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debug

DebugWindow #

Source code in cogip/tools/planner/avoidance/debug.py 
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class DebugWindow:
    ui_thread: threading.Thread | None = None

    def __init__(self):
        self.app = None
        if DebugWindow.ui_thread is None:
            DebugWindow.ui_thread = threading.Thread(target=self.start_qapp)
            DebugWindow.ui_thread.start()
            time.sleep(0.05)  # Wait for a short time to ensure QApplication instance created.

        self.point_start: models.Pose | None = None
        self.point_goal: models.Pose | None = None

        self.fixed_obstacles: list[visibility_road_map.ObstaclePolygon] = []
        self.dyn_obstacles: list[visibility_road_map.ObstaclePolygon] = []

        self.visibility_nodes: list[tuple[float, float]] = []
        self.graph: list[tuple[float, float]] = []
        self.road_map: list[tuple[float, float, float, float]] = []
        self.path: list[tuple[float, float]] = []

        self.win = MainWindow(self)
        self.win.show()

    def start_qapp(self):
        """a thread for QApplication event loop"""
        self.app = QtWidgets.QApplication(sys.argv)
        self.app.exec_()

    def update(self):
        self.win.repaint()

    def reset(self):
        self.point_start = None
        self.point_goal = None
        self.dyn_obstacles.clear()
        self.visibility_nodes.clear()
        self.graph.clear()
        self.road_map.clear()
        self.path.clear()

start_qapp() #

a thread for QApplication event loop

Source code in cogip/tools/planner/avoidance/debug.py 
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def start_qapp(self):
    """a thread for QApplication event loop"""
    self.app = QtWidgets.QApplication(sys.argv)
    self.app.exec_()