timeline_plotter.py

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from python_qt_binding.QtCore import Qt
from python_qt_binding.QtGui import QBrush, QPen
 
import rospy
 
from rqt_bag import TimelineRenderer
 
from .evaluation_cache import get_cache
from .util import FIELDS
 
 
class TimelinePlotter(TimelineRenderer):
    """This class displays the velocity of the best trajectories in the timeline view."""
 
    def __init__(self, timeline, height=240):
        TimelineRenderer.__init__(self, timeline, msg_combine_px=height)
        self.height = height
        self.cache = get_cache()
 
    def get_segment_height(self, topic):
        return self.height
 
    def scaleValue(self, value):
        return 1.0 - (value - self.cache.v_min) / (self.cache.v_max - self.cache.v_min)
 
    def draw_timeline_segment(self, painter, topic, stamp_start, stamp_end, x, y, width, height):
        painter.setBrush(QBrush(Qt.white))
        painter.drawRect(x, y, width, height)
 
        messages = self.cache.getMessages(self.timeline.scene(), topic, rospy.Time(stamp_start), rospy.Time(stamp_end))
        if self.cache.v_min is None:
            return
        painter.setBrush(QBrush(Qt.black))
        z_val = y + height * self.scaleValue(0.0)
        painter.drawLine(x, z_val, x + width, z_val)
        RADIUS = 2
 
        for field, color in FIELDS.items():
            if field == 'y':
                continue
            color = getattr(Qt, color)
 
            last = None
            for t, msg in sorted(messages):
                best = msg.twists[msg.best_index]
                best_vel = best.traj.velocity
                p_x = self.timeline.map_stamp_to_x(t)
                if best.total >= 0.0:
                    painter.setBrush(QBrush(color))
                    painter.setPen(QPen(color, 1))
                    value = getattr(best_vel, field)
                else:
                    painter.setBrush(QBrush(Qt.red))
                    painter.setPen(QPen(Qt.red, 1))
                    value = 0.0
                p_y = y + height * self.scaleValue(value)
                if last is not None:
                    painter.drawLine(last[0], last[1], p_x, p_y)
                painter.drawEllipse(p_x - RADIUS, p_y - RADIUS, 2 * RADIUS, 2 * RADIUS)
                last = p_x, p_y