def startRun(self, fn, run, keeppostion=False):
self.dirname, self.filename = os.path.split(fn)
print("starting log %s run %i"%(fn,run))
self.loggenerator=EduroMaxiReader(fn)
self.loggenerator.startrun(run)
self.root.title("%s %s run %i"%(self.dirname,self.filename, self.loggenerator.run+1))
self.data=list(self.loggenerator)
if not keeppostion:
self.position=0
self.posScale.set(self.position)
self.showData(self.position)
self.posScale.configure(to_= len(self.data)-1)
self.view.reset()
self.camera.clear()
class Logplayer(Frame):
def __init__(self, root, logfn, viewer, analyzator=None, logdir=None, **kwargs):
self.root=root
self.logdir = logdir
self.analyzator = analyzator
if not self.logdir:
self.logdir=os.path.join(os.path.dirname(os.path.dirname(__file__)),'log')
Frame.__init__(self, **kwargs)
self.view=viewer(self, x=800, y=600, onLeft=self.clickL, onRight=self.clickR)
self.createWidgets()
self.bind_all("<Left>", self.prev)
self.bind_all("<Right>", self.next)
self.view.redraw()
self.root.update()
if not logfn:
logfn = self.logSelectDialog()
self.dirname, self.filename = os.path.split(logfn)
self.startRun(logfn,0)
self.view.redraw()
self.root.after(10,self.view.zoomExtens)
self.running=False
def logSelectDialog(self):
self.root.update()
timestamps, dirs, fns = zip(*sorted(listdir(self.logdir), reverse=True))
o=SelcectDialog(self.root, "select log", timestamps)
self.root.wait_window(o.top)
index=timestamps.index(o.option)
return os.path.join(dirs[index], fns[index])
def createWidgets(self):
self.controlFrame=Frame(self)
self.posScale = Scale(self.controlFrame, orient='horizontal',
length=210,
from_=0, tickinterval=0,
command=self.pos_callback,
showvalue=0,sliderlength=10, resolution=1)
#self.posScale.bind('<Button-1>',self.pos_start_drag)
#self.posScale.bind('<ButtonRelease-1>', self.pos_set)
self.playB=Button(self.controlFrame, text="play", command=self.playToggle)
self.nextB=Button(self.controlFrame, text="next", command=self.nextRun)
self.prevB=Button(self.controlFrame, text="prev", command=self.prevRun)
self.camera=tkimg(self, width=640, height=512)
self.controlFrame.grid(row=0,column=1, sticky="nw")
self.view.grid(row=1, column=1, sticky="nsew")
self.grid_columnconfigure(1,weight=1)
self.grid_rowconfigure(1,weight=1)
self.camera.grid(row = 1, column = 2, sticky = 'ne')
self.playB.grid(row=0, column=1)
self.prevB.grid(row=0, column=2)
self.nextB.grid(row=0, column=3)
self.posScale.grid(row=0, column=0)
def playToggle(self, *args):
if self.running:
self.root.after_cancel(self.cycleId)
else:
self.cycleId=self.root.after(20, self.showrun)
self.running=not self.running
def nextRun(self, *args):
self.changeRun(1)
def prevRun(self, *args):
self.changeRun(-1)
def changeRun(self, step):
if self.running:
self.root.after_cancel(self.cycleId)
self.running=False
run=self.loggenerator.run+step
if run >= len(self.loggenerator.runconfig) or run<0:
timestamps, dirs, fns = zip(*sorted(listdir(self.logdir)))
index=fns.index(self.filename)+step
if 0<=index<len(fns):
run = 0 if step==1 else -1
self.startRun(os.path.join(dirs[index], fns[index]), run)
else:
self.startRun(os.path.join(self.dirname, self.filename), run)
def restart(self, keeppostion=True, startposition=None):
self.loggenerator.startrun(self.loggenerator.run, startposition=startposition)
self.data=list(self.loggenerator)
if not keeppostion:
self.position=0
self.posScale.set(self.position)
self.showData(self.position)
def startRun(self, fn, run, keeppostion=False):
self.dirname, self.filename = os.path.split(fn)
print("starting log %s run %i"%(fn,run))
self.loggenerator=EduroMaxiReader(fn)
self.loggenerator.startrun(run)
self.root.title("%s %s run %i"%(self.dirname,self.filename, self.loggenerator.run+1))
self.data=list(self.loggenerator)
if not keeppostion:
self.position=0
self.posScale.set(self.position)
self.showData(self.position)
self.posScale.configure(to_= len(self.data)-1)
self.view.reset()
self.camera.clear()
def showData(self,position):
self.position=position
self.posScale.set(position)
time, pose, msgs = self.data[position]
self.view.MsgListener(time, pose, msgs)
#if self.analyzator:
# self.analyzator(time, pose, msgs)
self.view.robot.update(*pose)
self.view.redraw_lasers()
self.view.robot.redraw(self.view)
if msgs['CAMERALOG']:
_, shot = msgs['CAMERALOG']
if shot:
shot = os.path.join(self.dirname, shot.split('/')[-1])
self.camera.showImg(shot)
def clickL(self, x, y):
#self.loggenerator.correction=Position(self.loggenerator.correction.x+x-self.view.robot.x, self.loggenerator.correction.y+y-self.view.robot.y, self.loggenerator.correction.a)
#print(self.loggenerator.correction)
A=self.data[self.position][1]
S=self.data[0][1]
#self.restart(keeppostion=True, startposition=Position(S.x+x-A.x, S.y+y-A.y, S.a))
print("left", x,y)
def clickR(self, x, y):
#try to modify start position so that actual position heading is in direction of this click
#actual position
A=self.data[self.position][1]
#start position
S=self.data[0][1]
#polar vector from actual to start
dist=((A.x-S.x)**2+(A.y-S.y)**2)**0.5
if S.x==A.x:#when x distance is 0 then angle +-90 (when y dist is 0 then it doesnt matter
beta=-pi/2 if S.y>=A.y else pi/2
else:
beta=atan((A.y-S.y)/(A.x-S.x))
#angle difference from actual position to click
#TODO solve +-90 same as above
delta=A.a-atan((A.y-y)/(A.x-x))
newStart = Position(A.x+cos(beta+delta)*dist, A.y+sin(beta+delta)*dist, S.a-delta)
#self.restart(keeppostion=True, startposition=newStart)
print("right", x, y)
def showrun(self):
pos=self.position+1
if pos<len(self.data):
self.showData(pos)
self.cycleId=self.root.after(20, self.showrun)
else:
self.running=False
def next(self, event):
pos=self.position+1
if pos<len(self.data):
self.posScale.set(pos)
def prev(self, event):
pos=self.position-1
if pos>=0:
self.posScale.set(pos)
def pos_callback(self, pos, *args):
if not self.running:
self.showData(int(pos))
