class PlotWidget(QWidget):
_redraw_interval = 40
def __init__(self, arguments=None, initial_topics=None):
super(PlotWidget, self).__init__()
self.setObjectName('PlotWidget')
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'plot.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.remove_topic_button.setIcon(QIcon.fromTheme('remove'))
self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.data_plot = None
self.subscribe_topic_button.setEnabled(False)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self._start_time = rospy.get_time()
self._rosdata = {}
self._ordered_topics = []
self._remove_topic_menu = QMenu()
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
# save command line arguments
self._arguments = arguments
self._initial_topics = initial_topics
def switch_data_plot_widget(self, data_plot):
self.enable_timer(enabled=False)
self.data_plot_layout.removeWidget(self.data_plot)
if self.data_plot is not None:
self.data_plot.close()
self.data_plot = data_plot
self.data_plot_layout.addWidget(self.data_plot)
# setup drag 'n drop
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
if self._initial_topics:
for topic_name in self._initial_topics:
self.add_topic(topic_name)
self._initial_topics = None
else:
for topic_name, rosdata in self._rosdata.items():
data_x, data_y = rosdata.next()
self.data_plot.add_curve(topic_name, topic_name, data_x,
data_y)
self._subscribed_topics_changed()
@Slot('QDragEnterEvent*')
def dragEnterEvent(self, event):
# get topic name
if not event.mimeData().hasText():
if not hasattr(event.source(), 'selectedItems') or len(
event.source().selectedItems()) == 0:
qWarning(
'Plot.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0'
)
return
item = event.source().selectedItems()[0]
topic_name = item.data(0, Qt.UserRole)
if topic_name == None:
qWarning(
'Plot.dragEnterEvent(): not hasattr(item, ros_topic_name_)'
)
return
else:
topic_name = str(event.mimeData().text())
# check for numeric field type
is_numeric, is_array, message = is_slot_numeric(topic_name)
if is_numeric and not is_array:
event.acceptProposedAction()
else:
qWarning('Plot.dragEnterEvent(): rejecting: "%s"' % (message))
@Slot('QDropEvent*')
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.add_topic(topic_name)
@Slot(str)
def on_topic_edit_textChanged(self, topic_name):
# on empty topic name, update topics
if topic_name in ('', '/'):
self._topic_completer.update_topics()
is_numeric, is_array, message = is_slot_numeric(topic_name)
self.subscribe_topic_button.setEnabled(is_numeric and not is_array)
self.subscribe_topic_button.setToolTip(message)
@Slot()
def on_subscribe_topic_button_clicked(self):
self.add_topic(str(self.topic_edit.text()))
@Slot()
def on_mass_button_clicked(self):
topics = str(self.mass_edit.toPlainText()).split()
for topic in topics:
self.add_topic(topic)
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
@Slot()
def on_clear_button_clicked(self):
self.clean_up_subscribers()
def update_plot(self):
if self.data_plot is not None:
for topic_name, rosdata in self._rosdata.items():
try:
data_x, data_y = rosdata.next()
self.data_plot.update_values(topic_name, data_x, data_y)
except RosPlotException as e:
qWarning('PlotWidget.update_plot(): error in rosplot: %s' %
e)
self.data_plot.redraw()
def _subscribed_topics_changed(self):
self._update_remove_topic_menu()
if self._arguments:
if self._arguments.start_paused:
self.pause_button.setChecked(True)
if not self.pause_button.isChecked():
# if pause button is not pressed, enable timer based on subscribed topics
self.enable_timer(self._rosdata)
def _update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' %
topic_name)
return
self._ordered_topics.append(topic_name)
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
self._subscribed_topics_changed()
def remove_topic(self, topic_name):
self._rosdata[topic_name].close()
del self._rosdata[topic_name]
self._ordered_topics.remove(topic_name)
self.data_plot.remove_curve(topic_name)
self._subscribed_topics_changed()
def clean_up_subscribers(self):
for topic_name, rosdata in self._rosdata.items():
rosdata.close()
self.data_plot.remove_curve(topic_name)
self._rosdata = {}
self._ordered_topics = []
self._subscribed_topics_changed()
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()
class Plot3DWidget(QWidget):
_redraw_interval = 40
def __init__(self, initial_topics=None, start_paused=False,
buffer_length=100, use_poly=True, no_legend=False):
super(Plot3DWidget, self).__init__()
self.setObjectName('Plot3DWidget')
self._buffer_length = buffer_length
self._initial_topics = initial_topics
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('jsk_rqt_plugins'),
'resource', 'plot3d.ui')
loadUi(ui_file, self)
self.subscribe_topic_button.setIcon(QIcon.fromTheme('add'))
self.remove_topic_button.setIcon(QIcon.fromTheme('remove'))
self.pause_button.setIcon(QIcon.fromTheme('media-playback-pause'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.data_plot = MatDataPlot3D(self, self._buffer_length,
use_poly, no_legend)
self.data_plot_layout.addWidget(self.data_plot)
self.data_plot.autoscroll(self.autoscroll_checkbox.isChecked())
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
self.subscribe_topic_button.setEnabled(False)
if start_paused:
self.pause_button.setChecked(True)
self._topic_completer = TopicCompleter(self.topic_edit)
self._topic_completer.update_topics()
self.topic_edit.setCompleter(self._topic_completer)
self._start_time = rospy.get_time()
self._rosdata = {}
self._remove_topic_menu = QMenu()
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
if self._initial_topics:
for topic_name in self._initial_topics:
self.add_topic(topic_name)
self._initial_topics = None
@Slot('QDragEnterEvent*')
def dragEnterEvent(self, event):
# get topic name
if not event.mimeData().hasText():
if not hasattr(event.source(), 'selectedItems') or len(event.source().selectedItems()) == 0:
qWarning('Plot.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0')
return
item = event.source().selectedItems()[0]
topic_name = item.data(0, Qt.UserRole)
if topic_name == None:
qWarning('Plot.dragEnterEvent(): not hasattr(item, ros_topic_name_)')
return
else:
topic_name = str(event.mimeData().text())
# check for numeric field type
is_numeric, is_array, message = is_slot_numeric(topic_name)
if is_numeric and not is_array:
event.acceptProposedAction()
else:
qWarning('Plot.dragEnterEvent(): rejecting: "%s"' % (message))
@Slot('QDropEvent*')
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.add_topic(topic_name)
@Slot(str)
def on_topic_edit_textChanged(self, topic_name):
# on empty topic name, update topics
if topic_name in ('', '/'):
self._topic_completer.update_topics()
is_numeric, is_array, message = is_slot_numeric(topic_name)
self.subscribe_topic_button.setEnabled(is_numeric and not is_array)
self.subscribe_topic_button.setToolTip(message)
@Slot()
def on_topic_edit_returnPressed(self):
if self.subscribe_topic_button.isEnabled():
self.add_topic(str(self.topic_edit.text()))
@Slot()
def on_subscribe_topic_button_clicked(self):
self.add_topic(str(self.topic_edit.text()))
@Slot(bool)
def on_pause_button_clicked(self, checked):
self.enable_timer(not checked)
@Slot(bool)
def on_autoscroll_checkbox_clicked(self, checked):
self.data_plot.autoscroll(checked)
@Slot()
def on_clear_button_clicked(self):
self.clean_up_subscribers()
def update_plot(self):
if self.data_plot is not None:
needs_redraw = False
for topic_name, rosdata in self._rosdata.items():
try:
data_x, data_y = rosdata.next()
if data_x or data_y:
self.data_plot.update_values(topic_name, data_x, data_y)
needs_redraw = True
except RosPlotException as e:
qWarning('PlotWidget.update_plot(): error in rosplot: %s' % e)
if needs_redraw:
self.data_plot.redraw()
def _subscribed_topics_changed(self):
self._update_remove_topic_menu()
if not self.pause_button.isChecked():
# if pause button is not pressed, enable timer based on subscribed topics
self.enable_timer(self._rosdata)
def _update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
self._subscribed_topics_changed()
def remove_topic(self, topic_name):
self._rosdata[topic_name].close()
del self._rosdata[topic_name]
self.data_plot.remove_curve(topic_name)
self._subscribed_topics_changed()
def clean_up_subscribers(self):
for topic_name, rosdata in self._rosdata.items():
rosdata.close()
self.data_plot.remove_curve(topic_name)
self._rosdata = {}
self._subscribed_topics_changed()
def enable_timer(self, enabled=True):
if enabled:
self._update_plot_timer.start(self._redraw_interval)
else:
self._update_plot_timer.stop()