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00033 PKG = 'rxbag_plugins'
00034 import roslib; roslib.load_manifest(PKG)
00035 import rospy
00036
00037 import codecs
00038 import collections
00039 import string
00040 import threading
00041 import time
00042
00043 import numpy
00044 import wx
00045
00046 class PlotConfigureFrame(wx.Frame):
00047 """
00048 Choose data to extract from messages.
00049 """
00050 def __init__(self, plot):
00051 wx.Frame.__init__(self, None, title=plot.parent.Title + ' - Configure', size=(600, 400))
00052
00053 self.plot = plot
00054
00055 splitter = wx.SplitterWindow(self)
00056
00057 self._drag_item = None
00058
00059 self.font = wx.Font(9, wx.FONTFAMILY_MODERN, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)
00060
00061 self.msg_tree = wx.TreeCtrl(splitter, style=wx.TR_DEFAULT_STYLE | wx.TR_HIDE_ROOT)
00062 self.add_msg_object(None, '', 'msg', self.plot._message, self.plot._message._type)
00063 self.msg_tree.Bind(wx.EVT_LEFT_DCLICK, self.on_msg_left_dclick)
00064
00065 self.plot_tree = wx.TreeCtrl(splitter, style=wx.TR_DEFAULT_STYLE | wx.TR_HIDE_ROOT | wx.TR_HAS_BUTTONS)
00066
00067
00068
00069
00070
00071 self.plot_tree.Bind(wx.EVT_LEFT_DCLICK, self.on_plot_left_dclick)
00072
00073 size = (16, 16)
00074 self.imagelist = wx.ImageList(*size)
00075 self.plot_image_index = self.imagelist.Add(wx.Bitmap(roslib.packages.get_pkg_dir(PKG) + '/icons/chart_line.png'))
00076 self.plot_tree.SetImageList(self.imagelist)
00077
00078 splitter.SplitVertically(self.msg_tree, self.plot_tree)
00079 splitter.SashPosition = 350
00080 splitter.MinimumPaneSize = 100
00081
00082 self.Bind(wx.EVT_CLOSE, self.on_close)
00083
00084 self._create_toolbar()
00085
00086
00087
00088 self.plot_root = self.plot_tree.AddRoot('Plots')
00089
00090 self.plot_items = []
00091 if len(self.plot.plot_paths) > 0:
00092 for plot in self.plot.plot_paths:
00093 self.plot_items.append(self.add_plot())
00094 for path in plot:
00095 self.plot_add_msg(path)
00096 else:
00097 self.add_plot()
00098 self.plot_tree.SelectItem(self.plot_items[0])
00099
00100 self._update_msg_tree()
00101
00102 def on_close(self, event):
00103 self.plot._configure_frame = None
00104 event.Skip()
00105
00106 def _create_toolbar(self):
00107 icons_dir = roslib.packages.get_pkg_dir(PKG) + '/icons/'
00108
00109 tb = self.CreateToolBar()
00110 tb.Bind(wx.EVT_TOOL, lambda e: self.plot_add_selected_msg(), tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'chart_line_add.png')))
00111 tb.Bind(wx.EVT_TOOL, lambda e: self.plot_delete_selected_msg(), tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'chart_line_delete.png')))
00112 tb.Bind(wx.EVT_TOOL, lambda e: self.add_plot(), tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'add.png')))
00113 tb.Bind(wx.EVT_TOOL, lambda e: self.delete_plot(), tb.AddLabelTool(wx.ID_ANY, '', wx.Bitmap(icons_dir + 'delete.png')))
00114 tb.Realize()
00115
00116 def add_msg_object(self, parent, path, name, obj, obj_type):
00117 label = name
00118
00119 if hasattr(obj, '__slots__'):
00120 subobjs = [(slot, getattr(obj, slot)) for slot in obj.__slots__]
00121 elif type(obj) is list or type(obj) is tuple:
00122 subobjs = [('[%d]' % i, subobj) for (i, subobj) in enumerate(obj)]
00123 else:
00124 subobjs = []
00125
00126
00127 obj_repr = codecs.utf_8_decode(str(obj), 'ignore')[0]
00128
00129
00130 if len(obj_repr) >= 50:
00131 obj_repr = obj_repr[:50] + '...'
00132
00133 label += ': ' + obj_repr
00134
00135 if parent is None:
00136 item = self.msg_tree.AddRoot(label)
00137 else:
00138 item = self.msg_tree.AppendItem(parent, label)
00139
00140 self.msg_tree.SetItemFont(item, self.font)
00141 self.msg_tree.SetItemPyData(item, (path, obj_type))
00142
00143 if self.msg_item_is_plottable(item):
00144 self.msg_tree.SetItemTextColour(item, wx.Colour(0, 0, 0))
00145 else:
00146 self.msg_tree.SetItemTextColour(item, wx.Colour(100, 100, 100))
00147
00148 for subobj_name, subobj in subobjs:
00149 if subobj is None:
00150 continue
00151
00152 if path == '':
00153 subpath = subobj_name
00154 elif subobj_name.startswith('['):
00155 subpath = '%s%s' % (path, subobj_name)
00156 else:
00157 subpath = '%s.%s' % (path, subobj_name)
00158
00159 if hasattr(subobj, '_type'):
00160 subobj_type = subobj._type
00161 else:
00162 subobj_type = type(subobj).__name__
00163
00164 self.add_msg_object(item, subpath, subobj_name, subobj, subobj_type)
00165
00166 def msg_item_is_plottable(self, item):
00167 (path, obj_type) = self.msg_tree.GetItemPyData(item)
00168
00169 return obj_type in ['int', 'float', 'long']
00170
00171
00172
00173 def on_plot_left_dclick(self, event):
00174 self.plot_delete_selected_msg()
00175
00176 def plot_delete_selected_msg(self):
00177 selected_item = self.plot_tree.Selection
00178 if not selected_item.IsOk() or selected_item in self.plot_items:
00179 return
00180
00181 self.plot_tree.Delete(selected_item)
00182
00183 self._update_msg_tree()
00184
00185 def get_plot_paths(self):
00186 items = []
00187 PlotConfigureFrame.traverse(self.plot_tree, self.plot_tree.RootItem, items.append)
00188
00189 plot_paths = []
00190 for item in items:
00191 if item == self.plot_tree.RootItem:
00192 continue
00193
00194 text = str(self.plot_tree.GetItemText(item))
00195
00196 if item in self.plot_items:
00197 plot_paths.append([])
00198 elif len(plot_paths) > 0:
00199 plot_paths[-1].append(text)
00200
00201 return plot_paths
00202
00203 def add_plot(self):
00204 item = self.plot_tree.AppendItem(self.plot_root, 'Plot')
00205 self.plot_tree.SetItemImage(item, self.plot_image_index, wx.TreeItemIcon_Normal)
00206 self.plot_items.append(item)
00207
00208 self._update_msg_tree()
00209
00210 self.plot_tree.SelectItem(item)
00211
00212 return item
00213
00214 def delete_plot(self):
00215 selected_item = self.plot_tree.Selection
00216 if not selected_item.IsOk() or selected_item not in self.plot_items:
00217 return
00218
00219 self.plot_tree.Delete(selected_item)
00220 self.plot_items.remove(selected_item)
00221
00222 self._update_msg_tree()
00223
00224
00225
00226 def on_msg_left_dclick(self, event):
00227 self.plot_add_selected_msg()
00228
00229 def plot_add_selected_msg(self):
00230 if len(self.plot_items) == 0:
00231 return
00232 selected_item = self.msg_tree.Selection
00233 if not selected_item.IsOk() or not self.msg_item_is_plottable(selected_item):
00234 return
00235
00236 (path, obj_type) = self.msg_tree.GetItemPyData(selected_item)
00237
00238 self.plot_add_msg(path)
00239
00240 def plot_add_msg(self, path):
00241 selected_plot = self.plot_tree.Selection
00242 if not selected_plot.IsOk() or selected_plot == self.plot_tree.RootItem:
00243 selected_plot = self.plot_items[-1]
00244
00245 self.plot_tree.AppendItem(selected_plot, path)
00246 self.plot_tree.ExpandAll()
00247
00248 self._update_msg_tree()
00249
00250 def _update_msg_tree(self):
00251 plot_paths = self.get_plot_paths()
00252
00253 if plot_paths != self.plot.plot_paths:
00254 self.plot.plot_paths = plot_paths
00255
00256 PlotConfigureFrame.traverse(self.msg_tree, self.msg_tree.RootItem, self._update_msg_tree_item)
00257
00258 def _update_msg_tree_item(self, item):
00259 (path, obj_type) = self.msg_tree.GetItemPyData(item)
00260
00261 plotted = False
00262 for paths in self.plot.plot_paths:
00263 if path in paths:
00264 plotted = True
00265 break
00266
00267 self.msg_tree.SetItemBold(item, plotted)
00268
00269 def on_plot_begin_drag(self, event):
00270 if not self.plot_tree.ItemHasChildren(event.Item):
00271 self._drag_item = event.Item
00272 event.Allow()
00273
00274 def on_plot_end_drag(self, event):
00275 dest = event.Item
00276
00277 src = self._drag_item
00278
00279 if src is None or dest == src:
00280 return
00281
00282 text = self.plot_tree.GetItemText(src)
00283 data = self.plot_tree.GetItemPyData(src)
00284
00285 self.plot_tree.Delete(src)
00286
00287 if dest.IsOk():
00288 is_plot_item = (self.plot_tree.GetItemParent(dest) == self.plot_tree.RootItem)
00289 if is_plot_item:
00290 new_item = self.plot_tree.InsertItemBefore(dest, 0, text)
00291 else:
00292 parent = self.plot_tree.GetItemParent(dest)
00293 if not parent.IsOk():
00294 return
00295 new_item = self.plot_tree.InsertItem(parent, dest, text)
00296
00297 self.plot_tree.SetItemPyData(new_item, data)
00298
00299 self.plot_tree.ExpandAll()
00300
00301 self._update_msg_tree()
00302
00303 @staticmethod
00304 def traverse(tree, root, function):
00305 if tree.ItemHasChildren(root):
00306 first_child = tree.GetFirstChild(root)[0]
00307 function(first_child)
00308 PlotConfigureFrame.traverse(tree, first_child, function)
00309
00310 child = tree.GetNextSibling(root)
00311 if child:
00312 function(child)
00313 PlotConfigureFrame.traverse(tree, child, function)
