Coverage for /home/travis/build/RobotLocomotion/director/build/src/director-build/lib/python2.7/dist-packages/director/lcmoctomap : 0%

import director.vtkAll as vtk 

import director.objectmodel as om 

from director import lcmUtils 

# if bot_lcmgl cannot be important than this module will not be able to 

# support lcmgl, but it can still be imported in a disabled state 

try: 

    import bot_lcmgl 

    import octomap as lcmOctomap 

    LCMGL_AVAILABLE = True 

except ImportError: 

    LCMGL_AVAILABLE = False 

class OctomapObject(om.ObjectModelItem): 

    def __init__(self, name, actor): 

        om.ObjectModelItem.__init__(self, name, om.Icons.Octomap) 

        self.actor = actor 

        self.actor.SetUseBounds(False) 

        self.addProperty('Visible', actor.GetVisibility()) 

        self.addProperty('Alpha', 0.8, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=1.0, singleStep=0.1, hidden=False)) 

        self.addProperty('Color Mode', 2, attributes=om.PropertyAttributes(enumNames=['Flat', 'Print', 'Height', 'Gray', 'Semantic'])) 

        self.addProperty('Occ. Space', 1, attributes=om.PropertyAttributes(enumNames=['Hide', 'Show'])) 

        self.addProperty('Free Space', 0, attributes=om.PropertyAttributes(enumNames=['Hide', 'Show'])) 

        self.addProperty('Structure', 0, attributes=om.PropertyAttributes(enumNames=['Hide', 'Show'])) 

        self.addProperty('Tree Depth', 16, attributes=om.PropertyAttributes(decimals=0, minimum=1, maximum=16, singleStep=1.0)) 

        self.views = [] 

    def _onPropertyChanged(self, propertySet, propertyName): 

        om.ObjectModelItem._onPropertyChanged(self, propertySet, propertyName) 

        if propertyName == 'Visible': 

            self.actor.SetVisibility(self.getProperty(propertyName)) 

            self.renderAllViews() 

        elif propertyName == 'Alpha': 

            self.actor.setAlphaOccupied(self.getProperty(propertyName)) 

            self.renderAllViews() 

        elif propertyName == 'Occ. Space': 

            self.actor.enableOcTreeCells(self.getProperty(propertyName)) 

            self.renderAllViews() 

        elif propertyName == 'Free Space': 

            self.actor.enableFreespace(self.getProperty(propertyName)) 

            self.renderAllViews() 

        elif propertyName == 'Structure': 

            self.actor.enableOctreeStructure(self.getProperty(propertyName)) 

            self.renderAllViews() 

        elif propertyName == 'Tree Depth': 

            self.actor.changeTreeDepth(self.getProperty(propertyName)) 

            self.renderAllViews() 

        elif propertyName == 'Color Mode': 

            heightColorMode = self.getProperty(propertyName) 

            self.actor.setColorMode(heightColorMode) 

            self.renderAllViews() 

    def addToView(self, view): 

        if view in self.views: 

            return 

        self.views.append(view) 

        view.renderer().AddActor(self.actor) 

        view.render() 

    def renderAllViews(self): 

        for view in self.views: 

            view.render() 

    def onRemoveFromObjectModel(self): 

        self.removeFromAllViews() 

    def removeFromAllViews(self): 

        for view in list(self.views): 

            self.removeFromView(view) 

        assert len(self.views) == 0 

    def removeFromView(self, view): 

        assert view in self.views 

        self.views.remove(view) 

        view.renderer().RemoveActor(self.actor) 

        view.render() 

    def onMessage(self, msgBytes): 

        #print "about to draw" 

        self.actor.UpdateOctomapData(msgBytes.data()) 

        self.renderAllViews() 

managerInstance = None 

class OctomapManager(object): 

    def __init__(self, view): 

        assert LCMGL_AVAILABLE 

        self.view = view 

        self.subscriber = None 

        self.enable() 

    def isEnabled(self): 

        return self.subscriber is not None 

    def setEnabled(self, enabled): 

        if enabled and not self.subscriber: 

            #self.subscriber = lcmUtils.addSubscriber('LCMGL.*', callback=self.onMessage) 

            self.subscriber = lcmUtils.addSubscriber('OCTOMAP', callback=self.onMessage) 

            self.subscriber = lcmUtils.addSubscriber('OCTOMAP_REF', callback=self.onMessage) 

            self.subscriber = lcmUtils.addSubscriber('OCTOMAP_IN', callback=self.onMessage) 

        elif not enabled and self.subscriber: 

            lcmUtils.removeSubscriber(self.subscriber) 

            self.subscriber = None 

    def enable(self): 

        self.setEnabled(True) 

    def disable(self): 

        self.setEnabled(False) 

    def onMessage(self, msgBytes, channel): 

        #print " " 

        #print "got data" 

        msg = lcmOctomap.raw_t.decode(msgBytes.data()) 

        drawObject = self.getDrawObject(channel) 

        if not drawObject: 

            drawObject = self.addDrawObject(channel, msgBytes) 

        drawObject.onMessage(msgBytes) 

    def getDrawObject(self, name): 

        parent = om.getOrCreateContainer('Octomap') 

        return parent.findChild(name) 

    def addDrawObject(self, name, msgBytes): 

        actor = vtk.vtkOctomap() 

        obj = OctomapObject(name, actor) 

        om.addToObjectModel(obj, om.getOrCreateContainer('Octomap')) 

        obj.addToView(self.view) 

        return obj 

def init(view): 

    if not hasattr(vtk, 'vtkOctomap'): 

        return None 

    global managerInstance 

    managerInstance = OctomapManager(view) 

    return managerInstance