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 _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 _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 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 _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 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 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)
self.launchlist_model.add2LoadHistory(fileName)
self.load_signal.emit(fileName)
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_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 _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 _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 _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 _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)
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 _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 _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 _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML files {.yaml} (*.yaml)'))
if filename[0] != '':
with open(filename[0], 'r') as infile:
try:
self.places_dict = yaml.load(infile)
for k in self._sceneItems.keys():
for item in self._sceneItems[k].keys():
self._scene.removeItem(self._sceneItems[k][item])
for name in self.places_dict.keys():
#
q = numpy.asarray(self.places_dict[name][3:7])
scene_pos = self._gridToScene(
self.places_dict[name][0],
self.places_dict[name][1], q)
# drawing the items
self._sceneItems[name] = {"text": QGraphicsTextItem()}
self._sceneItems[name]["text"].setDefaultTextColor(
QColor(0, 0, 255))
self._sceneItems[name]["text"].setFont(
QFont("Times", 10))
self._sceneItems[name]["text"].setPlainText(name)
x_c = scene_pos[0] - self._sceneItems[name][
"text"].boundingRect().width() / 2.0
self._sceneItems[name]["text"].setPos(
x_c, scene_pos[1])
self._scene.addItem(self._sceneItems[name]["text"])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4,
4))
line = QLineF(scene_pos[0], scene_pos[1],
(scene_pos[0] -
self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] +
self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(
line, pen=QPen(Qt.red, 2))
except yaml.scanner.ScannerError:
QMessageBox.critical(self, "Error!", "Invalid YAML file.")
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_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])
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:
with open(filename[0], 'r') as h:
lines = h.read().splitlines()
except IOError as e:
qWarning(str(e))
return False
# extract column header
columns = lines[0].split(';')
if len(lines) < 2:
return True
# join wrapped lines
rows = []
last_wrapped = False
for line in lines[1:]:
# ignore empty lines
if not line:
continue
# check for quotes and remove them
if line == '"':
has_prefix = not last_wrapped
has_suffix = last_wrapped
line = ''
else:
has_prefix = line[0] == '"'
if has_prefix:
line = line[1:]
has_suffix = line[-1] == '"'
if has_suffix:
line = line[:-1]
# ignore line without prefix if previous line was not wrapped
if not has_prefix and not last_wrapped:
continue
# remove wrapped line which is not continued on the next line
if last_wrapped and has_prefix:
rows.pop()
# add/append lines
if last_wrapped:
rows[-1] += line
else:
# add line without quote prefix
rows.append(line)
last_wrapped = not has_suffix
# generate message for each row
messages = []
skipped = []
for row in rows:
data = row.split('";"')
msg = Message()
msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
for i, column in enumerate(columns):
value = data[i]
if column == 'message':
msg.message = value.replace('\\"', '"')
elif column == 'severity':
msg.severity = int(value)
if msg.severity not in Message.SEVERITY_LABELS:
skipped.append('Unknown severity value: %s' % value)
msg = None
break
elif column == 'stamp':
parts = value.split('.')
if len(parts) != 2:
skipped.append('Unknown timestamp format: %s' % value)
msg = None
break
msg.stamp = (int(parts[0]), int(parts[1]))
elif column == 'topics':
msg.topics = value.split(',')
elif column == 'node':
msg.node = value
elif column == 'location':
msg.location = value
else:
skipped.append('Unknown column: %s' % column)
msg = None
break
if msg:
messages.append(msg)
if skipped:
qWarning('Skipped %d rows since they do not appear to be in rqt_console message file format:\n- %s' % (len(skipped), '\n- '.join(skipped)))
if messages:
self._model.insert_rows(messages)
self._handle_pause_clicked(True)
return True
else:
qWarning('File does not appear to be a rqt_console message file: missing file header.')
return False
def open_FileDialog(self):
filename = QFileDialog.getOpenFileName(self.parent, 'Open file',
os.path.expanduser('~'))
self.parent.filename = filename[0]
self.parent.qimage = QImage(self.parent.filename, 'JPEG')
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:
with open(filename[0], 'r') as h:
lines = h.read().splitlines()
except IOError as e:
qWarning(str(e))
return False
# extract column header
columns = lines[0].split(';')
if len(lines) < 2:
return True
# join wrapped lines
rows = []
last_wrapped = False
for line in lines[1:]:
# ignore empty lines
if not line:
continue
# check for quotes and remove them
if line == '"':
has_prefix = not last_wrapped
has_suffix = last_wrapped
line = ''
else:
has_prefix = line[0] == '"'
if has_prefix:
line = line[1:]
has_suffix = line[-1] == '"'
if has_suffix:
line = line[:-1]
# ignore line without prefix if previous line was not wrapped
if not has_prefix and not last_wrapped:
continue
# remove wrapped line which is not continued on the next line
if last_wrapped and has_prefix:
rows.pop()
# add/append lines
if last_wrapped:
rows[-1] += line
else:
# add line without quote prefix
rows.append(line)
last_wrapped = not has_suffix
# generate message for each row
messages = []
skipped = []
for row in rows:
data = row.split('";"')
msg = Message()
msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
for i, column in enumerate(columns):
value = data[i]
if column == 'message':
msg.message = value.replace('\\"', '"')
elif column == 'severity':
msg.severity = int(value)
if msg.severity not in Message.SEVERITY_LABELS:
skipped.append('Unknown severity value: %s' %
value)
msg = None
break
elif column == 'stamp':
parts = value.split('.')
if len(parts) != 2:
skipped.append('Unknown timestamp format: %s' %
value)
msg = None
break
msg.stamp = (int(parts[0]), int(parts[1]))
elif column == 'topics':
msg.topics = value.split(',')
elif column == 'node':
msg.node = value
elif column == 'location':
msg.location = value
else:
skipped.append('Unknown column: %s' % column)
msg = None
break
if msg:
messages.append(msg)
if skipped:
qWarning(
'Skipped %d rows since they do not appear to be in rqt_console message file format:\n- %s'
% (len(skipped), '\n- '.join(skipped)))
if messages:
self._model.insert_rows(messages)
self._handle_pause_clicked(True)
return True
else:
qWarning(
'File does not appear to be a rqt_console message file: missing file header.'
)
return False
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])
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])
