def test_add_subgraph_escape_name(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_subgraph_to_graph(g, 'graph')
self.assertEqual(1, len(g.subgraphs()))
self.assertEqual('cluster_graph', g.subgraphs()[0].get_name())
self.assertEqual('graph', g.subgraphs()[0].graph_attr['label'])
def test_add_subgraph_escape_name(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_subgraph_to_graph(g, 'graph')
self.assertEqual(1, len(g.subgraphs()))
self.assertEqual('cluster_graph', g.subgraphs()[0].get_name())
self.assertEqual('graph', g.subgraphs()[0].graph_attr['label'])
def test_add_node_escape_name(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_node_to_graph(g, 'graph')
self.assertEqual(1, len(g.nodes()))
self.assertEqual('graph', g.nodes()[0].get_name())
self.assertEqual('graph', g.nodes()[0].attr['label'])
def test_add_node_escape_name(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_node_to_graph(g, 'graph')
self.assertEqual(1, len(g.nodes()))
self.assertEqual('graph', g.nodes()[0].get_name())
self.assertEqual('graph', g.nodes()[0].attr['label'])
def test_add_edge(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_node_to_graph(g, 'foo')
fac.add_node_to_graph(g, 'bar')
fac.add_edge_to_graph(g, 'foo', 'bar')
self.assertEqual(2, len(g.nodes()))
self.assertEqual(1, len(g.edges()))
self.assertEqual('foo', g.edges()[0][0])
self.assertEqual('bar', g.edges()[0][1])
def test_add_edge(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_node_to_graph(g, 'foo')
fac.add_node_to_graph(g, 'bar')
fac.add_edge_to_graph(g, 'foo', 'bar')
self.assertEqual(2, len(g.nodes()))
self.assertEqual(1, len(g.edges()))
self.assertEqual('foo', g.edges()[0][0])
self.assertEqual('bar', g.edges()[0][1])
def test_create_dot(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_node_to_graph(g, 'foo')
fac.add_node_to_graph(g, 'edge')
fac.add_edge_to_graph(g, 'foo', 'edge')
fac.add_subgraph_to_graph(g, 'graph')
snippets = ['strict digraph {\n\tgraph',
'foo',
'label=foo',
'"edge"',
'label="edge"',
'foo -> "edge"']
result = fac.create_dot(g)
for sn in snippets:
self.assertTrue(sn in result, '%s \nmissing in\n %s' % (sn, result))
def test_get_graph(self):
fac = PygraphvizFactory()
g = fac.get_graph()
self.assertEquals('same', g.graph_attr['rank'])
self.assertTrue(g.is_directed())
def __init__(self, context):
super(RosBehaviourTree, self).__init__(context)
self.setObjectName('RosBehaviourTree')
parser = argparse.ArgumentParser()
RosBehaviourTree.add_arguments(parser, False)
# if the context doesn't have an argv attribute then assume we're running with --no-roscore
if not hasattr(context, 'argv'):
args = sys.argv[1:]
# Can run the viewer with or without live updating. Running without is
# intended for viewing of bags only
self.live_update = False
else:
args = context.argv()
self.live_update = True
parsed_args = parser.parse_args(args)
self.context = context
self.initialized = False
self._current_dotcode = None # dotcode for the tree that is currently displayed
self._viewing_bag = False # true if a bag file is loaded
# True if next or previous buttons are pressed. Reset if the tree being
# viewed is the last one in the list.
self._browsing_timeline = False
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PygraphvizFactory() # PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosBehaviourTreeDotcodeGenerator()
self.current_topic = None
self.behaviour_sub = None
self._tip_message = None # message of the tip of the tree
self._saved_settings_topic = None # topic subscribed to by previous instance
self.visibility_level = py_trees.common.VisibilityLevel.DETAIL
# 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_py_trees'), 'resource',
'RosBehaviourTree.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosBehaviourTreeUi')
if hasattr(context, 'serial_number') and 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.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_bag_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_bag_push_button.pressed.connect(self._load_bag)
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)
for text in visibility.combo_to_py_trees:
self._widget.visibility_level_combo_box.addItem(text)
self._widget.visibility_level_combo_box.setCurrentIndex(
self.visibility_level)
self._widget.visibility_level_combo_box.currentIndexChanged[
'QString'].connect(self._update_visibility_level)
# set up the function that is called whenever the box is resized -
# ensures that the timeline is correctly drawn.
self._widget.resizeEvent = self._resize_event
self._timeline = None
self._timeline_listener = None
# Connect the message changed function of this object to a corresponding
# signal. This signal will be activated whenever the message being
# viewed changes.
self._message_changed.connect(self.message_changed)
self._message_cleared.connect(self.message_cleared)
# Set up combo box for topic selection
# when the refresh_combo signal happens, update the combo topics available
self._refresh_combo.connect(self._update_combo_topics)
# filter events to catch the event which opens the combo box
self._combo_event_filter = RosBehaviourTree.ComboBoxEventFilter(
self._refresh_combo)
self._widget.topic_combo_box.installEventFilter(
self._combo_event_filter)
self._widget.topic_combo_box.activated.connect(self._choose_topic)
self._update_combo_topics()
# Set up navigation buttons
self._widget.previous_tool_button.pressed.connect(self._previous)
self._widget.previous_tool_button.setIcon(
QIcon.fromTheme('go-previous'))
self._widget.next_tool_button.pressed.connect(self._next)
self._widget.next_tool_button.setIcon(QIcon.fromTheme('go-next'))
self._widget.first_tool_button.pressed.connect(self._first)
self._widget.first_tool_button.setIcon(QIcon.fromTheme('go-first'))
self._widget.last_tool_button.pressed.connect(self._last)
self._widget.last_tool_button.setIcon(QIcon.fromTheme('go-last'))
# play, pause and stop buttons
self._widget.play_tool_button.pressed.connect(self._play)
self._widget.play_tool_button.setIcon(
QIcon.fromTheme('media-playback-start'))
self._widget.stop_tool_button.pressed.connect(self._stop)
self._widget.stop_tool_button.setIcon(
QIcon.fromTheme('media-playback-stop'))
# also connect the navigation buttons so that they stop the timer when
# pressed while the tree is playing.
self._widget.first_tool_button.pressed.connect(self._stop)
self._widget.previous_tool_button.pressed.connect(self._stop)
self._widget.last_tool_button.pressed.connect(self._stop)
self._widget.next_tool_button.pressed.connect(self._stop)
# set up shortcuts for navigation (vim)
next_shortcut_vi = QShortcut(QKeySequence("l"), self._widget)
next_shortcut_vi.activated.connect(
self._widget.next_tool_button.pressed)
previous_shortcut_vi = QShortcut(QKeySequence("h"), self._widget)
previous_shortcut_vi.activated.connect(
self._widget.previous_tool_button.pressed)
first_shortcut_vi = QShortcut(QKeySequence("^"), self._widget)
first_shortcut_vi.activated.connect(
self._widget.first_tool_button.pressed)
last_shortcut_vi = QShortcut(QKeySequence("$"), self._widget)
last_shortcut_vi.activated.connect(
self._widget.last_tool_button.pressed)
# shortcuts for emacs
next_shortcut_emacs = QShortcut(QKeySequence("Ctrl+f"), self._widget)
next_shortcut_emacs.activated.connect(
self._widget.next_tool_button.pressed)
previous_shortcut_emacs = QShortcut(QKeySequence("Ctrl+b"),
self._widget)
previous_shortcut_emacs.activated.connect(
self._widget.previous_tool_button.pressed)
first_shortcut_emacs = QShortcut(QKeySequence("Ctrl+a"), self._widget)
first_shortcut_emacs.activated.connect(
self._widget.first_tool_button.pressed)
last_shortcut_emacs = QShortcut(QKeySequence("Ctrl+e"), self._widget)
last_shortcut_emacs.activated.connect(
self._widget.last_tool_button.pressed)
# set up stuff for dotcode cache
self._dotcode_cache_capacity = 50
self._dotcode_cache = {}
# cache is ordered on timestamps from messages, but earliest timestamp
# isn't necessarily the message that was viewed the longest time ago, so
# need to store keys
self._dotcode_cache_keys = []
# set up stuff for scene cache (dotcode cache doesn't seem to make much difference)
self._scene_cache_capacity = 50
self._scene_cache = {}
self._scene_cache_keys = []
# Update the timeline buttons to correspond with a completely
# uninitialised state.
self._set_timeline_buttons(first_snapshot=False,
previous_snapshot=False,
next_snapshot=False,
last_snapshot=False)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
# This is used to store a timer which controls how fast updates happen when the play button is pressed.
self._play_timer = None
# updates the view
self._refresh_view.connect(self._refresh_tree_graph)
self._force_refresh = False
if self.live_update:
context.add_widget(self._widget)
else:
self.initialized = True # this needs to be set for trees to be displayed
context.setCentralWidget(self._widget)
if parsed_args.bag:
self._load_bag(parsed_args.bag)
elif parsed_args.latest_bag:
# if the latest bag is requested, load it from the default directory, or
# the one specified in the args
bag_dir = parsed_args.bag_dir or os.getenv(
'ROS_HOME', os.path.expanduser('~/.ros')) + '/behaviour_trees'
self.open_latest_bag(bag_dir, parsed_args.by_time)
def test_create_dot(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_node_to_graph(g, 'foo')
fac.add_node_to_graph(g, 'edge')
fac.add_edge_to_graph(g, 'foo', 'edge')
fac.add_subgraph_to_graph(g, 'graph')
snippets = ['strict digraph {\n\tgraph',
'foo',
'label=foo',
'"edge"',
'label="edge"',
'foo -> "edge"']
result = fac.create_dot(g)
for sn in snippets:
self.assertTrue(sn in result, '%s \nmissing in\n %s' % (sn, result))
def test_get_graph(self):
fac = PygraphvizFactory()
g = fac.get_graph()
self.assertEquals('same', g.graph_attr['rank'])
self.assertTrue(g.is_directed())
def test_create_dot(self):
fac = PygraphvizFactory()
g = fac.get_graph()
fac.add_node_to_graph(g, 'foo')
fac.add_node_to_graph(g, 'edge')
fac.add_edge_to_graph(g, 'foo', 'edge')
fac.add_subgraph_to_graph(g, 'graph')
snippets = [
'strict digraph { graph', 'foo', 'label=foo', '"edge"',
'label="edge"', 'foo -> "edge"'
]
result = fac.create_dot(g)
# get rid of version specific quotes / whitespaces
result = re.sub('""', ' ', result)
result = re.sub('[\n\t ]+', ' ', result)
for sn in snippets:
self.assertTrue(sn in result,
'%s \nmissing in\n %s' % (sn, result))
