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Make more things plottable #246

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Jun 16, 2014
Merged

Make more things plottable #246

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96 changes: 79 additions & 17 deletions rqt_plot/src/rqt_plot/plot_widget.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@

import os
import rospkg
import roslib

from python_qt_binding import loadUi
from python_qt_binding.QtCore import Qt, QTimer, qWarning, Slot
Expand All @@ -40,10 +41,68 @@
import rospy

from rqt_py_common.topic_completer import TopicCompleter
from rqt_py_common.topic_helpers import is_slot_numeric
from rqt_py_common import topic_helpers

from . rosplot import ROSData, RosPlotException

def get_plot_fields(topic_name):
topic_type, real_topic, _ = topic_helpers.get_topic_type(topic_name)
if topic_type is None:
message = "topic %s does not exist" % ( topic_name )
return [], message
field_name = topic_name[len(real_topic)+1:]

slot_type, is_array, array_size = roslib.msgs.parse_type(topic_type)
field_class = roslib.message.get_message_class(slot_type)

fields = [f for f in field_name.split('/') if f]

for field in fields:
# parse the field name for an array index
try:
field, _, field_index = roslib.msgs.parse_type(field)
except roslib.msgs.MsgSpecException:
message = "invalid field %s in topic %s" % ( field, real_topic )
return [], message

if field not in getattr(field_class, '__slots__', []):
message = "no field %s in topic %s" % ( field_name, real_topic )
return [], message
slot_type = field_class._slot_types[field_class.__slots__.index(field)]
slot_type, slot_is_array, array_size = roslib.msgs.parse_type(slot_type)
is_array = slot_is_array and field_index is None

field_class = topic_helpers.get_type_class(slot_type)

if field_class in (int, float):
if is_array:
message = "topic %s is a numeric array" % ( topic_name )
return [ "%s[%d]" % (topic_name, i) for i in range(array_size) ], message
else:
message = "topic %s is numeric" % ( topic_name )
return [ topic_name ], message
else:
if not roslib.msgs.is_valid_constant_type(slot_type):
numeric_fields = []
for i, slot in enumerate(field_class.__slots__):
slot_type = field_class._slot_types[i]
slot_type, is_array, array_size = roslib.msgs.parse_type(slot_type)
slot_class = topic_helpers.get_type_class(slot_type)
if slot_class in (int, float) and not is_array:
numeric_fields.append(slot)
message = ""
if len(numeric_fields) > 0:
message = "%d plottable fields in %s" % ( len(numeric_fields), topic_name )
else:
message = "No plottable fields in %s" % ( topic_name )
return [ "%s/%s" % (topic_name, f) for f in numeric_fields ], message
else:
message = "Topic %s is not numeric" % ( topic_name )
return [], message

def is_plottable(topic_name):
fields, message = get_plot_fields(topic_name)
return len(fields) > 0, message

class PlotWidget(QWidget):
_redraw_interval = 40
Expand Down Expand Up @@ -120,9 +179,9 @@ def dragEnterEvent(self, event):
else:
topic_name = str(event.mimeData().text())

# check for numeric field type
is_numeric, is_array, message = is_slot_numeric(topic_name)
if is_numeric and not is_array:
# check for plottable field type
plottable, message = is_plottable(topic_name)
if plottable:
event.acceptProposedAction()
else:
qWarning('Plot.dragEnterEvent(): rejecting: "%s"' % (message))
Expand All @@ -142,8 +201,8 @@ def on_topic_edit_textChanged(self, topic_name):
if topic_name in ('', '/'):
self._topic_completer.update_topics()

is_numeric, is_array, message = is_slot_numeric(topic_name)
self.subscribe_topic_button.setEnabled(is_numeric and not is_array)
plottable, message = is_plottable(topic_name)
self.subscribe_topic_button.setEnabled(plottable)
self.subscribe_topic_button.setToolTip(message)

@Slot()
Expand Down Expand Up @@ -202,18 +261,21 @@ def make_remove_topic_function(x):
self.remove_topic_button.setMenu(self._remove_topic_menu)

def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
return

self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
topics_changed = False
for topic_name in get_plot_fields(topic_name)[0]:
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
continue
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
topics_changed = True

if topics_changed:
self._subscribed_topics_changed()

def remove_topic(self, topic_name):
Expand Down
21 changes: 12 additions & 9 deletions rqt_py_common/src/rqt_py_common/topic_helpers.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,16 @@
from rostopic import get_topic_type
from python_qt_binding.QtCore import qDebug

def get_type_class(type_name):
if roslib.msgs.is_valid_constant_type(type_name):
if type_name == 'string':
return str
elif type_name == 'bool':
return bool
else:
return type(roslib.msgs._convert_val(type_name, 0))
else:
return roslib.message.get_message_class(type_name)

def get_field_type(topic_name):
"""
Expand Down Expand Up @@ -81,15 +91,8 @@ def get_slot_type(message_class, slot_path):
slot_type = message_class._slot_types[message_class.__slots__.index(field_name)]
slot_type, slot_is_array, _ = roslib.msgs.parse_type(slot_type)
is_array = slot_is_array and field_index is None
if roslib.msgs.is_valid_constant_type(slot_type):
if slot_type == 'string':
message_class = str
elif slot_type == 'bool':
message_class = bool
else:
message_class = type(roslib.msgs._convert_val(slot_type, 0))
else:
message_class = roslib.message.get_message_class(slot_type)

message_class = get_type_class(slot_type)
return message_class, is_array


Expand Down