def __init__(self, title=""):
self.g = termgraphics.TermGraphics()
self.xmax = 20
self.ymax = 20
self.last_update_time = 0
self.image = None
self.title = title
self.last_update_shape_time = 0
def __init__(self, title=""):
self.g = termgraphics.TermGraphics()
self.scale = 20
self.spin = 0.0
self.tilt = 3.14159 * 2 / 3
self.target_scale = self.scale
self.target_spin = self.spin
self.target_tilt = self.tilt
self.target_time = 0
self.calculate_rotation()
self.msg = None
self.last_update_shape_time = 0
self.title = title
def __init__(self, topic, ascii_enable=None, color_mode=None):
super().__init__('ros2show')
if ascii_enable is None:
self.ascii_enable = True
else:
self.ascii_enable = ascii_enable
if color_mode is None:
self.color_mode = None
else:
self.color_mode = color_mode
time.sleep(3)
topic_types = dict(self.get_topic_names_and_types())
topic_type=', '.join(topic_types[topic])
if topic not in topic_types:
print("Topic {0} does not appear to be published yet.".format(topic))
sys.exit(0)
if topic_type not in VIEWER_MAPPING:
print("Unsupported message type.")
exit()
# Create the canvas and viewer accordingly
self.canvas = termgraphics.TermGraphics( \
mode = (termgraphics.MODE_EASCII if ascii_enable else termgraphics.MODE_UNICODE),
color_support = color_mode)
module_name, class_name, viewer_kwargs = VIEWER_MAPPING[topic_type]
viewer_class = getattr(__import__(module_name, fromlist=(class_name)), class_name)
self.viewer = viewer_class(self.canvas, title = topic, **viewer_kwargs)
message_package, message_name = topic_type.split("/msg/", 2)
message_class = getattr(__import__(message_package + ".msg", fromlist=(message_name)), message_name)
self.sub = self.create_subscription(message_class, topic, self.viewer.update, 10)
self.getch = Getch()
self._thread = threading.Thread(target=self._run, args=(), daemon=False)
self._thread.start()
def __init__(self, title="", data_field="data"):
self.g = termgraphics.TermGraphics()
self.msg = None
self.xmax = 10
self.title = title
self.data_field = data_field
self.last_value = 0.0
self.last_update_shape_time = 0
hmargin = self.g.shape[0] / 40.
vmargin = self.g.shape[1] / 20.
hsize = (self.g.shape[0] - 4 * hmargin)
vsize = (self.g.shape[1] - 4 * vmargin)
self.scope_plotter = ScopePlotter(
self.g,
left=hmargin,
top=vmargin,
right=hmargin + hsize,
bottom=vmargin + vsize,
ymin=None,
ymax=None,
)
def __init__(self, title=""):
self.g = termgraphics.TermGraphics()
self.last_update_shape_time = 0
self.title = title
self.right = 10
self.yaws = [0.] * 128
self.yaws_p = 0
self.pitches = [0.] * 128
self.pitches_p = 0
self.rolls = [0.] * 128
self.rolls_p = 0
hmargin = self.g.shape[0] / 40.
vmargin = self.g.shape[1] / 20.
hsize = (self.g.shape[0] - 4 * hmargin) / 3
vsize = (self.g.shape[1] - 4 * vmargin) / 3
self.yaw_scope_plotter = ScopePlotter(
self.g,
left=hmargin,
top=vmargin,
right=hmargin + hsize,
bottom=vmargin + vsize,
ymin=-math.pi,
ymax=math.pi,
)
self.pitch_scope_plotter = ScopePlotter(
self.g,
left=hmargin,
top=2 * vmargin + vsize,
right=hmargin + hsize,
bottom=2 * vmargin + 2 * vsize,
ymin=-math.pi / 2,
ymax=math.pi / 2,
)
self.roll_scope_plotter = ScopePlotter(
self.g,
left=hmargin,
top=3 * vmargin + 2 * vsize,
right=hmargin + hsize,
bottom=3 * vmargin + 3 * vsize,
ymin=0,
ymax=2 * math.pi,
)
self.avx_scope_plotter = ScopePlotter(
self.g,
left=2 * hmargin + hsize,
top=vmargin,
right=2 * hmargin + 2 * hsize,
bottom=vmargin + vsize,
ymin=-math.pi,
ymax=math.pi,
)
self.avy_scope_plotter = ScopePlotter(
self.g,
left=2 * hmargin + hsize,
top=2 * vmargin + vsize,
right=2 * hmargin + 2 * hsize,
bottom=2 * vmargin + 2 * vsize,
ymin=-math.pi,
ymax=math.pi,
)
self.avz_scope_plotter = ScopePlotter(
self.g,
left=2 * hmargin + hsize,
top=3 * vmargin + 2 * vsize,
right=2 * hmargin + 2 * hsize,
bottom=3 * vmargin + 3 * vsize,
ymin=-math.pi,
ymax=math.pi,
)
self.lax_scope_plotter = ScopePlotter(
self.g,
left=3 * hmargin + 2 * hsize,
top=vmargin,
right=3 * hmargin + 3 * hsize,
bottom=vmargin + vsize,
ymin=-9.8,
ymax=9.8,
)
self.lay_scope_plotter = ScopePlotter(self.g,
left=3 * hmargin + 2 * hsize,
top=2 * vmargin + vsize,
right=3 * hmargin + 3 * hsize,
bottom=2 * vmargin + 2 * vsize,
ymin=-9.8,
ymax=9.8)
self.laz_scope_plotter = ScopePlotter(
self.g,
left=3 * hmargin + 2 * hsize,
top=3 * vmargin + 2 * vsize,
right=3 * hmargin + 3 * hsize,
bottom=3 * vmargin + 3 * vsize,
ymin=-9.8,
ymax=9.8,
)
def __init__(self, title=""):
self.g = termgraphics.TermGraphics()
self.location_plotter = LocationPlotter(self.g)
self.title = title