def initBumperGraphics(self): # Pens self.blue_pen = QPen(QColor(0,0,255)) self.blue_pen.setWidth(10) self.bumper_lines = [] # Text state labels self.bumper_state_labels = [QGraphicsTextItem() for i in range(0,4)] for i in range(len(self.bumper_state_labels)): self.bumper_state_labels[i].setFont(QFont('Ubuntu', 14, QFont.Bold)) self.bumper_state_labels[i].setPlainText('00') self.bumper_state_labels[0].setPos(self.bumper_fl_x-10, self.bumper_fl_y + 55) self.bumper_state_labels[1].setPos(self.bumper_fr_x-10, self.bumper_fr_y + 55) self.bumper_state_labels[2].setPos(self.bumper_rl_x-10, self.bumper_rl_y - 80) self.bumper_state_labels[3].setPos(self.bumper_rr_x-10, self.bumper_rr_y - 80) # Bumper indicator lines self.bumperLine(self.bumper_fl_x - 20, self.bumper_fl_y - self.bumper_dy, True) self.bumperLine(self.bumper_fl_x - self.bumper_dx, self.bumper_fl_y - 20, False) self.bumperLine(self.bumper_fl_x + self.bumper_dx, self.bumper_fl_y - 20, False) self.bumperLine(self.bumper_fl_x - 20, self.bumper_fl_y + self.bumper_dy, True) self.bumperLine(self.bumper_fr_x - 20, self.bumper_fr_y - self.bumper_dy, True) self.bumperLine(self.bumper_fr_x - self.bumper_dx, self.bumper_fr_y - 20, False) self.bumperLine(self.bumper_fr_x + self.bumper_dx, self.bumper_fr_y - 20, False) self.bumperLine(self.bumper_fr_x - 20, self.bumper_fr_y + self.bumper_dy, True) self.bumperLine(self.bumper_rl_x - 20, self.bumper_rl_y - self.bumper_dy, True) self.bumperLine(self.bumper_rl_x - self.bumper_dx, self.bumper_rl_y - 20, False) self.bumperLine(self.bumper_rl_x + self.bumper_dx, self.bumper_rl_y - 20, False) self.bumperLine(self.bumper_rl_x - 20, self.bumper_rl_y + self.bumper_dy, True) self.bumperLine(self.bumper_rr_x - 20, self.bumper_rr_y - self.bumper_dy, True) self.bumperLine(self.bumper_rr_x - self.bumper_dx, self.bumper_rr_y - 20, False) self.bumperLine(self.bumper_rr_x + self.bumper_dx, self.bumper_rr_y - 20, False) self.bumperLine(self.bumper_rr_x - 20, self.bumper_rr_y + self.bumper_dy, True) # Populate scene graphics_scene = QGraphicsScene() for bumper in self.bumper_lines: graphics_scene.addItem(bumper) for label in self.bumper_state_labels: graphics_scene.addItem(label) graphics_scene.setSceneRect(0, 0, self._widget.bumperGraphicsView.width() - 4, self._widget.bumperGraphicsView.height() - 4) self._widget.bumperGraphicsView.setScene(graphics_scene) self._widget.bumperGraphicsView.setBackgroundBrush(QBrush(QImage(os.path.join(rospkg.RosPack().get_path('mobility_base_tools'), 'images', 'mb_top.png')))) self._widget.bumperGraphicsView.show()
class CameraView(QGraphicsView): image_changed = Signal() def __init__(self, camera_topic='/image_raw'): super(CameraView,self).__init__() self._scene = QGraphicsScene() self.bridge = CvBridge() self._map_item = 0 self.image_changed.connect(self._update) self._sub = rospy.Subscriber(camera_topic,Image,self.callback) self.setScene(self._scene) def callback(self, msg): self.w = msg.width self.h = msg.height a = self.bridge.imgmsg_to_cv(msg, "rgb8") a = numpy.array(a) image = QImage(a, self.w, self.h, QImage.Format_RGB888) self._map = image self._scene.setSceneRect(0,0,self.w,self.h) self.image_changed.emit() def _update(self): if self._map_item: self._scene.removeItem(self._map_item) pixmap = QPixmap.fromImage(self._map) self._map_item = self._scene.addPixmap(pixmap) self.centerOn(self._map_item) self.show() def _mirror(self, item): item.scale(-1, 1) item.translate(-self.w, 0) def close(self): if self._sub: self._sub.unregister() super(CameraView, self).close()
class CameraView(QGraphicsView): image_changed = Signal() def __init__(self, camera_topic='/image_raw'): super(CameraView, self).__init__() self._scene = QGraphicsScene() self.bridge = CvBridge() self._map_item = 0 self.image_changed.connect(self._update) self._sub = rospy.Subscriber(camera_topic, Image, self.callback) self.setScene(self._scene) def callback(self, msg): self.w = msg.width self.h = msg.height a = self.bridge.imgmsg_to_cv(msg, "rgb8") a = numpy.array(a) image = QImage(a, self.w, self.h, QImage.Format_RGB888) self._map = image self._scene.setSceneRect(0, 0, self.w, self.h) self.image_changed.emit() def _update(self): if self._map_item: self._scene.removeItem(self._map_item) pixmap = QPixmap.fromImage(self._map) self._map_item = self._scene.addPixmap(pixmap) self.centerOn(self._map_item) self.show() def _mirror(self, item): item.scale(-1, 1) item.translate(-self.w, 0) def close(self): if self._sub: self._sub.unregister() super(CameraView, self).close()
def _redraw_graph_view(self): key = str(self.get_current_message().header.stamp) if key in self._scene_cache: new_scene = self._scene_cache[key] else: # cache miss new_scene = QGraphicsScene() new_scene.setBackgroundBrush(Qt.white) if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 # (nodes, edges) = self.dot_to_qt.graph_to_qt_items(self.dotcode_generator.graph, # highlight_level) # this function is very expensive (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items( self._current_dotcode, highlight_level) for node_item in iter(nodes.values()): new_scene.addItem(node_item) for edge_items in iter(edges.values()): for edge_item in edge_items: edge_item.add_to_scene(new_scene) new_scene.setSceneRect(new_scene.itemsBoundingRect()) # put the scene in the cache self._scene_cache[key] = new_scene self._scene_cache_keys.append(key) if len(self._scene_cache) > self._scene_cache_capacity: oldest = self._scene_cache_keys[0] del self._scene_cache[oldest] self._scene_cache_keys.remove(oldest) # after construction, set the scene and fit to the view self._scene = new_scene self._widget.graphics_view.setScene(self._scene) self._widget.message_label.setText(self._tip_message) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view()
class ImageView(TopicMessageView): """ Popup image viewer """ name = 'Image' def __init__(self, timeline, parent): super(ImageView, self).__init__(timeline, parent) self._image = None self._image_topic = None self._image_stamp = None self.quality = Image.NEAREST # quality hint for scaling # TODO put the image_topic and image_stamp on the picture or display them in some fashion self._overlay_font_size = 14.0 self._overlay_indent = (4, 4) self._overlay_color = (0.2, 0.2, 1.0) self._image_view = QGraphicsView(parent) self._image_view.resizeEvent = self._resizeEvent self._scene = QGraphicsScene() self._image_view.setScene(self._scene) parent.layout().addWidget(self._image_view) # MessageView implementation def _resizeEvent(self, event): # TODO make this smarter. currently there will be no scrollbar even if the timeline extends beyond the viewable area self._scene.setSceneRect(0, 0, self._image_view.size().width() - 2, self._image_view.size().height() - 2) self.put_image_into_scene() def message_viewed(self, bag, msg_details): """ refreshes the image """ TopicMessageView.message_viewed(self, bag, msg_details) topic, msg, t = msg_details[:3] if not msg: self.set_image(None, topic, stamp) else: self.set_image(msg, topic, msg.header.stamp) def message_cleared(self): TopicMessageView.message_cleared(self) self.set_image(None, None, None) # End MessageView implementation def put_image_into_scene(self): if self._image: resized_image = self._image.resize( (self._image_view.size().width() - 2, self._image_view.size().height() - 2), self.quality) QtImage = ImageQt.ImageQt(resized_image) pixmap = QPixmap.fromImage(QtImage) self._scene.clear() self._scene.addPixmap(pixmap) def set_image(self, image_msg, image_topic, image_stamp): self._image_msg = image_msg if image_msg: self._image = image_helper.imgmsg_to_pil(image_msg) else: self._image = None self._image_topic = image_topic self._image_stamp = image_stamp self.put_image_into_scene()
class GraphWidget(QWidget): @staticmethod def get_unique_name(context): return ('Decision Graph (%d)' % context.serial_number()) if context.serial_number() > 1 else 'Decision Graph' @staticmethod def get_file_name(absolute_path): return ".".join(path.basename(absolute_path).split('.')[:-1]) def __init__(self, ros_package): super(GraphWidget, self).__init__() self._current_graph = None self._lock = Lock() self._load_ui(ros_package) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) factory = DmgItemFactory() factory.set_color(QColor(50, 50, 50)) factory.set_highlighted_color(QColor(0, 150, 0)) self._dot_to_qt = DotToQtGenerator(factory) self.initialized = False self.setObjectName('GraphWidget') self.graphics_view.setScene(self._scene) self.open_button.setIcon(QIcon.fromTheme('document-open')) self.open_button.pressed.connect(self._import) self.export_button.setIcon(QIcon.fromTheme('document-export')) self.export_button.pressed.connect(self._export) self.fit_to_view_button.setIcon(QIcon.fromTheme('zoom-fit-best')) self.fit_to_view_button.pressed.connect(self._fit_to_view) self.decision_graphs_combo_box.setSizeAdjustPolicy(QComboBox.AdjustToMinimumContentsLength) self.decision_graphs_combo_box.currentIndexChanged['QString'].connect(self._graph_item_changed) self._dot_processor = DotProcessor(self._dot_to_qt) self.decision_graphs = dict() self.states = dict() def update(self, message): data = self._get_data_from_message(message) key = self._get_key(data) if key not in self.decision_graphs: try: self._add_graph(key, data) print 'INFO: Graph has been added' except GraphParseException as ex: print 'ERROR: Failed to load graph: %s', ex.message else: self.states[key] = data['name'], data['status'] if self.decision_graphs[key].graph_id != message.status[0].values[-1].value: self.decision_graphs[key].graph_id = message.status[0].values[-1].value print 'INFO: Graph id has been changed' elif self._current_graph == self.decision_graphs[key]: if not self._update_graph(data['name'], data['status']): print 'WARNING: Failed to find appropriate graph for update' def _load_ui(self, ros_package): user_interface_file = path.join(ros_package.get_path('rqt_decision_graph'), 'resource', 'DecisionGraph.ui') loadUi(user_interface_file, self, {'InteractiveGraphicsView': InteractiveGraphicsView}) 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)) # Export graph as image 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 _add_graph(self, key, data): self._lock.acquire() decision_graph = DecisionGraph(data['name'].split('/')[1], data['node_run_id'], data['node_name'], data['node_exe_file'], data['node_exe_dir'], self._dot_processor, key) self.decision_graphs[key] = decision_graph self.decision_graphs_combo_box.addItem(key) self._lock.release() def _reset_graph_state(self, name, status): if self._current_graph is not None: for node in self._current_graph.nodes.values(): if name[:len(node.url)] == node.url: node.highlight(True) if 'started' == status else node.highlight(False) def _update_graph(self, name, status): self._lock.acquire() is_updated = False if self._current_graph is not None: for node in self._current_graph.nodes.values(): if 'started' == status and name[:len(node.url)] == node.url: node.highlight(True) is_updated = True elif 'stopped' == status and name == node.url: node.highlight(False) is_updated = True self._lock.release() return is_updated def _graph_item_changed(self, event): self._lock.acquire() if event in self.decision_graphs: self._current_graph = self.decision_graphs[event] self._redraw_graph_view() self._fit_to_view() if isinstance(self._current_graph, DecisionGraph): state = self.states.get(self._current_graph.key, None) if state is not None: self._reset_graph_state(state[0], state[1]) self._lock.release() def _get_data_from_message(self, message): return {value.key: value.value for value in message.status[0].values} def _get_key(self, data): return data['name'].split('/')[1] + data['node_name'] def _redraw_graph_view(self): self._current_graph.load() self._scene.clear() for node_item in self._current_graph.nodes.itervalues(): self._scene.addItem(node_item) for edge_items in self._current_graph.edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) def _fit_to_view(self): self.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
class ConductorGraph(Plugin): # pyqt signals are always defined as class attributes signal_deferred_fit_in_view = Signal() signal_update_conductor_graph = Signal() # constants # colour definitions from http://www.w3.org/TR/SVG/types.html#ColorKeywords # see also http://qt-project.org/doc/qt-4.8/qcolor.html#setNamedColor link_strength_colours = { 'very_strong': QColor("lime"), 'strong': QColor("chartreuse"), 'normal': QColor("yellow"), 'weak': QColor("orange"), 'very_weak': QColor("red"), 'missing': QColor("powderblue") } def __init__(self, context): self._context = context super(ConductorGraph, self).__init__(context) self.initialised = False self.setObjectName('Conductor Graph') self._node_items = None self._edge_items = None self._node_item_events = {} self._edge_item_events = {} self._client_info_list = {} self._widget = QWidget() self.cur_selected_client_name = "" self.pre_selected_client_name = "" # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory=PygraphvizFactory() self.dotcode_generator = ConductorGraphDotcodeGenerator() self.dot_to_qt = DotToQtGenerator() self._graph = ConductorGraphInfo(self._update_conductor_graph_relay, self._set_network_statisics) rospack = rospkg.RosPack() ui_file = os.path.join(rospack.get_path('concert_conductor_graph'), 'ui', 'conductor_graph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('ConductorGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.highlight_connections_check_box.toggled.connect( self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect( self._redraw_graph_view) self._widget.clusters_check_box.toggled.connect( self._redraw_graph_view) self.signal_deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self.signal_deferred_fit_in_view.emit() self._widget.tabWidget.currentChanged.connect(self._change_client_tab) self.signal_update_conductor_graph.connect( self._update_conductor_graph) context.add_widget(self._widget) def restore_settings(self, plugin_settings, instance_settings): self.initialised = True self._update_conductor_graph() def shutdown_plugin(self): self._graph.shutdown() def _update_conductor_graph(self): if self.initialised: self._redraw_graph_view() self._update_client_tab() def _update_conductor_graph_relay(self): """ This seems a bit obtuse, but we can't just dump the _update_conductor_graph callback on the underlying conductor graph info and trigger it from there since that trigger will operate from a ros thread and pyqt will crash trying to co-ordinate gui changes from an external thread. We need to relay via a signal. """ self.signal_update_conductor_graph.emit() def _update_client_tab(self): print('[conductor graph]: _update_client_tab') self.pre_selected_client_name = self.cur_selected_client_name self._widget.tabWidget.clear() for k in self._graph.concert_clients.values(): # Only pull in information from connected or connectable clients if k.state not in [ concert_msgs.ConcertClientState.AVAILABLE, concert_msgs.ConcertClientState.MISSING, concert_msgs.ConcertClientState.UNINVITED ]: continue main_widget = QWidget() ver_layout = QVBoxLayout(main_widget) ver_layout.setContentsMargins(9, 9, 9, 9) ver_layout.setSizeConstraint(ver_layout.SetDefaultConstraint) #button layout sub_widget = QWidget() sub_widget.setAccessibleName('sub_widget') ver_layout.addWidget(sub_widget) #client information layout context_label = QLabel() context_label.setText("Client information") ver_layout.addWidget(context_label) app_context_widget = QPlainTextEdit() app_context_widget.setObjectName(k.concert_alias + '_' + 'app_context_widget') app_context_widget.setAccessibleName('app_context_widget') app_context_widget.appendHtml(k.get_rapp_context()) app_context_widget.setReadOnly(True) cursor = app_context_widget.textCursor() cursor.movePosition(QTextCursor.Start, QTextCursor.MoveAnchor, 0) app_context_widget.setTextCursor(cursor) ver_layout.addWidget(app_context_widget) # new icon path = "" if k.is_new: # This only changes when the concert client changes topic publishes anew path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../resources/images/new.gif") #add tab self._widget.tabWidget.addTab(main_widget, QIcon(path), k.concert_alias) #set previous selected tab for k in range(self._widget.tabWidget.count()): tab_text = self._widget.tabWidget.tabText(k) if tab_text == self.pre_selected_client_name: self._widget.tabWidget.setCurrentIndex(k) def _change_client_tab(self, index): self.cur_selected_client_name = self._widget.tabWidget.tabText( self._widget.tabWidget.currentIndex()) def _set_network_statisics(self): # we currently redraw every statistics update (expensive!) so passing for now, but we should # reenable this and drop the change callback to be more efficient #if self._edge_items == None: # return #else: # for edge_items in self._edge_items.itervalues(): # for edge_item in edge_items: # edge_dst_name = edge_item.to_node._label.text() # edge_item.setToolTip(str(self._graph.concert_clients[edge_dst_name].msg.conn_stats)) pass def _redraw_graph_view(self): print("[conductor graph]: _redraw_graph_view") # regenerate the dotcode current_dotcode = self.dotcode_generator.generate_dotcode( conductor_graph_instance=self._graph, dotcode_factory=self.dotcode_factory, clusters=self._widget.clusters_check_box.isChecked()) #print("Dotgraph: \n%s" % current_dotcode) self._scene.clear() self._node_item_events = {} self._edge_item_events = {} self._node_items = None self._edge_items = None highlight_level = 3 if self._widget.highlight_connections_check_box.isChecked( ) else 1 # layout graph and create qt items (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items( current_dotcode, highlight_level=highlight_level, same_label_siblings=True) self._node_items = nodes self._edge_items = edges #nodes - if we wish to make special nodes, do that here (maybe subclass GraphItem, just like NodeItem does for node_item in nodes.itervalues(): # redefine mouse event #self._node_item_events[node_item._label.text()] = GraphEventHandler(self._widget.tabWidget, node_item, node_item.mouseDoubleClickEvent) #node_item.mouseDoubleClickEvent = self._node_item_events[node_item._label.text()].NodeEvent self._node_item_events[ node_item._label.text()] = GraphEventHandler( self._widget.tabWidget, node_item, node_item.hoverEnterEvent) node_item.hoverEnterEvent = self._node_item_events[ node_item._label.text()].NodeEvent self._scene.addItem(node_item) #edges for edge_items in edges.itervalues(): for edge_item in edge_items: #redefine the edge hover event self._edge_item_events[ edge_item._label.text()] = GraphEventHandler( self._widget.tabWidget, edge_item, edge_item._label.hoverEnterEvent) edge_item._label.hoverEnterEvent = self._edge_item_events[ edge_item._label.text()].EdgeEvent #self._edge_item_events[edge_item._label.text()]=GraphEventHandler(self._widget.tabWidget,edge_item,edge_item.mouseDoubleClickEvent); #edge_item.mouseDoubleClickEvent=self._edge_item_events[edge_item._label.text()].EdgeEvent; edge_item.add_to_scene(self._scene) #set the color of node as connection strength one of red, yellow, green edge_dst_name = edge_item.to_node._label.text() if edge_dst_name in self._graph.concert_clients.keys(): link_strength_colour = ConductorGraph.link_strength_colours[ self._graph.concert_clients[edge_dst_name]. get_connection_strength()] edge_item._default_color = link_strength_colour edge_item.set_node_color(link_strength_colour) #set the tooltip about network information edge_item.setToolTip( str(self._graph.concert_clients[edge_dst_name].msg. conn_stats)) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() def _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
class RosGraph(Plugin): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosGraph, self).__init__(context) self.initialized = False self.setObjectName('RosGraph') self._graph = None self._current_dotcode = None self._widget = QWidget() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosGraphDotcodeGenerator() # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RosGraph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.graph_type_combo_box.insertItem(0, self.tr('Nodes only'), NODE_NODE_GRAPH) self._widget.graph_type_combo_box.insertItem(1, self.tr('Nodes/Topics (active)'), NODE_TOPIC_GRAPH) self._widget.graph_type_combo_box.insertItem(2, self.tr('Nodes/Topics (all)'), NODE_TOPIC_ALL_GRAPH) self._widget.graph_type_combo_box.setCurrentIndex(0) self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph) self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False) completer = RepeatedWordCompleter(self.node_completionmodel, self) completer.setCompletionMode(QCompleter.PopupCompletion) completer.setWrapAround(True) completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph) self._widget.filter_line_edit.setCompleter(completer) self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False) topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self) topic_completer.setCompletionMode(QCompleter.PopupCompletion) topic_completer.setWrapAround(True) topic_completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph) self._widget.topic_filter_line_edit.setCompleter(topic_completer) self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph) self._widget.actionlib_check_box.clicked.connect(self._refresh_rosgraph) self._widget.dead_sinks_check_box.clicked.connect(self._refresh_rosgraph) self._widget.leaf_topics_check_box.clicked.connect(self._refresh_rosgraph) self._widget.quiet_check_box.clicked.connect(self._refresh_rosgraph) self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect(self._update_rosgraph) self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect(self._save_image) self._update_rosgraph() self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('graph_type_combo_box_index', self._widget.graph_type_combo_box.currentIndex()) instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text()) instance_settings.set_value('topic_filter_line_edit_text', self._widget.topic_filter_line_edit.text()) instance_settings.set_value('namespace_cluster_check_box_state', self._widget.namespace_cluster_check_box.isChecked()) instance_settings.set_value('actionlib_check_box_state', self._widget.actionlib_check_box.isChecked()) instance_settings.set_value('dead_sinks_check_box_state', self._widget.dead_sinks_check_box.isChecked()) instance_settings.set_value('leaf_topics_check_box_state', self._widget.leaf_topics_check_box.isChecked()) instance_settings.set_value('quiet_check_box_state', self._widget.quiet_check_box.isChecked()) instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): self._widget.graph_type_combo_box.setCurrentIndex(int(instance_settings.value('graph_type_combo_box_index', 0))) self._widget.filter_line_edit.setText(instance_settings.value('filter_line_edit_text', '/')) self._widget.topic_filter_line_edit.setText(instance_settings.value('topic_filter_line_edit_text', '/')) self._widget.namespace_cluster_check_box.setChecked(instance_settings.value('namespace_cluster_check_box_state', True) in [True, 'true']) self._widget.actionlib_check_box.setChecked(instance_settings.value('actionlib_check_box_state', True) in [True, 'true']) self._widget.dead_sinks_check_box.setChecked(instance_settings.value('dead_sinks_check_box_state', True) in [True, 'true']) self._widget.leaf_topics_check_box.setChecked(instance_settings.value('leaf_topics_check_box_state', True) in [True, 'true']) self._widget.quiet_check_box.setChecked(instance_settings.value('quiet_check_box_state', True) in [True, 'true']) self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_rosgraph() def _update_rosgraph(self): # re-enable controls customizing fetched ROS graph self._widget.graph_type_combo_box.setEnabled(True) self._widget.filter_line_edit.setEnabled(True) self._widget.topic_filter_line_edit.setEnabled(True) self._widget.namespace_cluster_check_box.setEnabled(True) self._widget.actionlib_check_box.setEnabled(True) self._widget.dead_sinks_check_box.setEnabled(True) self._widget.leaf_topics_check_box.setEnabled(True) self._widget.quiet_check_box.setEnabled(True) self._graph = rosgraph.impl.graph.Graph() self._graph.set_master_stale(5.0) self._graph.set_node_stale(5.0) self._graph.update() self.node_completionmodel.refresh(self._graph.nn_nodes) self.topic_completionmodel.refresh(self._graph.nt_nodes) self._refresh_rosgraph() def _refresh_rosgraph(self): if not self.initialized: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): ns_filter = self._widget.filter_line_edit.text() topic_filter = self._widget.topic_filter_line_edit.text() graph_mode = self._widget.graph_type_combo_box.itemData(self._widget.graph_type_combo_box.currentIndex()) orientation = 'LR' if self._widget.namespace_cluster_check_box.isChecked(): namespace_cluster = 1 else: namespace_cluster = 0 accumulate_actions = self._widget.actionlib_check_box.isChecked() hide_dead_end_topics = self._widget.dead_sinks_check_box.isChecked() hide_single_connection_topics = self._widget.leaf_topics_check_box.isChecked() quiet = self._widget.quiet_check_box.isChecked() return self.dotcode_generator.generate_dotcode( rosgraphinst=self._graph, ns_filter=ns_filter, topic_filter=topic_filter, graph_mode=graph_mode, hide_single_connection_topics=hide_single_connection_topics, hide_dead_end_topics=hide_dead_end_topics, cluster_namespaces_level=namespace_cluster, accumulate_actions=accumulate_actions, dotcode_factory=self.dotcode_factory, orientation=orientation, quiet=quiet) def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _generate_tool_tip(self, url): if url is not None and ':' in url: item_type, item_path = url.split(':', 1) if item_type == 'node': tool_tip = 'Node:\n %s' % (item_path) service_names = rosservice.get_service_list(node=item_path) if service_names: tool_tip += '\nServices:' for service_name in service_names: try: service_type = rosservice.get_service_type(service_name) tool_tip += '\n %s [%s]' % (service_name, service_type) except rosservice.ROSServiceIOException as e: tool_tip += '\n %s' % (e) return tool_tip elif item_type == 'topic': topic_type, topic_name, _ = rostopic.get_topic_type(item_path) return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type) return url def _redraw_graph_view(self): self._scene.clear() if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self._scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() 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 _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) 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_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_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)
class GraphWidget(QWidget): @staticmethod def get_unique_name(context): return ("Decision Graph (%d)" % context.serial_number()) if context.serial_number() > 1 else "Decision Graph" @staticmethod def get_file_name(absolute_path): return ".".join(path.basename(absolute_path).split(".")[:-1]) def __init__(self, ros_package): super(GraphWidget, self).__init__() self._current_graph = None self._lock = Lock() self._load_ui(ros_package) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) factory = DmgItemFactory() factory.set_color(QColor(50, 50, 50)) factory.set_highlighted_color(QColor(0, 150, 0)) self._dot_to_qt = DotToQtGenerator(factory) self.initialized = False self.setObjectName("GraphWidget") self.graphics_view.setScene(self._scene) self.open_button.setIcon(QIcon.fromTheme("document-open")) self.open_button.pressed.connect(self._import) self.export_button.setIcon(QIcon.fromTheme("document-export")) self.export_button.pressed.connect(self._export) self.fit_to_view_button.setIcon(QIcon.fromTheme("zoom-fit-best")) self.fit_to_view_button.pressed.connect(self._fit_to_view) self.decision_graphs_combo_box.setSizeAdjustPolicy(QComboBox.AdjustToMinimumContentsLength) self.decision_graphs_combo_box.currentIndexChanged["QString"].connect(self._graph_item_changed) self._dot_processor = DotProcessor(self._dot_to_qt) self.decision_graphs = dict() self.states = dict() def update(self, message): data = self._get_data_from_message(message) key = self._get_key(data) if key not in self.decision_graphs: try: self._add_graph(key, data) print "INFO: Graph has been added" except GraphParseException as ex: print "ERROR: Failed to load graph: %s", ex.message else: self.states[key] = data["name"], data["status"] if self.decision_graphs[key].graph_id != message.status[0].values[-1].value: self.decision_graphs[key].graph_id = message.status[0].values[-1].value print "INFO: Graph id has been changed" elif self._current_graph == self.decision_graphs[key]: if not self._update_graph(data["name"], data["status"]): print "WARNING: Failed to find appropriate graph for update" def _load_ui(self, ros_package): user_interface_file = path.join(ros_package.get_path("rqt_decision_graph"), "resource", "DecisionGraph.ui") loadUi(user_interface_file, self, {"InteractiveGraphicsView": InteractiveGraphicsView}) 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)) # Export graph as image 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 _add_graph(self, key, data): self._lock.acquire() decision_graph = DecisionGraph( data["name"].split("/")[1], data["node_run_id"], data["node_name"], data["node_exe_file"], data["node_exe_dir"], self._dot_processor, key, ) self.decision_graphs[key] = decision_graph self.decision_graphs_combo_box.addItem(key) self._lock.release() def _reset_graph_state(self, name, status): if self._current_graph is not None: for node in self._current_graph.nodes.values(): if name[: len(node.url)] == node.url: node.highlight(True) if "started" == status else node.highlight(False) def _update_graph(self, name, status): self._lock.acquire() is_updated = False if self._current_graph is not None: for node in self._current_graph.nodes.values(): if "started" == status and name[: len(node.url)] == node.url: node.highlight(True) is_updated = True elif "stopped" == status and name == node.url: node.highlight(False) is_updated = True self._lock.release() return is_updated def _graph_item_changed(self, event): self._lock.acquire() if event in self.decision_graphs: self._current_graph = self.decision_graphs[event] self._redraw_graph_view() self._fit_to_view() if isinstance(self._current_graph, DecisionGraph): state = self.states.get(self._current_graph.key, None) if state is not None: self._reset_graph_state(state[0], state[1]) self._lock.release() def _get_data_from_message(self, message): return {value.key: value.value for value in message.status[0].values} def _get_key(self, data): return data["name"].split("/")[1] + data["node_name"] def _redraw_graph_view(self): self._current_graph.load() self._scene.clear() for node_item in self._current_graph.nodes.itervalues(): self._scene.addItem(node_item) for edge_items in self._current_graph.edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) def _fit_to_view(self): self.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
class RosTfTree(QObject): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosTfTree, self).__init__(context) self.initialized = False self.setObjectName('RosTfTree') self._current_dotcode = None self._widget = QWidget() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosTfTreeDotcodeGenerator() self.tf2_buffer_ = tf2_ros.Buffer() self.tf2_listener_ = tf2_ros.TransformListener(self.tf2_buffer_) # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_tf_tree'), 'resource', 'RosTfTree.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosTfTreeUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect(self._update_tf_graph) self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image-x-generic')) self._widget.save_as_image_push_button.pressed.connect(self._save_image) self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) self._force_refresh = False def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): self._widget.auto_fit_graph_check_box.setChecked( instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked( instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_tf_graph() def _update_tf_graph(self): self._force_refresh = True self._refresh_tf_graph() def _refresh_tf_graph(self): if not self.initialized: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): force_refresh = self._force_refresh self._force_refresh = False rospy.wait_for_service('~tf2_frames') tf2_frame_srv = rospy.ServiceProxy('~tf2_frames', FrameGraph) return self.dotcode_generator.generate_dotcode(dotcode_factory=self.dotcode_factory, tf2_frame_srv=tf2_frame_srv, force_refresh=force_refresh) def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _generate_tool_tip(self, url): return url def _redraw_graph_view(self): self._scene.clear() if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level) for node_item in nodes.itervalues(): self._scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() 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 _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) def _save_dot(self): file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'frames.dot', self.tr('DOT graph (*.dot)')) if file_name is None or file_name == '': return file = QFile(file_name) if not file.open(QIODevice.WriteOnly | QIODevice.Text): return file.write(self._current_dotcode) file.close() def _save_svg(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as SVG'), 'frames.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_image(self): file_name, _ = QFileDialog.getSaveFileName( self._widget, self.tr('Save as image'), 'frames.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)
class CapabilityGraph(Plugin): __deferred_fit_in_view = Signal() def __init__(self, context): super(CapabilityGraph, self).__init__(context) self.setObjectName('CapabilityGraph') self.__current_dotcode = None self.__widget = QWidget() self.__dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui') loadUi(ui_file, self.__widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self.__widget.setObjectName('CapabilityGraphUI') if context.serial_number() > 1: self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number())) self.__scene = QGraphicsScene() self.__scene.setBackgroundBrush(Qt.white) self.__widget.graphics_view.setScene(self.__scene) self.__widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self.__widget.refresh_graph_push_button.pressed.connect(self.__update_capabilities_graph) self.__update_capabilities_graph() self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection) self.__deferred_fit_in_view.emit() context.add_widget(self.__widget) def __update_capabilities_graph(self): self.__update_graph_view(self.__generate_dotcode()) def __generate_dotcode(self): return generate_dotcode_from_capability_info() def __update_graph_view(self, dotcode): if dotcode == self.__current_dotcode: return self.__current_dotcode = dotcode self.__redraw_graph_view() def __fit_in_view(self): self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(), Qt.KeepAspectRatio) def __redraw_graph_view(self): self.__scene.clear() highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items(self.__current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self.__scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self.__scene) self.__scene.setSceneRect(self.__scene.itemsBoundingRect()) self.__fit_in_view()
class ImageView(TopicMessageView): """ Popup image viewer """ name = 'Image' def __init__(self, timeline, parent, topic): super(ImageView, self).__init__(timeline, parent, topic) self._image = None self._image_topic = None self._image_stamp = None self.quality = Image.NEAREST # quality hint for scaling # TODO put the image_topic and image_stamp on the picture or display them in some fashion self._overlay_font_size = 14.0 self._overlay_indent = (4, 4) self._overlay_color = (0.2, 0.2, 1.0) self._image_view = QGraphicsView(parent) self._image_view.resizeEvent = self._resizeEvent self._scene = QGraphicsScene() self._image_view.setScene(self._scene) parent.layout().addWidget(self._image_view) # MessageView implementation def _resizeEvent(self, event): # TODO make this smarter. currently there will be no scrollbar even if the timeline extends beyond the viewable area self._scene.setSceneRect(0, 0, self._image_view.size().width() - 2, self._image_view.size().height() - 2) self.put_image_into_scene() def message_viewed(self, bag, msg_details): """ refreshes the image """ TopicMessageView.message_viewed(self, bag, msg_details) topic, msg, t = msg_details[:3] if not msg: self.set_image(None, topic, 'no message') else: self.set_image(msg, topic, msg.header.stamp) def message_cleared(self): TopicMessageView.message_cleared(self) self.set_image(None, None, None) # End MessageView implementation def put_image_into_scene(self): if self._image: resized_image = self._image.resize((self._image_view.size().width() - 2, self._image_view.size().height() - 2), self.quality) QtImage = ImageQt(resized_image) pixmap = QPixmap.fromImage(QtImage) self._scene.clear() self._scene.addPixmap(pixmap) def set_image(self, image_msg, image_topic, image_stamp): self._image_msg = image_msg if image_msg: self._image = image_helper.imgmsg_to_pil(image_msg) else: self._image = None self._image_topic = image_topic self._image_stamp = image_stamp self.put_image_into_scene()
class CapabilityGraph(Plugin): __deferred_fit_in_view = Signal() __redraw_graph = Signal() def __init__(self, context): super(CapabilityGraph, self).__init__(context) self.setObjectName('CapabilityGraph') self.__current_dotcode = None self.__running_providers = [] self.__spec_index = None self.__widget = QWidget() self.__dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui') loadUi(ui_file, self.__widget, {'CapabilitiesInteractiveGraphicsView': CapabilitiesInteractiveGraphicsView}) self.__widget.setObjectName('CapabilityGraphUI') if context.serial_number() > 1: self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number())) self.__scene = QGraphicsScene() self.__scene.setBackgroundBrush(Qt.white) self.__widget.graphics_view.setScene(self.__scene) self.__widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self.__widget.refresh_graph_push_button.pressed.connect(self.__refresh_view) self.__refresh_view() self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection) self.__deferred_fit_in_view.emit() self.__redraw_graph.connect(self.__update_capabilities_graph) # TODO: use user provided server node name rospy.Subscriber('/capability_server/events', CapabilityEvent, self.__handle_event) context.add_widget(self.__widget) def __handle_event(self, msg): if msg.type == CapabilityEvent.STOPPED: return if msg.type == CapabilityEvent.LAUNCHED and msg.provider not in self.__running_providers: self.__running_providers.append(msg.provider) if msg.type == CapabilityEvent.TERMINATED and msg.provider in self.__running_providers: self.__running_providers.remove(msg.provider) self.__redraw_graph.emit() def __get_specs(self): self.__spec_index, errors = spec_index_from_service() assert not errors def __get_running_providers(self): # TODO: replace 'capability_server' with user provided server name service_name = '/{0}/get_running_capabilities'.format('capability_server') rospy.wait_for_service(service_name) get_running_capabilities = rospy.ServiceProxy(service_name, GetRunningCapabilities) response = get_running_capabilities() self.__running_providers = [] for cap in response.running_capabilities: self.__running_providers.append(cap.capability.provider) def __refresh_view(self): self.__get_specs() self.__get_running_providers() self.__update_capabilities_graph() def __update_capabilities_graph(self): self.__update_graph_view(self.__generate_dotcode()) def __generate_dotcode(self): return generate_dotcode_from_capability_info(self.__spec_index, self.__running_providers) def __update_graph_view(self, dotcode): if dotcode == self.__current_dotcode: return self.__current_dotcode = dotcode self.__redraw_graph_view() def __fit_in_view(self): self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(), Qt.KeepAspectRatio) def __redraw_graph_view(self): self.__widget.graphics_view._running_providers = self.__running_providers self.__widget.graphics_view._spec_index = self.__spec_index self.__scene.clear() highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items(self.__current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self.__scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self.__scene) self.__scene.setSceneRect(self.__scene.itemsBoundingRect()) self.__fit_in_view()
class CapabilityGraph(Plugin): __deferred_fit_in_view = Signal() __redraw_graph = Signal() def __init__(self, context): super(CapabilityGraph, self).__init__(context) self.setObjectName('CapabilityGraph') self.__current_dotcode = None self.__running_providers = [] self.__spec_index = None self.__widget = QWidget() self.__dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_capabilities'), 'resources', 'CapabilityGraph.ui') loadUi( ui_file, self.__widget, { 'CapabilitiesInteractiveGraphicsView': CapabilitiesInteractiveGraphicsView }) self.__widget.setObjectName('CapabilityGraphUI') if context.serial_number() > 1: self.__widget.setWindowTitle(self.__widget.windowTitle() + (' (%d)' % context.serial_number())) self.__scene = QGraphicsScene() self.__scene.setBackgroundBrush(Qt.white) self.__widget.graphics_view.setScene(self.__scene) self.__widget.refresh_graph_push_button.setIcon( QIcon.fromTheme('view-refresh')) self.__widget.refresh_graph_push_button.pressed.connect( self.__refresh_view) self.__refresh_view() self.__deferred_fit_in_view.connect(self.__fit_in_view, Qt.QueuedConnection) self.__deferred_fit_in_view.emit() self.__redraw_graph.connect(self.__update_capabilities_graph) # TODO: use user provided server node name rospy.Subscriber('/capability_server/events', CapabilityEvent, self.__handle_event) context.add_widget(self.__widget) def __handle_event(self, msg): if msg.type == CapabilityEvent.STOPPED: return if msg.type == CapabilityEvent.LAUNCHED and msg.provider not in self.__running_providers: self.__running_providers.append(msg.provider) if msg.type == CapabilityEvent.TERMINATED and msg.provider in self.__running_providers: self.__running_providers.remove(msg.provider) self.__redraw_graph.emit() def __get_specs(self): self.__spec_index, errors = spec_index_from_service() assert not errors def __get_running_providers(self): # TODO: replace 'capability_server' with user provided server name service_name = '/{0}/get_running_capabilities'.format( 'capability_server') rospy.wait_for_service(service_name) get_running_capabilities = rospy.ServiceProxy(service_name, GetRunningCapabilities) response = get_running_capabilities() self.__running_providers = [] for cap in response.running_capabilities: self.__running_providers.append(cap.capability.provider) def __refresh_view(self): self.__get_specs() self.__get_running_providers() self.__update_capabilities_graph() def __update_capabilities_graph(self): self.__update_graph_view(self.__generate_dotcode()) def __generate_dotcode(self): return generate_dotcode_from_capability_info(self.__spec_index, self.__running_providers) def __update_graph_view(self, dotcode): if dotcode == self.__current_dotcode: return self.__current_dotcode = dotcode self.__redraw_graph_view() def __fit_in_view(self): self.__widget.graphics_view.fitInView(self.__scene.itemsBoundingRect(), Qt.KeepAspectRatio) def __redraw_graph_view(self): self.__widget.graphics_view._running_providers = self.__running_providers self.__widget.graphics_view._spec_index = self.__spec_index self.__scene.clear() highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.__dot_to_qt.dotcode_to_qt_items( self.__current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self.__scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self.__scene) self.__scene.setSceneRect(self.__scene.itemsBoundingRect()) self.__fit_in_view()
def initJoystickGraphics(self): # Pens self.cyan_pen = QPen(QColor(0, 255, 255)) self.magenta_pen = QPen(QColor(255, 0, 255)) self.red_pen = QPen(QColor(255, 0, 0)) self.cyan_pen.setWidth(3) self.magenta_pen.setWidth(3) self.red_pen.setWidth(3) self.stick_ind_l = QGraphicsEllipseItem() self.stick_ind_r = QGraphicsEllipseItem() self.stick_line_l = QGraphicsLineItem() self.stick_line_r = QGraphicsLineItem() self.mode_ind = QGraphicsLineItem() # Left joystick indicator circle px_l = self.stick_ind_lox - self.stick_ind_radius py_l = self.stick_ind_loy - self.stick_ind_radius self.stick_ind_l.setRect(px_l, py_l, 2 * self.stick_ind_radius, 2 * self.stick_ind_radius) self.stick_ind_l.setBrush(QBrush(QColor(255, 0, 0))) self.stick_ind_l.setPen(QPen(QColor(0, 0, 0))) # Right joystick indicator circle px_r = self.stick_ind_rox - self.stick_ind_radius py_r = self.stick_ind_roy - self.stick_ind_radius self.stick_ind_r.setRect(px_r, py_r, 2 * self.stick_ind_radius, 2 * self.stick_ind_radius) self.stick_ind_r.setBrush(QBrush(QColor(255, 0, 0))) self.stick_ind_r.setPen(QPen(QColor(0, 0, 0))) # Left joystick indicator line line_pen = QPen(QColor(255,0,0)) line_pen.setWidth(4) self.stick_line_l.setLine(self.stick_ind_lox, self.stick_ind_loy, self.stick_ind_lox, self.stick_ind_loy) self.stick_line_l.setPen(line_pen) # Right joystick indicator line self.stick_line_r.setLine(self.stick_ind_rox, self.stick_ind_roy, self.stick_ind_rox, self.stick_ind_roy) self.stick_line_r.setPen(line_pen) # Mode indicator line self.mode_ind.setLine(self.mode_ind_x1, self.mode_ind_y1, self.mode_ind_x2, self.mode_ind_y2) self.mode_ind.setPen(self.cyan_pen) # Joystick power indicator self.joystick_power_ind = [] self.joystick_power_ind.append(QGraphicsLineItem(self.power_ind_x1, self.power_ind_y + 20, self.power_ind_x1, self.power_ind_y - 20)) self.joystick_power_ind.append(QGraphicsLineItem(self.power_ind_x1, self.power_ind_y - 20, self.power_ind_x1 + 50, self.power_ind_y - 20)) self.joystick_power_ind.append(QGraphicsLineItem(self.power_ind_x1+50, self.power_ind_y - 20, self.power_ind_x1+50, self.power_ind_y + 20)) self.joystick_power_ind.append(QGraphicsLineItem(self.power_ind_x1+50, self.power_ind_y + 20, self.power_ind_x1, self.power_ind_y + 20)) # Populate scene graphics_scene = QGraphicsScene() graphics_scene.addItem(self.stick_ind_l) graphics_scene.addItem(self.stick_ind_r) graphics_scene.addItem(self.stick_line_l) graphics_scene.addItem(self.stick_line_r) graphics_scene.addItem(self.mode_ind) for l in self.joystick_power_ind: l.setPen(self.red_pen) graphics_scene.addItem(l) graphics_scene.setSceneRect(0, 0, self._widget.joystickGraphicsView.width() - 4, self._widget.joystickGraphicsView.height() - 4) self._widget.joystickGraphicsView.setScene(graphics_scene) self._widget.joystickGraphicsView.setBackgroundBrush(QBrush(QImage(os.path.join(rospkg.RosPack().get_path('mobility_base_tools'), 'images', 'dx6ilabels.jpg')))) self._widget.joystickGraphicsView.show()
class RosGraph(Plugin): _deferred_fit_in_view = Signal() def __init__(self, context): super(RosGraph, self).__init__(context) self.initialized = False self.setObjectName('RosGraph') self._graph = None self._current_dotcode = None self._widget = QWidget() # factory builds generic dotcode items self.dotcode_factory = PydotFactory() # self.dotcode_factory = PygraphvizFactory() # generator builds rosgraph self.dotcode_generator = RosGraphDotcodeGenerator() # dot_to_qt transforms into Qt elements using dot layout self.dot_to_qt = DotToQtGenerator() rp = rospkg.RosPack() ui_file = os.path.join(rp.get_path('rqt_graph'), 'resource', 'RosGraph.ui') loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView}) self._widget.setObjectName('RosGraphUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) self._scene = QGraphicsScene() self._scene.setBackgroundBrush(Qt.white) self._widget.graphics_view.setScene(self._scene) self._widget.graph_type_combo_box.insertItem(0, self.tr('Nodes only'), NODE_NODE_GRAPH) self._widget.graph_type_combo_box.insertItem(1, self.tr('Nodes/Topics (active)'), NODE_TOPIC_GRAPH) self._widget.graph_type_combo_box.insertItem(2, self.tr('Nodes/Topics (all)'), NODE_TOPIC_ALL_GRAPH) self._widget.graph_type_combo_box.setCurrentIndex(0) self._widget.graph_type_combo_box.currentIndexChanged.connect(self._refresh_rosgraph) self.node_completionmodel = NamespaceCompletionModel(self._widget.filter_line_edit, False) completer = RepeatedWordCompleter(self.node_completionmodel, self) completer.setCompletionMode(QCompleter.PopupCompletion) completer.setWrapAround(True) completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.filter_line_edit.editingFinished.connect(self._refresh_rosgraph) self._widget.filter_line_edit.setCompleter(completer) self.topic_completionmodel = NamespaceCompletionModel(self._widget.topic_filter_line_edit, False) topic_completer = RepeatedWordCompleter(self.topic_completionmodel, self) topic_completer.setCompletionMode(QCompleter.PopupCompletion) topic_completer.setWrapAround(True) topic_completer.setCaseSensitivity(Qt.CaseInsensitive) self._widget.topic_filter_line_edit.editingFinished.connect(self._refresh_rosgraph) self._widget.topic_filter_line_edit.setCompleter(topic_completer) self._widget.namespace_cluster_check_box.clicked.connect(self._refresh_rosgraph) self._widget.actionlib_check_box.clicked.connect(self._refresh_rosgraph) self._widget.dead_sinks_check_box.clicked.connect(self._refresh_rosgraph) self._widget.leaf_topics_check_box.clicked.connect(self._refresh_rosgraph) self._widget.quiet_check_box.clicked.connect(self._refresh_rosgraph) self._widget.refresh_graph_push_button.setIcon(QIcon.fromTheme('view-refresh')) self._widget.refresh_graph_push_button.pressed.connect(self._update_rosgraph) self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view) self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view) self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original')) self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view) self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open')) self._widget.load_dot_push_button.pressed.connect(self._load_dot) self._widget.save_dot_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_dot_push_button.pressed.connect(self._save_dot) self._widget.save_as_svg_push_button.setIcon(QIcon.fromTheme('document-save-as')) self._widget.save_as_svg_push_button.pressed.connect(self._save_svg) self._widget.save_as_image_push_button.setIcon(QIcon.fromTheme('image')) self._widget.save_as_image_push_button.pressed.connect(self._save_image) self._update_rosgraph() self._deferred_fit_in_view.connect(self._fit_in_view, Qt.QueuedConnection) self._deferred_fit_in_view.emit() context.add_widget(self._widget) def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('graph_type_combo_box_index', self._widget.graph_type_combo_box.currentIndex()) instance_settings.set_value('filter_line_edit_text', self._widget.filter_line_edit.text()) instance_settings.set_value('topic_filter_line_edit_text', self._widget.topic_filter_line_edit.text()) instance_settings.set_value('namespace_cluster_check_box_state', self._widget.namespace_cluster_check_box.isChecked()) instance_settings.set_value('actionlib_check_box_state', self._widget.actionlib_check_box.isChecked()) instance_settings.set_value('dead_sinks_check_box_state', self._widget.dead_sinks_check_box.isChecked()) instance_settings.set_value('leaf_topics_check_box_state', self._widget.leaf_topics_check_box.isChecked()) instance_settings.set_value('quiet_check_box_state', self._widget.quiet_check_box.isChecked()) instance_settings.set_value('auto_fit_graph_check_box_state', self._widget.auto_fit_graph_check_box.isChecked()) instance_settings.set_value('highlight_connections_check_box_state', self._widget.highlight_connections_check_box.isChecked()) def restore_settings(self, plugin_settings, instance_settings): self._widget.graph_type_combo_box.setCurrentIndex(int(instance_settings.value('graph_type_combo_box_index', 0))) self._widget.filter_line_edit.setText(instance_settings.value('filter_line_edit_text', '/')) self._widget.topic_filter_line_edit.setText(instance_settings.value('topic_filter_line_edit_text', '/')) self._widget.namespace_cluster_check_box.setChecked(instance_settings.value('namespace_cluster_check_box_state', True) in [True, 'true']) self._widget.actionlib_check_box.setChecked(instance_settings.value('actionlib_check_box_state', True) in [True, 'true']) self._widget.dead_sinks_check_box.setChecked(instance_settings.value('dead_sinks_check_box_state', True) in [True, 'true']) self._widget.leaf_topics_check_box.setChecked(instance_settings.value('leaf_topics_check_box_state', True) in [True, 'true']) self._widget.quiet_check_box.setChecked(instance_settings.value('quiet_check_box_state', True) in [True, 'true']) self._widget.auto_fit_graph_check_box.setChecked(instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true']) self._widget.highlight_connections_check_box.setChecked(instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true']) self.initialized = True self._refresh_rosgraph() def _update_rosgraph(self): # re-enable controls customizing fetched ROS graph self._widget.graph_type_combo_box.setEnabled(True) self._widget.filter_line_edit.setEnabled(True) self._widget.topic_filter_line_edit.setEnabled(True) self._widget.namespace_cluster_check_box.setEnabled(True) self._widget.actionlib_check_box.setEnabled(True) self._widget.dead_sinks_check_box.setEnabled(True) self._widget.leaf_topics_check_box.setEnabled(True) self._widget.quiet_check_box.setEnabled(True) self._graph = rosgraph.impl.graph.Graph() self._graph.set_master_stale(5.0) self._graph.set_node_stale(5.0) self._graph.update() self.node_completionmodel.refresh(self._graph.nn_nodes) self.topic_completionmodel.refresh(self._graph.nt_nodes) self._refresh_rosgraph() def _refresh_rosgraph(self): if not self.initialized: return self._update_graph_view(self._generate_dotcode()) def _generate_dotcode(self): ns_filter = self._widget.filter_line_edit.text() topic_filter = self._widget.topic_filter_line_edit.text() graph_mode = self._widget.graph_type_combo_box.itemData(self._widget.graph_type_combo_box.currentIndex()) orientation = 'LR' if self._widget.namespace_cluster_check_box.isChecked(): namespace_cluster = 1 else: namespace_cluster = 0 accumulate_actions = self._widget.actionlib_check_box.isChecked() hide_dead_end_topics = self._widget.dead_sinks_check_box.isChecked() hide_single_connection_topics = self._widget.leaf_topics_check_box.isChecked() quiet = self._widget.quiet_check_box.isChecked() return self.dotcode_generator.generate_dotcode( rosgraphinst=self._graph, ns_filter=ns_filter, topic_filter=topic_filter, graph_mode=graph_mode, hide_single_connection_topics=hide_single_connection_topics, hide_dead_end_topics=hide_dead_end_topics, cluster_namespaces_level=namespace_cluster, accumulate_actions=accumulate_actions, dotcode_factory=self.dotcode_factory, orientation=orientation, quiet=quiet) def _update_graph_view(self, dotcode): if dotcode == self._current_dotcode: return self._current_dotcode = dotcode self._redraw_graph_view() def _generate_tool_tip(self, url): if url is not None and ':' in url: item_type, item_path = url.split(':', 1) if item_type == 'node': tool_tip = 'Node:\n %s' % (item_path) service_names = rosservice.get_service_list(node=item_path) if service_names: tool_tip += '\nServices:' for service_name in service_names: try: service_type = rosservice.get_service_type(service_name) tool_tip += '\n %s [%s]' % (service_name, service_type) except rosservice.ROSServiceIOException as e: tool_tip += '\n %s' % (e) return tool_tip elif item_type == 'topic': topic_type, topic_name, _ = rostopic.get_topic_type(item_path) return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type) return url def _redraw_graph_view(self): self._scene.clear() if self._widget.highlight_connections_check_box.isChecked(): highlight_level = 3 else: highlight_level = 1 # layout graph and create qt items (nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(self._current_dotcode, highlight_level=highlight_level, same_label_siblings=True) for node_item in nodes.itervalues(): self._scene.addItem(node_item) for edge_items in edges.itervalues(): for edge_item in edge_items: edge_item.add_to_scene(self._scene) self._scene.setSceneRect(self._scene.itemsBoundingRect()) if self._widget.auto_fit_graph_check_box.isChecked(): self._fit_in_view() 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 _fit_in_view(self): self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio) 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_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_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)