def _on_path_select_clicked(self):
# Workaround for QFileDialog.getExistingDirectory because it do not
# select the configuration folder in the dialog
self.dialog = QFileDialog(self, caption='Select a new settings folder')
self.dialog.setOption(QFileDialog.HideNameFilterDetails, True)
self.dialog.setFileMode(QFileDialog.Directory)
self.dialog.setDirectory(self.path)
if self.dialog.exec_():
fileNames = self.dialog.selectedFiles()
path = fileNames[0]
if os.path.isfile(path):
path = os.path.basename(path)
self._lineedit.setText(path)
self.path = dir
self.editing_finished_signal.emit()
def load_file(self):
filename = QFileDialog.getOpenFileName(self, self.tr("Open File"),
"../", self.tr("Yaml (*.yaml)"))
self.filelist.append(filename[0])
self.filenames.append(os.path.basename(filename[0]))
self.fileLabel.setText('Files: ' + str(self.filenames))
self.fileLabel.setWordWrap(True)
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.depth_combo_box.setEnabled(False)
self._widget.directions_combo_box.setEnabled(False)
self._widget.package_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.with_stacks_check_box.setEnabled(False)
self._widget.mark_check_box.setEnabled(False)
self._widget.colorize_check_box.setEnabled(False)
self._widget.hide_transitives_check_box.setEnabled(False)
self._update_graph(dotcode)
self._redraw_graph_scene()
def browseForLocation(self):
location = QFileDialog.getOpenFileName(filter="*.bag;;*", directory=os.path.dirname(self.demoLocation.text()))[0]
if len(location) == 0:
return
self.demoLocation.setText(location)
self.loadLocation()
def _handle_record_clicked(self):
if self._recording:
self._timeline.toggle_recording()
return
# TODO verify master is still running
filename = QFileDialog.getSaveFileName(
self, self.tr('Select prefix for new Bag File'), '.',
self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
prefix = filename[0].strip()
# Get filename to record to
record_filename = time.strftime('%Y-%m-%d-%H-%M-%S.bag',
time.localtime(time.time()))
if prefix.endswith('.bag'):
prefix = prefix[:-len('.bag')]
if prefix:
record_filename = '%s_%s' % (prefix, record_filename)
rospy.loginfo('Recording to %s.' % record_filename)
#TODO Implement recording of topic subsets, regex limiting and by number of messages per topic
self.load_button.setEnabled(False)
self._recording = True
self._timeline.record_bag(record_filename)
def get_profile_file(self):
# save the profile
(path, _) = QFileDialog.getSaveFileName(
self, "New profile file",
nm.settings().current_dialog_path,
"node manager profile files (*.nmprofile);;All files (*)"
) # _:=filter
if path:
if not path.endswith('.nmprofile'):
path = "%s.nmprofile" % path
nm.settings().current_dialog_path = os.path.dirname(path)
try:
(pkg, _) = package_name(os.path.dirname(path)) # _:=pkg_path
if pkg is None:
ret = WarningMessageBox(
QMessageBox.Warning,
"New File Error",
'The new file is not in a ROS package',
buttons=QMessageBox.Ok | QMessageBox.Cancel).exec_()
if ret == QMessageBox.Cancel:
return None
return path
except EnvironmentError as e:
WarningMessageBox(QMessageBox.Warning, "New File Error",
'Error while create a new file',
str(e)).exec_()
return None
def _on_import_perspective(self):
file_name, _ = QFileDialog.getOpenFileName(
self._menu_manager.menu, self.tr('Import perspective from file'),
None, self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
perspective_name = os.path.basename(file_name)
suffix = '.perspective'
if perspective_name.endswith(suffix):
perspective_name = perspective_name[:-len(suffix)]
if perspective_name in self.perspectives:
perspective_name = self._choose_new_perspective_name(False)
if perspective_name is None:
return
self._create_perspective(perspective_name, clone_perspective=False)
# read perspective from file
file_handle = open(file_name, 'r')
#data = eval(file_handle.read())
data = json.loads(file_handle.read())
self._convert_values(data, self._import_value)
new_settings = self._get_perspective_settings(perspective_name)
self._set_dict_on_settings(data, new_settings)
self.switch_perspective(perspective_name,
settings_changed=True,
save_before=True)
def get_profile_file(self):
'''
Opens file manager dialog to save to select a new file for node manager profile.
:return: path to profile file
:rtype: str
'''
# save the profile
(path, _) = QFileDialog.getSaveFileName(
self, "New profile file",
nm.settings().current_dialog_path,
"node manager profile files (*.nmprofile);;All files (*)"
) # _:=filter
if path:
if not path.endswith('.nmprofile'):
path = "%s.nmprofile" % path
nm.settings().current_dialog_path = os.path.dirname(path)
try:
# we need a grpc url for local node manager daemon
nmd_url = nmdurl.nmduri()
(pkg, _) = package_name(
nmdurl.join(nmd_url, os.path.dirname(path))) # _:=pkg_path
if pkg is None:
ret = MessageBox.warning(
self,
"New File Error",
'The new file is not in a ROS package',
buttons=MessageBox.Ok | MessageBox.Cancel)
if ret == MessageBox.Cancel:
return None
return path
except EnvironmentError as e:
MessageBox.warning(self, "New File Error",
'Error while create a new file', utf8(e))
return None
def browseForFolder(self):
location = QFileDialog.getExistingDirectory(directory=os.path.dirname(self.demoLocation.text()))
if len(location) == 0:
return
self.demoLocation.setText(location)
self.loadLocation()
def _handle_save_clicked(self, checked):
filename = QFileDialog.getSaveFileName(self, 'Save to File', '.', self.tr('rqt_console msg file {.csv} (*.csv)'))
if filename[0] != '':
filename = filename[0]
if filename[-4:] != '.csv':
filename += '.csv'
try:
handle = open(filename, 'w')
except IOError as e:
qWarning(str(e))
return
try:
handle.write(';'.join(MessageDataModel.columns) + '\n')
for index in range(self._proxy_model.rowCount()):
row = self._proxy_model.mapToSource(self._proxy_model.index(index, 0)).row()
msg = self._model._messages[row]
data = {}
data['message'] = msg.message.replace('"', '\\"')
data['severity'] = str(msg.severity)
data['node'] = msg.node
data['stamp'] = str(msg.stamp[0]) + '.' + str(msg.stamp[1]).zfill(9)
data['topics'] = ','.join(msg.topics)
data['location'] = msg.location
line = []
for column in MessageDataModel.columns:
line.append('"%s"' % data[column])
handle.write(';'.join(line) + '\n')
except Exception as e:
qWarning('File save failed: %s' % str(e))
return False
finally:
handle.close()
return True
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.topic_filter_line_edit.setEnabled(False)
self._widget.namespace_cluster_check_box.setEnabled(False)
self._widget.actionlib_check_box.setEnabled(False)
self._widget.dead_sinks_check_box.setEnabled(False)
self._widget.leaf_topics_check_box.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def save_trajectory_callback(self):
self.blockSignals(True)
print "Save gains"
# Save data to file that we can read in
# TODO - invalid file names
fileName = QFileDialog.getSaveFileName()
#if fileName[0] checks to ensure that the file dialog has not been canceled
if fileName[0]:
if self.calculate_trajectory():
print self.robot_command;
newFileptr = open(fileName[0], 'w')
# Suggested format for files to make it easy to combine different outputs
newFileptr.write('# Trajectory \n')
newFileptr.write(self.robot_command)
newFileptr.write('\n')
newFileptr.close()
else:
print "Trajectory calculation failure - do not save!"
else:
print "Save cancelled."
newFilePtr.close()
self.blockSignals(False)
def load_directory(self):
directory = QFileDialog.getExistingDirectory(self, self.tr("Open Directory"), "../")
self.filenames.extend(os.listdir(directory))
temp = [directory + '/' + filepath for filepath in os.listdir(directory)]
self.filelist.extend(temp)
self.fileLabel.setText('Files: ' + str(self.filenames))
self.fileLabel.setWordWrap(True)
def newLocation(self):
location = QFileDialog.getSaveFileName(filter="*.bag;;*", directory=os.path.dirname(self.demoLocation.text()))[0]
if len(location) == 0:
return
self.demoLocation.setText(location)
self.playDemoButton.setEnabled(False)
self.zeroMarker.clear()
self.zeroMarker.setEnabled(False)
self.startTrajectoryButton.setEnabled(True)
self.startButton.setEnabled(True)
self.addButton.setEnabled(True)
self.openHandButton.setEnabled(True)
self.closeHandButton.setEnabled(True)
self.endButton.setEnabled(True)
try:
os.remove(location)
self._showStatus("Deleted existing save file.")
except OSError:
pass
if not self.kinesthetic_interaction:
self._showWarning("Record keyframe demo server unreachable", "Record keyframe demo server isn't loaded. Run `roslaunch hlpr_record_demonstration start_record_services.launch` and restart the GUI.")
return
saveFile = self.kinesthetic_interaction.init_demo(location=location, timestamp=self.shouldTimestamp.isChecked())
self.demoLocation.setText(saveFile)
self.demoName.setText(os.path.basename(saveFile))
self.keyframeCount.setText("")
self.playbackTree.clear()
def loadDatabase(self, unused=None):
# Load database
filename = QFileDialog.getOpenFileName(
self.widget,
caption="Load track database",
filter="*.tracks",
directory=self.defaultDatabaseDirectory)[0]
self.loadGivenDatabase(filename)
def browseForFolder(self):
location = QFileDialog.getExistingDirectory(
directory=os.path.dirname(self.demoLocation.text()))
if len(location) == 0:
return
self.demoLocation.setText(location)
self.loadLocation()
def _handle_save_clicked(self):
filename = QFileDialog.getSaveFileName(
self, self.tr('Save to file...'), '.',
self.tr('YAML files {.yaml} (*.yaml)'))
if filename[0] != '':
with open(filename[0], 'w') as outfile:
outfile.write(
yaml.dump(self.places_dict, default_flow_style=False))
def on_open_xml_clicked(self):
(fileName, _) = QFileDialog.getOpenFileName(
self, "Load launch file", self.__current_path,
"Config files (*.launch);;All files (*)")
if fileName:
self.__current_path = os.path.dirname(fileName)
nm.settings().launch_history_add(fileName)
self.load_signal.emit(fileName, [], None)
def on_open_xml_clicked(self):
(fileName, _) = QFileDialog.getOpenFileName(self,
"Load launch file",
self.__current_path,
"Config files (*.launch);;All files (*)")
if fileName:
self.__current_path = os.path.dirname(fileName)
nm.settings().launch_history_add(fileName)
self.load_signal.emit(fileName, [], None)
def load_file(self):
filename = QFileDialog.getOpenFileName(self, self.tr("Open File"), "../", self.tr("Yaml (*.yaml)"))
if os.path.basename(filename[0].encode("ascii")) == "":
return
self.filelist.append(filename[0])
self.filenames.append(os.path.basename(filename[0].encode("ascii")))
self.fileLabel.setText('Files: ' + str(self.filenames))
self.fileLabel.setWordWrap(True)
def browseForLocation(self):
location = QFileDialog.getOpenFileName(
filter="*.bag;;*",
directory=os.path.dirname(self.demoLocation.text()))[0]
if len(location) == 0:
return
self.demoLocation.setText(location)
self.loadLocation()
def _on_export_perspective(self):
file_name, _ = QFileDialog.getSaveFileName(self._menu_manager.menu, self.tr('Export perspective to file'), self._current_perspective + '.perspective', self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
# trigger save of perspective before export
self._callback = self._on_export_perspective_continued
self._callback_args = [file_name]
self.save_settings_signal.emit(self._global_settings, self._perspective_settings)
def on_open_xml_clicked(self):
(fileName, _) = QFileDialog.getOpenFileName(self,
"Load launch file",
self.__current_path,
"Config files (*.launch);;All files (*)")
if fileName:
self.__current_path = os.path.dirname(fileName)
self.launchlist_model.add2LoadHistory(fileName)
self.load_signal.emit(fileName)
def save_FileDialog(self):
filename = QFileDialog.getSaveFileName(self.parent, 'Save file',
os.path.expanduser('~'))
self.parent.filename = filename[0]
if self.parent.jpeg_data is None:
print 'no image data'
else:
f = open(self.parent.filename.encode(), 'wb')
f.write(self.parent.jpeg_data)
f.close()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rosgraph.dot', self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
handle = QFile(file_name)
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
return
handle.write(self._current_dotcode)
handle.close()
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rospackgraph.dot', self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
handle = QFile(file_name)
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
return
handle.write(self._current_dotcode)
handle.close()
def saveDatabaseAs(self, unused=None):
self.databaseFilename = QFileDialog.getSaveFileName(
self.widget,
caption="Save track database",
filter="*.tracks",
directory=self.defaultDatabaseDirectory)[0]
if self.databaseFilename:
if not self.databaseFilename.endswith(".tracks"):
self.databaseFilename += ".tracks"
self._onDatabaseFilenameChanged()
self.saveDatabase()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rospackgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def load_directory(self):
directory = QFileDialog.getExistingDirectory(self,
self.tr("Open Directory"),
"../")
self.filenames.extend(os.listdir(directory))
temp = [
directory + '/' + filepath for filepath in os.listdir(directory)
]
self.filelist.extend(temp)
self.fileLabel.setText('Files: ' + str(self.filenames))
self.fileLabel.setWordWrap(True)
def _import(self):
file_path, _ = QFileDialog.getOpenFileName(self, self.tr('Import custom graph'),
None, self.tr('DOT graph (*.dot)'))
if file_path is None or file_path == '':
return
custom_graph = Graph(self._dot_processor, file_path, file_path)
self.decision_graphs[custom_graph.source] = custom_graph
self._current_graph = custom_graph
self.decision_graphs_combo_box.addItem(custom_graph.source)
self.decision_graphs_combo_box.setCurrentIndex(self.decision_graphs_combo_box.findText(custom_graph.source))
def _on_export_perspective(self):
file_name, _ = QFileDialog.getSaveFileName(
self._menu_manager.menu, self.tr('Export perspective to file'),
self._current_perspective + '.perspective',
self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
# trigger save of perspective before export
self._callback = self._on_export_perspective_continued
self._callback_args = [file_name]
self.save_settings_signal.emit(self._global_settings,
self._perspective_settings)
def _import(self):
file_path, _ = QFileDialog.getOpenFileName(self, self.tr('Import custom graph'),
None, self.tr('DOT graph (*.dot)'))
if file_path is None or file_path == '':
return
custom_graph = Graph(self._dot_processor, file_path, file_path)
self.decision_graphs[custom_graph.source] = custom_graph
self._current_graph = custom_graph
self.decision_graphs_combo_box.addItem(custom_graph.source)
self.decision_graphs_combo_box.setCurrentIndex(self.decision_graphs_combo_box.findText(custom_graph.source))
def _handle_load_clicked(self, checked):
filename = QFileDialog.getOpenFileName(self, self.tr('Load from File'), '.', self.tr('rqt_console message file {.csv} (*.csv)'))
if filename[0] != '':
try:
handle = open(filename[0])
except IOError as e:
qWarning(str(e))
return
self.pause_button.setChecked(True)
self._handle_pause_clicked(True)
self._datamodel.load_from_file(handle)
handle.close()
self.update_status()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rospackgraph.svg', self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _handle_save_clicked(self, checked):
filename = QFileDialog.getSaveFileName(self, 'Save to File', '.', self.tr('rqt_console msg file {.csv} (*.csv)'))
if filename[0] != '':
filename = filename[0]
if filename[-4:] != '.csv':
filename += '.csv'
try:
handle = open(filename, 'w')
except IOError as e:
qWarning(str(e))
return
self._proxymodel.save_to_file(handle)
handle.close()
self.update_status()
def _export(self):
file_name, _ = QFileDialog.getSaveFileName(
self, self.tr("Save as image"), "graph.png", self.tr("Image (*.bmp *.jpg *.png *.tiff)")
)
if file_name is None or file_name == "":
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def _on_path_select_clicked(self):
# Workaround for QFileDialog.getExistingDirectory because it do not
# select the configuration folder in the dialog
self.dialog = QFileDialog(self, caption='Select a new settings folder')
self.dialog.setOption(QFileDialog.HideNameFilterDetails, True)
self.dialog.setFileMode(QFileDialog.Directory)
self.dialog.setDirectory(self.path)
if self.dialog.exec_():
fileNames = self.dialog.selectedFiles()
path = fileNames[0]
if os.path.isfile(path):
path = os.path.basename(path)
self._lineedit.setText(path)
self.path = dir
self.editing_finished_signal.emit()
def _on_import_perspective(self):
file_name, _ = QFileDialog.getOpenFileName(self._menu_manager.menu, self.tr('Import perspective from file'), None, self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
perspective_name = os.path.basename(file_name)
suffix = '.perspective'
if perspective_name.endswith(suffix):
perspective_name = perspective_name[:-len(suffix)]
if perspective_name in self.perspectives:
perspective_name = self._choose_new_perspective_name(False)
if perspective_name is None:
return
self.import_perspective_from_file(file_name, perspective_name)
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open tree from DOT file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fhandle = open(file_name, 'rb')
dotcode = fhandle.read()
fhandle.close()
except IOError:
return
self._update_graph_view(dotcode)
class PathEditor(QWidget):
'''
This is a path editor used as ItemDeligate in settings view. This editor
provides an additional button for directory selection dialog.
'''
editing_finished_signal = Signal()
def __init__(self, path, parent=None):
QWidget.__init__(self, parent)
self.path = path
self._layout = QHBoxLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._button = QPushButton('...')
self._button.setMaximumSize(QSize(24, 20))
self._button.clicked.connect(self._on_path_select_clicked)
self._layout.addWidget(self._button)
self._lineedit = QLineEdit(path)
self._lineedit.returnPressed.connect(self._on_editing_finished)
self._layout.addWidget(self._lineedit)
self.setLayout(self._layout)
self.setFocusProxy(self._button)
self.setAutoFillBackground(True)
def _on_path_select_clicked(self):
# Workaround for QFileDialog.getExistingDirectory because it do not
# select the configuration folder in the dialog
self.dialog = QFileDialog(self, caption='Select a new settings folder')
self.dialog.setOption(QFileDialog.HideNameFilterDetails, True)
self.dialog.setFileMode(QFileDialog.Directory)
self.dialog.setDirectory(self.path)
if self.dialog.exec_():
fileNames = self.dialog.selectedFiles()
path = fileNames[0]
if os.path.isfile(path):
path = os.path.basename(path)
self._lineedit.setText(path)
self.path = dir
self.editing_finished_signal.emit()
def _on_editing_finished(self):
if self._lineedit.text():
self.path = self._lineedit.text()
self.editing_finished_signal.emit()
class PathEditor(QWidget):
'''
This is a path editor used as ItemDeligate in settings view. This editor
provides an additional button for directory selection dialog.
'''
editing_finished_signal = Signal()
def __init__(self, path, parent=None):
QWidget.__init__(self, parent)
self.path = path
self._layout = QHBoxLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._button = QPushButton('...')
self._button.setMaximumSize(QSize(24, 20))
self._button.clicked.connect(self._on_path_select_clicked)
self._layout.addWidget(self._button)
self._lineedit = QLineEdit(path)
self._lineedit.returnPressed.connect(self._on_editing_finished)
self._layout.addWidget(self._lineedit)
self.setLayout(self._layout)
self.setFocusProxy(self._button)
self.setAutoFillBackground(True)
def _on_path_select_clicked(self):
# Workaround for QFileDialog.getExistingDirectory because it do not
# select the configuration folder in the dialog
self.dialog = QFileDialog(self, caption='Select a new settings folder')
self.dialog.setOption(QFileDialog.HideNameFilterDetails, True)
self.dialog.setFileMode(QFileDialog.Directory)
self.dialog.setDirectory(self.path)
if self.dialog.exec_():
fileNames = self.dialog.selectedFiles()
path = fileNames[0]
if os.path.isfile(path):
path = os.path.basename(path)
self._lineedit.setText(path)
self.path = dir
self.editing_finished_signal.emit()
def _on_editing_finished(self):
if self._lineedit.text():
self.path = self._lineedit.text()
self.editing_finished_signal.emit()
def _on_import_perspective(self):
file_name, _ = QFileDialog.getOpenFileName(
self._menu_manager.menu, self.tr('Import perspective from file'),
None, self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
perspective_name = os.path.basename(file_name)
suffix = '.perspective'
if perspective_name.endswith(suffix):
perspective_name = perspective_name[:-len(suffix)]
if perspective_name in self.perspectives:
perspective_name = self._choose_new_perspective_name(False)
if perspective_name is None:
return
self.import_perspective_from_file(file_name, perspective_name)
def _load_bag(self, file_name=None):
"""Load a bag from file. If no file name is given, a dialogue will pop up and
the user will be asked to select a file. If the bag file selected
doesn't have any valid topic, nothing will happen. If there are valid
topics, we load the bag and add a timeline for managing it.
"""
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open trees from bag file'), None,
self.tr('ROS bag (*.bag)'))
if file_name is None or file_name == "":
return
rospy.loginfo("Reading bag from {0}".format(file_name))
bag = rosbag.Bag(file_name, 'r')
# ugh...
topics = list(bag.get_type_and_topic_info()[1].keys())
types = []
for i in range(0, len(bag.get_type_and_topic_info()[1].values())):
types.append(list(bag.get_type_and_topic_info()[1].values())[i][0])
tree_topics = [] # only look at the first matching topic
for ind, tp in enumerate(types):
if tp == 'py_trees_msgs/BehaviourTree':
tree_topics.append(topics[ind])
if len(tree_topics) == 0:
rospy.logerr('Requested bag did not contain any valid topics.')
return
self.message_list = []
self._viewing_bag = True
rospy.loginfo('Reading behaviour trees from topic {0}'.format(
tree_topics[0]))
for unused_topic, msg, unused_t in bag.read_messages(
topics=[tree_topics[0]]):
self.message_list.append(msg)
self.current_topic = tree_topics[0]
self._set_timeline_buttons(first_snapshot=True,
previous_snapshot=True,
next_snapshot=False,
last_snapshot=False)
self._set_bag_timeline(bag)
self._refresh_view.emit()
def accept(self):
if self.textedit.isVisible():
try:
tmp_file = os.path.join(nm.screen().LOG_PATH,
'tmp_sync_interface.sync')
with open(tmp_file, 'w+') as f:
f.write(self.textedit.toPlainText())
from master_discovery_fkie.common import read_interface
read_interface(tmp_file)
if not self._new_iface and self.interface_field.currentText(
) in self._interfaces_files:
fileName = self._interfaces_files[
self.interface_field.currentText()]
else:
fileName, _ = QFileDialog.getSaveFileName(
self, 'Save sync interface', '/home',
"Sync Files (*.sync)")
if fileName:
with open(fileName, 'w+') as f:
self._interface_filename = fileName
f.write(self.textedit.toPlainText())
if self._new_iface:
self.interface_field.clear()
self._interfaces_files = None
self._on_select_interface_clicked()
# QDialog.accept(self)
# self.resetView()
except Exception as e:
WarningMessageBox(QMessageBox.Warning, "Create sync interface",
"Error while create interface",
str(e)).exec_()
elif self.interface_field.isVisible():
interface = self.interface_field.currentText()
if self._interfaces_files and interface in self._interfaces_files:
self._interface_filename = self._interfaces_files[interface]
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=',
interface]))
QDialog.accept(self)
self.resetView()
else:
QDialog.accept(self)
self.resetView()
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
bag = rosbag.Bag(filename[0])
self.play_button.setEnabled(True)
self.thumbs_button.setEnabled(True)
self.zoom_in_button.setEnabled(True)
self.zoom_out_button.setEnabled(True)
self.zoom_all_button.setEnabled(True)
self.faster_button.setEnabled(True)
self.slower_button.setEnabled(True)
self.begin_button.setEnabled(True)
self.end_button.setEnabled(True)
self.save_button.setEnabled(True)
self.record_button.setEnabled(False)
self._timeline.add_bag(bag)
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget,
self.tr('Open graph from file'),
None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fhandle = open(file_name, 'rb')
dotcode = fhandle.read()
fhandle.close()
except IOError:
return
self._update_graph_view(dotcode)
def _on_record_settings_selected(self, all_topics, selected_topics):
# TODO verify master is still running
filename = QFileDialog.getSaveFileName(self, self.tr('Select prefix for new Bag File'), '.', self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
prefix = filename[0].strip()
# Get filename to record to
record_filename = time.strftime('%Y-%m-%d-%H-%M-%S.bag', time.localtime(time.time()))
if prefix.endswith('.bag'):
prefix = prefix[:-len('.bag')]
if prefix:
record_filename = '%s_%s' % (prefix, record_filename)
rospy.loginfo('Recording to %s.' % record_filename)
self.load_button.setEnabled(False)
self._recording = True
self._timeline.record_bag(record_filename, all_topics, selected_topics)
def _on_record_settings_selected(self, all_topics, selected_topics):
# TODO verify master is still running
filename = QFileDialog.getSaveFileName(
self, self.tr("Select prefix for new Bag File"), ".", self.tr("Bag files {.bag} (*.bag)")
)
if filename[0] != "":
prefix = filename[0].strip()
# Get filename to record to
record_filename = time.strftime("%Y-%m-%d-%H-%M-%S.bag", time.localtime(time.time()))
if prefix.endswith(".bag"):
prefix = prefix[: -len(".bag")]
if prefix:
record_filename = "%s_%s" % (prefix, record_filename)
rospy.loginfo("Recording to %s." % record_filename)
self.load_button.setEnabled(False)
self._recording = True
self._timeline.record_bag(record_filename, all_topics, selected_topics)
def _handle_record_clicked(self):
if self._recording:
self._timeline.toggle_recording()
return
# TODO verify master is still running
filename = QFileDialog.getSaveFileName(self, self.tr('Select prefix for new Bag File'), '.', self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
prefix = filename[0].strip()
# Get filename to record to
record_filename = time.strftime('%Y-%m-%d-%H-%M-%S.bag', time.localtime(time.time()))
if prefix.endswith('.bag'):
prefix = prefix[:-len('.bag')]
if prefix:
record_filename = '%s_%s' % (prefix, record_filename)
rospy.loginfo('Recording to %s.' % record_filename)
#TODO Implement recording of topic subsets, regex limiting and by number of messages per topic
self.load_button.setEnabled(False)
self._recording = True
self._timeline.record_bag(record_filename)
def on_new_xml_clicked(self):
'''
Creates a new launch file.
'''
# get new file from open dialog, use last path if one exists
open_path = self.__current_path
if self.launchlist_model.currentPath is not None:
open_path = self.launchlist_model.currentPath
(fileName, _) = QFileDialog.getSaveFileName(self,
"New launch file",
open_path,
"Config files (*.launch *.yaml);;All files (*)")
if fileName:
try:
(pkg, _) = package_name(os.path.dirname(fileName)) # _:=pkg_path
if pkg is None:
WarningMessageBox(QMessageBox.Warning, "New File Error",
'The new file is not in a ROS package').exec_()
return
with open(fileName, 'w+') as f:
f.write("<launch>\n"
" <arg name=\"robot_ns\" default=\"my_robot\"/>\n"
" <group ns=\"$(arg robot_ns)\">\n"
" <param name=\"tf_prefix\" value=\"$(arg robot_ns)\"/>\n"
"\n"
" <node pkg=\"my_pkg\" type=\"my_node\" name=\"my_name\" >\n"
" <param name=\"capability_group\" value=\"MY_GROUP\"/>\n"
" </node>\n"
" </group>\n"
"</launch>\n"
)
self.__current_path = os.path.dirname(fileName)
self.launchlist_model.setPath(self.__current_path)
self.edit_signal.emit([fileName])
except EnvironmentError as e:
WarningMessageBox(QMessageBox.Warning, "New File Error",
'Error while create a new file',
'%s' % e).exec_()
def get_profile_file(self):
# save the profile
(path, _) = QFileDialog.getSaveFileName(self,
"New profile file",
nm.settings().current_dialog_path,
"node manager profile files (*.nmprofile);;All files (*)") # _:=filter
if path:
if not path.endswith('.nmprofile'):
path = "%s.nmprofile" % path
nm.settings().current_dialog_path = os.path.dirname(path)
try:
(pkg, _) = package_name(os.path.dirname(path)) # _:=pkg_path
if pkg is None:
ret = MessageBox.warning(self, "New File Error",
'The new file is not in a ROS package', buttons=MessageBox.Ok | MessageBox.Cancel)
if ret == MessageBox.Cancel:
return None
return path
except EnvironmentError as e:
MessageBox.warning(self, "New File Error",
'Error while create a new file',
utf8(e))
return None
def accept(self):
if self.textedit.isVisible():
try:
tmp_file = os.path.join(nm.screen().LOG_PATH, 'tmp_sync_interface.sync')
with open(tmp_file, 'w+') as f:
f.write(self.textedit.toPlainText())
from master_discovery_fkie.common import read_interface
read_interface(tmp_file)
if not self._new_iface and self.interface_field.currentText() in self._interfaces_files:
fileName = self._interfaces_files[self.interface_field.currentText()]
else:
fileName, _ = QFileDialog.getSaveFileName(self, 'Save sync interface', '/home', "Sync Files (*.sync)")
if fileName:
with open(fileName, 'w+') as f:
self._interface_filename = fileName
f.write(self.textedit.toPlainText())
if self._new_iface:
self.interface_field.clear()
self._interfaces_files = None
self._on_select_interface_clicked()
# QDialog.accept(self)
# self.resetView()
except Exception as e:
MessageBox.warning(self, "Create sync interface",
"Error while create interface",
utf8(e))
elif self.interface_field.isVisible():
interface = self.interface_field.currentText()
if self._interfaces_files and interface in self._interfaces_files:
self._interface_filename = self._interfaces_files[interface]
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', interface]))
QDialog.accept(self)
self.resetView()
else:
QDialog.accept(self)
self.resetView()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.topic_filter_line_edit.setEnabled(False)
self._widget.namespace_cluster_check_box.setEnabled(False)
self._widget.actionlib_check_box.setEnabled(False)
self._widget.dead_sinks_check_box.setEnabled(False)
self._widget.leaf_topics_check_box.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def _handle_save_clicked(self):
filename = QFileDialog.getSaveFileName(
self, self.tr("Save selected region to file..."), ".", self.tr("Bag files {.bag} (*.bag)")
)
if filename[0] != "":
self._timeline.copy_region_to_bag(filename[0])
def _handle_save_clicked(self):
filename = QFileDialog.getSaveFileName(self, self.tr('Save selected region to file...'), '.', self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
self._timeline.copy_region_to_bag(filename[0])
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(self, self.tr('Load from File'), '.', self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
self.load_bag(filename[0])