bag.py

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import os
import argparse
import threading

from qt_gui.plugin import Plugin

from .bag_widget import BagWidget

class Bag(Plugin):
    """
    Subclass of Plugin to provide interactive bag visualization, playing(publishing) and recording
    """
    def __init__(self, context):
        """
        :param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
        """
        super(Bag, self).__init__(context)
        self.setObjectName('Bag')

        args = self._parse_args(context.argv())

        self._widget = BagWidget(context, args.clock)
        if context.serial_number() > 1:
            self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
        context.add_widget(self._widget)

        def load_bags():
            for bagfile in args.bagfiles:
                self._widget.load_bag(bagfile)
        
        load_thread = threading.Thread(target=load_bags)
        load_thread.start()

    def _parse_args(self, argv):
        parser = argparse.ArgumentParser(prog='rqt_bag', add_help=False)
        Bag.add_arguments(parser)
        return parser.parse_args(argv)

    @staticmethod
    def _isfile(parser, arg):
        if os.path.isfile(arg):
            return arg
        else:
            parser.error("Bag file %s does not exist" % ( arg ))

    @staticmethod
    def add_arguments(parser):
        group = parser.add_argument_group('Options for rqt_bag plugin')
        group.add_argument('--clock', action='store_true', help='publish the clock time')
        group.add_argument('bagfiles', type=lambda x: Bag._isfile(parser, x),
                           nargs='*', default=[], help='Bagfiles to load')

    def shutdown_plugin(self):
        self._widget.shutdown_all()

    def save_settings(self, plugin_settings, instance_settings):
        # TODO implement saving
        # instance_settings.set_value(k, v)
        pass

    def restore_settings(self, plugin_settings, instance_settings):
        # TODO implement restoring
        # v = instance_settings.value(k)
        pass

    #def trigger_configuration(self):
        # TODO move some of the button functionality to config button if it is "more configy"