timeline_pane.py

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# Author: Isaac Saito, Ze'ev Klapow, Austin Hendrix

import os

from python_qt_binding import loadUi
from python_qt_binding.QtCore import Signal, Slot
from python_qt_binding.QtWidgets import QWidget
import rospy
import rospkg

from rqt_robot_monitor.timeline import Timeline


class TimelinePane(QWidget):
    """
    This class defines the pane where timeline and its related components
    are displayed.
    """
    status_updated = Signal(list)
    pause_changed = Signal(bool)
    position_changed = Signal(int)
    redraw = Signal()

    def __init__(self, parent, paused=False):
        """
        Because this class is intended to be instantiated via Qt's .ui file,
        taking argument other than parent widget is not possible, which is
        ported to set_timeline_data method. That said, set_timeline_data must
        be called (soon) after an object of this is instantiated.
        """
        super(TimelinePane, self).__init__(parent=parent)

        rp = rospkg.RosPack()
        ui_file = os.path.join(rp.get_path('rqt_robot_monitor'),
                               'resource',
                               'timelinepane.ui')
        loadUi(ui_file, self)

        self._timeline_view.show()
        self._timeline_view.position_changed.connect(self._signal_position_changed)

        # connect pause button
        self._pause_button.clicked[bool].connect(self._signal_pause_changed)

        # bootstrap initial state
        self._pause_button.setChecked(paused)

        self.redraw.connect(self._signal_redraw)

    def _signal_pause_changed(self, paused):
        self.pause_changed.emit(paused)

    def _signal_position_changed(self, position):
        self.position_changed.emit(position)

    @Slot(bool)
    def set_paused(self, paused):
        self._pause_button.setChecked(paused)

    @Slot(list)
    def set_levels(self, levels):
        '''
        :param levels: List of status levels
        '''
        self._timeline_view.set_levels(levels)

    @Slot(int)
    def set_position(self, position):
        self._timeline_view.set_marker_pos(position)

    @Slot()
    def _signal_redraw(self):
        self._timeline_view.redraw.emit()