def _handle_load_clicked(self):
# path = QFileDialog.getOpenFileName(self, self.tr('Load from File'), '.', self.tr('Bag files {.bag} (*.bag)'))
# path = str(QFileDialog.getExistingDirectory(self, "Select Directory"))
import inspect
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/select_bag.log"
current_directory = self.get_current_opened_directory(filepath)
fd = QFileDialog(self)
wc = "Bag files {.bag} (*.bag)"
path, filter = fd.getOpenFileNamesAndFilter(
filter=wc, initialFilter=('*.bag'), directory=current_directory)
# print path
if len(path) != 0:
with open(filepath, "w") as f:
f.write(path[0])
# if path[0][-4:] == ".bag": # file
# print "True"
# self.load_bag(path[0])
# files = [path[0]]
# else: #dir
# print "Else " + path
# path = path + "/"
# files = self.get_bag_files(path)
# print files
#
# # files = self.get_bag_files("/home/lab/bagfiles/")
if path:
self.get_features_from_bags(path)
def onButtonClicked(self):
import inspect, os
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/select_history.log"
fd = QFileDialog(self)
wc = "Csv files {.csv} (*.csv)"
self.files = []
current_directory = self.get_current_opened_directory(filepath)
tmp_pathes, filter = fd.getOpenFileNamesAndFilter(
filter=wc, initialFilter=('*.csv'), directory=current_directory)
for path in tmp_pathes:
self.files.append(path.encode("utf-8"))
# print self.files
if len(self.files) != 0:
self.get_min_rows_csv(tmp_pathes)
self.select_path.setText(self.files[0])
with open(filepath, "w") as f:
f.write(self.files[0])
# handler = logging.FileHandler(filepath, mode='w')
# logger_topic.addHandler(handler)
# logger_topic.info(self.files[0])
else:
self.select_path.setText("")
def load_FTS(self):
# Start file dialog
directory = os.path.join(rospkg.RosPack().get_path('rqt_simulation'),
'config', 'FTS')
File_dialog = QFileDialog(directory=directory, filter='.yaml')
FTS_file = File_dialog.getOpenFileName()
stream = file(FTS_file[0], 'r')
data = yaml.load(stream)
stream.close()
# Load FTS
self.region_of_interest = {}
self.region_of_interest = data['FTS']
def _handle_save(self):
"""Callback for when the save button is pressed."""
result = QFileDialog.getSaveFileName(self, "Save File", ".",
"Minute files (*.txt)")
file_name = result[0]
if file_name:
self._save(file_name)
def _load_bag(self, file_name=None):
self._topic_list = []
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open bag file'), None,
self.tr('ROSbag file (*.bag)'))
if file_name is None or file_name == '':
return
try:
self._bag_filename = file_name
bag = rosbag.Bag(file_name)
topics = bag.get_type_and_topic_info()[1].keys()
types = []
for i in range(0, len(bag.get_type_and_topic_info()[1].values())):
types.append(
list(bag.get_type_and_topic_info()[1].values())[i][0])
for topic_name, topic_type in zip(topics, types):
topic_item = self._recursive_create_widget_items(
self._widget.topics_tree_widget, topic_name, topic_type,
roslib.message.get_message_class(topic_type), False)
self._widget.topics_tree_widget.header().setSectionResizeMode(
QHeaderView.ResizeToContents)
self._widget.topics_tree_widget.header().setStretchLastSection(
True)
except IOError:
return
def onPlpClicked(self):
import inspect, os
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/save_plp.log"
current_directory = self.get_current_opened_directory(filepath)
fd = QFileDialog(self)
wc = "Csv files {.py} (*.py)"
# print current_directory
filename, filter = fd.getOpenFileNamesAndFilter(
filter=wc, initialFilter=('*.py'), directory=current_directory)
if len(filename):
self.plp_filename = filename[0]
with open(filepath, "w") as f:
f.write(self.plp_filename)
self.select_path.setText(self.plp_filename)
def _handle_save_clicked(self, checked):
filename = QFileDialog.getSaveFileName(
self, 'Save to File', '.', self.tr('rqt_console msg file {.csv} (*.csv)'))
if filename[0] != '':
filename = filename[0]
if filename[-4:] != '.csv':
filename += '.csv'
try:
handle = open(filename, 'w')
except IOError as e:
qWarning(str(e))
return
try:
handle.write(';'.join(MessageDataModel.columns) + '\n')
for index in range(self._proxy_model.rowCount()):
row = self._proxy_model.mapToSource(self._proxy_model.index(index, 0)).row()
msg = self._model._messages[row]
data = {}
data['message'] = msg.message.replace('"', '\\"')
data['severity'] = str(msg.severity)
data['node'] = msg.node
data['stamp'] = str(msg.stamp[0]) + '.' + str(msg.stamp[1]).zfill(9)
data['topics'] = ','.join(msg.topics)
data['location'] = msg.location
line = []
for column in MessageDataModel.columns:
line.append('"%s"' % data[column])
handle.write(';'.join(line) + '\n')
except Exception as e:
qWarning('File save failed: %s' % str(e))
return False
finally:
handle.close()
return True
def handle_select(self):
# TODO(lucasw) have a parameter define which kind of dialog to use
file_dir = self.current_line_edit.text()
new_file_dir = None
if self.mode == "file_save":
new_file_dir, tmp = QFileDialog.getSaveFileName(caption="Select a save file",
directory=os.path.dirname(file_dir))
elif self.mode == "file_open":
new_file_dir, tmp = QFileDialog.getOpenFileName(caption="Select a file",
directory=os.path.dirname(file_dir))
else: # elif mode == "dir":
new_file_dir = QFileDialog.getExistingDirectory(caption="Select a directory",
directory=os.path.dirname(file_dir))
if new_file_dir is not None and new_file_dir != "":
self.current_line_edit.setText(new_file_dir)
self.publish()
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_spin_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._widget.unreachable_check_box.setEnabled(False)
self._widget.group_tf_check_box.setEnabled(False)
self._widget.hide_tf_nodes_check_box.setEnabled(False)
self._widget.group_image_check_box.setEnabled(False)
self._widget.hide_dynamic_reconfigure_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def save_as(self):
'''
Saves all currently recorded frames into a json file, which is saved at a user specified location
'''
self.treeModeChanged(self._previousTreeMode)
self._saveDir = QFileDialog.getExistingDirectory()
self._recorder.save_animation(self._saveDir, self._widget.lineAnimationName.text(), self._checkBoxesSave)
def saveDatabaseAs(self, unused=None):
self.databaseFilename = QFileDialog.getSaveFileName(self.widget, caption="Save track database", filter="*.tracks", directory=self.defaultDatabaseDirectory)[0]
if self.databaseFilename:
if not self.databaseFilename.endswith(".tracks"):
self.databaseFilename += ".tracks"
self._onDatabaseFilenameChanged()
self.saveDatabase()
def open(self):
'''
Deletes all current frames and instead loads an animation from a json file
'''
if len(self._widget.frameList) > 1:
message = "This will discard your current Animation. Continue?"
sure = QMessageBox.question(self._widget, 'Sure?', message, QMessageBox.Yes | QMessageBox.No)
if sure == QMessageBox.No:
return
my_file = QFileDialog.getOpenFileName()[0]
if my_file:
status = self._recorder.load_animation(my_file)
if status == "":
status = "Load successful."
self._widget.statusBar.showMessage(status)
animstate = self._recorder.get_animation_state()
for i in animstate:
try:
self._checkBoxesPower[i['name']] = i['torque']
except KeyError:
self._checkBoxesPower[i['name']] = {}
for key in self.ids:
self._checkBoxesPower[i['name']][key] = 2
self.update_frames()
metadata = self._recorder.get_meta_data()
self._widget.lineAnimationName.setText(metadata[0])
self._widget.lineAuthor.setText(metadata[2])
self._widget.lineVersion.setText(str(metadata[1]))
self._widget.fieldDescription.setPlainText(metadata[3])
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.depth_combo_box.setEnabled(False)
self._widget.directions_combo_box.setEnabled(False)
self._widget.package_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.with_stacks_check_box.setEnabled(False)
self._widget.mark_check_box.setEnabled(False)
self._widget.colorize_check_box.setEnabled(False)
self._widget.hide_transitives_check_box.setEnabled(False)
self._update_graph(dotcode)
self._redraw_graph_scene()
def _handle_save_clicked(self, checked):
filename = QFileDialog.getSaveFileName(self, 'Save to File', '.', self.tr('rqt_console msg file {.csv} (*.csv)'))
if filename[0] != '':
filename = filename[0]
if filename[-4:] != '.csv':
filename += '.csv'
try:
handle = open(filename, 'w')
except IOError as e:
qWarning(str(e))
return
try:
handle.write(';'.join(MessageDataModel.columns) + '\n')
for index in range(self._proxy_model.rowCount()):
row = self._proxy_model.mapToSource(self._proxy_model.index(index, 0)).row()
msg = self._model._messages[row]
data = {}
data['message'] = msg.message.replace('"', '\\"')
data['severity'] = str(msg.severity)
data['node'] = msg.node
data['stamp'] = str(msg.stamp[0]) + '.' + str(msg.stamp[1]).zfill(9)
data['topics'] = ','.join(msg.topics)
data['location'] = msg.location
line = []
for column in MessageDataModel.columns:
line.append('"%s"' % data[column])
handle.write(';'.join(line) + '\n')
except Exception as e:
qWarning('File save failed: %s' % str(e))
return False
finally:
handle.close()
return True
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.depth_combo_box.setEnabled(False)
self._widget.directions_combo_box.setEnabled(False)
self._widget.package_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.with_stacks_check_box.setEnabled(False)
self._widget.mark_check_box.setEnabled(False)
self._widget.colorize_check_box.setEnabled(False)
self._widget.hide_transitives_check_box.setEnabled(False)
self._widget.show_system_check_box.setEnabled(False)
self._update_graph(dotcode)
self._redraw_graph_scene()
def press_select_yaml(self):
options = QFileDialog.Options()
options |= QFileDialog.DontConfirmOverwrite
select_yaml_caption = "Select YAML configuration file"
select_yaml_directory = ""
select_yaml_file_filter = "YAML Files (*.yaml);;All Files (*)"
yaml_file, file_filter = QFileDialog.getSaveFileName(
self._widget,
caption=select_yaml_caption,
directory=select_yaml_directory,
filter=select_yaml_file_filter,
options=options)
# yaml_file, file_filter = QFileDialog.getOpenFileName(self._widget, caption=select_yaml_caption, directory=select_yaml_directory, filter=select_yaml_file_filter, options=options)
rospy.loginfo('%s::%s: selected file %s' %
(self._name, self.get_function_name(), yaml_file))
self.set_yaml(yaml_file)
def _handle_record_clicked(self):
if self._recording:
self._timeline.toggle_recording()
return
# TODO verify master is still running
filename = QFileDialog.getSaveFileName(
self, self.tr('Select prefix for new Bag File'), '.',
self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
prefix = filename[0].strip()
# Get filename to record to
record_filename = time.strftime('%Y-%m-%d-%H-%M-%S.bag',
time.localtime(time.time()))
if prefix.endswith('.bag'):
prefix = prefix[:-len('.bag')]
if prefix:
record_filename = '%s_%s' % (prefix, record_filename)
rospy.loginfo('Recording to %s.' % record_filename)
#TODO Implement recording of topic subsets, regex limiting and by number of messages per topic
self.load_button.setEnabled(False)
self._recording = True
self._timeline.record_bag(record_filename)
def onSaveClicked(self):
import inspect, os
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/save_history.log"
# print self.files
# print self.window.text()
# print self.group_selected_items.values()
# print self.group_selected_items
current_directory = self.get_current_opened_directory(filepath)
# print current_directory
# self._to_save_filename = QFileDialog.getSaveFileName(self, self.tr('csv File'), current_directory,
# self.tr('csv (*.csv)'))
self.saved_dir = str(
QFileDialog.getExistingDirectory(self, "Select Directory",
current_directory))
# if self._to_save_filename[0] != "":
# with open(filepath, "w") as f:
# f.write(self._to_save_filename[0])
if self.saved_dir != "":
with open(filepath, "w") as f:
f.write(self.saved_dir)
# handler = logging.FileHandler(filepath, mode='w')
# logger_topic.addHandler(handler)
# print self._to_save_filename[0]
# logger_topic.info()
# self.save_path.setText(get_corrent_file_name(self._to_save_filename[0], ".csv"))
self.save_path.setText(self.saved_dir)
def _on_record_settings_selected(self, all_topics, selected_topics,
selected_scenario):
# TODO verify master is still running
import inspect
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/save_record.log"
current_directory = self.get_current_opened_directory(filepath)
filename = QFileDialog.getSaveFileName(
self, self.tr('Select prefix for new Bag File'), current_directory,
self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
with open(filepath, "w") as f:
f.write(filename[0])
record_filename = filename[0].strip()
if not record_filename.endswith('.bag'):
record_filename = record_filename + ".bag"
# # Get filename to record to
# record_filename = time.strftime('%Y-%m-%d-%H-%M-%S.bag', time.localtime(time.time()))
# if prefix.endswith('.bag'):
# prefix = prefix[:-len('.bag')]
# if prefix:
# record_filename = prefix
rospy.loginfo('Recording to %s.' % record_filename)
self.start_recording(record_filename, selected_scenario,
selected_topics)
def button_save_as_pressed(self):
(name,filt) = QFileDialog.getSaveFileName(caption='Save Movement',filter="YAML (*.yaml)")
self.loaded_movement.filename = name
if self.loaded_movement.filename:
self.button_save_pressed()
else:
rospy.logerr("No filename specified")
def open_directory_dialogue(self):
return QFileDialog.getExistingDirectory(
None,
"Select a directory to save gaits. Directory must be "
"a subdirectory of march_gait_files or be named resources.",
os.path.join(self.march_path, "ros2", "src", "gaits",
"march_gait_files"),
)
def btnClicked(self):
'''
a slot which is called when the button is clicked
'''
cwd = os.getcwd() # current working directory
fileTupel = QFileDialog.getOpenFileName(self, 'Select file', cwd,
"Bag files (*.bag)")
self.fileName = fileTupel[0]
self.bagEdit.setText(self.fileName) # print filename to lineEdit
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
self.filename = filename[0]
self.load_bag(filename[0])
self._timeline.set_publishing_state(True)
def _handle_load_clicked(self):
filenames = QFileDialog.getOpenFileNames(
self, self.tr('Load from Files'), self.last_open_dir,
self.tr('Bag files {.bag} (*.bag)'))
if filenames and filenames[0]:
self.last_open_dir = QFileInfo(
filenames[0][0]).absoluteDir().absolutePath()
for filename in filenames[0]:
self.load_bag(filename)
def btnClicked(self):
tmp_path = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "test_files")
filename = QFileDialog.getOpenFileName(self._annotator_widget,
"Open File", tmp_path)
bag = rosbag.Bag(filename[0])
self._timeline.add_bag(bag)
#self.OpenFile()
print self._message_stamp
def change_gait_directory(self):
self.gait_directory = str(
QFileDialog.getExistingDirectory(
None, 'Select a directory to save gaits'))
if self.gait_directory == '': # If directory dialogue is canceled
self.gait_directory = None
self.change_gait_directory_button.setText(
'Select a gait directory...')
else:
self.change_gait_directory_button.setText(self.gait_directory)
def save(self):
'''
Saves all currently recorded frames into a json file
'''
self.treeModeChanged(self._previousTreeMode)
self.set_metadata()
if not self._saveDir:
self._saveDir = QFileDialog.getExistingDirectory()
status = self._recorder.save_animation(self._saveDir, self._widget.lineAnimationName.text(), self._checkBoxesSave)
self._widget.statusBar.showMessage(status)
def open_file_dialogue(self, path_to_open: os.path = None):
if path_to_open is None:
path_to_open = os.path.join(self.march_path, "ros2", "src",
"gaits", "march_gait_files")
return QFileDialog.getOpenFileName(
self,
"Select a subgait to import.",
path_to_open,
"March Subgait (*.subgait)",
)
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)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rospackgraph.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_image(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rospackgraph.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 _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 onButtonClicked(self):
import inspect, os
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/save_csv.log"
current_directory = self.get_current_opened_directory(filepath)
window = self.window.text()
try:
val = float(window)
except ValueError:
QMessageBox.about(self, "Error in Window Time",
"That's not a number!")
return
if val >= self.duration:
QMessageBox.about(
self, "Error in Window Time",
"time need to be smaller than: " + str(self.duration))
return
# filename = QFileDialog.getSaveFileName(self, self.tr('csv File'), current_directory, self.tr('csv (*.csv)'))
saved_dir = str(
QFileDialog.getExistingDirectory(self, "Select Directory",
current_directory))
# if filename[0] != '':
# with open(filepath, "w") as f:
# f.write(filename[0])
if saved_dir != '':
with open(filepath, "w") as f:
f.write(saved_dir)
topics = self.selected_bag_topics
specific_features_selection = self.selected_specific_features
general_features_selection = self.selected_general_features
with open(get_path() + 'logger.log', "w") as f:
for topic in topics:
f.write(topic + "\n")
for topic1 in specific_features_selection:
f.write(topic1 + "\n")
for topic2 in general_features_selection:
f.write(topic2 + "\n")
ef = E.ExtractFeatures(topics, float(window),
specific_features_selection,
general_features_selection)
counter = 0
for bag_file in self.bag_files:
df = ef.generate_features(bag_file)
if len(self.bag_files) == 1:
counter = -1
# temp = filename + "/" +
# temp = get_corrent_file_name(filename[0], ".csv", counter)
csv_path = generate_csv_from_bag(saved_dir, bag_file)
# temp = "%s_%s%s" % (filename[0],counter,".csv")
E.write_to_csv(csv_path, df)
counter = counter + 1
QMessageBox.about(self, "csv export",
"csv was exported successfuly")
def _handle_save_clicked(self):
# Get the bag name to record to, prepopulating with a file name based on the current date/time
proposed_filename = time.strftime('%Y-%m-%d-%H-%M-%S', time.localtime(time.time()))
filename = QFileDialog.getSaveFileName(
self, self.tr('Save selected region...'), proposed_filename, self.tr('Bag files {.bag} (*.bag)'))[0]
if filename != '':
filename = filename.strip()
if not filename.endswith('.bag'):
filename += '.bag'
# Copy the highlighted region
self._timeline.copy_region_to_bag(filename)
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))
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rospackgraph.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 _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 _on_record_settings_selected(self, all_topics, selected_topics):
# TODO verify master is still running
filename = QFileDialog.getSaveFileName(self, self.tr('Select prefix for new Bag File'), '.', self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
prefix = filename[0].strip()
# Get filename to record to
record_filename = time.strftime('%Y-%m-%d-%H-%M-%S.bag', time.localtime(time.time()))
if prefix.endswith('.bag'):
prefix = prefix[:-len('.bag')]
if prefix:
record_filename = '%s_%s' % (prefix, record_filename)
rospy.loginfo('Recording to %s.' % record_filename)
self.load_button.setEnabled(False)
self._recording = True
self._timeline.record_bag(record_filename, all_topics, selected_topics)
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 _handle_load_clicked(self, checked):
filename = QFileDialog.getOpenFileName(self, self.tr('Load from File'), '.', self.tr('rqt_console message file {.csv} (*.csv)'))
if filename[0] != '':
try:
with open(filename[0], 'r') as h:
lines = h.read().splitlines()
except IOError as e:
qWarning(str(e))
return False
# extract column header
columns = lines[0].split(';')
if len(lines) < 2:
return True
# join wrapped lines
rows = []
last_wrapped = False
for line in lines[1:]:
# ignore empty lines
if not line:
continue
# check for quotes and remove them
if line == '"':
has_prefix = not last_wrapped
has_suffix = last_wrapped
line = ''
else:
has_prefix = line[0] == '"'
if has_prefix:
line = line[1:]
has_suffix = line[-1] == '"'
if has_suffix:
line = line[:-1]
# ignore line without prefix if previous line was not wrapped
if not has_prefix and not last_wrapped:
continue
# remove wrapped line which is not continued on the next line
if last_wrapped and has_prefix:
rows.pop()
# add/append lines
if last_wrapped:
rows[-1] += line
else:
# add line without quote prefix
rows.append(line)
last_wrapped = not has_suffix
# generate message for each row
messages = []
skipped = []
for row in rows:
data = row.split('";"')
msg = Message()
msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
for i, column in enumerate(columns):
value = data[i]
if column == 'message':
msg.message = value.replace('\\"', '"')
elif column == 'severity':
msg.severity = int(value)
if msg.severity not in Message.SEVERITY_LABELS:
skipped.append('Unknown severity value: %s' % value)
msg = None
break
elif column == 'stamp':
parts = value.split('.')
if len(parts) != 2:
skipped.append('Unknown timestamp format: %s' % value)
msg = None
break
msg.stamp = (int(parts[0]), int(parts[1]))
elif column == 'topics':
msg.topics = value.split(',')
elif column == 'node':
msg.node = value
elif column == 'location':
msg.location = value
else:
skipped.append('Unknown column: %s' % column)
msg = None
break
if msg:
messages.append(msg)
if skipped:
qWarning('Skipped %d rows since they do not appear to be in rqt_console message file format:\n- %s' % (len(skipped), '\n- '.join(skipped)))
if messages:
self._model.insert_rows(messages)
self._handle_pause_clicked(True)
return True
else:
qWarning('File does not appear to be a rqt_console message file: missing file header.')
return False
def _handle_config_ref_button_clicked(self):
rospack = rospkg.RosPack()
fname = QFileDialog.getOpenFileName(self._widget, 'Open file', rospack.get_path('lgsvl_simulator_bridge')+'/config')
self._widget.configpath_box.setText(fname[0])
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML file {.yaml} (*.yaml)'))
if filename[0] != '':
self.load_param(filename[0])
def _handle_save_clicked(self):
filename = QFileDialog.getSaveFileName(self, self.tr('Save selected region to file...'), '.', self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
self._timeline.copy_region_to_bag(filename[0])
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(self, self.tr('Load from File'), '.', self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
self.load_bag(filename[0])
def _handle_save_clicked(self):
filename = QFileDialog.getSaveFileName(
self, self.tr('Save parameters to file...'), '.',
self.tr('YAML files {.yaml} (*.yaml)'))
if filename[0] != '':
self.save_param(filename[0])
