bag.py
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00032 
00033 import os
00034 import argparse
00035 import threading
00036 
00037 from qt_gui.plugin import Plugin
00038 
00039 from .bag_widget import BagWidget
00040 
00041 class Bag(Plugin):
00042     """
00043     Subclass of Plugin to provide interactive bag visualization, playing(publishing) and recording
00044     """
00045     def __init__(self, context):
00046         """
00047         :param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
00048         """
00049         super(Bag, self).__init__(context)
00050         self.setObjectName('Bag')
00051 
00052         args = self._parse_args(context.argv())
00053 
00054         self._widget = BagWidget(context, args.clock)
00055         if context.serial_number() > 1:
00056             self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
00057         context.add_widget(self._widget)
00058 
00059         def load_bags():
00060             for bagfile in args.bagfiles:
00061                 self._widget.load_bag(bagfile)
00062         
00063         load_thread = threading.Thread(target=load_bags)
00064         load_thread.start()
00065 
00066     def _parse_args(self, argv):
00067         parser = argparse.ArgumentParser(prog='rqt_bag', add_help=False)
00068         Bag.add_arguments(parser)
00069         return parser.parse_args(argv)
00070 
00071     @staticmethod
00072     def _isfile(parser, arg):
00073         if os.path.isfile(arg):
00074             return arg
00075         else:
00076             parser.error("Bag file %s does not exist" % ( arg ))
00077 
00078     @staticmethod
00079     def add_arguments(parser):
00080         group = parser.add_argument_group('Options for rqt_bag plugin')
00081         group.add_argument('--clock', action='store_true', help='publish the clock time')
00082         group.add_argument('bagfiles', type=lambda x: Bag._isfile(parser, x),
00083                            nargs='*', default=[], help='Bagfiles to load')
00084 
00085     def shutdown_plugin(self):
00086         self._widget.shutdown_all()
00087 
00088     def save_settings(self, plugin_settings, instance_settings):
00089         # TODO implement saving
00090         # instance_settings.set_value(k, v)
00091         pass
00092 
00093     def restore_settings(self, plugin_settings, instance_settings):
00094         # TODO implement restoring
00095         # v = instance_settings.value(k)
00096         pass
00097 
00098     #def trigger_configuration(self):
00099         # TODO move some of the button functionality to config button if it is "more configy"


rqt_bag
Author(s): Aaron Blasdel, Tim Field
autogenerated on Mon Oct 6 2014 07:15:30