rxplot_main.py

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from __future__ import print_function

import sys

WXVER = ['2.8', '2.9']
import wxversion 
if wxversion.checkInstalled(WXVER): 
    wxversion.select(WXVER) 
else:
    sys.stderr.write("This application requires wxPython version %s\n"%(WXVER))
    sys.exit(1) 
import wx

import rospy
import rosgraph.names

import rxtools.rxplot

# TODO: poll for rospy.is_shutdown()
def rxplot_main():
    from optparse import OptionParser
    parser = OptionParser(usage="usage: rxplot [options] /topic/field1 [/topic/field2] [topic/field1:field2:field3]")
    parser.add_option("-l", "--legend", type="string",
                      dest="legend", default='',
                      help="set the legend")
    parser.add_option("-p", "--period", type="int",
                      dest="period", default=5,
                      help="set period displayed in window")
    parser.add_option("-m", "--marker", type="string",
                      dest="marker", default='None',
                      help="set the line marker, e.g. o, ^, .")
    parser.add_option("-t", "--title", type="string",
                      dest="title", default='RXPlot',
                      help="set the title")
    parser.add_option("--ymax", type="float",
                      dest="maxy", default=0,
                      help="set initial y-axis maximum")
    parser.add_option("--ymin", type="float",
                      dest="miny", default=0,
                      help="set initial y-axis minimum")
    parser.add_option("-b", "--buffer", type="int",
                      dest="buffer", default=-1,
                      help="set size of buffer in seconds (default of -1 keeps all data)")
    parser.add_option("-r", "--refresh_rate", type="float",
                      dest="refresh_rate", default=2,
                      help="set refresh rate (default 2hz)")
    parser.add_option("-P", "--pause", action="store_true",
                      dest="start_paused",
                      help="start in paused state")
    parser.add_option("-M", "--mode",
                      dest="mode", default="2d",
                      help="options: \"2d\", \"3d\", or \"scatter\" [default=%default].  "
                      "Use \"2d\" to plot all topics vs. time.  "
                      "Use \"3d\" or  \"scatter\" to plot in 3D using mplot3d.  "
                      "Both \"3d\" and \"scatter\" plot against time if 2 topics"
                      "are provided, and against third topic if 3 are provided.  "
                      )
    options, topics = parser.parse_args(rospy.myargv()[1:])

    if not topics:
        parser.error("Please specify a topic field")
    if options.mode not in ['2d', '3d', 'scatter']:
        parser.error("invalid mode: %s\nValid modes are 2d, 3d, and scatter"%(options.mode))
        
    topic_list = []
    for t in topics:
        # c_topics is the list of topics to plot together
        c_topics = []
        # compute combined topic list, t == '/foo/bar1,/baz/bar2'
        for sub_t in [x for x in t.split(',') if x]:
            # check for shorthand '/foo/field1:field2:field3'
            if ':' in sub_t:
                base = sub_t[:sub_t.find(':')]
                # the first prefix includes a field name, so save then strip it off
                c_topics.append(base)
                if not '/' in base:
                    parser.error("%s must contain a topic and field name"%sub_t)
                base = base[:base.rfind('/')]

                # compute the rest of the field names
                fields = sub_t.split(':')[1:]
                c_topics.extend(["%s/%s"%(base, f) for f in fields if f])
            else:
                c_topics.append(sub_t)

        # #1053: resolve command-line topic names
        c_topics = [rosgraph.names.script_resolve_name('rxplot', n) for n in c_topics]

        topic_list.append(c_topics)

    #flatten for printing
    print_topic_list = []
    for l in topic_list:
        if type(l) == list:
            print_topic_list.extend(l)
        else:
            print_topic_list.append(l)

    # constrain the number of things we plot by len(COLORS). this is an artificial
    # performance hack.
    if len(print_topic_list) > len(rxtools.rxplot.COLORS):
        parser.error("maximum number of topics that can be plotted is %d"%len(rxtools.rxplot.COLORS))

    if options.mode in ['3d', 'scatter']:
        #TODO: need a better spec on what the 3d topic args are. It
        #would be nice if the 3d plot were as robust as the normal
        #rxplot with respect to having more plots.
        if len(print_topic_list) < 2 or len(print_topic_list) > 3:
            parser.error("You may only specific 2 or 3 topics with '3d' or 'scatter'.\nWhen 2 topics are provided, time is used as the third axis.")
        # for now, cannot multigraph, so unify representation going into plot call
        topic_list = [[x] for x in print_topic_list]

    print("plotting topics", ', '.join(print_topic_list))

    rxtools.rxplot.rxplot_app(topic_list, options)