calibrate-suite 0.1.0__py3-none-any.whl

gui/widgets/recorder_widget.py

@@ -0,0 +1,127 @@
+from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, 
+                             QLineEdit, QPushButton, QComboBox, QMessageBox, 
+                             QGroupBox, QCheckBox)
+from PyQt5.QtCore import QProcess
+import datetime
+import os
+
+class RecorderWidget(QWidget):
+    def __init__(self):
+        super().__init__()
+        self.process = None
+        self.initUI()
+
+    def initUI(self):
+        layout = QVBoxLayout()
+
+        # Config
+        group = QGroupBox("Recording Configuration")
+        form = QVBoxLayout()
+
+        # Output Name
+        name_layout = QHBoxLayout()
+        self.name_input = QLineEdit()
+        self.name_input.setPlaceholderText("e.g. calibration_run_1")
+        name_layout.addWidget(QLabel("Session Name:"))
+        name_layout.addWidget(self.name_input)
+        form.addLayout(name_layout)
+
+        # Topics (Simplified for now)
+        self.topics = [
+            "/velodyne_points",
+            "/zed/zed_node/left/image_rect_color",
+            "/zed/zed_node/depth/depth_registered",
+            "/zed/zed_node/left/camera_info",
+            "/tf",
+            "/tf_static"
+        ]
+        
+        form.addWidget(QLabel("Recording Topics:"))
+        for topic in self.topics:
+            cb = QCheckBox(topic)
+            cb.setChecked(True)
+            cb.setEnabled(False) # Forcing these for now
+            form.addWidget(cb)
+
+        group.setLayout(form)
+        layout.addWidget(group)
+
+        # Controls
+        btn_layout = QHBoxLayout()
+        self.btn_rec = QPushButton("🟢 Start Recording")
+        self.btn_rec.clicked.connect(self.toggle_recording)
+        self.btn_rec.setStyleSheet("""
+            QPushButton { background-color: #d32f2f; color: white; font-size: 16px; padding: 15px; }
+            QPushButton:hover { background-color: #ef5350; }
+        """)
+        
+        self.lbl_status = QLabel("Status: Idle")
+        self.lbl_status.setStyleSheet("color: #888; font-weight: bold;")
+
+        btn_layout.addWidget(self.btn_rec)
+        btn_layout.addWidget(self.lbl_status)
+        layout.addLayout(btn_layout)
+
+        layout.addStretch()
+        self.setLayout(layout)
+
+    def toggle_recording(self):
+        if self.process is None:
+            self.start_recording()
+        else:
+            self.stop_recording()
+
+    def start_recording(self):
+        name = self.name_input.text().strip()
+        if not name:
+            name = f"calib_{datetime.datetime.now().strftime('%Y%m%d_%H%M%S')}"
+
+        # Setup Process
+        self.process = QProcess()
+        self.process.readyReadStandardError.connect(self.handle_stderr)
+        self.process.readyReadStandardOutput.connect(self.handle_stdout)
+        
+        cmd = "ros2"
+        args = ["bag", "record", "-o", name] + self.topics
+        
+        self.process.start(cmd, args)
+        self.process.waitForStarted()
+
+        if self.process.state() == QProcess.Running:
+            self.btn_rec.setText("🔴 Stop Recording")
+            self.btn_rec.setStyleSheet("""
+                QPushButton { background-color: #333; color: white; font-size: 16px; padding: 15px; }
+                QPushButton:hover { background-color: #555; }
+            """)
+            self.lbl_status.setText(f"Recording to: {name}...")
+            self.lbl_status.setStyleSheet("color: #4CAF50; font-weight: bold;")
+            self.name_input.setEnabled(False)
+        else:
+            QMessageBox.critical(self, "Error", "Failed to start recording process.")
+            self.process = None
+
+    def stop_recording(self):
+        if self.process:
+            # Send SIGINT (Ctrl+C)
+            self.process.terminate()
+            self.process.waitForFinished(2000)
+            if self.process.state() == QProcess.Running:
+                self.process.kill() # Force kill if stuck
+            
+            self.process = None
+            self.btn_rec.setText("🟢 Start Recording")
+            self.btn_rec.setStyleSheet("""
+                QPushButton { background-color: #d32f2f; color: white; font-size: 16px; padding: 15px; }
+                QPushButton:hover { background-color: #ef5350; }
+            """)
+            self.lbl_status.setText("Status: Saved")
+            self.lbl_status.setStyleSheet("color: #2196F3; font-weight: bold;")
+            self.name_input.setEnabled(True)
+
+    def handle_stderr(self):
+        data = self.process.readAllStandardError()
+        print(f"[RECORDER STDERR] {data.data().decode()}")
+
+    def handle_stdout(self):
+        data = self.process.readAllStandardOutput()
+        print(f"[RECORDER STDOUT] {data.data().decode()}")