Refactor graph backends into wrapper

rqt_plot/src/rqt_plot/data_plot/__init__.py

@@ -0,0 +1,120 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2014, Austin Hendrix
+# Copyright (c) 2011, Dorian Scholz, TU Darmstadt
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of the TU Darmstadt nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+try:
+    from pyqtgraph_data_plot import PyQtGraphDataPlot
+except ImportError:
+    qDebug('[DEBUG] rqt_plot.plot: import of PyQtGraphDataPlot failed (trying other backends)')
+    PyQtGraphDataPlot = None
+
+try:
+    from mat_data_plot import MatDataPlot
+except ImportError:
+    qDebug('[DEBUG] rqt_plot.plot: import of MatDataPlot failed (trying other backends)')
+    MatDataPlot = None
+
+try:
+    from qwt_data_plot import QwtDataPlot
+except ImportError:
+    qDebug('[DEBUG] rqt_plot.plot: import of QwtDataPlot failed (trying other backends)')
+    QwtDataPlot = None
+
+
+class DataPlot(object):
+    # plot types in order of priority
+    plot_types = [
+        {
+            'title': 'PyQtGraph',
+            'widget_class': PyQtGraphDataPlot,
+            'description': 'Based on PyQtGraph\n- installer: http://luke.campagnola.me/code/pyqtgraph',
+            'enabled': PyQtGraphDataPlot is not None,
+        },
+        {
+            'title': 'MatPlot',
+            'widget_class': MatDataPlot,
+            'description': 'Based on MatPlotLib\n- needs most CPU\n- needs matplotlib >= 1.1.0\n- if using PySide: PySide > 1.1.0',
+            'enabled': MatDataPlot is not None,
+        },
+        {
+            'title': 'QwtPlot',
+            'widget_class': QwtDataPlot,
+            'description': 'Based on QwtPlot\n- does not use timestamps\n- uses least CPU\n- needs Python Qwt bindings',
+            'enabled': QwtDataPlot is not None,
+        },
+    ]
+
+    def __init__(self, parent):
+        self._parent = parent
+        self._plot_index = 0
+
+        enabled_plot_types = [pt for pt in self.plot_types if pt['enabled']]
+        if not enabled_plot_types:
+            version_info = ' and PySide > 1.1.0' if QT_BINDING == 'pyside' else ''
+            raise RuntimeError('No usable plot type found. Install at least one of: PyQtGraph, MatPlotLib (at least 1.1.0%s) or Python-Qwt5.' % version_info)
+
+    def _switch_data_plot_widget(self, plot_index):
+        # check if selected plot type is available
+        if not self.plot_types[plot_index]['enabled']:
+            # find other available plot type
+            for index, plot_type in enumerate(self.plot_types):
+                if plot_type['enabled']:
+                    plot_index = index
+                    break
+
+        self._plot_index = plot_index
+        selected_plot = self.plot_types[plot_index]
+
+        # TODO: something else here ?
+        self._parent.switch_data_plot_widget(selected_plot['widget_class'](self._parent))
+
+    # interface out to the managing GUI component: get title, save, restore, 
+    # etc
+    def getTitle(self):
+        return plot_types[self._plot_index]['title']
+
+    def save_settings(self, plugin_settings, instance_settings):
+        instance_settings.set_value('plot_type', self._plot_index)
+
+    def restore_settings(self, plugin_settings, instance_settings):
+        self._switch_data_plot_widget(int(instance_settings.value('plot_type', 0)))
+
+    def doSettingsDialog(self):
+        dialog = SimpleSettingsDialog(title='Plot Options')
+        dialog.add_exclusive_option_group(title='Plot Type', options=self.plot_types, selected_index=self._plot_index)
+        plot_type = dialog.get_settings()[0]
+        if plot_type is not None and plot_type['selected_index'] is not None and self._plot_index != plot_type['selected_index']:
+            self._switch_data_plot_widget(plot_type['selected_index'])
+
+    # interface out to the managing DATA component: load data, update data,
+    # etc

rqt_plot/src/rqt_plot/plot.py

@@ -41,62 +41,20 @@
 
 from .plot_widget import PlotWidget
 
-try:
-    from pyqtgraph_data_plot import PyQtGraphDataPlot
-except ImportError:
-    qDebug('[DEBUG] rqt_plot.plot: import of PyQtGraphDataPlot failed (trying other backends)')
-    PyQtGraphDataPlot = None
-
-try:
-    from mat_data_plot import MatDataPlot
-except ImportError:
-    qDebug('[DEBUG] rqt_plot.plot: import of MatDataPlot failed (trying other backends)')
-    MatDataPlot = None
-
-try:
-    from qwt_data_plot import QwtDataPlot
-except ImportError:
-    qDebug('[DEBUG] rqt_plot.plot: import of QwtDataPlot failed (trying other backends)')
-    QwtDataPlot = None
-
+# TODO: move into rqt_py_common
+from .data_plot import DataPlot
 
 class Plot(Plugin):
-    # plot types in order of priority
-    plot_types = [
-        {
-            'title': 'PyQtGraph',
-            'widget_class': PyQtGraphDataPlot,
-            'description': 'Based on PyQtGraph\n- installer: http://luke.campagnola.me/code/pyqtgraph',
-            'enabled': PyQtGraphDataPlot is not None,
-        },
-        {
-            'title': 'MatPlot',
-            'widget_class': MatDataPlot,
-            'description': 'Based on MatPlotLib\n- needs most CPU\n- needs matplotlib >= 1.1.0\n- if using PySide: PySide > 1.1.0',
-            'enabled': MatDataPlot is not None,
-        },
-        {
-            'title': 'QwtPlot',
-            'widget_class': QwtDataPlot,
-            'description': 'Based on QwtPlot\n- does not use timestamps\n- uses least CPU\n- needs Python Qwt bindings',
-            'enabled': QwtDataPlot is not None,
-        },
-    ]
 
     def __init__(self, context):
         super(Plot, self).__init__(context)
         self.setObjectName('Plot')
 
-        enabled_plot_types = [pt for pt in self.plot_types if pt['enabled']]
-        if not enabled_plot_types:
-            version_info = ' and PySide > 1.1.0' if QT_BINDING == 'pyside' else ''
-            raise RuntimeError('No usable plot type found. Install at least one of: PyQtGraph, MatPlotLib (at least 1.1.0%s) or Python-Qwt5.' % version_info)
-
-        self._plot_type_index = 0
         self._context = context
 
         self._args = self._parse_args(context.argv())
         self._widget = PlotWidget(initial_topics=self._args.topics, start_paused=self._args.start_paused)
+        self._data_plot = DataPlot(self._widget)
         if context.serial_number() > 1:
             self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
         context.add_widget(self._widget)
@@ -147,31 +105,21 @@ def add_arguments(parser):
             help='Start without restoring previous topics')
         group.add_argument('topics', nargs='*', default=[], help='Topics to plot')
 
-    def _switch_data_plot_widget(self, plot_type_index):
-        # check if selected plot type is available
-        if not self.plot_types[plot_type_index]['enabled']:
-            # find other available plot type
-            for index, plot_type in enumerate(self.plot_types):
-                if plot_type['enabled']:
-                    plot_type_index = index
-                    break
-
-        self._plot_type_index = plot_type_index
-        selected_plot = self.plot_types[plot_type_index]
-
-        self._widget.switch_data_plot_widget(selected_plot['widget_class'](self._widget))
-        self._widget.setWindowTitle(selected_plot['title'])
+    def _update_title(self):
+        self._widget.setWindowTitle(self._data_plot.getTitle())
         if self._context.serial_number() > 1:
             self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % self._context.serial_number()))
 
     def save_settings(self, plugin_settings, instance_settings):
-        instance_settings.set_value('plot_type', self._plot_type_index)
+        self._data_plot.save_settings(plugin_settings, instance_settings)
         instance_settings.set_value('autoscroll', self._widget.autoscroll_checkbox.isChecked())
         instance_settings.set_value('topics', pack(self._widget._rosdata.keys()))
 
     def restore_settings(self, plugin_settings, instance_settings):
         self._widget.autoscroll_checkbox.setChecked(instance_settings.value('autoscroll', True) in [True, 'true'])
-        self._switch_data_plot_widget(int(instance_settings.value('plot_type', 0)))
+
+        self._data_plot.restore_settings(plugin_settings, instance_settings)
+        self._update_title()
 
         if len(self._widget._rosdata.keys()) == 0 and not self._args.start_empty:
             topics = unpack(instance_settings.value('topics', []))
@@ -180,11 +128,8 @@ def restore_settings(self, plugin_settings, instance_settings):
                     self._widget.add_topic(topic)
 
     def trigger_configuration(self):
-        dialog = SimpleSettingsDialog(title='Plot Options')
-        dialog.add_exclusive_option_group(title='Plot Type', options=self.plot_types, selected_index=self._plot_type_index)
-        plot_type = dialog.get_settings()[0]
-        if plot_type is not None and plot_type['selected_index'] is not None and self._plot_type_index != plot_type['selected_index']:
-            self._switch_data_plot_widget(plot_type['selected_index'])
+        self._data_plot.doSettingsDialog()
+        self._update_title()
 
     def shutdown_plugin(self):
         self._widget.clean_up_subscribers()