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

import PythonQt 

from PythonQt import QtCore, QtGui, QtUiTools 

from director import lcmUtils 

from director import applogic as app 

from director.utime import getUtime 

from time import time 

from maps import data_request_t 

from maps import data_request_list_t 

def addWidgetsToDict(widgets, d): 

    for widget in widgets: 

        if widget.objectName: 

            d[str(widget.objectName)] = widget 

        addWidgetsToDict(widget.children(), d) 

class WidgetDict(object): 

    def __init__(self, widgets): 

        addWidgetsToDict(widgets, self.__dict__) 

class SensorDataRequestPanel(object): 

    def __init__(self): 

        loader = QtUiTools.QUiLoader() 

        uifile = QtCore.QFile(':/ui/ddSensorDataRequest.ui') 

        assert uifile.open(uifile.ReadOnly) 

        self.widget = loader.load(uifile) 

        self.ui = WidgetDict(self.widget.children()) 

        self._updateBlocked = True 

        self.groups = {} 

        self.registerType('camHead',data_request_t.CAMERA_IMAGE_HEAD_LEFT) 

        self.registerType('camChestLeft',data_request_t.CAMERA_IMAGE_LCHEST) 

        self.registerType('camChestRight',data_request_t.CAMERA_IMAGE_RCHEST) 

        self.registerType('mapSceneHeight',data_request_t.HEIGHT_MAP_SCENE) 

        self.registerType('mapSceneDepth',data_request_t.DEPTH_MAP_SCENE) 

        self.registerType('mapWorkspaceDepth',data_request_t.DEPTH_MAP_WORKSPACE_C) 

        self.registerType('mapFusedStereoHeight',data_request_t.FUSED_HEIGHT) 

        self.registerType('mapWorkspaceOctomap',data_request_t.OCTREE_WORKSPACE) 

        self.widget.applyAllButton.clicked.connect(self.applyAllButtonClicked) 

    class TypeGroup: 

        def __init__(self,name,msgType, widgets): 

            self.name = name 

            self.messageType = msgType 

            self.nowButton = getattr(widgets, name + 'Button') 

            self.streamCheck = getattr(widgets, name + 'Check') 

            self.periodSpinner = getattr(widgets, name + 'Spinner') 

            self.nowButton.clicked.connect(self.immediateRequestClicked) 

        def immediateRequestClicked(self,event): 

            req = self.getMessage() 

            req.period = 0 

            msg = data_request_list_t() 

            msg.utime = getUtime() 

            msg.requests = [req] 

            msg.num_requests = len(msg.requests) 

            lcmUtils.publish('DATA_REQUEST',msg) 

        def getMessage(self): 

            msg = data_request_t() 

            msg.type = self.messageType 

            if self.streamCheck.isChecked(): 

                msg.period = 10*self.periodSpinner.value 

            else: 

                msg.period = -10 

            return msg 

    def registerType(self,name,msgType): 

        # TODO: can add widgets themselves programmatically rather than through .ui file 

        self.groups[name] = self.TypeGroup(name, msgType, self.ui) 

    def applyAllButtonClicked(self,event): 

        msg = data_request_list_t() 

        msg.utime = getUtime() 

        msg.requests = [] 

        for name in self.groups: 

            msg.requests.append(self.groups[name].getMessage()) 

        msg.num_requests = len(msg.requests) 

        lcmUtils.publish('DATA_REQUEST',msg) 

def _getAction(): 

    return app.getToolBarActions()['ActionSensorDataRequestPanel'] 

def init(): 

    global panel 

    global dock 

    panel = SensorDataRequestPanel() 

    dock = app.addWidgetToDock(panel.widget, action=_getAction()) 

    dock.hide() 

    return panel