def __init__(self, timeline, event, menu_topic):
super(TimelinePopupMenu, self).__init__()
self.parent = timeline
self.timeline = timeline
if menu_topic is not None:
self.setTitle(menu_topic)
self._menu_topic = menu_topic
else:
self._menu_topic = None
self._reset_timeline = self.addAction('Reset Timeline')
self._play_all = self.addAction('Play All Messages')
self._play_all.setCheckable(True)
self._play_all.setChecked(self.timeline.play_all)
self.addSeparator()
self._renderers = self.timeline._timeline_frame.get_renderers()
self._thumbnail_actions = []
# create thumbnail menu items
if menu_topic is None:
submenu = self.addMenu('Thumbnails...')
self._thumbnail_show_action = submenu.addAction('Show All')
self._thumbnail_hide_action = submenu.addAction('Hide All')
submenu.addSeparator()
for topic, renderer in self._renderers:
self._thumbnail_actions.append(submenu.addAction(topic))
self._thumbnail_actions[-1].setCheckable(True)
self._thumbnail_actions[-1].setChecked(
self.timeline._timeline_frame.is_renderer_active(topic))
else:
self._thumbnail_show_action = None
self._thumbnail_hide_action = None
for topic, renderer in self._renderers:
if menu_topic == topic:
self._thumbnail_actions.append(self.addAction("Thumbnail"))
self._thumbnail_actions[-1].setCheckable(True)
self._thumbnail_actions[-1].setChecked(
self.timeline._timeline_frame.is_renderer_active(
topic))
# create view menu items
self._topic_actions = []
self._type_actions = []
if menu_topic is None:
self._topics = self.timeline._timeline_frame.topics
view_topics_menu = self.addMenu('View (by Topic)')
for topic in self._topics:
datatype = self.timeline.get_datatype(topic)
# View... / topic
topic_menu = QMenu(topic, self)
viewer_types = self.timeline._timeline_frame.get_viewer_types(
datatype)
# View... / topic / Viewer
for viewer_type in viewer_types:
tempaction = topic_menu.addAction(viewer_type.name)
tempaction.setData(viewer_type)
self._topic_actions.append(tempaction)
view_topics_menu.addMenu(topic_menu)
view_type_menu = self.addMenu('View (by Type)')
self._topics_by_type = self.timeline._timeline_frame._topics_by_datatype
for datatype in self._topics_by_type:
# View... / datatype
datatype_menu = QMenu(datatype, self)
datatype_topics = self._topics_by_type[datatype]
viewer_types = self.timeline._timeline_frame.get_viewer_types(
datatype)
for topic in [t for t in self._topics if t in datatype_topics
]: # use timeline ordering
topic_menu = QMenu(topic, datatype_menu)
# View... / datatype / topic / Viewer
for viewer_type in viewer_types:
tempaction = topic_menu.addAction(viewer_type.name)
tempaction.setData(viewer_type)
self._topic_actions.append(tempaction)
datatype_menu.addMenu(topic_menu)
view_type_menu.addMenu(datatype_menu)
else:
view_menu = self.addMenu("View")
datatype = self.timeline.get_datatype(menu_topic)
viewer_types = self.timeline._timeline_frame.get_viewer_types(
datatype)
for viewer_type in viewer_types:
tempaction = view_menu.addAction(viewer_type.name)
tempaction.setData(viewer_type)
self._topic_actions.append(tempaction)
self.addSeparator()
# create publish menu items
self._publish_actions = []
if menu_topic is None:
submenu = self.addMenu('Publish...')
self._publish_all = submenu.addAction('Publish All')
self._publish_none = submenu.addAction('Publish None')
submenu.addSeparator()
for topic in self._topics:
self._publish_actions.append(submenu.addAction(topic))
self._publish_actions[-1].setCheckable(True)
self._publish_actions[-1].setChecked(
self.timeline.is_publishing(topic))
else:
self._publish_actions.append(self.addAction("Publish"))
self._publish_actions[-1].setCheckable(True)
self._publish_actions[-1].setChecked(
self.timeline.is_publishing(menu_topic))
self._publish_all = None
self._publish_none = None
action = self.exec_(event.globalPos())
if action is not None and action != 0:
self.process(action)
def _rightclick_menu(self, event):
"""
Dynamically builds the rightclick menu based on the unique column data
from the passed in datamodel and then launches it modally
:param event: the mouse event object, ''QMouseEvent''
"""
severities = {}
for severity, label in Message.SEVERITY_LABELS.items():
if severity in self._model.get_unique_severities():
severities[severity] = label
nodes = sorted(self._model.get_unique_nodes())
topics = sorted(self._model.get_unique_topics())
# menutext entries turned into
menutext = []
menutext.append([
self.tr('Exclude'),
[[self.tr('Severity'), severities], [self.tr('Node'), nodes],
[self.tr('Topic'), topics], [self.tr('Selected Message(s)')]]
])
menutext.append([
self.tr('Highlight'),
[[self.tr('Severity'), severities], [self.tr('Node'), nodes],
[self.tr('Topic'), topics], [self.tr('Selected Message(s)')]]
])
menutext.append([self.tr('Copy Selected')])
menutext.append([self.tr('Browse Selected')])
menu = QMenu()
submenus = []
subsubmenus = []
for item in menutext:
if len(item) > 1:
submenus.append(QMenu(item[0], menu))
for subitem in item[1]:
if len(subitem) > 1:
subsubmenus.append(QMenu(subitem[0], submenus[-1]))
if isinstance(subitem[1], dict):
for key in sorted(subitem[1].keys()):
action = subsubmenus[-1].addAction(
subitem[1][key])
action.setData(key)
else:
for subsubitem in subitem[1]:
subsubmenus[-1].addAction(subsubitem)
submenus[-1].addMenu(subsubmenus[-1])
else:
submenus[-1].addAction(subitem[0])
menu.addMenu(submenus[-1])
else:
menu.addAction(item[0])
action = menu.exec_(event.globalPos())
if action is None or action == 0:
return
elif action.text() == self.tr('Browse Selected'):
self._show_browsers()
elif action.text() == self.tr('Copy Selected'):
rowlist = []
for current in self.table_view.selectionModel().selectedIndexes():
rowlist.append(self._proxy_model.mapToSource(current).row())
copytext = self._model.get_selected_text(rowlist)
if copytext is not None:
clipboard = QApplication.clipboard()
clipboard.setText(copytext)
elif action.text() == self.tr('Selected Message(s)'):
if action.parentWidget().title() == self.tr('Highlight'):
self._process_highlight_exclude_filter(action.text(),
'Message', False)
elif action.parentWidget().title() == self.tr('Exclude'):
self._process_highlight_exclude_filter(action.text(),
'Message', True)
else:
raise RuntimeError(
"Menu format corruption in ConsoleWidget._rightclick_menu()"
)
else:
# This processes the dynamic list entries (severity, node and topic)
try:
roottitle = action.parentWidget().parentWidget().title()
except:
raise RuntimeError(
"Menu format corruption in ConsoleWidget._rightclick_menu()"
)
if roottitle == self.tr('Highlight'):
self._process_highlight_exclude_filter(
action.text(),
action.parentWidget().title(), False)
elif roottitle == self.tr('Exclude'):
self._process_highlight_exclude_filter(
action.text(),
action.parentWidget().title(), True)
else:
raise RuntimeError(
"Unknown Root Action %s selected in ConsoleWidget._rightclick_menu()"
% roottitle)
class NavigationMapWidget(QWidget):
def __init__(self, plugin):
super(NavigationMapWidget, self).__init__()
rp = rospkg.RosPack()
try:
rospy.wait_for_service('/proc_control/set_global_target', timeout=2)
except rospy.ROSException:
False
ui_file = os.path.join(rp.get_path('rqt_navigation_map'), 'resource', 'mainWidget.ui')
loadUi(ui_file, self)
self._plugin = plugin
self._topic_name = None
self._odom_subscriber = None
# create GL view
self._gl_view = GLWidget()
self._gl_view.unsetCursor()
self._mapDrawer = MapDrawer(self)
self._position = (0.0, 0.0, 0.0)
self._mapDrawer.set_position(self._position)
self._orientation = quaternion_about_axis(45.0, (0.0, 0.0, 1.0))
self._mapDrawer.set_orientation(self._orientation,45)
# add GL view to widget layout
self.layout().addWidget(self._gl_view)
self._rotate_with_sub_activated = False
self._lock_on_sub_activated = False
self._yaw = 0
self._odom_subscriber = rospy.Subscriber('/proc_navigation/odom', Odometry, self._odom_callback)
self.position_target_subscriber = rospy.Subscriber('/proc_control/current_target', PositionTarget,
self._position_target_callback)
self.set_global_target = rospy.ServiceProxy('/proc_control/set_global_target', SetPositionTarget)
self._define_menu()
def _define_menu(self):
self._menu = QMenu(self._gl_view)
layer_menu = QMenu('Layers', self._gl_view)
for layer in self._mapDrawer.get_layers():
layer_menu.addAction(layer.menu_action)
self._menu.addMenu(layer_menu)
self._menu.addSeparator()
self._view2dAction = QAction(self._gl_view.tr("2D View"), self._gl_view, triggered=self._set_default_view)
self._menu.addAction(self._view2dAction)
self._view3dAction = QAction(self._gl_view.tr("3D View"), self._gl_view, triggered=self._set_3d_view)
self._menu.addAction(self._view3dAction)
self._menu.addSeparator()
#self._rotateSubAction = QAction(self._gl_view.tr("Rotate with Sub"), self, checkable=True,
# triggered=self._rotate_with_sub)
#self._menu.addAction(self._rotateSubAction)
self._lockOnSubAction = QAction(self._gl_view.tr("Lock on Sub"), self, checkable=True,
triggered=self._lock_on_sub)
self._menu.addAction(self._lockOnSubAction)
self._menu.addSeparator()
self._menu.addAction(QAction('Reset Path', self, triggered=self._mapDrawer.reset_path))
setLocationAction = QAction('Set Location Target', self._gl_view, triggered=self._set_location_action)
self._menu.addAction(setLocationAction)
def _position_target_callback(self, target):
self._mapDrawer.drawTarget(target.X, target.Y, target.Z)
def _odom_callback(self, odom_data):
vehicle_position_x = odom_data.pose.pose.position.x
vehicle_position_y = odom_data.pose.pose.position.y
vehicle_position_z = odom_data.pose.pose.position.z
self._position = (vehicle_position_x, vehicle_position_y, vehicle_position_z)
self._mapDrawer.set_position(self._position)
self._yaw = odom_data.pose.pose.orientation.z
self._orientation = quaternion_about_axis(math.radians(self._yaw), (0.0, 0.0, 1.0))
self._mapDrawer.set_orientation(self._orientation,self._yaw)
def save_settings(self, plugin_settings, instance_settings):
self._mapDrawer.save_settings(plugin_settings,instance_settings)
view_matrix_string = repr(self._gl_view.get_view_matrix())
instance_settings.set_value('view_matrix', view_matrix_string)
instance_settings.set_value('lock_on_sub_activated', str(self._lock_on_sub_activated))
def restore_settings(self, plugin_settings, instance_settings):
self._mapDrawer.restore_settings(plugin_settings,instance_settings)
view_matrix_string = instance_settings.value('view_matrix')
try:
view_matrix = eval(view_matrix_string)
except Exception:
view_matrix = None
if view_matrix is not None:
self._gl_view.set_view_matrix(view_matrix)
else:
self._set_default_view()
lock_on_sub = instance_settings.value('lock_on_sub_activated') == 'True'
if lock_on_sub is None:
print 'Nothing stored for lock_on_sub'
else:
self._lock_on_sub(lock_on_sub)
self._lockOnSubAction.setChecked(lock_on_sub)
#rotate_with_sub = instance_settings.value('rotate_with_sub_activated') == 'True'
#if rotate_with_sub is None:
# print 'Nothing stored for lock_on_sub'
#else:
# self._rotate_with_sub(rotate_with_sub)
# self._rotateSubAction.setChecked(rotate_with_sub)
def _set_default_view(self):
self._gl_view.makeCurrent()
self._gl_view.reset_view()
self._gl_view.translate((0, 0, -800))
def _set_3d_view(self):
self._gl_view.makeCurrent()
self._gl_view.reset_view()
self._gl_view.rotate((0, 0, 1), 0)
self._gl_view.rotate((1, 0, 0), -75)
self._gl_view.translate((-100, -100, -500))
def _rotate_with_sub(self, checked):
self._rotate_with_sub_activated = checked
self._mapDrawer.set_rotate_with_sub_activated(checked)
def _lock_on_sub(self, checked):
self._lock_on_sub_activated = checked
self._mapDrawer.set_lock_on_sub_activated(checked)
self._view2dAction.setEnabled(not checked)
self._view3dAction.setEnabled(not checked)
def _gl_view_mouseReleaseEvent(self, event):
if event.button() == Qt.RightButton:
self._event_3dPoint = event
self._menu.exec_(self._gl_view.mapToGlobal(event.pos()))
def _set_location_action(self):
x_cursor = self._event_3dPoint.pos().x()
y_cursor = self._gl_view.height() - self._event_3dPoint.pos().y()
x, y, z = self._gl_view.unproject_mouse_on_scene(QPoint(x_cursor, y_cursor))
position_x = x / self._mapDrawer.resolution_meters
position_y = y / self._mapDrawer.resolution_meters
position_z = z / self._mapDrawer.resolution_meters
self._mapDrawer.drawTarget(position_x, position_y, position_z)
rospy.loginfo('Set Target selected at (%.2f, %.2f)', position_x, position_y)
self.set_global_target(X=position_x, Y=position_y, Z=position_z, ROLL=0, PITCH=0, YAW=self._yaw)
def shutdown_plugin(self):
print 'Shutting down'
def _rightclick_menu(self, event):
"""
Dynamically builds the rightclick menu based on the unique column data
from the passed in datamodel and then launches it modally
:param event: the mouse event object, ''QMouseEvent''
"""
severities = {}
for severity, label in Message.SEVERITY_LABELS.items():
if severity in self._model.get_unique_severities():
severities[severity] = label
nodes = sorted(self._model.get_unique_nodes())
topics = sorted(self._model.get_unique_topics())
# menutext entries turned into
menutext = []
menutext.append([self.tr('Exclude'), [[self.tr('Severity'), severities], [self.tr('Node'), nodes], [self.tr('Topic'), topics], [self.tr('Selected Message(s)')]]])
menutext.append([self.tr('Highlight'), [[self.tr('Severity'), severities], [self.tr('Node'), nodes], [self.tr('Topic'), topics], [self.tr('Selected Message(s)')]]])
menutext.append([self.tr('Copy Selected')])
menutext.append([self.tr('Browse Selected')])
menu = QMenu()
submenus = []
subsubmenus = []
for item in menutext:
if len(item) > 1:
submenus.append(QMenu(item[0], menu))
for subitem in item[1]:
if len(subitem) > 1:
subsubmenus.append(QMenu(subitem[0], submenus[-1]))
if isinstance(subitem[1], dict):
for key in sorted(subitem[1].keys()):
action = subsubmenus[-1].addAction(subitem[1][key])
action.setData(key)
else:
for subsubitem in subitem[1]:
subsubmenus[-1].addAction(subsubitem)
submenus[-1].addMenu(subsubmenus[-1])
else:
submenus[-1].addAction(subitem[0])
menu.addMenu(submenus[-1])
else:
menu.addAction(item[0])
action = menu.exec_(event.globalPos())
if action is None or action == 0:
return
elif action.text() == self.tr('Browse Selected'):
self._show_browsers()
elif action.text() == self.tr('Copy Selected'):
rowlist = []
for current in self.table_view.selectionModel().selectedIndexes():
rowlist.append(self._proxy_model.mapToSource(current).row())
copytext = self._model.get_selected_text(rowlist)
if copytext is not None:
clipboard = QApplication.clipboard()
clipboard.setText(copytext)
elif action.text() == self.tr('Selected Message(s)'):
if action.parentWidget().title() == self.tr('Highlight'):
self._process_highlight_exclude_filter(action.text(), 'Message', False)
elif action.parentWidget().title() == self.tr('Exclude'):
self._process_highlight_exclude_filter(action.text(), 'Message', True)
else:
raise RuntimeError("Menu format corruption in ConsoleWidget._rightclick_menu()")
else:
# This processes the dynamic list entries (severity, node and topic)
try:
roottitle = action.parentWidget().parentWidget().title()
except:
raise RuntimeError("Menu format corruption in ConsoleWidget._rightclick_menu()")
if roottitle == self.tr('Highlight'):
self._process_highlight_exclude_filter(action.text(), action.parentWidget().title(), False)
elif roottitle == self.tr('Exclude'):
self._process_highlight_exclude_filter(action.text(), action.parentWidget().title(), True)
else:
raise RuntimeError("Unknown Root Action %s selected in ConsoleWidget._rightclick_menu()" % roottitle)
def __init__(self, timeline, event, menu_topic):
super(TimelinePopupMenu, self).__init__()
self.parent = timeline
self.timeline = timeline
if menu_topic is not None:
self.setTitle(menu_topic)
self._menu_topic = menu_topic
else:
self._menu_topic = None
self._reset_timeline = self.addAction('Reset Timeline')
self._play_all = self.addAction('Play All Messages')
self._play_all.setCheckable(True)
self._play_all.setChecked(self.timeline.play_all)
self.addSeparator()
self._renderers = self.timeline._timeline_frame.get_renderers()
self._thumbnail_actions = []
# create thumbnail menu items
if menu_topic is None:
submenu = self.addMenu('Thumbnails...')
self._thumbnail_show_action = submenu.addAction('Show All')
self._thumbnail_hide_action = submenu.addAction('Hide All')
submenu.addSeparator()
for topic, renderer in self._renderers:
self._thumbnail_actions.append(submenu.addAction(topic))
self._thumbnail_actions[-1].setCheckable(True)
self._thumbnail_actions[-1].setChecked(self.timeline._timeline_frame.is_renderer_active(topic))
else:
self._thumbnail_show_action = None
self._thumbnail_hide_action = None
for topic, renderer in self._renderers:
if menu_topic == topic:
self._thumbnail_actions.append(self.addAction("Thumbnail"))
self._thumbnail_actions[-1].setCheckable(True)
self._thumbnail_actions[-1].setChecked(self.timeline._timeline_frame.is_renderer_active(topic))
# create view menu items
self._topic_actions = []
self._type_actions = []
if menu_topic is None:
self._topics = self.timeline._timeline_frame.topics
view_topics_menu = self.addMenu('View (by Topic)')
for topic in self._topics:
datatype = self.timeline.get_datatype(topic)
# View... / topic
topic_menu = QMenu(topic, self)
viewer_types = self.timeline._timeline_frame.get_viewer_types(datatype)
# View... / topic / Viewer
for viewer_type in viewer_types:
tempaction = topic_menu.addAction(viewer_type.name)
tempaction.setData(viewer_type)
self._topic_actions.append(tempaction)
view_topics_menu.addMenu(topic_menu)
view_type_menu = self.addMenu('View (by Type)')
self._topics_by_type = self.timeline._timeline_frame._topics_by_datatype
for datatype in self._topics_by_type:
# View... / datatype
datatype_menu = QMenu(datatype, self)
datatype_topics = self._topics_by_type[datatype]
viewer_types = self.timeline._timeline_frame.get_viewer_types(datatype)
for topic in [t for t in self._topics if t in datatype_topics]: # use timeline ordering
topic_menu = QMenu(topic, datatype_menu)
# View... / datatype / topic / Viewer
for viewer_type in viewer_types:
tempaction = topic_menu.addAction(viewer_type.name)
tempaction.setData(viewer_type)
self._topic_actions.append(tempaction)
datatype_menu.addMenu(topic_menu)
view_type_menu.addMenu(datatype_menu)
else:
view_menu = self.addMenu("View")
datatype = self.timeline.get_datatype(menu_topic)
viewer_types = self.timeline._timeline_frame.get_viewer_types(datatype)
for viewer_type in viewer_types:
tempaction = view_menu.addAction(viewer_type.name)
tempaction.setData(viewer_type)
self._topic_actions.append(tempaction)
self.addSeparator()
# create publish menu items
self._publish_actions = []
if menu_topic is None:
submenu = self.addMenu('Publish...')
self._publish_all = submenu.addAction('Publish All')
self._publish_none = submenu.addAction('Publish None')
submenu.addSeparator()
for topic in self._topics:
self._publish_actions.append(submenu.addAction(topic))
self._publish_actions[-1].setCheckable(True)
self._publish_actions[-1].setChecked(self.timeline.is_publishing(topic))
else:
self._publish_actions.append(self.addAction("Publish"))
self._publish_actions[-1].setCheckable(True)
self._publish_actions[-1].setChecked(self.timeline.is_publishing(menu_topic))
self._publish_all = None
self._publish_none = None
action = self.exec_(event.globalPos())
if action is not None and action != 0:
self.process(action)
