_text = self._topic_completer.currentCompletion()
self.topic_edit.setText(updated_text)
self.topic_edit.insert("/")
elif self._topic_completer.completionCount(
) > 1: # If there is more than one autocompletion, complete upto the last common letter
match = str(self._topic_completer.currentCompletion())
for i in range(1, self._topic_completer.completionCount()):
self._topic_completer.setCurrentRow(i)
word = str(self._topic_completer.currentCompletion())
match = string_intersect(word, match)
self._topic_completer.setCurrentRow(
0
) # Set the current row back to zero in case tab is pressed again
self.topic_edit.setText(match)
@pyqtSlot()
def on_topic_edit_returnPressed(self):
self.attempt_to_add_topics()
@pyqtSlot()
def on_subscribe_topic_button_clicked(self):
self.attempt_to_add_topics()
@pyqtSlot()
def on_clear_button_clicked(self):
self.clean_up_subscribers()
@pyqtSlot()
def on_zoom_button_clicked(self):
if self.graph_widget.zoom_enabled:
self.graph_widget.zoom_enabled = False
self.zoom_button.setText('Zoom: Off')
else:
self.graph_widget.zoom_enabled = True
self.zoom_button.setText('Zoom: On ')
def update_plot(self):
if self.graph_widget is not None:
for topic_name, rosdata in self._rosdata.items():
try:
data_x, data_y = rosdata.next()
self.graph_widget.update_values(topic_name, data_x, data_y)
except RosPlotException as e:
qWarning('PlotWidget.update_plot(): error in rosplot: %s' %
e)
self.graph_widget.redraw()
def subscribed_topics_changed(self):
self.update_remove_topic_menu()
self.graph_widget.redraw()
def update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def attempt_to_add_topics(self):
slot_name = str(self.topic_edit.text())
if self.ros_topic_tree.isNummeric(slot_name):
self.add_topic(slot_name)
if self.ros_topic_tree.allChildrenNummeric(slot_name):
if not slot_name[-1] == '/':
slot_name += '/'
for slot in self.ros_topic_tree.pathFromAllChildren(slot_name):
self.add_topic(slot)
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' %
topic_name)
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
data_x, data_y = self._rosdata[topic_name].next()
self.graph_widget.add_curve(topic_name, topic_name, data_x, data_y)
self.subscribed_topics_changed()
def remove_topic(self, topic_name):
self._rosdata[topic_name].close()
del self._rosdata[topic_name]
self.graph_widget.remove_curve(topic_name)
self.subscribed_topics_changed()
def clean_up_subscribers(self):
for topic_name, rosdata in self._rosdata.items():
rosdata.close()
self.graph_widget.remove_curve(topic_name)
self._rosdata = {}
self.subscribed_topics_changed()
class RosplotWidget(QWidget):
_redraw_interval = 40
def __init__(self, arguments = None, initial_topics = None):
super(RosplotWidget, self).__init__()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../resource/plot_widget.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.remove_topic_button.setIcon(QIcon.fromTheme('remove'))
self.clear_button.setText('Remove all Topics')
self.subscribe_topic_button.setEnabled(False)
self.zoom_button.setText('Zoom: On ')
# Topic Tree and Topic Completer
self.ros_topic_tree = RosTopicTree(self)
self._topic_completer = TopicCompleter(self)
self._topic_completer.setModel(self.ros_topic_tree)
self.topic_edit.setCompleter(self._topic_completer)
self.connect(self.topic_edit, SIGNAL("tabPressed"), self.on_topic_edit_tabPressed)
# the rosstuff
self._start_time = rospy.get_time()
self._rosdata = {}
self._remove_topic_menu = QMenu()
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(self._redraw_interval)
# graph window
self.graph_widget = GraphWidget(self)
self.graph_widget_layout.addWidget(self.graph_widget)
QObject.connect(self.graph_widget, SIGNAL("legendChecked(QwtPlotItem *,bool)"), self.legend_clicked)
self.subscribed_topics_changed()
self.show()
def legend_clicked(self,item,val):
topic_path = item.title().text()
topic_path = str(topic_path)
self.remove_topic( topic_path )
@pyqtSlot(str)
def on_topic_edit_textChanged(self, slot_name):
if slot_name =="":
print 'Updating topics'
self.ros_topic_tree.update()
return
is_num = self.ros_topic_tree.isNummeric(slot_name)
all_children_num = self.ros_topic_tree.allChildrenNummeric(slot_name)
self.subscribe_topic_button.setEnabled(is_num or all_children_num)
# Perform autocompletion when tab is pressed topic_edit text box
def on_topic_edit_tabPressed(self):
if self._topic_completer.completionCount() == 1: # If there is a single autocompletion, use that
updated_text = self._topic_completer.currentCompletion()
self.topic_edit.setText(updated_text)
self.topic_edit.insert("/")
elif self._topic_completer.completionCount() > 1: # If there is more than one autocompletion, complete upto the last common letter
match = str(self._topic_completer.currentCompletion())
for i in range(1, self._topic_completer.completionCount()):
self._topic_completer.setCurrentRow(i)
word = str(self._topic_completer.currentCompletion())
match = string_intersect(word, match)
self._topic_completer.setCurrentRow(0) # Set the current row back to zero in case tab is pressed again
self.topic_edit.setText(match)
@pyqtSlot()
def on_topic_edit_returnPressed(self):
self.attempt_to_add_topics()
@pyqtSlot()
def on_subscribe_topic_button_clicked(self):
self.attempt_to_add_topics()
@pyqtSlot()
def on_clear_button_clicked(self):
self.clean_up_subscribers()
@pyqtSlot()
def on_zoom_button_clicked(self):
if self.graph_widget.zoom_enabled:
self.graph_widget.zoom_enabled = False
self.zoom_button.setText('Zoom: Off')
else:
self.graph_widget.zoom_enabled = True
self.zoom_button.setText('Zoom: On ')
def update_plot(self):
if self.graph_widget is not None:
for topic_name, rosdata in self._rosdata.items():
try:
data_x, data_y = rosdata.next()
self.graph_widget.update_values(topic_name, data_x, data_y)
except RosPlotException as e:
qWarning('PlotWidget.update_plot(): error in rosplot: %s' % e)
self.graph_widget.redraw()
def subscribed_topics_changed(self):
self.update_remove_topic_menu()
self.graph_widget.redraw()
def update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def attempt_to_add_topics(self):
slot_name = str(self.topic_edit.text())
if self.ros_topic_tree.isNummeric(slot_name):
self.add_topic(slot_name)
if self.ros_topic_tree.allChildrenNummeric(slot_name):
if not slot_name[-1] == '/':
slot_name += '/'
for slot in self.ros_topic_tree.pathFromAllChildren(slot_name):
self.add_topic(slot)
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
data_x, data_y = self._rosdata[topic_name].next()
self.graph_widget.add_curve(topic_name, topic_name, data_x, data_y)
self.subscribed_topics_changed()
def remove_topic(self, topic_name):
self._rosdata[topic_name].close()
del self._rosdata[topic_name]
self.graph_widget.remove_curve(topic_name)
self.subscribed_topics_changed()
def clean_up_subscribers(self):
for topic_name, rosdata in self._rosdata.items():
rosdata.close()
self.graph_widget.remove_curve(topic_name)
self._rosdata = {}
self.subscribed_topics_changed()
