robot_monitor_bag_plugin.py

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#!/usr/bin/env python
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# Author: Austin Hendrix


from rqt_bag.plugins.plugin import Plugin
from rqt_bag import TopicMessageView

from .robot_monitor import RobotMonitorWidget
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus

class RobotMonitorBagPlugin(Plugin):
    def __init__(self):
        pass

    def get_view_class(self):
        return RobotMonitorBagView

    def get_renderer_class(self):
        return None

    def get_message_types(self):
        return ['diagnostic_msgs/DiagnosticArray']

class RobotMonitorBagView(TopicMessageView):
    name = 'Diagnostics Viewer'

    def __init__(self, timeline, parent, topic):
        super(RobotMonitorBagView, self).__init__(timeline, parent, topic)
        
        self._widget = RobotMonitorWidget(parent)
        parent.layout().addWidget(self._widget)

    def message_viewed(self, bag, msg_details):
        msg = msg_details[1]
        # generic conversion of DiagnosticStatus from bag type to current type
        #  this should be fairly robust to minor changes in the message format
        status = [DiagnosticStatus(**dict((slot, getattr(m, slot)) for slot in m.__slots__)) for m in msg.status]
        msg = DiagnosticArray(msg.header, status)
        self._widget.message_updated.emit(msg)

    def close(self):
        self._widget.shutdown()  # Closes unclosed popup windows.