bag.py
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32 
33 import os
34 import argparse
35 import threading
36 
37 from qt_gui.plugin import Plugin
38 
39 from .bag_widget import BagWidget
40 
41 
42 class Bag(Plugin):
43 
44  """
45  Subclass of Plugin to provide interactive bag visualization, playing(publishing) and recording
46  """
47 
48  def __init__(self, context):
49  """
50  :param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
51  """
52  super(Bag, self).__init__(context)
53  self.setObjectName('Bag')
54 
55  args = self._parse_args(context.argv())
56 
57  self._widget = BagWidget(context, args.clock)
58  if context.serial_number() > 1:
59  self._widget.setWindowTitle(
60  self._widget.windowTitle() + (' (%d)' % context.serial_number()))
61  context.add_widget(self._widget)
62 
63  def load_bags():
64  for bagfile in args.bagfiles:
65  self._widget.load_bag(bagfile)
66 
67  load_thread = threading.Thread(target=load_bags)
68  load_thread.start()
69 
70  def _parse_args(self, argv):
71  parser = argparse.ArgumentParser(prog='rqt_bag', add_help=False)
72  Bag.add_arguments(parser)
73  return parser.parse_args(argv)
74 
75  @staticmethod
76  def _isfile(parser, arg):
77  if os.path.isfile(arg):
78  return arg
79  else:
80  parser.error("Bag file %s does not exist" % (arg))
81 
82  @staticmethod
83  def add_arguments(parser):
84  group = parser.add_argument_group('Options for rqt_bag plugin')
85  group.add_argument('--clock', action='store_true', help='publish the clock time')
86  group.add_argument('bagfiles', type=lambda x: Bag._isfile(parser, x),
87  nargs='*', default=[], help='Bagfiles to load')
88 
89  def shutdown_plugin(self):
90  self._widget.shutdown_all()
91 
92  def save_settings(self, plugin_settings, instance_settings):
93  # TODO implement saving
94  # instance_settings.set_value(k, v)
95  pass
96 
97  def restore_settings(self, plugin_settings, instance_settings):
98  # TODO implement restoring
99  # v = instance_settings.value(k)
100  pass
101 
102  # def trigger_configuration(self):
103  # TODO move some of the button functionality to config button if it is "more configy"
def save_settings(self, plugin_settings, instance_settings)
Definition: bag.py:92
def _isfile(parser, arg)
Definition: bag.py:76
def shutdown_plugin(self)
Definition: bag.py:89
def restore_settings(self, plugin_settings, instance_settings)
Definition: bag.py:97
def _parse_args(self, argv)
Definition: bag.py:70
def __init__(self, context)
Definition: bag.py:48
def add_arguments(parser)
Definition: bag.py:83


rqt_bag
Author(s): Dirk Thomas , Aaron Blasdel , Austin Hendrix , Tim Field
autogenerated on Fri Feb 19 2021 03:14:14