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mainwindow

MainWindow #

Bases: QMainWindow

MainWindow class

Build the main window of the game replay tool.

It contains:

  • a menu bar,
  • a tool bar with buttons to load a trace file,
  • a status bar with robot position,
  • a slider with buttons to start/stop playback

Attributes:

Name Type Description
signal_new_robot_state Signal

Qt signal emitted on robot state update
rate int

number of milliseconds between two states during automatic playback
Source code in cogip/tools/replay/mainwindow.py 
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class MainWindow(QtWidgets.QMainWindow):
    """MainWindow class

    Build the main window of the game replay tool.

    It contains:

      - a menu bar,
      - a tool bar with buttons to load a trace file,
      - a status bar with robot position,
      - a slider with buttons to start/stop playback

    Attributes:
        signal_new_robot_state: Qt signal emitted on robot state update
        rate: number of milliseconds between two states during automatic playback
    """

    signal_new_robot_state: qtSignal = qtSignal(RobotState)
    rate: int = 60

    def __init__(self, trace: Path | None = None, *args, **kwargs):
        """ """
        super().__init__(*args, **kwargs)
        self.states = []
        self.timer = QtCore.QTimer()
        self.timer.timeout.connect(self.increment)

        self.menu_widgets: dict[str, QtWidgets.QWidget] = {}

        self.setWindowTitle("COGIP Replay")

        self.central_widget = QtWidgets.QWidget()
        self.central_layout = QtWidgets.QVBoxLayout()
        self.central_widget.setLayout(self.central_layout)
        self.setCentralWidget(self.central_widget)

        # Menu bar
        menubar = self.menuBar()
        file_menu = menubar.addMenu("&File")
        view_menu = menubar.addMenu("&View")

        # Toolbars
        file_toolbar = self.addToolBar("File")

        # Status bar
        status_bar = self.statusBar()

        cycle_label = QtWidgets.QLabel("Cycle:")
        self.cycle_text = QtWidgets.QLabel()
        self.cycle_text.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
        self.cycle_text.setFrameStyle(QtWidgets.QFrame.Panel | QtWidgets.QFrame.Sunken)
        status_bar.addPermanentWidget(cycle_label, 0)
        status_bar.addPermanentWidget(self.cycle_text, 0)

        pos_x_label = QtWidgets.QLabel("X:")
        self.pos_x_text = QtWidgets.QLabel()
        self.pos_x_text.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
        self.pos_x_text.setFrameStyle(QtWidgets.QFrame.Panel | QtWidgets.QFrame.Sunken)
        status_bar.addPermanentWidget(pos_x_label, 0)
        status_bar.addPermanentWidget(self.pos_x_text, 0)

        pos_y_label = QtWidgets.QLabel("Y:")
        self.pos_y_text = QtWidgets.QLabel()
        self.pos_y_text.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
        self.pos_y_text.setFrameStyle(QtWidgets.QFrame.Panel | QtWidgets.QFrame.Sunken)
        status_bar.addPermanentWidget(pos_y_label, 0)
        status_bar.addPermanentWidget(self.pos_y_text, 0)

        pos_angle_label = QtWidgets.QLabel("Angle:")
        self.pos_angle_text = QtWidgets.QLabel()
        self.pos_angle_text.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
        self.pos_angle_text.setFrameStyle(QtWidgets.QFrame.Panel | QtWidgets.QFrame.Sunken)
        status_bar.addPermanentWidget(pos_angle_label, 0)
        status_bar.addPermanentWidget(self.pos_angle_text, 0)

        # Actions
        # Icons: https://commons.wikimedia.org/wiki/GNOME_Desktop_icons

        # Exit action
        self.exit_action = QtGui.QAction(QtGui.QIcon.fromTheme("application-exit"), "Exit", self)
        self.exit_action.setShortcut("Ctrl+Q")
        self.exit_action.setStatusTip("Exit application")
        self.exit_action.triggered.connect(self.close)
        file_menu.addAction(self.exit_action)
        file_toolbar.addAction(self.exit_action)

        # Add obstacle action
        self.open_trace_action = QtGui.QAction(QtGui.QIcon.fromTheme("document-open"), "Open trace", self)
        self.open_trace_action.setShortcut("Ctrl+O")
        self.open_trace_action.setStatusTip("Open trace")
        self.open_trace_action.triggered.connect(self.open_trace)
        file_menu.addAction(self.open_trace_action)
        file_toolbar.addAction(self.open_trace_action)

        # GameView widget
        self.game_view = GameView()
        self.central_layout.addWidget(self.game_view, stretch=100)

        # Slider widget
        slider_widget = QtWidgets.QWidget()
        slider_layout = QtWidgets.QHBoxLayout(slider_widget)
        slider_widget.setLayout(slider_layout)
        self.central_layout.addWidget(slider_widget, stretch=1)

        self.play_button = QtWidgets.QPushButton()
        self.play_button.setIcon(QtGui.QIcon.fromTheme("media-playback-start"))
        self.play_button.setStatusTip("Play")
        self.play_button.setEnabled(False)
        self.play_button.clicked.connect(self.play)
        slider_layout.addWidget(self.play_button)

        self.pause_button = QtWidgets.QPushButton()
        self.pause_button.setIcon(QtGui.QIcon.fromTheme("media-playback-pause"))
        self.pause_button.setStatusTip("Pause")
        self.pause_button.setEnabled(False)
        self.pause_button.clicked.connect(self.pause)
        slider_layout.addWidget(self.pause_button)

        self.slider = QtWidgets.QSlider(QtCore.Qt.Horizontal, minimum=0, maximum=100, value=00)
        self.slider.setMinimum(0)
        self.slider.setValue(0)
        self.slider.setEnabled(False)
        self.slider.valueChanged.connect(self.slider_changed)
        self.slider.sliderMoved.connect(self.slider_moved)
        slider_layout.addWidget(self.slider)

        # Charts widget
        self.charts_view = ChartsView(self)

        # Add view action
        self.view_charts_action = QtGui.QAction("Calibration Charts", self)
        self.view_charts_action.setStatusTip("Display/Hide calibration charts")
        self.view_charts_action.setCheckable(True)
        self.view_charts_action.toggled.connect(self.charts_toggled)
        self.charts_view.closed.connect(partial(self.view_charts_action.setChecked, False))
        view_menu.addAction(self.view_charts_action)

    @qtSlot(bool)
    def charts_toggled(self, checked: bool):
        """
        Qt Slot

        Show/hide the calibration charts.

        Arguments:
            checked: Show action has checked or unchecked
        """
        if checked:
            self.charts_view.show()
            self.charts_view.raise_()
            self.charts_view.activateWindow()
        else:
            self.charts_view.close()

    @qtSlot(RobotState)
    def new_robot_state(self, state: RobotState):
        """
        Qt Slot

        Update robot position information in the status bar.

        Arguments:
            state: Robot state
        """
        self.cycle_text.setText(f"{state.cycle or 0:>#6d}")
        self.pos_x_text.setText(f"{state.pose_current.x:> #6.2f}")
        self.pos_y_text.setText(f"{state.pose_current.y:> #6.2f}")
        self.pos_angle_text.setText(f"{state.pose_current.O:> #4.2f}")

    @qtSlot()
    def open_trace(self):
        """
        Qt Slot

        Open a file dialog to select a trace file.
        """
        filename, _ = QtWidgets.QFileDialog.getOpenFileName(
            parent=self,
            caption="Select file to load trace",
            dir="",
            filter="Text files (*.txt)",
            # Workaround a know Qt bug
            options=QtWidgets.QFileDialog.DontUseNativeDialog,
        )
        if filename:
            self.load_trace(Path(filename))

    @qtSlot()
    def load_trace(self, trace_file: Path):
        """
        Qt Slot

        Load a trace file.
        """
        self.pause()
        with trace_file.open() as fd:
            lines = fd.readlines()
        self.states = [RobotState.model_validate_json(line) for line in lines]
        self.slider.setValue(0)
        self.slider.setMaximum(len(self.states) - 1)
        self.slider.setEnabled(True)
        self.slider_changed()

    @qtSlot()
    def play(self):
        """
        Qt Slot

        Start automatic playback.
        """
        self.play_button.setEnabled(False)
        self.pause_button.setEnabled(True)
        self.timer.start(self.rate)

    @qtSlot()
    def pause(self):
        """
        Qt Slot

        Stop automatic playback.
        """
        self.timer.stop()
        self.play_button.setEnabled(True)
        self.pause_button.setEnabled(False)

    @qtSlot()
    def slider_changed(self):
        """
        Qt Slot

        Send robot state update when the current index changes,
        ie when the slider moves, automatically or manually
        """
        self.signal_new_robot_state.emit(self.states[self.slider.value()])

    @qtSlot()
    def slider_moved(self):
        """
        Qt Slot

        Stop automatic playback when the slider is moved manually.
        """
        self.pause()

    def increment(self):
        """
        Jump to the next state.
        """
        self.slider.setValue(self.slider.value() + 1)

__init__(trace=None, *args, **kwargs) #

Source code in cogip/tools/replay/mainwindow.py 
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def __init__(self, trace: Path | None = None, *args, **kwargs):
    """ """
    super().__init__(*args, **kwargs)
    self.states = []
    self.timer = QtCore.QTimer()
    self.timer.timeout.connect(self.increment)

    self.menu_widgets: dict[str, QtWidgets.QWidget] = {}

    self.setWindowTitle("COGIP Replay")

    self.central_widget = QtWidgets.QWidget()
    self.central_layout = QtWidgets.QVBoxLayout()
    self.central_widget.setLayout(self.central_layout)
    self.setCentralWidget(self.central_widget)

    # Menu bar
    menubar = self.menuBar()
    file_menu = menubar.addMenu("&File")
    view_menu = menubar.addMenu("&View")

    # Toolbars
    file_toolbar = self.addToolBar("File")

    # Status bar
    status_bar = self.statusBar()

    cycle_label = QtWidgets.QLabel("Cycle:")
    self.cycle_text = QtWidgets.QLabel()
    self.cycle_text.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
    self.cycle_text.setFrameStyle(QtWidgets.QFrame.Panel | QtWidgets.QFrame.Sunken)
    status_bar.addPermanentWidget(cycle_label, 0)
    status_bar.addPermanentWidget(self.cycle_text, 0)

    pos_x_label = QtWidgets.QLabel("X:")
    self.pos_x_text = QtWidgets.QLabel()
    self.pos_x_text.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
    self.pos_x_text.setFrameStyle(QtWidgets.QFrame.Panel | QtWidgets.QFrame.Sunken)
    status_bar.addPermanentWidget(pos_x_label, 0)
    status_bar.addPermanentWidget(self.pos_x_text, 0)

    pos_y_label = QtWidgets.QLabel("Y:")
    self.pos_y_text = QtWidgets.QLabel()
    self.pos_y_text.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
    self.pos_y_text.setFrameStyle(QtWidgets.QFrame.Panel | QtWidgets.QFrame.Sunken)
    status_bar.addPermanentWidget(pos_y_label, 0)
    status_bar.addPermanentWidget(self.pos_y_text, 0)

    pos_angle_label = QtWidgets.QLabel("Angle:")
    self.pos_angle_text = QtWidgets.QLabel()
    self.pos_angle_text.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
    self.pos_angle_text.setFrameStyle(QtWidgets.QFrame.Panel | QtWidgets.QFrame.Sunken)
    status_bar.addPermanentWidget(pos_angle_label, 0)
    status_bar.addPermanentWidget(self.pos_angle_text, 0)

    # Actions
    # Icons: https://commons.wikimedia.org/wiki/GNOME_Desktop_icons

    # Exit action
    self.exit_action = QtGui.QAction(QtGui.QIcon.fromTheme("application-exit"), "Exit", self)
    self.exit_action.setShortcut("Ctrl+Q")
    self.exit_action.setStatusTip("Exit application")
    self.exit_action.triggered.connect(self.close)
    file_menu.addAction(self.exit_action)
    file_toolbar.addAction(self.exit_action)

    # Add obstacle action
    self.open_trace_action = QtGui.QAction(QtGui.QIcon.fromTheme("document-open"), "Open trace", self)
    self.open_trace_action.setShortcut("Ctrl+O")
    self.open_trace_action.setStatusTip("Open trace")
    self.open_trace_action.triggered.connect(self.open_trace)
    file_menu.addAction(self.open_trace_action)
    file_toolbar.addAction(self.open_trace_action)

    # GameView widget
    self.game_view = GameView()
    self.central_layout.addWidget(self.game_view, stretch=100)

    # Slider widget
    slider_widget = QtWidgets.QWidget()
    slider_layout = QtWidgets.QHBoxLayout(slider_widget)
    slider_widget.setLayout(slider_layout)
    self.central_layout.addWidget(slider_widget, stretch=1)

    self.play_button = QtWidgets.QPushButton()
    self.play_button.setIcon(QtGui.QIcon.fromTheme("media-playback-start"))
    self.play_button.setStatusTip("Play")
    self.play_button.setEnabled(False)
    self.play_button.clicked.connect(self.play)
    slider_layout.addWidget(self.play_button)

    self.pause_button = QtWidgets.QPushButton()
    self.pause_button.setIcon(QtGui.QIcon.fromTheme("media-playback-pause"))
    self.pause_button.setStatusTip("Pause")
    self.pause_button.setEnabled(False)
    self.pause_button.clicked.connect(self.pause)
    slider_layout.addWidget(self.pause_button)

    self.slider = QtWidgets.QSlider(QtCore.Qt.Horizontal, minimum=0, maximum=100, value=00)
    self.slider.setMinimum(0)
    self.slider.setValue(0)
    self.slider.setEnabled(False)
    self.slider.valueChanged.connect(self.slider_changed)
    self.slider.sliderMoved.connect(self.slider_moved)
    slider_layout.addWidget(self.slider)

    # Charts widget
    self.charts_view = ChartsView(self)

    # Add view action
    self.view_charts_action = QtGui.QAction("Calibration Charts", self)
    self.view_charts_action.setStatusTip("Display/Hide calibration charts")
    self.view_charts_action.setCheckable(True)
    self.view_charts_action.toggled.connect(self.charts_toggled)
    self.charts_view.closed.connect(partial(self.view_charts_action.setChecked, False))
    view_menu.addAction(self.view_charts_action)

charts_toggled(checked) #

Qt Slot

Show/hide the calibration charts.

Parameters:

Name Type Description Default
checked bool

Show action has checked or unchecked

 required
Source code in cogip/tools/replay/mainwindow.py 
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@qtSlot(bool)
def charts_toggled(self, checked: bool):
    """
    Qt Slot

    Show/hide the calibration charts.

    Arguments:
        checked: Show action has checked or unchecked
    """
    if checked:
        self.charts_view.show()
        self.charts_view.raise_()
        self.charts_view.activateWindow()
    else:
        self.charts_view.close()

increment() #

Jump to the next state.

Source code in cogip/tools/replay/mainwindow.py 
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def increment(self):
    """
    Jump to the next state.
    """
    self.slider.setValue(self.slider.value() + 1)

load_trace(trace_file) #

Qt Slot

Load a trace file.

Source code in cogip/tools/replay/mainwindow.py 
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@qtSlot()
def load_trace(self, trace_file: Path):
    """
    Qt Slot

    Load a trace file.
    """
    self.pause()
    with trace_file.open() as fd:
        lines = fd.readlines()
    self.states = [RobotState.model_validate_json(line) for line in lines]
    self.slider.setValue(0)
    self.slider.setMaximum(len(self.states) - 1)
    self.slider.setEnabled(True)
    self.slider_changed()

new_robot_state(state) #

Qt Slot

Update robot position information in the status bar.

Parameters:

Name Type Description Default
state RobotState

Robot state

 required
Source code in cogip/tools/replay/mainwindow.py 
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@qtSlot(RobotState)
def new_robot_state(self, state: RobotState):
    """
    Qt Slot

    Update robot position information in the status bar.

    Arguments:
        state: Robot state
    """
    self.cycle_text.setText(f"{state.cycle or 0:>#6d}")
    self.pos_x_text.setText(f"{state.pose_current.x:> #6.2f}")
    self.pos_y_text.setText(f"{state.pose_current.y:> #6.2f}")
    self.pos_angle_text.setText(f"{state.pose_current.O:> #4.2f}")

open_trace() #

Qt Slot

Open a file dialog to select a trace file.

Source code in cogip/tools/replay/mainwindow.py 
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@qtSlot()
def open_trace(self):
    """
    Qt Slot

    Open a file dialog to select a trace file.
    """
    filename, _ = QtWidgets.QFileDialog.getOpenFileName(
        parent=self,
        caption="Select file to load trace",
        dir="",
        filter="Text files (*.txt)",
        # Workaround a know Qt bug
        options=QtWidgets.QFileDialog.DontUseNativeDialog,
    )
    if filename:
        self.load_trace(Path(filename))

pause() #

Qt Slot

Stop automatic playback.

Source code in cogip/tools/replay/mainwindow.py 
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@qtSlot()
def pause(self):
    """
    Qt Slot

    Stop automatic playback.
    """
    self.timer.stop()
    self.play_button.setEnabled(True)
    self.pause_button.setEnabled(False)

play() #

Qt Slot

Start automatic playback.

Source code in cogip/tools/replay/mainwindow.py 
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@qtSlot()
def play(self):
    """
    Qt Slot

    Start automatic playback.
    """
    self.play_button.setEnabled(False)
    self.pause_button.setEnabled(True)
    self.timer.start(self.rate)

slider_changed() #

Qt Slot

Send robot state update when the current index changes, ie when the slider moves, automatically or manually

Source code in cogip/tools/replay/mainwindow.py 
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@qtSlot()
def slider_changed(self):
    """
    Qt Slot

    Send robot state update when the current index changes,
    ie when the slider moves, automatically or manually
    """
    self.signal_new_robot_state.emit(self.states[self.slider.value()])

slider_moved() #

Qt Slot

Stop automatic playback when the slider is moved manually.

Source code in cogip/tools/replay/mainwindow.py 
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@qtSlot()
def slider_moved(self):
    """
    Qt Slot

    Stop automatic playback when the slider is moved manually.
    """
    self.pause()