UI Fixes / improvements

Improve UI to allow filter in tub manager to be passed through into the trainer.

Fix UI behaviour to better cope with uninitialised widgets when the user has no config or no tub loaded and starts clicking buttons.

donkeycar/management/kivy_ui.py

@@ -257,16 +257,17 @@ def update_tub(self, event=None):
             tub_screen().status(f'Failed loading tub: {str(e)}')
             return False
         # Check if filter is set in tub screen
-        expression = tub_screen().ids.tub_filter.filter_expression
+        # expression = tub_screen().ids.tub_filter.filter_expression
+        train_filter = getattr(cfg, 'TRAIN_FILTER', None)
 
         # Use filter, this defines the function
         def select(underlying):
-            if not expression:
+            if not train_filter:
                 return True
             else:
                 try:
                     record = TubRecord(cfg, self.tub.base_path, underlying)
-                    res = eval(expression)
+                    res = train_filter(record)
                     return res
                 except KeyError as err:
                     Logger.error(f'Filter: {err}')
@@ -281,8 +282,6 @@ def select(underlying):
             msg = f'Loaded tub {self.file_path} with {self.len} records'
         else:
             msg = f'No records in tub {self.file_path}'
-        if expression:
-            msg += f' using filter {tub_screen().ids.tub_filter.record_filter}'
         tub_screen().status(msg)
         return True
 
@@ -399,9 +398,9 @@ def update(self, record):
             self.core_image = CoreImage(bytes_io, ext='png')
             self.texture = self.core_image.texture
         except KeyError as e:
-            Logger.error('Record: Missing key:', e)
+            Logger.error(f'Record: Missing key: {e}')
         except Exception as e:
-            Logger.error('Record: Bad record:', str(e))
+            Logger.error(f'Record: Bad record: {e}')
 
     def get_image(self, record):
         return record.image(cached=False)
@@ -423,11 +422,15 @@ def start(self, fwd=True, continuous=False):
         :param continuous:  If we do <<, >> or <, >
         :return:            None
         """
+        # this widget it used in two screens, so reference the original location
+        # of the config which is the config manager in the tub screen
+        cfg = tub_screen().ids.config_manager.config
+        hz = cfg.DRIVE_LOOP_HZ if cfg else 20
         time.sleep(0.1)
         call = partial(self.step, fwd, continuous)
         if continuous:
             self.fwd = fwd
-            s = float(self.speed) * tub_screen().ids.config_manager.config.DRIVE_LOOP_HZ
+            s = float(self.speed) * hz
             cycle_time = 1.0 / s
         else:
             cycle_time = 0.08
@@ -441,6 +444,9 @@ def step(self, fwd=True, continuous=False, *largs):
         :param largs:       dummy
         :return:            None
         """
+        if self.screen.index is None:
+            self.screen.status("No tub loaded")
+            return
         new_index = self.screen.index + (1 if fwd else -1)
         if new_index >= tub_screen().ids.tub_loader.len:
             new_index = 0
@@ -533,22 +539,33 @@ class TubFilter(PaddedBoxLayout):
 
     def update_filter(self):
         filter_text = self.ids.record_filter.text
+        config = tub_screen().ids.config_manager.config
         # empty string resets the filter
         if filter_text == '':
             self.record_filter = ''
             self.filter_expression = ''
             rc_handler.data['record_filter'] = self.record_filter
+            if hasattr(config, 'TRAIN_FILTER'):
+                delattr(config, 'TRAIN_FILTER')
             tub_screen().status(f'Filter cleared')
             return
         filter_expression = self.create_filter_string(filter_text)
         try:
             record = tub_screen().current_record
-            res = eval(filter_expression)
+            filter_func_text = f"""def filter_func(record): 
+                                       return {filter_expression}       
+                                """
+            # creates the function 'filter_func'
+            ldict = {}
+            exec(filter_func_text, globals(), ldict)
+            filter_func = ldict['filter_func']
+            res = filter_func(record)
             status = f'Filter result on current record: {res}'
             if isinstance(res, bool):
                 self.record_filter = filter_text
                 self.filter_expression = filter_expression
                 rc_handler.data['record_filter'] = self.record_filter
+                setattr(config, 'TRAIN_FILTER', filter_func)
             else:
                 status += ' - non bool expression can\'t be applied'
             status += ' - press <Reload tub> to see effect'
@@ -649,8 +666,9 @@ def initialise(self, e):
 
     def on_index(self, obj, index):
         """ Kivy method that is called if self.index changes"""
-        self.current_record = self.ids.tub_loader.records[index]
-        self.ids.slider.value = index
+        if index >= 0:
+            self.current_record = self.ids.tub_loader.records[index]
+            self.ids.slider.value = index
 
     def on_current_record(self, obj, record):
         """ Kivy method that is called if self.current_record changes."""
@@ -747,7 +765,7 @@ def get_image(self, record):
 
         rgb = (0, 0, 255)
         MakeMovie.draw_line_into_image(output[0], output[1], True, img_arr, rgb)
-        out_record = deepcopy(record)
+        out_record = copy(record)
         out_record.underlying['pilot/angle'] = output[0]
         # rename and denormalise the throttle output
         pilot_throttle_field \
@@ -781,6 +799,8 @@ def on_index(self, obj, index):
     def on_current_record(self, obj, record):
         """ Kivy method that is called when self.current_index changes. Here
             we update the images and the control panel entry."""
+        if not record:
+            return
         i = record.underlying['_index']
         self.ids.pilot_control.record_display = f"Record {i:06}"
         self.ids.img_1.update(record)
@@ -806,6 +826,8 @@ def map_pilot_field(self, text):
         return rc_handler.data['user_pilot_map'][text]
 
     def set_brightness(self, val=None):
+        if not self.config:
+            return
         if self.ids.button_bright.state == 'down':
             self.config.AUG_MULTIPLY_RANGE = (val, val)
             if 'MULTIPLY' not in self.aug_list:
@@ -816,6 +838,8 @@ def set_brightness(self, val=None):
         self.on_aug_list(None, None)
 
     def set_blur(self, val=None):
+        if not self.config:
+            return
         if self.ids.button_blur.state == 'down':
             self.config.AUG_BLUR_RANGE = (val, val)
             if 'BLUR' not in self.aug_list:
@@ -826,11 +850,15 @@ def set_blur(self, val=None):
         self.on_aug_list(None, None)
 
     def on_aug_list(self, obj, aug_list):
+        if not self.config:
+            return
         self.config.AUGMENTATIONS = self.aug_list
         self.augmentation = ImageAugmentation(self.config, 'AUGMENTATIONS')
         self.on_current_record(None, self.current_record)
 
     def on_trans_list(self, obj, trans_list):
+        if not self.config:
+            return
         self.config.TRANSFORMATIONS = self.trans_list
         self.transformation = ImageAugmentation(self.config, 'TRANSFORMATIONS')
         self.on_current_record(None, self.current_record)
@@ -1088,7 +1116,6 @@ def connected(self, event):
                    '-o ConnectTimeout=3',
                    f'{self.config.PI_USERNAME}@{self.config.PI_HOSTNAME}',
                    'date']
-            # Logger.info('car check: ' + ' '.join(cmd))
             self.connection = Popen(cmd, shell=False, stdout=PIPE,
                                     stderr=STDOUT, text=True,
                                     encoding='utf-8', universal_newlines=True)

setup.py

@@ -24,7 +24,7 @@ def package_files(directory, strip_leading):
     long_description = fh.read()
 
 setup(name='donkeycar',
-      version="4.3.22",
+      version="4.3.23",
       long_description=long_description,
       description='Self driving library for python.',
       url='https://github.com/autorope/donkeycar',