Save Proto Log (#3225)

src/software/thunderscope/common/proto_configuration_widget.py

@@ -1,32 +1,37 @@
-from pyqtgraph.Qt import QtCore, QtGui
+import os
+from proto.import_all_protos import *
+from software.py_constants import MILLISECONDS_PER_SECOND
+from software.thunderscope.constants import ProtoConfigurationConstant
+import logging
+from pyqtgraph.Qt.QtCore import QTimer
 from pyqtgraph.Qt.QtWidgets import *
 from pyqtgraph import parametertree
-from google.protobuf.json_format import MessageToDict
-from thefuzz import fuzz
 from proto.import_all_protos import *
 from software.thunderscope.common import proto_parameter_tree_util
+from typing import Any, Callable
+from PyQt6.QtWidgets import *
 
 
 class ProtoConfigurationWidget(QWidget):
-
  """Creates a searchable parameter widget that can take any protobuf,
  and convert it into a pyqtgraph ParameterTree. This will allow users
  to modify the values.
 
  """
 
  def __init__(
- self, proto_to_configure, on_change_callback, search_filter_threshold=60,
+ self,
+ on_change_callback: Callable[[Any, Any, ThunderbotsConfig], None],
+ is_yellow: bool,
+ search_filter_threshold: int = 60,
  ):
  """Create a parameter widget given a protobuf
 
  NOTE: This class handles the ParameterRangeOptions
 
- :param proto_to_configure: The protobuf we would like to generate
- a parameter tree for. This should be 
- populated with the default values
  :param on_change_callback: The callback to trigger on change
  args: name, updated_value, updated_proto
+ :param is_yellow: whether we are editing yellow or blue team's configuration
  :param search_filter_threshold: How close should the search query be?
  100 is an exact match (not ideal), 0 lets everything through
 
@@ -36,13 +41,18 @@ def __init__(
  self.setLayout(layout)
 
  self.on_change_callback = on_change_callback
- self.proto_to_configure = proto_to_configure
 
  # Create search query bar
  self.search_query = QLineEdit()
+ self.search_query.setPlaceholderText("Search Parameters")
+
  self.search_query.textChanged.connect(self.__handle_search_query_changed)
  self.search_filter_threshold = search_filter_threshold
 
+ self.is_yellow = is_yellow
+ self.path_to_file = ProtoConfigurationConstant.DEFAULT_SAVE_PATH
+ self.update_proto_from_file(self.path_to_file)
+
  # Create ParameterGroup from Protobuf
  self.param_group = parametertree.Parameter.create(
  name="params",
@@ -58,9 +68,184 @@ def __init__(
  self.param_group.sigTreeStateChanged.connect(self.__handle_parameter_changed)
  self.param_tree.setAlternatingRowColors(False)
 
+ self.save_hbox_top, self.save_hbox_bottom = self.create_widget()
+
+ layout.addLayout(self.save_hbox_top)
+ layout.addLayout(self.save_hbox_bottom)
+
  layout.addWidget(self.search_query)
  layout.addWidget(self.param_tree)
 
+ self.run_onetime_async(3, self.send_proto_to_fullsystem)
+
+ def run_onetime_async(self, time_in_seconds: float, func: Callable):
+ """
+ starting a timer that runs a given function after a given
+ amount of seconds one time asynchronously.
+
+ :time_in_seconds: the amount of time in seconds
+ :func: the function that is going to be ran
+ """
+ self.timer = QTimer()
+ self.timer.setSingleShot(True)
+ self.timer.timeout.connect(func)
+ self.timer.start(time_in_seconds * MILLISECONDS_PER_SECOND)
+
+ def create_widget(self):
+ """
+ Creating widgets that are used to load, save parameters
+
+ :return: the top of the layout, the bottom of the layout, and edit box widget
+ """
+ save_button = QPushButton("Save Parameters")
+ load_proto_button = QPushButton("Load Parameters")
+ reset_button = QPushButton("Reset All Parameters")
+
+ reset_button.clicked.connect(self.reset_button_callback)
+ save_button.clicked.connect(self.save_proto_callback)
+ load_proto_button.clicked.connect(self.load_proto_with_file_explorer)
+
+ save_hbox_bottom = QHBoxLayout()
+ save_hbox_bottom.addWidget(load_proto_button)
+ save_hbox_bottom.addWidget(reset_button)
+ save_hbox_bottom.addWidget(save_button)
+
+ save_hbox_top = QHBoxLayout()
+
+ return save_hbox_top, save_hbox_bottom
+
+ def update_proto_from_file(self, path_to_file: str):
+ """
+ load the protobuf from path_to_file to the variable self.proto_to_configure
+
+ :param path_to_file: the path to the ThunderbotsConfig proto
+ """
+ if not os.path.isfile(path_to_file):
+ logging.info(
+ f"No previously saved ThunderbotsConfig found. Creating a new default one."
+ )
+ self.proto_to_configure = ThunderbotsConfig()
+ self.proto_to_configure.sensor_fusion_config.friendly_color_yellow = (
+ self.is_yellow
+ )
+
+ self.build_proto(self.proto_to_configure)
+ self.save_current_config_to_file(self.path_to_file)
+ return
+
+ logging.info("Loading protobuf from file: {}".format(path_to_file))
+ with open(path_to_file, "rb") as f:
+ self.proto_to_configure = ThunderbotsConfig()
+ self.proto_to_configure.ParseFromString(f.read())
+
+ self.proto_to_configure.sensor_fusion_config.friendly_color_yellow = (
+ self.is_yellow
+ )
+
+ def send_proto_to_fullsystem(self):
+ """
+ Sending the default configuration protobufs to unix_full_system at startup.
+ Also updates the widget at the same time.
+ """
+ self.update_proto_from_file(self.path_to_file)
+ self.on_change_callback(None, None, self.proto_to_configure)
+ self.update_widget()
+
+ def save_proto_callback(self):
+ """
+ This is a callback for a button that save the current protobuf to disk!
+ """
+ try:
+ save_to_path, should_save = QFileDialog.getSaveFileName(
+ self,
+ "Select Protobufs",
+ ProtoConfigurationConstant.DEFAULT_SAVE_PATH,
+ options=QFileDialog.Option.DontUseNativeDialog,
+ )
+
+ if not should_save:
+ return
+
+ self.save_current_config_to_file(save_to_path)
+ self.update_widget()
+ except Exception:
+ logging.warning("cannot save configuration to {}".format(save_to_path))
+
+ def save_current_config_to_file(self, path_to_file):
+ """
+ This save the self.proto_to_configure to path_to_file
+
+ :param path_to_file: the path to file that we are saving to.
+ """
+
+ logging.info("writing to file {}".format(path_to_file))
+ path_to_directory = os.path.dirname(path_to_file)
+ os.makedirs(path_to_directory, exist_ok=True)
+
+ with open(path_to_file, "wb") as f:
+ f.write(self.proto_to_configure.SerializeToString())
+
+ def load_proto_with_file_explorer(self):
+ """
+ loading the current protobuf through file explorer
+ """
+ try:
+ path_to_file, should_open = QFileDialog.getOpenFileName(
+ self,
+ "Select Protobufs",
+ ProtoConfigurationConstant.DEFAULT_SAVE_PATH,
+ options=QFileDialog.Option.DontUseNativeDialog,
+ )
+ if not should_open:
+ return
+
+ self.path_to_file = path_to_file
+ self.update_proto_from_file(path_to_file)
+
+ self.update_widget()
+ # this callback send the proto to unix full system
+ self.on_change_callback(None, None, self.proto_to_configure)
+ except Exception as e:
+ logging.warning(
+ "cannot load configuration from {}. Error: {} Are you sure it is a configuration proto?".format(
+ path_to_file, e
+ )
+ )
+
+ def update_widget(self):
+ """
+ The following function updates the current parameters tree based on the
+ current protobuf that is being configured (i.e. self.proto_to_configure) widget.
+ """
+
+ # refreshing widgets after the parameters is called
+ self.param_group = parametertree.Parameter.create(
+ name="params",
+ type="group",
+ children=self.config_proto_to_param_dict(self.proto_to_configure),
+ )
+
+ self.param_tree.setParameters(self.param_group, showTop=False)
+ self.param_group.sigTreeStateChanged.connect(self.__handle_parameter_changed)
+ self.param_tree.setAlternatingRowColors(False)
+
+ def reset_button_callback(self):
+ """
+ resetting the protobufs when the reset button has been clicked!
+ """
+
+ self.proto_to_configure = ThunderbotsConfig()
+ self.proto_to_configure.sensor_fusion_config.friendly_color_yellow = (
+ self.is_yellow
+ )
+
+ self.path_to_file = ProtoConfigurationConstant.DEFAULT_SAVE_PATH
+
+ self.build_proto(self.proto_to_configure)
+ self.update_widget()
+
+ self.on_change_callback(None, None, self.proto_to_configure)
+
  def __handle_search_query_changed(self, search_term):
  """Given a new search term, reconfigure the parameter tree with parameters
  that match the term.

src/software/thunderscope/constants.py

@@ -336,6 +336,11 @@ class TrailValues:
  DEFAULT_TRAIL_SAMPLING_RATE = 0
 
 
+class ProtoConfigurationConstant:
+ DEFAULT_SAVE_DIRECTORY = "/opt/tbotspython/thunderbots_configuration_proto"
+ DEFAULT_SAVE_PATH = DEFAULT_SAVE_DIRECTORY + "/default_configuration.proto"
+
+
 class CustomGLOptions:
  """
  Custom OpenGL Rendering modes that could be used in addition to

src/software/thunderscope/widget_setup_functions.py

@@ -203,21 +203,20 @@ def setup_parameter_widget(
 ) -> ProtoConfigurationWidget:
  """Setup the parameter widget
 
- :param proto_unix_io: The proto unix io object
- :param friendly_colour_yellow:
- :returns: The proto configuration widget
+  :param proto_unix_io: The proto unix io object
+  :param friendly_colour_yellow:
+  :returns: The proto configuration widget
 
  """
 
- config = ThunderbotsConfig()
- config.sensor_fusion_config.friendly_color_yellow = friendly_colour_yellow
-
  def on_change_callback(
  attr: Any, value: Any, updated_proto: ThunderbotsConfig
  ) -> None:
  proto_unix_io.send_proto(ThunderbotsConfig, updated_proto)
 
- return ProtoConfigurationWidget(config, on_change_callback)
+ return ProtoConfigurationWidget(
+ on_change_callback, is_yellow=friendly_colour_yellow
+ )
 
 
 def setup_log_widget(proto_unix_io: ProtoUnixIO) -> g3logWidget:
@@ -274,7 +273,7 @@ def setup_play_info(proto_unix_io: ProtoUnixIO) -> PlayInfoWidget:
 
 
 def setup_fps_widget(bufferswap_counter, refresh_func_counter):
- """ setup fps widget
+ """setup fps widget
  :param bufferswap_counter: a counter at the bufferswap
  :param refresh_func_counter: a counter at the refresh function
  :returns: a FPS Widget