__main__.py

#!/usr/bin/env python3

# Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
# This software may be modified and distributed under the terms of the
# Released under the terms of the BSD 3-Clause License

import argparse
import pathlib
import sys
from typing import Optional, Sequence

# GUI
from qtpy.QtWidgets import QApplication
from robot_log_visualizer.ui.gui import RobotViewerMainWindow

# Meshcat
from robot_log_visualizer.robot_visualizer.meshcat_provider import MeshcatProvider


def _parse_arguments(argv: Sequence[str]) -> argparse.Namespace:
    parser = argparse.ArgumentParser(
        description="Robot Log Visualizer",
    )
    parser.add_argument(
        "dataset",
        nargs="?",
        help="Path to a MAT dataset to load on startup.",
    )
    parser.add_argument(
        "-s",
        "--snapshot",
        help="Path to a view snapshot (.json) to restore on startup.",
    )

    return parser.parse_args(argv)


def main(argv: Optional[Sequence[str]] = None):
    parsed_argv = list(argv) if argv is not None else sys.argv[1:]
    args = _parse_arguments(parsed_argv)

    thread_periods = {
        "meshcat_provider": 0.03,
        "signal_provider": 0.03,
        "plot_animation": 0.03,
    }

    meshcat_provider = MeshcatProvider(period=thread_periods["meshcat_provider"])

    # instantiate a QApplication
    app = QApplication(sys.argv)

    # instantiate the main window
    gui = RobotViewerMainWindow(
        signal_provider_period=thread_periods["signal_provider"],
        meshcat_provider=meshcat_provider,
        animation_period=thread_periods["plot_animation"],
    )

    # show the main window
    gui.show()

    if args.dataset:
        dataset_path = pathlib.Path(args.dataset).expanduser()
        if not gui._load_mat_file(str(dataset_path), quiet=False):  # noqa: SLF001
            print(f"Failed to load dataset '{dataset_path}'.", file=sys.stderr)

    if args.snapshot:
        snapshot_path = pathlib.Path(args.snapshot).expanduser()
        if not gui.load_view_snapshot_from_path(snapshot_path):
            print(f"Failed to load snapshot '{snapshot_path}'.", file=sys.stderr)

    exec_method = getattr(app, "exec", None)
    if exec_method is None:
        exec_method = app.exec_

    return exec_method()


if __name__ == "__main__":
    sys.exit(main())