bag.py

Go to the documentation of this file.

# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of Willow Garage, Inc. nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
 
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"