def set_url(self, url, showinput=False):
"""
Sets the url and begins loading that page
:param url: url to load in the webview, ''str or QUrl''
:param showinput: if true the input bar will be shown, else hidden, ''bool''
"""
if url is not None:
self._url = QUrl(url)
self.set_show_url_input(showinput)
self._view.setUrl(self._url)
def on_topic_control_btn_clicked(self):
try:
if self.sub is None and self.ssh_output_file is None:
if self.__msg_class:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
else:
self._on_display_anchorClicked(QUrl(self._masteruri))
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_stop.png'))
else:
if self.sub is not None:
self.sub.unregister()
self.sub = None
elif self.ssh_output_file is not None:
self.ssh_output_file.close()
self.ssh_error_file.close()
self.ssh_output_file = None
self.topic_control_button.setText('play')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_play.png'))
self.no_str_checkbox.setEnabled(True)
self.no_arr_checkbox.setEnabled(True)
except Exception as e:
rospy.logwarn('Error while stop/play echo for topic %s: %s' %
(self.topic, e))
def __init__(self, parent=None):
super(QVirtualJoystickView, self).__init__(parent)
virtual_joystick_path = os.path.join(
rospkg.RosPack().get_path('rocon_qt_library'), 'ui',
'virtual_joystick.qml')
self.setSource(QUrl(virtual_joystick_path))
self.setResizeMode(QDeclarativeView.SizeRootObjectToView)
def _initialize_widget(self, url):
# NOTE: Since QQuickWidget freezes if running on another thread
# QQuickView is used and wrapped as QWidget
# See https://stackoverflow.com/questions/52663856/qwidget-ui-freezes-when-using-a-qquickwidget
view = QQuickView()
view.statusChanged.connect(
functools.partial(self._on_status_changed, view=view))
engine = view.engine()
# aggregate plugin paths from import tags
rospack = rospkg.RosPack()
plugins_dir = QLibraryInfo.location(QLibraryInfo.PluginsPath)
plugins_paths = rospack.get_manifest(__name__).get_export(
__name__, 'plugins')
for i, p in enumerate(plugins_paths):
plugins_paths[i] = os.path.join(plugins_dir, p)
qml_paths = rospack.get_manifest(__name__).get_export(
__name__, 'imports')
deps = rospack.get_depends_on(__name__)
for dep in deps:
pp = rospack.get_manifest(dep).get_export(__name__, 'plugins')
for i in p in enumerate(pp):
if not os.path.isabs(p):
pp[i] = os.path.join(plugins_dir, p)
plugins_paths += pp
qp = rospack.get_manifest(dep).get_export(__name__, 'imports')
qml_paths += qp
for p in plugins_paths:
rospy.logdebug('plugin path: %s', p)
engine.addPluginPath(p)
for p in qml_paths:
rospy.logdebug('import path: %s', p)
engine.addImportPath(p)
qml_sys_path = QLibraryInfo.location(QLibraryInfo.ImportsPath)
rospy.logdebug('import path: %s', qml_sys_path)
engine.addImportPath(qml_sys_path)
os.environ['QML2_IMPORT_PATH'] = ':'.join(
qml_paths) + ':' + qml_sys_path
# wrap QWindow class as QWidget
widget = QWidget.createWindowContainer(view)
# load QML
url = self._args.url
if not os.path.isabs(url):
url = os.path.abspath(url)
rospy.logdebug('Url: %s' % url)
url = QUrl.fromLocalFile(url)
view.setSource(url)
return widget
def set_url(self, url, showinput=False):
"""
Sets the url and begins loading that page
:param url: url to load in the webview, ''str or QUrl''
:param showinput: if true the input bar will be shown, else hidden, ''bool''
"""
if url is not None:
self._url = QUrl(url)
self.set_show_url_input(showinput)
self._view.setUrl(self._url)
def on_topic_control_btn_clicked(self):
try:
if self.sub is None and self.ssh_output_file is None:
if self.__msg_class:
self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle)
self._start_time = time.time()
else:
self._on_display_anchorClicked(QUrl(self._masteruri))
self.topicControlButton.setIcon(nm.settings().icon('sekkyumu_stop.png'))
else:
if self.sub is not None:
self.sub.unregister()
self.sub = None
elif self.ssh_output_file is not None:
self.ssh_output_file.close()
self.ssh_error_file.close()
self.ssh_output_file = None
self.topicControlButton.setIcon(nm.settings().icon('sekkyumu_play.png'))
except Exception as e:
rospy.logwarn('Error while stop/play echo for topic %s: %s' % (self.topic, utf8(e)))
class WebWidget(QWidget):
def __init__(self, url=None):
"""
Class to load a webpage in a widget.
:param url: If url is empty then a navigation bar is shown otherwise the url is loaded and the navigation bar is hidden, ''str''
"""
super(WebWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_web'), 'resource', 'web_widget.ui')
loadUi(ui_file, self)
self.setObjectName('WebWidget')
self._loading = False
self._stop_icon = QIcon.fromTheme('process-stop')
self._reload_icon = QIcon.fromTheme('view-refresh')
self._working_icon = QIcon.fromTheme('process-working')
self._completer_word_list = ['']
self._view = QWebView()
self.verticalLayout.addWidget(self._view)
if url is None:
self.set_url("http://ros.org", True)
else:
self.set_url(url, False)
self.url_lineedit.returnPressed.connect(self._handle_url_change)
self._view.loadFinished[bool].connect(self._handle_load_finished)
self.reload_button.clicked.connect(self._handle_reload_clicked)
self._view.linkClicked.connect(self._handle_link_clicked)
self._view.urlChanged[QUrl].connect(self._handle_url_changed)
def set_url(self, url, showinput=False):
"""
Sets the url and begins loading that page
:param url: url to load in the webview, ''str or QUrl''
:param showinput: if true the input bar will be shown, else hidden, ''bool''
"""
if url is not None:
self._url = QUrl(url)
self.set_show_url_input(showinput)
self._view.setUrl(self._url)
def set_show_url_input(self, showinput):
"""
Sets the value of the show_url_input flag and hides/shows the widgets as required
:param showinput: true - show inputbar false - hide , ''bool''
"""
self._show_url_input = showinput
self.url_lineedit.setVisible(self._show_url_input)
self.reload_button.setVisible(self._show_url_input)
if self._show_url_input:
self._view.page().setLinkDelegationPolicy(QWebPage.DelegateAllLinks)
else:
self._view.page().setLinkDelegationPolicy(QWebPage.DontDelegateLinks)
def save_settings(self, settings):
settings.set_value('url_completion', self._pack(self._completer_word_list))
settings.set_value('url_current', self._url.toString())
def restore_settings(self, settings):
self._completer_word_list += self._unpack(settings.value('url_completion'))
self._completer_word_list = list(set(self._completer_word_list))
url = settings.value('url_current')
if url:
self.set_url(url, self._show_url_input)
def _handle_url_change(self):
self.set_url(self.url_lineedit.text(), True)
def _handle_link_clicked(self, url):
self.set_url(url, True)
def _handle_reload_clicked(self):
if self._loading:
self._view.stop()
self._loading = False
self.reload_button.setIcon(self._reload_icon)
else:
self._view.reload()
self._loading = True
self.reload_button.setIcon(self._stop_icon)
def _handle_url_changed(self, url):
# set text to the current loading item
self.url_lineedit.setText(url.toString())
self.reload_button.setIcon(self._stop_icon)
self._loading = True
def _handle_load_finished(self, ok):
self._loading = False
self.reload_button.setIcon(self._reload_icon)
if ok:
self._add_completer_list_item(self._url.toString())
else:
# need to disconnect or we will resend the signal once the error page loads
self._view.loadFinished[bool].disconnect(self._handle_load_finished)
self._view.page().currentFrame().setHtml('<html><h2>The url you entered seems to be faulty.</h2></html>')
self._view.loadFinished[bool].connect(self._handle_load_finished)
def _add_completer_list_item(self, url):
self._completer_word_list.append(self.url_lineedit.text())
self._completer_word_list = list(set(self._completer_word_list))
self._completer = QCompleter(self._completer_word_list)
self._completer.setCaseSensitivity(Qt.CaseInsensitive)
self._completer.setCompletionMode(QCompleter.PopupCompletion)
self.url_lineedit.setCompleter(self._completer)
@staticmethod
def _pack(data):
"""
Packs 'data' into a form that can be easily and readably written to an ini file
:param data: A list of strings to be flattened into a string ''list''
:return: A string suitable for output to ini files ''str''
"""
if len(data) == 0:
return ''
if len(data) == 1:
return data[0]
return data
@staticmethod
def _unpack(data):
"""
Unpacks the values read from an ini file
:param data: An entry taken from an ini file ''list or string''
:return: A list of strings ''list''
"""
if data is None or data == '':
data = []
elif isinstance(data, basestring):
data = [data]
return data
class WebWidget(QWidget):
def __init__(self, url=None):
"""
Class to load a webpage in a widget.
:param url: If url is empty then a navigation bar is shown otherwise the url is loaded and the navigation bar is hidden, ''str''
"""
super(WebWidget, self).__init__()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'web_widget.ui')
loadUi(ui_file, self)
self.setObjectName('WebWidget')
self._loading = False
self._stop_icon = QIcon.fromTheme('process-stop')
self._reload_icon = QIcon.fromTheme('view-refresh')
self._working_icon = QIcon.fromTheme('process-working')
self._completer_word_list = ['']
self._view = QWebView()
self.verticalLayout.addWidget(self._view)
if url is None:
self.set_url("http://ros.org", True)
else:
self.set_url(url, False)
self.url_lineedit.returnPressed.connect(self._handle_url_change)
self._view.loadFinished[bool].connect(self._handle_load_finished)
self.reload_button.clicked.connect(self._handle_reload_clicked)
self._view.linkClicked.connect(self._handle_link_clicked)
self._view.urlChanged[QUrl].connect(self._handle_url_changed)
def set_url(self, url, showinput=False):
"""
Sets the url and begins loading that page
:param url: url to load in the webview, ''str or QUrl''
:param showinput: if true the input bar will be shown, else hidden, ''bool''
"""
if url is not None:
self._url = QUrl(url)
self.set_show_url_input(showinput)
self._view.setUrl(self._url)
def set_show_url_input(self, showinput):
"""
Sets the value of the show_url_input flag and hides/shows the widgets as required
:param showinput: true - show inputbar false - hide , ''bool''
"""
self._show_url_input = showinput
self.url_lineedit.setVisible(self._show_url_input)
self.reload_button.setVisible(self._show_url_input)
if self._show_url_input:
self._view.page().setLinkDelegationPolicy(
QWebPage.DelegateAllLinks)
else:
self._view.page().setLinkDelegationPolicy(
QWebPage.DontDelegateLinks)
def save_settings(self, settings):
settings.set_value('url_completion',
self._pack(self._completer_word_list))
settings.set_value('url_current', self._url.toString())
def restore_settings(self, settings):
self._completer_word_list += self._unpack(
settings.value('url_completion'))
self._completer_word_list = list(set(self._completer_word_list))
url = settings.value('url_current')
if url:
self.set_url(url, self._show_url_input)
def _handle_url_change(self):
self.set_url(self.url_lineedit.text(), True)
def _handle_link_clicked(self, url):
self.set_url(url, True)
def _handle_reload_clicked(self):
if self._loading:
self._view.stop()
self._loading = False
self.reload_button.setIcon(self._reload_icon)
else:
self._view.reload()
self._loading = True
self.reload_button.setIcon(self._stop_icon)
def _handle_url_changed(self, url):
# set text to the current loading item
self.url_lineedit.setText(url.toString())
self.reload_button.setIcon(self._stop_icon)
self._loading = True
def _handle_load_finished(self, ok):
self._loading = False
self.reload_button.setIcon(self._reload_icon)
if ok:
self._add_completer_list_item(self._url.toString())
else:
# need to disconnect or we will resend the signal once the error page loads
self._view.loadFinished[bool].disconnect(
self._handle_load_finished)
self._view.page().currentFrame().setHtml(
'<html><h2>The url you entered seems to be faulty.</h2></html>'
)
self._view.loadFinished[bool].connect(self._handle_load_finished)
def _add_completer_list_item(self, url):
self._completer_word_list.append(self.url_lineedit.text())
self._completer_word_list = list(set(self._completer_word_list))
self._completer = QCompleter(self._completer_word_list)
self._completer.setCaseSensitivity(Qt.CaseInsensitive)
self._completer.setCompletionMode(QCompleter.PopupCompletion)
self.url_lineedit.setCompleter(self._completer)
@staticmethod
def _pack(data):
"""
Packs 'data' into a form that can be easily and readably written to an ini file
:param data: A list of strings to be flattened into a string ''list''
:return: A string suitable for output to ini files ''str''
"""
if len(data) == 0:
return ''
if len(data) == 1:
return data[0]
return data
@staticmethod
def _unpack(data):
"""
Unpacks the values read from an ini file
:param data: An entry taken from an ini file ''list or string''
:return: A list of strings ''list''
"""
if data is None or data == '':
data = []
elif isinstance(data, basestring):
data = [data]
return data
def __init__(self,
topic,
msg_type,
show_only_rate=False,
masteruri=None,
use_ssh=False,
parent=None):
'''
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
'''
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = '' if masteruri is None else '[%s]' % masteruri
self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('%s %s %s' %
('Echo --- ' if not show_only_rate else 'Hz --- ',
topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox('Hide strings')
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox('Hide arrays')
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems(
[str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024'])
self.combobox_reduce_ch.activated[str].connect(
self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip(
"Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([
str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100',
'1000'
])
self.combobox_displ_hz.activated[str].connect(
self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel('Hz', self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems(
[str(self.MAX_DISPLAY_MSGS), '0', '50', '100'])
self.combobox_msgs_count.activated[str].connect(
self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip(
"Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel('#', self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_stop.png'))
self.topic_control_button.clicked.connect(
self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText('clear')
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ''
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (
msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ''
self._current_errmsg = ''
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg)
self.display.setText('<a href="%s">open using SSH</a>' %
(masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
def __init__(self, topic, msg_type, show_only_rate=False, masteruri=None, use_ssh=False, parent=None):
'''
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
'''
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = '' if masteruri is None else '[%s]' % masteruri
echo_dialog_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'EchoDialog.ui')
loadUi(echo_dialog_file, self)
self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('%s %s %s' % ('Echo --- ' if not show_only_rate else 'Hz --- ', topic, masteruri_str))
self.resize(900, 512)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.
self.msg_tn = 0
self.times = []
self.bytes = []
self.message_count = 0
self._state_message = ''
self._state_size_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.chars_limit = self.MESSAGE_CHARS_LIMIT
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self.digits_after_in_array = 2
self.field_filter_fn = None
self._latched = False
self._msgs = []
self.filterFrame.setVisible(False)
self.topicControlButton.clicked.connect(self.on_topic_control_btn_clicked)
self.clearButton.clicked.connect(self.on_clear_btn_clicked)
if show_only_rate:
self.filterButton.setVisible(False)
else:
self.filterButton.clicked.connect(self.on_filter_clicked)
self.showStringsCheckBox.toggled.connect(self.on_no_str_checkbox_toggled)
self.maxLenStringComboBox.activated[str].connect(self.combobox_reduce_ch_activated)
self.showArraysCheckBox.toggled.connect(self.on_no_arr_checkbox_toggled)
self.maxDigitsComboBox.activated[str].connect(self.combobox_reduce_digits_activated)
self.maxLenComboBox.activated[str].connect(self.on_combobox_chars_activated)
self.maxHzComboBox.activated[str].connect(self.on_combobox_hz_activated)
self.displayCountComboBox.activated[str].connect(self.on_combobox_count_activated)
self.combobox_reduce_ch_activated(self.MESSAGE_LINE_LIMIT)
self.on_combobox_chars_activated(self.MESSAGE_CHARS_LIMIT)
self.on_combobox_hz_activated(self.MESSAGE_HZ_LIMIT)
self.on_combobox_count_activated(self.MAX_DISPLAY_MSGS)
self.filterButton.setFocus()
self.display.setReadOnly(True)
self.display.document().setMaximumBlockCount(500)
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
# subscribe to the topic
errmsg = ''
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (msg_type, e)
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ''
self._current_errmsg = ''
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (errmsg)
self.display.setText('<a href="%s">open using SSH</a>' % (masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
self._start_time = time.time()
