class Plugin (QtGui.QDockWidget):
def __init__ (self, mainWindow, flags = None):
if flags is None:
super(Plugin, self).__init__ ("QCP example plugin", mainWindow)
else:
super(Plugin, self).__init__ ("QCP example plugin", mainWindow, flags)
self.setObjectName("QCP example plugin")
self.main = mainWindow
self.qcp = QCustomPlot ()
self.qcp.setInteraction (QCP.iRangeDrag, True)
self.qcp.setInteraction (QCP.iRangeZoom, True)
self.setWidget (self.qcp)
self.graph = self.qcp.addGraph ()
self.graph.setData ([0,1,2,3], [0.1,0.3,0.2,0])
self.qcp.replot()
self.tracer = QCPItemTracer (self.qcp)
self.tracer.graph = self.graph
self.tracer.graphKey = 0
self.tracer.style = 3
self.text = QCPItemRichText (self.qcp)
self.text.text = u"q<sub>0,0</sub>"
self.text.position("position").setParentAnchor(self.tracer.anchor("position"))
self.text.position("position").setCoords (0, -20)
self.graph.setData ([0,1,2,3], [1,0.3,0.2,0])
def __init__ (self, mainWindow, flags = None):
if flags is None:
super(Plugin, self).__init__ ("QCP example plugin", mainWindow)
else:
super(Plugin, self).__init__ ("QCP example plugin", mainWindow, flags)
self.setObjectName("QCP example plugin")
self.main = mainWindow
self.qcp = QCustomPlot ()
self.qcp.setInteraction (QCP.iRangeDrag, True)
self.qcp.setInteraction (QCP.iRangeZoom, True)
self.setWidget (self.qcp)
self.graph = self.qcp.addGraph ()
self.graph.setData ([0,1,2,3], [0.1,0.3,0.2,0])
self.qcp.replot()
self.tracer = QCPItemTracer (self.qcp)
self.tracer.graph = self.graph
self.tracer.graphKey = 0
self.tracer.style = 3
self.text = QCPItemRichText (self.qcp)
self.text.text = u"q<sub>0,0</sub>"
self.text.position("position").setParentAnchor(self.tracer.anchor("position"))
self.text.position("position").setCoords (0, -20)
self.graph.setData ([0,1,2,3], [1,0.3,0.2,0])
def __init__(self, plugin):
super(Plot, self).__init__(self)
self.plugin = plugin
self.qcp = QCustomPlot()
layout = QtGui.QVBoxLayout(self)
layout.addWidget(self.qcp)
self.qcp.setInteraction(1, True) # iRangeDrag
self.qcp.setInteraction(2, True) # iRangeZoom
self.qcp.setAutoAddPlottableToLegend(True)
self.qcp.legend().setVisible(True)
self.timer = Qt.QTimer(self)
self.timer.setSingleShot(False)
self.timer.setInterval(100)
self.timer.connect(Qt.SIGNAL("timeout()"), self._step)
def __init__(self, plugin):
super(QCPWidget, self).__init__(plugin)
self.plugin = plugin
layout = QtGui.QVBoxLayout(self)
from PythonQt.QCustomPlot import QCustomPlot, QCP
self.qcpWidget = QCustomPlot()
self.qcpWidget.autoAddPlottableToLegend = True
self.qcpWidget.setInteraction(QCP.iRangeDrag, True) # iRangeDrap
self.qcpWidget.setInteraction(QCP.iRangeZoom, True) # iRangeZoom
self.qcpWidget.setInteraction(QCP.iSelectAxes, True) # iSelectAxes
self.qcpWidget.legend().visible = True
layout.addWidget(self.qcpWidget, 1)
self.qcpWidget.connect(Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"),
self._mouseDoubleClick)
self.qcpWidget.xAxis().connect(
Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"),
self._axesSelectionChanged)
self.qcpWidget.yAxis().connect(
Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"),
self._axesSelectionChanged)
buttonbar = QtGui.QWidget()
bbLayout = QtGui.QHBoxLayout(buttonbar)
button = QtGui.QPushButton("Replot", buttonbar)
button.connect(QtCore.SIGNAL("clicked()"), self.refreshPlot)
bbLayout.addWidget(button)
button = QtGui.QPushButton("Remove", buttonbar)
button.connect(QtCore.SIGNAL("clicked()"), self.removePlot)
bbLayout.addWidget(button)
button = QtGui.QPushButton("Legend", buttonbar)
button.checkable = True
button.checked = True
button.connect(QtCore.SIGNAL("toggled(bool)"), self.toggleLegend)
bbLayout.addWidget(button)
button = QtGui.QPushButton(QtGui.QIcon.fromTheme("zoom-fit-best"), "",
buttonbar)
button.setToolTip("Zoom fit best")
button.connect(QtCore.SIGNAL("clicked()"), self.qcpWidget.rescaleAxes)
bbLayout.addWidget(button)
self.xselect = QtGui.QComboBox(self)
bbLayout.addWidget(self.xselect, 1)
layout.addWidget(buttonbar)
self.data = DataQCP(plugin, self.qcpWidget)
def makeRightPane (self, layout):
from PythonQt.QCustomPlot import QCustomPlot, QCP
self.qcpWidget = QCustomPlot()
self.qcpWidget.autoAddPlottableToLegend = True
self.qcpWidget.setInteraction (QCP.iRangeDrag , True) # iRangeDrap
self.qcpWidget.setInteraction (QCP.iRangeZoom , True) # iRangeZoom
self.qcpWidget.setInteraction (QCP.iSelectAxes, True) # iSelectAxes
self.qcpWidget.legend().visible = True
layout.addWidget (self.qcpWidget)
self.qcpWidget.connect (Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"), self._mouseDoubleClick)
self.qcpWidget.xAxis().connect (Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"), self._axesSelectionChanged)
self.qcpWidget.yAxis().connect (Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"), self._axesSelectionChanged)
self.xselect = QtGui.QComboBox(self)
layout.addWidget (self.xselect)
# time index is 0 and is value is -1
self.xselect.addItem ("time", -1)
def makeRightPane (self, layout):
from PythonQt.QCustomPlot import QCustomPlot, QCP
self.qcpWidget = QCustomPlot()
self.qcpWidget.autoAddPlottableToLegend = True
self.qcpWidget.setInteraction (QCP.iRangeDrag , True) # iRangeDrap
self.qcpWidget.setInteraction (QCP.iRangeZoom , True) # iRangeZoom
self.qcpWidget.setInteraction (QCP.iSelectAxes, True) # iSelectAxes
self.qcpWidget.legend().visible = True
layout.addWidget (self.qcpWidget)
self.qcpWidget.connect (Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"), self._mouseDoubleClick)
self.qcpWidget.xAxis().connect (Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"), self._axesSelectionChanged)
self.qcpWidget.yAxis().connect (Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"), self._axesSelectionChanged)
self.xselect = QtGui.QComboBox(self)
layout.addWidget (self.xselect)
# time index is 0 and is value is -1
self.xselect.addItem ("time", -1)
class Plot(QtGui.QWidget):
def __init__(self, plugin):
super(Plot, self).__init__(self)
self.plugin = plugin
self.qcp = QCustomPlot()
layout = QtGui.QVBoxLayout(self)
layout.addWidget(self.qcp)
self.qcp.setInteraction(1, True) # iRangeDrag
self.qcp.setInteraction(2, True) # iRangeZoom
self.qcp.setAutoAddPlottableToLegend(True)
self.qcp.legend().setVisible(True)
self.timer = Qt.QTimer(self)
self.timer.setSingleShot(False)
self.timer.setInterval(100)
self.timer.connect(Qt.SIGNAL("timeout()"), self._step)
def initCurves(self, signals):
self.qcp.clearGraphs()
self.signals = signals
self.times = []
for i, s in enumerate(signals):
graph = self.qcp.addGraph()
graph.setName(s[0] + '.' + s[1])
graph.setPen(pens[i])
if len(signals) > 0:
self.timer.start()
def stopAnimation(self):
print "Stop animation"
self.timer.stop()
def _step(self):
# print "step", frame
nys = self.plugin._fetchNewSignalValues()
if nys is not None and len(nys) == len(self.signals):
if len(nys) > 0:
l = len(nys[0])
# l = len(nys[0][1])
if l > 0:
# ntimes = [ ny[0] for ny in nys
# print nys
# start = (self.times[-1] if len(self.times) > 0 else 0) + 1
# ntimes = range(start,start+l)
# self.times.extend(ntimes)
for i, ny in enumerate(nys):
nnt = [n[0] for n in ny]
nny = [n[1][0] for n in ny]
# print ntimes,nny
self.qcp.addData(i, nnt, nny)
# self.qcp.xAxis_setRange(0, self.times[-1])
self.zoomFitBest()
def zoomFitBest(self):
self.qcp.rescaleAxes()
self.qcp.replot()
class Plugin (QtGui.QDockWidget):
def __init__ (self, mainWindow, flags = None):
if flags is None:
super(Plugin, self).__init__ ("Path graph plugin", mainWindow)
else:
super(Plugin, self).__init__ ("Path graph plugin", mainWindow, flags)
self.setObjectName("Path graph plugin")
self.main = mainWindow
self.hppPlugin = self.main.getFromSlot("getHppIIOPurl")
self.pathPlayer = self.main.getFromSlot("getCurrentPath")
self.jointgroupcreator = self.main.getFromSlot("requestCreateJointGroup")
self.comgroupcreator = self.main.getFromSlot("requestCreateComGroup")
self.velocities = Velocities(self)
self.jointActions = dict()
# This avoids having a widget bigger than what it needs. It avoids having
# a big dock widget and a small osg widget when creating the main osg widget.
p = Qt.QSizePolicy.Ignored
self.topWidget = QtGui.QSplitter(Qt.Qt.Horizontal, self)
self.topWidget.setSizePolicy(Qt.QSizePolicy(p,p))
self.setWidget (self.topWidget)
self.leftPane = QtGui.QWidget (self)
l = QtGui.QVBoxLayout ()
self.makeLeftPane (l)
self.leftPane.setLayout (l)
self.topWidget.addWidget (self.leftPane)
self.rightPane = QtGui.QWidget (self)
l = QtGui.QVBoxLayout ()
self.makeRightPane (l)
self.rightPane.setLayout (l)
self.topWidget.addWidget (self.rightPane)
self.data = DataQCP(self)
def refreshPlot (self):
pid = self.pathPlayer.getCurrentPath()
if pid < 0: return
dl = self.pathPlayer.lengthBetweenRefresh()
idxX = self.xselect.currentIndex
x = (self.xselect.itemText(idxX),
int(self.xselect.itemData(idxX)) + 1)
ys = list ()
for elt in self.yselectcb:
cb = elt[0]
if cb.checked:
ys.append ((str(cb.text), elt[1]+1))
self.data.selectData(pid, dl, x, ys)
self.data.acquireData()
def refreshJointList (self):
jointNames = self.client.robot.getJointNames ()
# Left pane
saLayout = QtGui.QVBoxLayout ()
formats = ( "%s (%s)", "%s (%s, %i)")
self.yselectcb = list ()
rank = 0
for n in jointNames:
size = self.client.robot.getJointConfigSize (n)
if size == 1:
cb = QtGui.QCheckBox (formats[0] % (n,"q") )
self.yselectcb.append ((cb, rank))
saLayout.addWidget (cb)
else:
for i in range (size):
cb = QtGui.QCheckBox (formats[1] % (n, "q", i))
self.yselectcb.append ((cb, rank + i))
saLayout.addWidget (cb)
rank = rank + size
for type in ("v", "a"):
saLayout.addSpacing(5)
for n in jointNames:
size = self.client.robot.getJointNumberDof (n)
if size == 1:
cb = QtGui.QCheckBox (formats[0] % (n,type) )
self.yselectcb.append ((cb, rank))
saLayout.addWidget (cb)
else:
for i in range (size):
cb = QtGui.QCheckBox (formats[1] % (n,type,i))
self.yselectcb.append ((cb, rank + i))
saLayout.addWidget (cb)
rank = rank + size
saContent = QtGui.QWidget (self)
saContent.setLayout (saLayout)
self.scrollArea.setWidget (saContent)
# Right pane
self.xselect.clear()
# time index is 0 and is value is -1
self.xselect.addItem ("time", -1)
rank = 0
for n in jointNames:
size = self.client.robot.getJointConfigSize (n)
if size == 1:
self.xselect.addItem (formats[0] % (n,"q"), rank)
else:
for i in range (size):
self.xselect.addItem (formats[1] % (n,"q",i), rank + i)
rank = rank + size
for type in ("v", "a"):
for n in jointNames:
size = self.client.robot.getJointNumberDof (n)
if size == 1:
self.xselect.addItem (formats[0] % (n,type), rank)
else:
for i in range (size):
self.xselect.addItem (formats[1] % (n,type,i), rank + i)
rank = rank + size
def refreshInterface (self):
self.refreshJointList()
def makeLeftPane (self, layout):
layout.addWidget (QtGui.QLabel ("Select Y data"))
refresh = QtGui.QPushButton ("Refresh", self)
refresh.connect (QtCore.SIGNAL("clicked()"), self.refreshPlot)
layout.addWidget (refresh)
self.scrollArea = QtGui.QScrollArea (self)
layout.addWidget (self.scrollArea)
def makeRightPane (self, layout):
from PythonQt.QCustomPlot import QCustomPlot, QCP
self.qcpWidget = QCustomPlot()
self.qcpWidget.autoAddPlottableToLegend = True
self.qcpWidget.setInteraction (QCP.iRangeDrag , True) # iRangeDrap
self.qcpWidget.setInteraction (QCP.iRangeZoom , True) # iRangeZoom
self.qcpWidget.setInteraction (QCP.iSelectAxes, True) # iSelectAxes
self.qcpWidget.legend().visible = True
layout.addWidget (self.qcpWidget)
self.qcpWidget.connect (Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"), self._mouseDoubleClick)
self.qcpWidget.xAxis().connect (Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"), self._axesSelectionChanged)
self.qcpWidget.yAxis().connect (Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"), self._axesSelectionChanged)
self.xselect = QtGui.QComboBox(self)
layout.addWidget (self.xselect)
# time index is 0 and is value is -1
self.xselect.addItem ("time", -1)
def _mouseDoubleClick (self, event):
try:
if self.data.x[1] > 0: return
except:
return
try: # Qt 5
x = event.localPos().x()
except: # Qt 4
x = event.posF().x()
t = self.qcpWidget.xAxis().pixelToCoord (x)
self.pathPlayer.setCurrentTime(t)
def _axesSelectionChanged (self, unused_parts):
xAxis = self.qcpWidget.xAxis()
yAxis = self.qcpWidget.yAxis()
x = (xAxis.selectedParts != 0)
y = (yAxis.selectedParts != 0)
if not x and not y:
self.qcpWidget.axisRect().setRangeZoomAxes(xAxis, yAxis)
elif x:
self.qcpWidget.axisRect().setRangeZoomAxes(xAxis, None)
elif y:
self.qcpWidget.axisRect().setRangeZoomAxes(None, yAxis)
def resetConnection(self):
self.client = Client(url= str(self.hppPlugin.getHppIIOPurl()))
self.gui = GuiClient()
def getJointActions(self, name):
if name not in self.jointActions:
self.jointActions[name] = (JointAction ("Show/Hide joint &velocity", name, self.velocities, self),)
return self.jointActions[name]
class Plot(QtGui.QWidget):
def __init__(self, plugin):
super(Plot, self).__init__(self)
self.plugin = plugin
self.qcp = QCustomPlot()
layout = QtGui.QVBoxLayout(self)
layout.addWidget(self.qcp)
self.qcp.setInteraction(1, True) # iRangeDrag
self.qcp.setInteraction(2, True) # iRangeZoom
self.qcp.setAutoAddPlottableToLegend(True)
self.qcp.legend().setVisible(True)
self.qcp.connect(Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"),
self.doubleClick)
# The timer user refresh the interface
self.timer = Qt.QTimer(self)
self.timer.setSingleShot(False)
self.timer.setInterval(100)
self.timer.connect(Qt.SIGNAL("timeout()"), self._step)
def doubleClick(self, event):
x = self.qcp.xAxis().pixelToCoord(event.posF().x())
y = self.qcp.yAxis().pixelToCoord(event.posF().y())
print("You double-clicked at ({0}, {1})".format(x, y))
def makeCurves(self):
self.qcp.clearGraphs()
self.legends = ["sin", "cos"]
self.times = []
for i, l in enumerate(self.legends):
graph = self.qcp.addGraph()
graph.setName(l)
graph.setPen(pens[i])
def start(self):
self.makeCurves()
self.timer.start()
def stop(self):
self.timer.stop()
def _step(self):
t = (self.times[-1] + 1) if len(self.times) > 0 else 0
from math import sin, cos
x = sin(0.1 * t)
y = cos(0.1 * t)
self.qcp.addData(0, (t, ), (x, ))
self.qcp.addData(1, (t, ), (y, ))
self.times.append(t)
self.zoomFitBest()
def zoomFitBest(self):
self.qcp.rescaleAxes()
self.qcp.replot()
class Plugin (QtGui.QDockWidget):
def __init__ (self, mainWindow, flags = None):
if flags is None:
super(Plugin, self).__init__ ("Path graph plugin", mainWindow)
else:
super(Plugin, self).__init__ ("Path graph plugin", mainWindow, flags)
self.setObjectName("Path graph plugin")
self.main = mainWindow
self.hppPlugin = self.main.getFromSlot("getHppIIOPurl")
self.pathPlayer = self.main.getFromSlot("getCurrentPath")
self.jointgroupcreator = self.main.getFromSlot("requestCreateJointGroup")
self.comgroupcreator = self.main.getFromSlot("requestCreateComGroup")
self.velocities = Velocities(self)
self.jointActions = dict()
# This avoids having a widget bigger than what it needs. It avoids having
# a big dock widget and a small osg widget when creating the main osg widget.
p = Qt.QSizePolicy.Ignored
self.topWidget = QtGui.QSplitter(Qt.Qt.Horizontal, self)
self.topWidget.setSizePolicy(Qt.QSizePolicy(p,p))
self.setWidget (self.topWidget)
self.leftPane = QtGui.QWidget (self)
l = QtGui.QVBoxLayout ()
self.makeLeftPane (l)
self.leftPane.setLayout (l)
self.topWidget.addWidget (self.leftPane)
self.rightPane = QtGui.QWidget (self)
l = QtGui.QVBoxLayout ()
self.makeRightPane (l)
self.rightPane.setLayout (l)
self.topWidget.addWidget (self.rightPane)
self.data = DataQCP(self)
def refreshPlot (self):
pid = self.pathPlayer.getCurrentPath()
if pid < 0: return
dl = self.pathPlayer.lengthBetweenRefresh()
idxX = self.xselect.currentIndex
x = (self.xselect.itemText(idxX),
int(self.xselect.itemData(idxX)) + 1)
ys = list ()
for elt in self.yselectcb:
cb = elt[0]
if cb.checked:
ys.append ((str(cb.text), elt[1]+1))
self.data.selectData(pid, dl, x, ys)
self.data.acquireData()
def refreshJointList (self):
jointNames = self.client.robot.getJointNames ()
# Left pane
saLayout = QtGui.QVBoxLayout ()
formats = ( "%s (%s)", "%s (%s, %i)")
self.yselectcb = list ()
rank = 0
for n in jointNames:
size = self.client.robot.getJointConfigSize (n)
if size == 1:
cb = QtGui.QCheckBox (formats[0] % (n,"q") )
self.yselectcb.append ((cb, rank))
saLayout.addWidget (cb)
else:
for i in xrange (size):
cb = QtGui.QCheckBox (formats[1] % (n, "q", i))
self.yselectcb.append ((cb, rank + i))
saLayout.addWidget (cb)
rank = rank + size
for type in ("v", "a"):
saLayout.addSpacing(5)
for n in jointNames:
size = self.client.robot.getJointNumberDof (n)
if size == 1:
cb = QtGui.QCheckBox (formats[0] % (n,type) )
self.yselectcb.append ((cb, rank))
saLayout.addWidget (cb)
else:
for i in xrange (size):
cb = QtGui.QCheckBox (formats[1] % (n,type,i))
self.yselectcb.append ((cb, rank + i))
saLayout.addWidget (cb)
rank = rank + size
saContent = QtGui.QWidget (self)
saContent.setLayout (saLayout)
self.scrollArea.setWidget (saContent)
# Right pane
self.xselect.clear()
# time index is 0 and is value is -1
self.xselect.addItem ("time", -1)
rank = 0
for n in jointNames:
size = self.client.robot.getJointConfigSize (n)
if size == 1:
self.xselect.addItem (formats[0] % (n,"q"), rank)
else:
for i in xrange (size):
self.xselect.addItem (formats[1] % (n,"q",i), rank + i)
rank = rank + size
for type in ("v", "a"):
for n in jointNames:
size = self.client.robot.getJointNumberDof (n)
if size == 1:
self.xselect.addItem (formats[0] % (n,type), rank)
else:
for i in xrange (size):
self.xselect.addItem (formats[1] % (n,type,i), rank + i)
rank = rank + size
def refreshInterface (self):
self.refreshJointList()
def makeLeftPane (self, layout):
layout.addWidget (QtGui.QLabel ("Select Y data"))
refresh = QtGui.QPushButton ("Refresh", self)
refresh.connect (QtCore.SIGNAL("clicked()"), self.refreshPlot)
layout.addWidget (refresh)
self.scrollArea = QtGui.QScrollArea (self)
layout.addWidget (self.scrollArea)
def makeRightPane (self, layout):
from PythonQt.QCustomPlot import QCustomPlot, QCP
self.qcpWidget = QCustomPlot()
self.qcpWidget.autoAddPlottableToLegend = True
self.qcpWidget.setInteraction (QCP.iRangeDrag , True) # iRangeDrap
self.qcpWidget.setInteraction (QCP.iRangeZoom , True) # iRangeZoom
self.qcpWidget.setInteraction (QCP.iSelectAxes, True) # iSelectAxes
self.qcpWidget.legend().visible = True
layout.addWidget (self.qcpWidget)
self.qcpWidget.connect (Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"), self._mouseDoubleClick)
self.qcpWidget.xAxis().connect (Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"), self._axesSelectionChanged)
self.qcpWidget.yAxis().connect (Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"), self._axesSelectionChanged)
self.xselect = QtGui.QComboBox(self)
layout.addWidget (self.xselect)
# time index is 0 and is value is -1
self.xselect.addItem ("time", -1)
def _mouseDoubleClick (self, event):
try:
if self.data.x[1] > 0: return
except:
return
try: # Qt 5
x = event.localPos().x()
except: # Qt 4
x = event.posF().x()
t = self.qcpWidget.xAxis().pixelToCoord (x)
self.pathPlayer.setCurrentTime(t)
def _axesSelectionChanged (self, unused_parts):
xAxis = self.qcpWidget.xAxis()
yAxis = self.qcpWidget.yAxis()
x = (xAxis.selectedParts != 0)
y = (yAxis.selectedParts != 0)
if not x and not y:
self.qcpWidget.axisRect().setRangeZoomAxes(xAxis, yAxis)
elif x:
self.qcpWidget.axisRect().setRangeZoomAxes(xAxis, None)
elif y:
self.qcpWidget.axisRect().setRangeZoomAxes(None, yAxis)
def resetConnection(self):
self.client = Client(url= str(self.hppPlugin.getHppIIOPurl()))
self.gui = GuiClient()
def getJointActions(self, name):
if not self.jointActions.has_key(name):
self.jointActions[name] = (JointAction ("Show/Hide joint &velocity", name, self.velocities, self),)
return self.jointActions[name]
class QCPWidget(QtGui.QWidget):
""" A plot widget with a combo box to select the X axis. """
def __init__(self, plugin):
super(QCPWidget, self).__init__(plugin)
self.plugin = plugin
layout = QtGui.QVBoxLayout(self)
from PythonQt.QCustomPlot import QCustomPlot, QCP
self.qcpWidget = QCustomPlot()
self.qcpWidget.autoAddPlottableToLegend = True
self.qcpWidget.setInteraction(QCP.iRangeDrag, True) # iRangeDrap
self.qcpWidget.setInteraction(QCP.iRangeZoom, True) # iRangeZoom
self.qcpWidget.setInteraction(QCP.iSelectAxes, True) # iSelectAxes
self.qcpWidget.legend().visible = True
layout.addWidget(self.qcpWidget, 1)
self.qcpWidget.connect(Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"),
self._mouseDoubleClick)
self.qcpWidget.xAxis().connect(
Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"),
self._axesSelectionChanged)
self.qcpWidget.yAxis().connect(
Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"),
self._axesSelectionChanged)
buttonbar = QtGui.QWidget()
bbLayout = QtGui.QHBoxLayout(buttonbar)
button = QtGui.QPushButton("Replot", buttonbar)
button.connect(QtCore.SIGNAL("clicked()"), self.refreshPlot)
bbLayout.addWidget(button)
button = QtGui.QPushButton("Remove", buttonbar)
button.connect(QtCore.SIGNAL("clicked()"), self.removePlot)
bbLayout.addWidget(button)
button = QtGui.QPushButton("Legend", buttonbar)
button.checkable = True
button.checked = True
button.connect(QtCore.SIGNAL("toggled(bool)"), self.toggleLegend)
bbLayout.addWidget(button)
button = QtGui.QPushButton(QtGui.QIcon.fromTheme("zoom-fit-best"), "",
buttonbar)
button.setToolTip("Zoom fit best")
button.connect(QtCore.SIGNAL("clicked()"), self.qcpWidget.rescaleAxes)
bbLayout.addWidget(button)
self.xselect = QtGui.QComboBox(self)
bbLayout.addWidget(self.xselect, 1)
layout.addWidget(buttonbar)
self.data = DataQCP(plugin, self.qcpWidget)
def toggleLegend(self, enable):
self.qcpWidget.legend().visible = enable
self.qcpWidget.replot()
def refreshPlot(self):
pid = self.plugin.pathPlayer.getCurrentPath()
if pid < 0: return
dl = self.plugin.pathPlayer.lengthBetweenRefresh()
idxX = self.xselect.currentIndex
x = (self.xselect.itemText(idxX), int(self.xselect.itemData(idxX)) + 1)
ys = list()
for elt in self.plugin.yselectcb:
cb = elt[0]
if cb.checked:
ys.append((str(cb.text), elt[1] + 1))
self.data.selectData(pid, dl, x, ys)
self.data.acquireData()
def removePlot(self):
self.hide()
try:
self.plugin.qcpWidgets.remove(self)
except ValueError:
print("Did not find QCPWidget in plugin")
self.plugin.rightPaneLayout.removeWidget(self)
def refreshJointList(self, jointNames, jointCfgSize, jointNbDof):
# Right pane
self.xselect.clear()
# time index is 0 and is value is -1
self.xselect.addItem("time", -1)
rank = 0
for n, size in zip(jointNames, jointCfgSize):
if size == 1:
self.xselect.addItem(formats[0] % (n, "q"), rank)
else:
for i in range(size):
self.xselect.addItem(formats[1] % (n, "q", i), rank + i)
rank = rank + size
for type in ("v", "a"):
for n, size in zip(jointNames, jointNbDof):
if size == 1:
self.xselect.addItem(formats[0] % (n, type), rank)
else:
for i in range(size):
self.xselect.addItem(formats[1] % (n, type, i),
rank + i)
rank = rank + size
def _mouseDoubleClick(self, event):
try:
if self.data.x[1] > 0: return
except:
return
try: # Qt 5
x = event.localPos().x()
except: # Qt 4
x = event.posF().x()
t = self.qcpWidget.xAxis().pixelToCoord(x)
self.plugin.pathPlayer.setCurrentTime(t)
def _axesSelectionChanged(self, unused_parts):
xAxis = self.qcpWidget.xAxis()
yAxis = self.qcpWidget.yAxis()
x = (xAxis.selectedParts != 0)
y = (yAxis.selectedParts != 0)
if not x and not y:
self.qcpWidget.axisRect().setRangeZoomAxes(xAxis, yAxis)
elif x:
self.qcpWidget.axisRect().setRangeZoomAxes(xAxis, None)
elif y:
self.qcpWidget.axisRect().setRangeZoomAxes(None, yAxis)