Implement a rqt_bag plotting plugin

rqt_bag/package.xml

@@ -3,6 +3,7 @@
   <version>0.3.6</version>
   <description>rqt_bag provides a GUI plugin for displaying and replaying ROS bag files.</description>
   <maintainer email="[email protected]">Aaron Blasdel</maintainer>
+  <maintainer email="[email protected]">Austin Hendrix</maintainer>
 
   <license>BSD</license>
 

rqt_bag/src/rqt_bag/bag.py

@@ -30,13 +30,14 @@
 # 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
@@ -55,19 +56,31 @@ def __init__(self, context):
             self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
         context.add_widget(self._widget)
 
-        for bagfile in args.bagfiles:
-            self._widget.load_bag(bagfile)
+        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=argparse.FileType('r'), nargs='*', default=[], help='Bagfiles to load')
+        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()

rqt_bag/src/rqt_bag/bag_timeline.py

@@ -55,6 +55,7 @@ class BagTimeline(QGraphicsScene):
     Also handles events
     """
     status_bar_changed_signal = Signal()
+    selected_region_changed = Signal(rospy.Time, rospy.Time)
 
     def __init__(self, context, publish_clock):
         """

rqt_bag/src/rqt_bag/bag_widget.py

@@ -37,7 +37,7 @@
 import rospkg
 
 from python_qt_binding import loadUi
-from python_qt_binding.QtCore import Qt
+from python_qt_binding.QtCore import Qt, qWarning, Signal
 from python_qt_binding.QtGui import QFileDialog, QGraphicsView, QIcon, QWidget
 
 import rosbag
@@ -55,6 +55,9 @@ class BagWidget(QWidget):
     Widget for use with Bag class to display and replay bag files
     Handles all widget callbacks and contains the instance of BagTimeline for storing visualizing bag data
     """
+
+    set_status_text = Signal(str)
+
     def __init__(self, context, publish_clock):
         """
         :param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
@@ -123,6 +126,7 @@ def __init__(self, context, publish_clock):
         self._recording = False
 
         self._timeline.status_bar_changed_signal.connect(self._update_status_bar)
+        self.set_status_text.connect(self._set_status_text)
 
     def graphics_view_on_key_press(self, event):
         key = event.key()
@@ -236,6 +240,18 @@ def _handle_load_clicked(self):
             self.load_bag(filename[0])
 
     def load_bag(self, filename):
+        qWarning("Loading %s" % filename)
+
+        # QProgressBar can EITHER: show text or show a bouncing loading bar,
+        #  but apparently the text is hidden when the bounding loading bar is
+        #  shown
+        #self.progress_bar.setRange(0, 0)
+        self.set_status_text.emit("Loading %s" % filename)
+        #progress_format = self.progress_bar.format()
+        #progress_text_visible = self.progress_bar.isTextVisible()
+        #self.progress_bar.setFormat("Loading %s" % filename)
+        #self.progress_bar.setTextVisible(True)
+
         bag = rosbag.Bag(filename)
         self.play_button.setEnabled(True)
         self.thumbs_button.setEnabled(True)
@@ -249,12 +265,26 @@ def load_bag(self, filename):
         self.save_button.setEnabled(True)
         self.record_button.setEnabled(False)
         self._timeline.add_bag(bag)
+        qWarning("Done loading %s" % filename )
+        # put the progress bar back the way it was
+        self.set_status_text.emit("")
+        #self.progress_bar.setFormat(progress_format)
+        #self.progress_bar.setTextVisible(progress_text_visible) # causes a segfault :(
+        #self.progress_bar.setRange(0, 100)
+        # self clear loading filename
 
     def _handle_save_clicked(self):
         filename = QFileDialog.getSaveFileName(self, self.tr('Save selected region to file...'), '.', self.tr('Bag files {.bag} (*.bag)'))
         if filename[0] != '':
             self._timeline.copy_region_to_bag(filename[0])
 
+    def _set_status_text(self, text):
+        if text:
+            self.progress_bar.setFormat(text)
+            self.progress_bar.setTextVisible(True)
+        else:
+            self.progress_bar.setTextVisible(False)
+
     def _update_status_bar(self):
         if self._timeline._timeline_frame.playhead is None or self._timeline._timeline_frame.start_stamp is None:
             return

rqt_bag/src/rqt_bag/plugins/message_view.py

@@ -41,9 +41,10 @@ class MessageView(QObject):
     """
     name = 'Untitled'
 
-    def __init__(self, timeline):
+    def __init__(self, timeline, topic):
         super(MessageView, self).__init__()
         self.timeline = timeline
+        self.topic = topic
 
     def message_viewed(self, bag, msg_details):
         """

rqt_bag/src/rqt_bag/plugins/raw_view.py

@@ -47,12 +47,12 @@ class RawView(TopicMessageView):
     Plugin to view a message in a treeview window
     The message is loaded into a custum treewidget
     """
-    def __init__(self, timeline, parent):
+    def __init__(self, timeline, parent, topic):
         """
         :param timeline: timeline data object, ''BagTimeline''
         :param parent: widget that will be added to the ros_gui context, ''QWidget''
         """
-        super(RawView, self).__init__(timeline, parent)
+        super(RawView, self).__init__(timeline, parent, topic)
         self.message_tree = MessageTree(parent)
         parent.layout().addWidget(self.message_tree)  # This will automatically resize the message_tree to the windowsize
 

rqt_bag/src/rqt_bag/plugins/topic_message_view.py

@@ -38,11 +38,10 @@ class TopicMessageView(MessageView):
     """
     A message view with a toolbar for navigating messages in a single topic.
     """
-    def __init__(self, timeline, parent):
-        MessageView.__init__(self, timeline)
+    def __init__(self, timeline, parent, topic):
+        MessageView.__init__(self, timeline, topic)
 
         self._parent = parent
-        self._topic = None
         self._stamp = None
         self._name = parent.objectName()
 
@@ -65,55 +64,39 @@ def __init__(self, timeline, parent):
     def parent(self):
         return self._parent
 
-    @property
-    def topic(self):
-        return self._topic
-
     @property
     def stamp(self):
         return self._stamp
 
     # MessageView implementation
 
     def message_viewed(self, bag, msg_details):
-        self._topic, _, self._stamp = msg_details[:3]
+        _, _, self._stamp = msg_details[:3]
 
     # Events
     def navigate_first(self):
-        if not self.topic:
-            return
-
-        for entry in self.timeline.get_entries(self._topic, *self.timeline._timeline_frame.play_region):
+        for entry in self.timeline.get_entries([self.topic], *self.timeline._timeline_frame.play_region):
             self.timeline._timeline_frame.playhead = entry.time
             break
 
     def navigate_previous(self):
-        if not self.topic:
-            return
-
         last_entry = None
-        for entry in self.timeline.get_entries(self._topic, self.timeline._timeline_frame.start_stamp, self.timeline._timeline_frame.playhead):
+        for entry in self.timeline.get_entries([self.topic], self.timeline._timeline_frame.start_stamp, self.timeline._timeline_frame.playhead):
             if entry.time < self.timeline._timeline_frame.playhead:
                 last_entry = entry
 
         if last_entry:
             self.timeline._timeline_frame.playhead = last_entry.time
 
     def navigate_next(self):
-        if not self.topic:
-            return
-
-        for entry in self.timeline.get_entries(self._topic, self.timeline._timeline_frame.playhead, self.timeline._timeline_frame.end_stamp):
+        for entry in self.timeline.get_entries([self.topic], self.timeline._timeline_frame.playhead, self.timeline._timeline_frame.end_stamp):
             if entry.time > self.timeline._timeline_frame.playhead:
                 self.timeline._timeline_frame.playhead = entry.time
                 break
 
     def navigate_last(self):
-        if not self.topic:
-            return
-
         last_entry = None
-        for entry in self.timeline.get_entries(self._topic, *self.timeline._timeline_frame.play_region):
+        for entry in self.timeline.get_entries([self.topic], *self.timeline._timeline_frame.play_region):
             last_entry = entry
 
         if last_entry:

rqt_bag/src/rqt_bag/timeline_frame.py

@@ -31,7 +31,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 
-from python_qt_binding.QtCore import qDebug, QPointF, QRectF, Qt, qWarning
+from python_qt_binding.QtCore import qDebug, QPointF, QRectF, Qt, qWarning, Signal
 from python_qt_binding.QtGui import QBrush, QCursor, QColor, QFont, \
                                     QFontMetrics, QGraphicsItem, QPen, \
                                     QPolygonF
@@ -68,6 +68,7 @@ class TimelineFrame(QGraphicsItem):
     (time delimiters, labels, topic names and backgrounds).
     Also handles mouse callbacks since they interact closely with the drawn elements
     """
+
     def __init__(self):
         super(TimelineFrame, self).__init__()
 
@@ -251,6 +252,9 @@ def play_region(self):
         else:
             return (self._start_stamp, self._end_stamp)
 
+    def emit_play_region(self):
+        self.scene().selected_region_changed.emit(*self.play_region)
+
     @property
     def start_stamp(self):
         return self._start_stamp
@@ -909,6 +913,8 @@ def reset_timeline(self):
         self._selected_right = None
         self._selecting_mode = _SelectionMode.NONE
 
+        self.emit_play_region()
+
         if self._stamp_left is not None:
             self.playhead = rospy.Time.from_sec(self._stamp_left)
 
@@ -1039,6 +1045,7 @@ def on_left_down(self, event):
                     self._selected_right = None
                     self._selecting_mode = _SelectionMode.LEFT_MARKED
                     self.scene().update()
+                    self.emit_play_region()
 
                 elif self._selecting_mode == _SelectionMode.MARKED:
                     left_x = self.map_stamp_to_x(self._selected_left)
@@ -1048,6 +1055,7 @@ def on_left_down(self, event):
                         self._selected_right = None
                         self._selecting_mode = _SelectionMode.LEFT_MARKED
                         self.scene().update()
+                    self.emit_play_region()
                 elif self._selecting_mode == _SelectionMode.SHIFTING:
                     self.scene().views()[0].setCursor(QCursor(Qt.ClosedHandCursor))
 
@@ -1139,6 +1147,7 @@ def on_mouse_move(self, event):
                         self._selected_left = max(self._start_stamp.to_sec(), min(self._end_stamp.to_sec(), self._selected_left + dstamp))
                         self._selected_right = max(self._start_stamp.to_sec(), min(self._end_stamp.to_sec(), self._selected_right + dstamp))
                         self.scene().update()
+                    self.emit_play_region()
 
                 elif clicked_x >= self._history_left and clicked_x <= self._history_right and clicked_y >= self._history_top and clicked_y <= self._history_bottom:
                     # Left and clicked within timeline: change playhead

rqt_bag/src/rqt_bag/timeline_menu.py

@@ -157,7 +157,7 @@ def process(self, action):
 
                 viewer_type = action.data()
 
-                view = viewer_type(self.timeline, frame)
+                view = viewer_type(self.timeline, frame, str(topic))
 
                 self.timeline.popups[popup_name] = frame
                 self.timeline.get_context().add_widget(frame)

rqt_bag_plugins/package.xml

@@ -3,6 +3,7 @@
   <version>0.3.6</version>
   <description>rqt_bag provides a GUI plugin for displaying and replaying ROS bag files.</description>
   <maintainer email="[email protected]">Aaron Blasdel</maintainer>
+  <maintainer email="[email protected]">Austin Hendrix</maintainer>
 
   <license>BSD</license>
 

rqt_bag_plugins/plugin.xml

@@ -4,4 +4,10 @@
       A plugin for rqt_bag for showing images.
     </description>
   </class>
+
+  <class name="BagPlotPlugin" type="rqt_bag_plugins.plot_plugin.PlotPlugin" base_class_type="rqt_bag::Plugin">
+    <description>
+      A plugin for rqt_bag for plotting data.
+    </description>
+  </class>
 </library>