eval_message_view.py

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from nav_2d_utils.conversions import pathToPath2D

from .dwb_widget import DWBWidget
from .evaluation_cache import get_cache
from .multi_topic_view import ExtraTopic, MultiTopicView


class EvalView(MultiTopicView):
    """Independent panel in rqt_bag interface for viewing LocalPlanEvaluation messages one at a time.

    Uses the DWBWidget for most of the functionality.
    """

    name = 'EvalView'

    def __init__(self, timeline, parent, topic):
        super(EvalView, self).__init__(timeline, parent, topic)

        # When this View is initialized, pre-load all the messages
        cache = get_cache()
        cache.getMessages(timeline, topic, timeline._get_start_stamp(), timeline._get_end_stamp())
        self.dwb_widget = DWBWidget(parent, cache)
        parent.layout().addWidget(self.dwb_widget)

    def get_extra_topics(self):
        base = self.main_topic.rpartition('/')[0]
        return [
            ExtraTopic(base + '/transformed_global_plan', 'nav_msgs/Path', self.plan_viewed),
            ExtraTopic(base + '/velocity', 'nav_2d_msgs/Twist2D', self.velocity_viewed)
        ]

    def message_viewed(self, bag, msg_details):
        super(EvalView, self).message_viewed(bag, msg_details)
        _, msg, _ = msg_details
        self.dwb_widget.setEvaluation(msg)

    def plan_viewed(self, bag, msg_details):
        _, msg, _ = msg_details
        self.dwb_widget.setPlan(pathToPath2D(msg))

    def velocity_viewed(self, bag, msg_details):
        _, msg, _ = msg_details
        self.dwb_widget.setVelocity(msg)