(https://www.dropbox.com/scl/fi/twpegcv6ckb84mv3nk1s1/BaggetFilter_V_1_0_2.zip?rlkey=p7w7iunjnwc9w6j203tbedu9x&dl=0)
17 | If you use this software please cite as follows:
18 | ```
19 | @software{Buzaud_BagGetFilter_A_simple_2021,
20 | author = {Paul Buzaud, J. Humberto Ramos, Prashant Ganesh, Kevin Brink},
21 | doi = {10.5281/zenodo.6334972},
22 | month = {10},
23 | title = {{BagGetFilter: A simple user friendly interface to manipulate ROSbags}},
24 | url = {https://github.com/uf-reef-avl/BagGetFilter},
25 | version = {1.0},
26 | year = {2021}
27 | }
28 | ```
29 |
30 | **For developers**:
31 |
32 | Clone the BagGetFilter's remote repository to your computer.
33 |
34 | ```
35 | https://github.com/uf-reef-avl/BagGetFilter
36 | ```
37 |
38 |
39 | ## Prerequisites
40 |
41 | ## Usage
42 |
43 |
44 | Download the zip and extract it, then use the following command on the executable:
45 |
46 | [Download link]([https://drive.google.com/file/d/10PXrukzT1F9a9hIVJkHOXgl6tUQOg7VS/view?usp=sharing](https://www.dropbox.com/scl/fi/twpegcv6ckb84mv3nk1s1/BaggetFilter_V_1_0_2.zip?rlkey=p7w7iunjnwc9w6j203tbedu9x&dl=0))
47 |
48 |
49 | ```
50 | ./BagGetFilter_V_X_X_X
51 | ```
52 |
53 | Then the main window will appear:
54 |
55 |
56 | 
57 |
58 | - To load a bag file into the application, drag and drop a bag file from the directory viewer on the left to the blank area on the right. To load multiples bags at the same time hold the "CTRL" key for individual files or the "SHIFT" key for all files between two selections and then drag and drop the selected files. Loading files can be a little slow with multi-gigabyte bag files.
59 |
60 | 
61 |
62 | - All of the topics contained in the bag file(s) will be displayed under the "Topics" column. The clipboard area of the bags will be also populated with some common roslaunch commands. The user will be able to see it by clicking on the "Show Clipboard" button. The "Clear Bags" button clears the bags currently loaded in the application.
63 |
64 | 
65 |
66 | - In order to select some topics just keep the "CTRL" or "SHIFT" key pressed and click on them.
67 |
68 | 
69 |
70 | - A topic search bar is also available to select easily some topics. The **|** character can be used to search for multiple strings in the topics list.
71 |
72 | 
73 |
74 | ### Bag Manipulation
75 |
76 | There are several ways to edit/play bag files:
77 |
78 | 
79 |
80 | - Play the bags by clicking on the "Play the bag" button
81 |
82 | - Create csv files of the selected topics by clicking on the "Save selected topics to csv files" button. The files will be automatically named but the storage directory has to be specified.
83 |
84 | - Create a new bag with only the selected topics by clicking on the "Save selected topics in a filtered bag" button. The files will be automatically named by keeping the same bag name and adding the suffix specified in the upper line. The storage directory must also be specified.
85 |
86 | - **enable tf in bags loading** checkbox permits to load tf topics inside BagGetFilter. It is not advisable to check it when a voluminous bag will be loaded because it will slow down the performance.
87 |
88 | 
89 |
90 | - If the user wants to manipulate several bags that contain the same topics, they can activate the "Matching Bag/Topic Highlighting" checkbox above the "Play bags" button. Whenever a topic is selected in one bag this topic will be simultaneously selected in all other bags if present.
91 |
92 | - To load a new filtered bag immediately after creation ensure that the "Load filtered bag when done" checkbox is activated/checked.
93 |
94 | - When the checkbox "Remove beginning and ending metadata from bag" is checked, the new filtered or timestamped bag will have its starting timestamp set to the first message's timestamp and its ending timestamp set to the last message's timestamp. If it is not checked, a topic called "/metadata" will be added to the new bag in order to keep the original start and end timestamp of the initial bag.
95 |
96 | - To generate new bags with differents timestamps from the original bag, double-click on the timestamped parameter of one bag and modify it in the tree widget.
97 |
98 | 
99 |
100 |
101 | ### Playing bags
102 |
103 | - After clicking on the "Play bags" button, the "Play bag" window will appear.
104 |
105 | 
106 |
107 | - The user will be able to select the bag that they want to playback from the loaded bags.
108 |
109 | 
110 |
111 | - Before playing it, they can also specify different playing arguments.
112 |
113 | 
114 |
115 | - While running the bag, the ouput information will be shown in the plain text area. To pause the bag, click on the "Pause" button and to stop playback click on the "Stop" button.
116 |
117 | 
118 |
119 | - When the bag is paused, the user can also move the playback step by step by clicking on the "Step" button, resume with the "Resume" button, or stop playback with the "Stop" button.
120 |
121 | 
122 |
123 |
124 | ## Regenerate the executable
125 |
126 | To regenerate the executable, use pyinstaller with the command:
127 |
128 | pyinstaller --onefile Main.py
129 |
130 | The generated executable should crash at launch because the tf2 library that we are using is in python2 not python3. You will have to compiled it in a python3 catkin workspace with :
131 |
132 | mkdir ~/tf2_python3_ws && cd ~/tf2_python3_ws
133 | catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
134 | catkin config --install
135 | cd src
136 | git clone https://github.com/ros/geometry2
137 | cd tf2_python3_ws
138 | catkin build
139 |
140 | When it is compiled, you should modify the **Main.spec** file generated by pyinstaller and add the tf2 compiled library path to the **pathex** propertie.
141 |
142 | pathex=[**whatever is inside**,"/home/***your_user_name***/tf2_python3_ws/install/lib/python3/dist-packages"]
143 |
144 | then launch the command:
145 |
146 | pyinstaller Main.spec
147 |
148 | It should regenerate a working executable.
149 |
150 | ## Built With
151 | --------------
152 |
153 | - pyqt5
154 |
155 | - pexcept
156 |
157 | - Python 2.7
158 |
159 | - pyinstaller
160 |
161 | - tf2 compiled in python3
162 |
163 |
164 | ## Authors
165 | -----------
166 |
167 | - Paul Buzaud
168 | - Humberto Ramos
169 | - Prashant Ganesh
170 | - Kevin Brink
171 |
172 |
173 |
--------------------------------------------------------------------------------
/py_files/PlayBagWindow.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/python2.7
2 | #
3 | # File: PlayBagWindow.py
4 | # Author: Paul Buzaud
5 | #
6 | # Created: Summer 2018
7 | #
8 | # Copyright 2018 FIRSTNAME LASTNAME
9 | #
10 | # This program is free software: you can redistribute it and/or modify
11 | # it under the terms of the GNU General Public License as published by
12 | # the Free Software Foundation, either version 3 of the License, or
13 | # (at your option) any later version.
14 | #
15 | # This program is distributed in the hope that it will be useful,
16 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
17 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 | # GNU General Public License for more details.
19 | #
20 | # You should have received a copy of the GNU General Public License
21 | # along with this program. If not, see
22 |
23 | from PyQt5 import QtCore, QtGui, QtWidgets
24 | import PlayBagDesign
25 | import RoscoreNode
26 | import pexpect
27 | import sys
28 |
29 |
30 |
31 | class BagWorker(QtCore.QObject):
32 | """This class launch a bag play command and a roscore in some other thread"""
33 |
34 | start = QtCore.pyqtSignal()
35 | terminalInformation = QtCore.pyqtSignal(str, int)
36 | finishThread = QtCore.pyqtSignal()
37 |
38 |
39 | def __init__(self, bagPath, optionArguments):
40 | """Creates and runs the Bag_Worker class and its methods"""
41 | super(BagWorker, self).__init__()
42 | self.start.connect(self.run)
43 | self.stopSignal = False
44 | self.responseString = ""
45 | self.bagPath = bagPath
46 | self.optionArguments = optionArguments
47 |
48 | # This function pings the robot
49 | @QtCore.pyqtSlot()
50 | def run(self):
51 | """Send a bagplay command to the system and retrieve the std output"""
52 |
53 | #launch a roscore
54 | roscoreNode = RoscoreNode.Roscore()
55 | roscoreNode.run()
56 |
57 | #create the command string
58 | cmd = "rosbag play "+self.bagPath.replace(' ', '\ ')+self.optionArguments
59 |
60 | #add the possibles arguments to the command
61 | if self.optionArguments != []:
62 | cmd += self.optionArguments
63 |
64 | #launch the command
65 | self.bagPlayProcess = pexpect.spawn(cmd, timeout=None, logfile=sys.stdout, encoding="utf-8")
66 |
67 | #initialisation of temporary variables
68 | line = ""
69 | tempLine = ""
70 | lineComplete = False
71 | progressionValue = 0
72 |
73 |
74 | #while the command process is not finished and some output data are in the pipe
75 | while True:
76 |
77 | #read the next character
78 | output = self.bagPlayProcess.read(1)
79 |
80 | #exit when the user sent a stop query or some data are still exchanged between the process and this thread
81 | if output == '' or output == None or self.stopSignal == True:
82 | break
83 |
84 |
85 | if output:
86 | #flush the templine et reset the linecomplete to false
87 | if lineComplete:
88 | lineComplete = False
89 | tempLine = ""
90 |
91 | #when the beginning of the new line is detected set the linecomplete boolean to true, retrieve the progression information and emit it to the display widget
92 | if output == "[":
93 | lineComplete = True
94 | self.terminalInformation.emit("["+tempLine, progressionValue)
95 | tempLine = tempLine[:-1]
96 | try:
97 | durationList = tempLine.split("Duration: ")
98 | if len(durationList) > 1:
99 | durationLine = durationList[1]
100 | number_list = durationLine.split(' ')
101 | actualTime = float(number_list[0].strip())
102 | bagDuration = float(number_list[2].strip())
103 | progressionValue = actualTime / bagDuration * 100
104 | except:
105 | pass
106 |
107 | #add the new received character to the temporary line
108 | tempLine += str(output)
109 |
110 | # kill the thread
111 | self.finishThread.emit()
112 | #close the roscore
113 | roscoreNode.terminate()
114 |
115 |
116 | def pauseBagHandler(self):
117 | """Pause the bag progression when the user send a bag pause request"""
118 | self.bagPlayProcess.sendline("\x20")
119 |
120 | def stopBagHandler(self):
121 | """Finish the process when the user send a bag stop request"""
122 | self.bagPlayProcess.sendline("\x03")
123 |
124 | def stepBagHandler(self):
125 | """Read the bag step by step every time the user click on the step button"""
126 | self.bagPlayProcess.sendline("s")
127 |
128 | # This class creates the main window of the application
129 | class BagPlay(QtWidgets.QDialog, PlayBagDesign.Ui_dialog):
130 | """This class defines the window which play the selected bag"""
131 |
132 | def __init__(self, bagsInfo):
133 | """Initialization of the class, hide some of the ui part, connect the qt signal with the qt slot"""
134 | super(self.__class__, self).__init__()
135 | self.setupUi(self)
136 | self.setModal(True)
137 | self.bagsInfo = bagsInfo
138 |
139 | # Setup of the ui elements
140 |
141 | for key, value in bagsInfo.items():
142 | item = QtWidgets.QTreeWidgetItem()
143 | item.setText(0,key)
144 | item.setText(1,str(value[0]))
145 | item.setText(2, str(value[1]))
146 | self.treeBag.addTopLevelItem(item)
147 |
148 | self.treeBag.topLevelItem(0).setSelected(True)
149 |
150 | self.treeBag.setColumnWidth(0, self.width() / 3.)
151 | self.treeBag.setColumnWidth(1, self.width() / 3.)
152 | self.treeBag.setColumnWidth(2, self.width() / 3.)
153 |
154 | self.progressBar.setValue(0.)
155 | self.spinFactor.setEnabled(False)
156 | self.spinFrequency.setEnabled(False)
157 | self.spinPartTime.setEnabled(False)
158 | self.spinSkip.setEnabled(False)
159 | self.spinSleep_2.setEnabled(False)
160 | self.spinStart.setEnabled(False)
161 | self.spinFactor.setMaximum(1000000000)
162 | self.spinFrequency.setMaximum(1000000000)
163 | self.spinFrequency.setMaximum(1000000000)
164 | self.spinPartTime.setMaximum(1000000000)
165 | self.spinSkip.setMaximum(1000000000)
166 | self.spinSleep_2.setMaximum(1000000000)
167 | self.spinStart.setMaximum(10000000000)
168 | self.spinFactor.setMinimum(0.01)
169 | self.spinFrequency.setMinimum(0.01)
170 | self.spinFrequency.setMinimum(0.01)
171 | self.spinPartTime.setMinimum(0.01)
172 | self.spinSkip.setMinimum(0.01)
173 | self.spinSleep_2.setMinimum(0.01)
174 | self.spinStart.setMinimum(0.01)
175 | self.buttonStep.hide()
176 | self.buttonPause.hide()
177 | self.buttonStop.hide()
178 | self.terminalPlainText.hide()
179 | self.bagRunning = False
180 |
181 | # Paring buttons to functions
182 | self.checkFrequency.stateChanged.connect(self.checkFrequencyChanged)
183 | self.checkPartTime.stateChanged.connect(self.checkPartTimeChanged)
184 | self.checkSkip.stateChanged.connect(self.checkSkipChanged)
185 | self.checkSleep.stateChanged.connect(self.checkSleepChanged)
186 | self.checkStart.stateChanged.connect(self.checkStartChanged)
187 | self.checkFactor.stateChanged.connect(self.checkFactorChanged)
188 | self.pushButton.clicked.connect(self.playBag)
189 | self.buttonPause.clicked.connect(self.pauseBag)
190 | self.buttonStep.clicked.connect(self.stepBag)
191 | self.buttonStop.clicked.connect(self.stopBag)
192 |
193 | def playBag(self):
194 | """This function retrieve all the arguments informations and create the thread which will launch the bagplay command"""
195 |
196 |
197 | bagPath = str(self.treeBag.selectedItems()[0].text(0))
198 | bagDuration = self.bagsInfo[bagPath][1]
199 |
200 | errorString = ""
201 |
202 |
203 | #Retrieve the bagplay arguments from the window
204 | optionArguments = ""
205 | if self.checkFactor.checkState() == 2:
206 | optionArguments += (' -r ')
207 | optionArguments += (str(self.spinFactor.value()))
208 |
209 |
210 | if self.checkSleep.checkState() == 2:
211 | optionArguments += (' -d ')
212 | optionArguments += (str(self.spinSleep_2.value()))
213 |
214 | if self.checkStart.checkState() == 2:
215 | optionArguments += (' -s ')
216 | optionArguments += (str(self.spinStart.value()))
217 | if self.spinStart.value() > bagDuration:
218 | errorString += "The start parameter is too big. Please modify it \n"
219 |
220 |
221 | if self.checkPartTime.checkState() == 2:
222 | optionArguments += (' -u ')
223 | optionArguments += (str(self.spinPartTime.value()))
224 | if self.spinPartTime.value() > bagDuration:
225 | errorString += "The time part parameter is too big. Please modify it \n"
226 |
227 | if self.checkStart.checkState() == 2 and (self.spinStart.value() + self.spinPartTime.value()) > bagDuration:
228 | errorString += "The time part parameter or the start parameter is too big. Please modify one of those\n"
229 |
230 | if self.checkSkip.checkState() == 2:
231 | optionArguments += (" --skip-empty="+str(self.spinSkip.value()))
232 |
233 | if self.checkFrequency.checkState() == 2:
234 | optionArguments += (' --clock ')
235 | optionArguments += ("--hz="+str(self.spinFrequency.value()))
236 |
237 | if self.checkLoop.checkState() == 2:
238 | optionArguments += (' -l')
239 |
240 |
241 |
242 |
243 | if errorString == "" :
244 |
245 | # Updates ui elements
246 | self.terminalPlainText.clear()
247 | self.terminalPlainText.show()
248 | self.pushButton.hide()
249 | self.buttonPause.show()
250 | self.buttonStop.show()
251 | self.bagRunning = True
252 | #Create the thread
253 | self.thread = QtCore.QThread()
254 | self.thread.start()
255 | #Create the worker
256 | self.worker = BagWorker(bagPath, optionArguments)
257 | #Connect the signals
258 | self.worker.terminalInformation.connect(self.updateBagPlayInformation)
259 | self.worker.finishThread.connect(self.killThread)
260 | self.worker.moveToThread(self.thread)
261 | #Launch the thread
262 | self.worker.start.emit()
263 | else:
264 | QtWidgets.QMessageBox.warning(self, "Warning", errorString)
265 |
266 | def pauseBag(self):
267 | """Send some Pause request to the command thread and update the ui of the window"""
268 | if self.bagRunning:
269 | self.buttonPause.setText("Resume")
270 | self.buttonStep.show()
271 | else:
272 | self.buttonPause.setText("Pause")
273 | self.buttonStep.hide()
274 |
275 | self.bagRunning = not (self.bagRunning)
276 | self.worker.pauseBagHandler()
277 |
278 | def stepBag(self):
279 | """Send some step request to the command thread"""
280 | self.worker.stepBagHandler()
281 |
282 | def stopBag(self):
283 | """Send some stop request to the command thread"""
284 | self.worker.stopBagHandler()
285 |
286 | @QtCore.pyqtSlot(str, int)
287 | def updateBagPlayInformation(self, output, progressionValue):
288 | """Handle the messages sent by the command thread and display the output of the command process in the plaintext widget """
289 | self.terminalPlainText.appendPlainText(output)
290 | self.progressBar.setValue(progressionValue)
291 |
292 | @QtCore.pyqtSlot()
293 | def killThread(self):
294 | """Kill the command thread and reset the ui elements"""
295 | self.progressBar.setValue(0.)
296 | self.buttonPause.hide()
297 | self.buttonPause.setText("Pause")
298 | self.buttonStep.hide()
299 | self.buttonStop.hide()
300 | self.pushButton.show()
301 | self.terminalPlainText.hide()
302 | self.terminalPlainText.clear()
303 |
304 | try:
305 | self.worker.stopSignal = True
306 | del self.worker
307 | self.thread.quit()
308 | self.thread.wait()
309 | del self.thread
310 | except:
311 | pass
312 |
313 |
314 | def checkFactorChanged(self):
315 | """enable/disable the related spinbox of the factor checkbox"""
316 | self.spinFactor.setEnabled(self.checkFactor.checkState())
317 |
318 | def checkSleepChanged(self):
319 | """enable/disable the related spinbox of the sleep checkbox"""
320 | self.spinSleep_2.setEnabled(self.checkSleep.checkState())
321 |
322 | def checkStartChanged(self):
323 | """enable/disable the related spinbox of the start checkbox"""
324 | self.spinStart.setEnabled(self.checkStart.checkState())
325 |
326 | def checkFrequencyChanged(self):
327 | """enable/disable the related spinbox of the frequency checkbox"""
328 | self.spinFrequency.setEnabled(self.checkFrequency.checkState())
329 |
330 | def checkPartTimeChanged(self):
331 | """enable/disable the related spinbox of the part time checkbox"""
332 | self.spinPartTime.setEnabled(self.checkPartTime.checkState())
333 |
334 | def checkSkipChanged(self):
335 | """enable/disable the related spinbox of the skip checkbox"""
336 | self.spinSkip.setEnabled(self.checkSkip.checkState())
337 |
338 | def closeEvent(self, event):
339 | """Kill the command thread when the bagplay window is closed by the user"""
340 | self.killThread()
341 | self.hide()
342 | event.accept() # let the window close
343 | self.deleteLater()
344 |
--------------------------------------------------------------------------------
/py_files/Workers.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/python3
2 | # File: Workers.py
3 |
4 | from PyQt5 import QtCore
5 | import os
6 |
7 |
8 | from PyQt5 import QtCore, QtGui, QtWidgets
9 | import rospy
10 | import rosbag, csv
11 | from std_msgs.msg import String
12 | from tf2_ros import TFMessage
13 | import numpy as np
14 |
15 |
16 |
17 | class plot_loader(QtCore.QObject):
18 |
19 | #Variables for emitting starting, displaying progress, and closing signals
20 | start = QtCore.pyqtSignal()
21 | progressSignal = QtCore.pyqtSignal(str,int)
22 | finishThread = QtCore.pyqtSignal(str,str,dict)
23 |
24 |
25 | #Definition of a SSH_Transfer_File_Worker
26 | def __init__(self, id, bag_filename, bag_name, bag_index,list_of_topics ,treeSelectedTopic):
27 | super(plot_loader, self).__init__()
28 | self.bag_filename = bag_filename
29 | self.bag_name = bag_name
30 | self.bag_index = bag_index
31 | self.listOfTopics = list_of_topics
32 | self.treeSelectedTopics = treeSelectedTopic
33 | self.id = id
34 | self.start.connect(self.run)
35 | self.output_headers = []
36 | self.output_data = []
37 | self.all_bag_data = {}
38 |
39 |
40 |
41 | #This function connects to the remote robot and performs a git pull operation on the selected remote repository
42 | @QtCore.pyqtSlot()
43 | def run(self):
44 | # self.progressSignal.emit("blbbllbblbl " )
45 | # Load the bag
46 | self.progressSignal.emit("Loading bag " + self.bag_filename + " into baggetfilter , it can take time ...", 50)
47 | bag = rosbag.Bag(str(self.bag_filename))
48 | bagContents = bag.read_messages()
49 | bagName = str(self.bag_name)
50 | self.progressSignal.emit("Finished " + self.bag_filename + " loading bag into baggetfilter !", 95)
51 | # variable to check if the csv files has been created
52 | fileCreated = False
53 |
54 | # iterate on all topics selected by the user
55 | for index, topicName in enumerate(
56 | self.listOfTopics[str(self.treeSelectedTopics.topLevelItem(self.bag_index).text(0))]):
57 | topicSize = bag.get_message_count(topicName)
58 | currentItem = self.treeSelectedTopics.topLevelItem(self.bag_index).child(index)
59 |
60 | # if the current topic is not a tf topic
61 | if currentItem.text(1) != "/tf":
62 |
63 | # if the current topic has been selected by the user
64 | if (currentItem in self.treeSelectedTopics.selectedItems()):
65 |
66 | self.progressSignal.emit("Loading plot", -1)
67 | firstIteration = True # allows header row
68 | indice = 0
69 |
70 | # Iterate over all messages of the current bag
71 | for subtopic, msg, t in bag.read_messages(
72 | topicName): # for each instant in time that has data for topicName
73 | # parse data from this instant, which is of the form of multiple lines of "Name: value\n"
74 | # - put it in the form of a list of 2-element lists
75 | indice += 1
76 | # update the progress bar
77 | self.progressSignal.emit("", int((float(
78 | indice) / topicSize * 100)))
79 |
80 |
81 | msgString = str(msg)
82 | msgList = msgString.split('\n')
83 | instantaneousListOfData = []
84 | for nameValuePair in msgList:
85 | splitPair = nameValuePair.split(':')
86 | for i in range(len(splitPair)): # should be 0 to 1
87 | splitPair[i] = splitPair[i].strip()
88 | if len(splitPair) == 2:
89 | instantaneousListOfData.append(splitPair)
90 | # write the first row from the first element of each pair
91 | if firstIteration: # header
92 | self.output_headers = ["rosbagTimestamp"] # first column header
93 | for pair in instantaneousListOfData:
94 | self.output_headers.append(pair[0])
95 | firstIteration = False
96 | # write the value from each pair to the file
97 | values = [str(t)] # first column will have rosbag timestamp
98 | for pair in instantaneousListOfData:
99 | values.append(pair[1])
100 | self.output_data.append(values)
101 | else:
102 | # If the current topic is a tf topic
103 | # Iterate over the tf child of this topic
104 | for i in range(currentItem.childCount()):
105 | tfItem = currentItem.child(i)
106 |
107 | # if the current tf topic has been selected by the user
108 | if (tfItem in self.treeSelectedTopics.selectedItems()):
109 |
110 | # Retrieve the frame id and the child id from the tf item
111 | frameTfTopicString = str(tfItem.text(2)).split('|')
112 | frameId = frameTfTopicString[0].split(':')[1].strip()
113 | childFrameId = frameTfTopicString[1].split(':')[1].strip()
114 |
115 | self.progressSignal.emit("Loading plots", -1)
116 | firstIteration = True # allows header row
117 | indiceTf = 0
118 | for subtopic, msg, t in bag.read_messages(
119 | topicName): # for each instant in time that has data for topicName
120 | # parse data from this instant, which is of the form of multiple lines of "Name: value\n"
121 | # - put it in the form of a list of 2-element lists
122 | indiceTf += 1
123 | self.progressSignal.emit("", int((float(
124 | indice) / topicSize * 100)))
125 |
126 | msgString = str(msg)
127 |
128 | # Split the tf message thanks to the transformation separator and store every transformations messages in a list
129 | transformList = msgString.split(' - \n')
130 | transformList = transformList[1:]
131 |
132 | # iterate on all the transformations messages
133 | for indexTransform, transformString in enumerate(transformList):
134 | msgList = transformString.split('\n')
135 | instantaneousListOfData = []
136 | for nameValuePair in msgList:
137 | splitPair = nameValuePair.split(':')
138 | for i in range(len(splitPair)): # should be 0 to 1
139 | splitPair[i] = splitPair[i].strip()
140 | if len(splitPair) == 2:
141 | instantaneousListOfData.append(splitPair)
142 |
143 | # write the first row from the first element of each pair
144 | if firstIteration: # header
145 | self.output_headers = ["rosbagTimestamp"] # first column header
146 | for pair in instantaneousListOfData:
147 | self.output_headers.append(pair[0])
148 | firstIteration = False
149 |
150 | if instantaneousListOfData[5][1][1:-1] == frameId and instantaneousListOfData[6][1][
151 | 1:-1] == childFrameId:
152 | values = [str(t)] # first column will have rosbag timestamp
153 | for pair in instantaneousListOfData:
154 | values.append(pair[1])
155 | self.output_data.append(values)
156 | self.all_bag_data[topicName] = [self.output_headers,self.output_data]
157 | # Close the bag
158 | bag.close()
159 |
160 | self.finishThread.emit(self.id, self.bag_name,self.all_bag_data)
161 |
162 |
163 |
164 |
165 | class CSV_Worker(QtCore.QObject):
166 |
167 | #Variables for emitting starting, displaying progress, and closing signals
168 | start = QtCore.pyqtSignal()
169 | progressSignal = QtCore.pyqtSignal(str,int)
170 | finishThread = QtCore.pyqtSignal(str)
171 |
172 |
173 | #Definition of a SSH_Transfer_File_Worker
174 | def __init__(self, id, bag_filename, bag_name, bag_index, folder,list_of_topics ,treeSelectedTopic):
175 | super(CSV_Worker, self).__init__()
176 | self.bag_filename = bag_filename
177 | self.bag_name = bag_name
178 | self.bag_index = bag_index
179 | self.folder = folder
180 | self.listOfTopics = list_of_topics
181 | self.treeSelectedTopics = treeSelectedTopic
182 | self.id = id
183 | self.start.connect(self.run)
184 |
185 |
186 | #This function connects to the remote robot and performs a git pull operation on the selected remote repository
187 | @QtCore.pyqtSlot()
188 | def run(self):
189 | # self.progressSignal.emit("blbbllbblbl " )
190 | # Load the bag
191 | self.progressSignal.emit("Loading bag " + self.bag_filename + " into baggetfilter , it can take time ...", 50)
192 | bag = rosbag.Bag(str(self.bag_filename))
193 | bagContents = bag.read_messages()
194 | bagName = str(self.bag_name)
195 | self.progressSignal.emit("Finished " + self.bag_filename + " loading bag into baggetfilter !", 95)
196 | # variable to check if the csv files has been created
197 | fileCreated = False
198 |
199 | # iterate on all topics selected by the user
200 | for index, topicName in enumerate(
201 | self.listOfTopics[str(self.treeSelectedTopics.topLevelItem(self.bag_index).text(0))]):
202 | topicSize = bag.get_message_count(topicName)
203 | currentItem = self.treeSelectedTopics.topLevelItem(self.bag_index).child(index)
204 |
205 | # if the current topic is not a tf topic
206 | if currentItem.text(1) != "/tf":
207 |
208 | # if the current topic has been selected by the user
209 | if (currentItem in self.treeSelectedTopics.selectedItems()):
210 |
211 | # Create a new CSV file for each topic
212 | filename = self.folder + '/' + bagName + "_" + topicName.replace('/', '_slash_') + '.csv'
213 | self.progressSignal.emit("Save csv file " + filename, -1)
214 |
215 | with open(filename, 'w+') as csvfile:
216 | fileCreated = True
217 | filewriter = csv.writer(csvfile, delimiter=',')
218 | firstIteration = True # allows header row
219 | indice = 0
220 |
221 | # Iterate over all messages of the current bag
222 | for subtopic, msg, t in bag.read_messages(
223 | topicName): # for each instant in time that has data for topicName
224 | # parse data from this instant, which is of the form of multiple lines of "Name: value\n"
225 | # - put it in the form of a list of 2-element lists
226 | indice += 1
227 | # update the progress bar
228 | self.progressSignal.emit("", int((float(
229 | indice) / topicSize * 100)))
230 |
231 |
232 | msgString = str(msg)
233 | msgList = msgString.split('\n')
234 | instantaneousListOfData = []
235 | for nameValuePair in msgList:
236 | splitPair = nameValuePair.split(':')
237 | for i in range(len(splitPair)): # should be 0 to 1
238 | splitPair[i] = splitPair[i].strip()
239 | if len(splitPair) == 2:
240 | instantaneousListOfData.append(splitPair)
241 | # write the first row from the first element of each pair
242 | if firstIteration: # header
243 | headers = ["rosbagTimestamp"] # first column header
244 | for pair in instantaneousListOfData:
245 | headers.append(pair[0])
246 | filewriter.writerow(headers)
247 | firstIteration = False
248 | # write the value from each pair to the file
249 | values = [str(t)] # first column will have rosbag timestamp
250 | for pair in instantaneousListOfData:
251 | values.append(pair[1])
252 | filewriter.writerow(values)
253 | else:
254 | # If the current topic is a tf topic
255 | # Iterate over the tf child of this topic
256 | for i in range(currentItem.childCount()):
257 | tfItem = currentItem.child(i)
258 |
259 | # if the current tf topic has been selected by the user
260 | if (tfItem in self.treeSelectedTopics.selectedItems()):
261 |
262 | # Retrieve the frame id and the child id from the tf item
263 | frameTfTopicString = str(tfItem.text(2)).split('|')
264 | frameId = frameTfTopicString[0].split(':')[1].strip()
265 | childFrameId = frameTfTopicString[1].split(':')[1].strip()
266 |
267 | # Create a new CSV file for each topic
268 | filename = self.folder + '/' + bagName.replace(".", "_") + '_tf_frame_id' + frameId.replace('/',
269 | '_slash_') + "_child_frame_id_" + childFrameId.replace(
270 | '/', '_slash_') + '.csv'
271 | self.progressSignal.emit("Save csv file " + filename, -1)
272 | with open(filename, 'w+') as csvfile:
273 | fileCreated = True
274 | filewriter = csv.writer(csvfile, delimiter=',')
275 | firstIteration = True # allows header row
276 | indiceTf = 0
277 | for subtopic, msg, t in bag.read_messages(
278 | topicName): # for each instant in time that has data for topicName
279 | # parse data from this instant, which is of the form of multiple lines of "Name: value\n"
280 | # - put it in the form of a list of 2-element lists
281 | indiceTf += 1
282 | self.progressSignal.emit("", int((float(
283 | indice) / topicSize * 100)))
284 |
285 | msgString = str(msg)
286 |
287 | # Split the tf message thanks to the transformation separator and store every transformations messages in a list
288 | transformList = msgString.split(' - \n')
289 | transformList = transformList[1:]
290 |
291 | # iterate on all the transformations messages
292 | for indexTransform, transformString in enumerate(transformList):
293 | msgList = transformString.split('\n')
294 | instantaneousListOfData = []
295 | for nameValuePair in msgList:
296 | splitPair = nameValuePair.split(':')
297 | for i in range(len(splitPair)): # should be 0 to 1
298 | splitPair[i] = splitPair[i].strip()
299 | if len(splitPair) == 2:
300 | instantaneousListOfData.append(splitPair)
301 |
302 | # write the first row from the first element of each pair
303 | if firstIteration: # header
304 | headers = ["rosbagTimestamp"] # first column header
305 | for pair in instantaneousListOfData:
306 | headers.append(pair[0])
307 | filewriter.writerow(headers)
308 | firstIteration = False
309 |
310 | if instantaneousListOfData[5][1][1:-1] == frameId and instantaneousListOfData[6][1][
311 | 1:-1] == childFrameId:
312 | values = [str(t)] # first column will have rosbag timestamp
313 | for pair in instantaneousListOfData:
314 | values.append(pair[1])
315 | filewriter.writerow(values)
316 |
317 | # Close the bag
318 | bag.close()
319 |
320 |
321 |
322 | # if fileCreated:
323 | # QtWidgets.QMessageBox.information(self, "Information", "The csv files have been successfully created")
324 |
325 |
326 | #Closing the thread
327 | self.finishThread.emit(self.id)
328 |
329 |
330 | class BagFilter_Worker(QtCore.QObject):
331 |
332 | #Variables for emitting starting, displaying progress, and closing signals
333 | start = QtCore.pyqtSignal()
334 | progressSignal = QtCore.pyqtSignal(str,int)
335 | finishThread = QtCore.pyqtSignal(str,str)
336 |
337 |
338 | #Definition of a SSH_Transfer_File_Worker
339 | def __init__(self, id, filename, index, treeSelectedTopics, topicSelection, tfSelection, dictBagsInfos, metaCheckbox,bagSize):
340 | super(BagFilter_Worker, self).__init__()
341 | self.id = id
342 | self.filename = filename
343 | self.treeSelectedTopics = treeSelectedTopics
344 | self.bagIndex = index
345 | self.tfSelection = tfSelection
346 | self.dictBagsInfos = dictBagsInfos
347 | self.metaCheckbox = metaCheckbox
348 | self.bagSize = bagSize
349 | self.topicSelection = topicSelection
350 | self.start.connect(self.run)
351 |
352 |
353 | #This function connects to the remote robot and performs a git pull operation on the selected remote repository
354 | @QtCore.pyqtSlot()
355 | def run(self):
356 | # Create a new Bag file for each topic
357 | self.progressSignal.emit("Loading bag " + self.filename + " into baggetfilter , it can take time ...", 50)
358 | with rosbag.Bag(self.filename, 'w') as outbag:
359 | if self.metaCheckbox:
360 | metadata_msg = String(data='time when the bag was recorded ')
361 | outbag.write('/metadata', metadata_msg, rospy.Time.from_sec(
362 | self.dictBagsInfos[self.treeSelectedTopics.topLevelItem(self.bagIndex).text(0)][2]))
363 | i = 0
364 |
365 | for topic, msg, t in rosbag.Bag(self.treeSelectedTopics.topLevelItem(self.bagIndex).text(0)).read_messages():
366 | if i == 0:
367 | self.progressSignal.emit("Writing filtered bag(s)", 0)
368 | # update ui elements
369 | i += 1
370 |
371 | self.progressSignal.emit("", int((float(
372 | i) / self.bagSize * 100)))
373 |
374 |
375 | # if the message is a tf message and there is only one transformation in it
376 | if topic == "/tf" and len(msg.transforms) == 1:
377 | for tfMsg in self.tfSelection:
378 | # if the tf message match a selected tf topic
379 | if tfMsg[0] == msg.transforms[0].header.frame_id and tfMsg[1] == msg.transforms[
380 | 0].child_frame_id:
381 | outbag.write(topic, msg, t)
382 |
383 | # if the message is a tf message and there is more than one transformation in it
384 | elif topic == "/tf" and len(msg.transforms) > 1:
385 | inSelection = False
386 | temp_msg = TFMessage()
387 |
388 | # iterate over the different transform messages
389 | for tfMsg in self.tfSelection:
390 | for index in tfMsg[2]:
391 | # if the transformation message match a selected tf topic
392 | if index < len(msg.transforms) and tfMsg[0] == msg.transforms[index].header.frame_id and \
393 | tfMsg[1] == msg.transforms[index].child_frame_id:
394 | temp_msg.transforms.append(msg.transforms[index])
395 | inSelection = True
396 |
397 | if inSelection:
398 | outbag.write(topic, temp_msg, t)
399 | else:
400 | # if the message is a not a tf message and the topic of this message has been selected by the user
401 | if topic in self.topicSelection:
402 | outbag.write(topic, msg, t)
403 | if self.metaCheckbox:
404 | metadata_msg = String(data='time when the bag was ended ')
405 | outbag.write('/metadata', metadata_msg, rospy.Time.from_sec(
406 | self.dictBagsInfos[self.treeSelectedTopics.topLevelItem(self.bagIndex).text(0)][3]))
407 |
408 | #Closing the thread
409 | self.finishThread.emit(self.id,self.filename)
--------------------------------------------------------------------------------
/py_files/Main.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/python3
2 | #
3 | # File: Main.py
4 | # Author: Paul Buzaud
5 | #
6 | # Created: Summer 2018
7 | #
8 | # Copyright 2018 FIRSTNAME LASTNAME
9 | #
10 | # This program is free software: you can redistribute it and/or modify
11 | # it under the terms of the GNU General Public License as published by
12 | # the Free Software Foundation, either version 3 of the License, or
13 | # (at your option) any later version.
14 | #
15 | # This program is distributed in the hope that it will be useful,
16 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
17 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 | # GNU General Public License for more details.
19 | #
20 | # You should have received a copy of the GNU General Public License
21 | # along with this program. If not, see
22 |
23 | from PyQt5 import QtCore, QtGui, QtWidgets
24 | from PlayBagWindow import BagPlay
25 | import BagFilterDesign
26 | import rosbag, sys, csv, os, rospy
27 | import subprocess,yaml
28 | from tf2_ros import TFMessage
29 | from std_msgs.msg import String
30 | from MplCanvas import MplCanvas
31 | from Workers import CSV_Worker, BagFilter_Worker, plot_loader
32 | import pandas as pd
33 |
34 |
35 |
36 | class fileBrowser(QtWidgets.QFileDialog):
37 | """This class inherits from the QFileDialog class and defines the browser part of the main window"""
38 |
39 | def __init__(self):
40 | """Initialization of the class and hiding of the useless elements"""
41 | QtWidgets.QFileDialog.__init__(self)
42 | self.setOptions(QtWidgets.QFileDialog.DontUseNativeDialog)
43 | #Find the irrelevant parts of the QFileDialog
44 | buttonBox = self.findChild(QtWidgets.QDialogButtonBox)
45 | lineEdit = self.findChild(QtWidgets.QLineEdit)
46 | label = self.findChildren(QtWidgets.QLabel)
47 | combo = self.findChildren(QtWidgets.QComboBox)
48 | tree = self.findChildren(QtWidgets.QTreeView)
49 |
50 | #Change the selection mode of the tree widget
51 | file_tree = tree[0]
52 | file_tree.setSelectionMode(QtWidgets.QAbstractItemView.ExtendedSelection)
53 |
54 | #Hide the irrelevant part of the QFileDialog
55 | label[1].hide()
56 | label[2].hide()
57 | combo[1].hide()
58 | lineEdit.hide()
59 | buttonBox.hide()
60 | self.setNameFilter("bag (*.bag *.)")
61 |
62 | self.setDirectory(str(os.getcwd()))
63 |
64 |
65 |
66 |
67 | def accept(self):
68 | """Function override of the accept function of the QFileDialog to hide when the user double click on a element of the browser"""
69 | self.show()
70 |
71 |
72 | class BagFilter(QtWidgets.QDialog, BagFilterDesign.Ui_dialog):
73 | """This class creates the main window of the application"""
74 |
75 |
76 | def __init__(self):
77 | """Initialization of the class, hide some unneeded ui, and connect the qt signal with the qt slot"""
78 | super(self.__class__, self).__init__()
79 | self.setupUi(self)
80 |
81 | #Setup of the ui elements
82 | self.labelProgress.hide()
83 | self.progressBar.hide()
84 | self.textClipboard.hide()
85 | self.treeSelectedTopics.setSelectionMode(QtWidgets.QAbstractItemView.ExtendedSelection)
86 | self.buttonPlayBag.setText("Play bags")
87 | self.fileDialog = fileBrowser()
88 | self.horizontalLayout_2.insertWidget(0, self.fileDialog, 0)
89 | self.horizontalLayout_2.setStretch(0, 1)
90 | self.horizontalLayout_2.setStretch(1, 2)
91 | self.fileDialog.show()
92 | self.lineBagFile.setText("_filtered")
93 | self.lineBagFile.setEnabled(True)
94 | self.label.setText("Specify the suffix of your filtered bag name")
95 | self.buttonLoadBagPath.setText("Clear Bags")
96 | self.setTreeSize()
97 | # self.mplCanvas = MplCanvas(self)
98 | # self.plotLayout.addWidget(self.mplCanvas)
99 | #self.mplCanvas.setHidden(True)
100 |
101 |
102 | # Paring buttons to functions
103 | self.buttonLoadBagPath.clicked.connect(self.clearTree)
104 | self.buttonSaveBag.clicked.connect(self.saveNewBag)
105 | self.buttonQuit.clicked.connect(self.saveCsvFile)
106 | self.buttonPlayBag.clicked.connect(self.playBag)
107 | self.buttonClipboard.clicked.connect(self.showClipboard)
108 | # self.buttonPlots.clicked.connect(self.togglePlots)
109 | # self.mplCanvas.button_load.clicked.connect(self.loadDataInsidePlot)
110 | # self.mplCanvas.button_plot.clicked.connect(self.showPlots)
111 | self.treeSelectedTopics.itemDoubleClicked.connect(self.editBagTimeStamp)
112 | self.treeSelectedTopics.itemChanged.connect(self.changeBagTimeStamp)
113 | self.lineResearch.textChanged.connect(self.changeTextlineResearch)
114 | self.treeSelectedTopics.itemSelectionChanged.connect(self.onSelectionChanged)
115 |
116 | #Activates the drag and drop functionality of the window
117 | self.setAcceptDrops(True)
118 | self.dragDropEnable = True
119 |
120 |
121 | #Initializes data structures
122 | self.bagSize = 0
123 | self.tfDict = {}
124 | self.listOfTopics = {}
125 | self.dictBagsInfos = {}
126 | self.worker_dict = {}
127 | self.thread_dict = {}
128 | self.listOfFilteredToLoadBags = []
129 | self.multiThreadedProgression = [0.,0.] #indice 0 is sum of progression, indice one is number of message
130 |
131 | # def togglePlots(self):
132 | # self.mplCanvas.setHidden(not self.mplCanvas.isHidden())
133 | #
134 | # def showPlots(self):
135 | # self.mplCanvas.plot()
136 | #
137 | #
138 | # @QtCore.pyqtSlot(str,str,dict)
139 | # def killPlotThread(self, id,bag_name,dict_data):
140 | # del self.worker_dict[id]
141 | # self.thread_dict[id].quit()
142 | # self.thread_dict[id].wait()
143 | # del self.thread_dict[id]
144 | #
145 | # for topic in dict_data.keys():
146 | # panda_data_frame = pd.DataFrame(dict_data[topic][1],
147 | #
148 | # columns=dict_data[topic][0])
149 | # self.mplCanvas.load_data_topic( bag_name, topic, dict_data[topic][0], panda_data_frame)
150 | # #if last bag habe been filtered and no more thread, reload the bags and reenable the ui
151 | # if len(self.thread_dict.keys()) == 0:
152 | # # update ui elements
153 | # self.labelProgress.hide()
154 | # self.progressBar.hide()
155 | # # Reenable the function button of the ui
156 | # self.enableDisableButton(True)
157 | #
158 | #
159 | # def loadDataInsidePlot(self):
160 | #
161 | # """Load the topic in csv format"""
162 | #
163 | # # Disable the functions buttons
164 | # self.enableDisableButton(False)
165 | #
166 | # # retrieve all the selected informations from the topics tree widget
167 | # bagSelection, dictTopicSelection, dictTfSelection, meaningfullItemSelected = self.bagSelected()
168 | #
169 | # if meaningfullItemSelected:
170 | # # Update ui elements
171 | # self.labelProgress.show()
172 | # self.progressBar.show()
173 | # self.progressBar.setValue(0.)
174 | # self.multiThreadedProgression = [0, 0]
175 | # # iterate on all the bags index selected
176 | # for bagIndex in bagSelection:
177 | # tempThread = QtCore.QThread()
178 | # tempThread.start()
179 | # bag_filename = str(self.treeSelectedTopics.topLevelItem(bagIndex).text(0))
180 | # bag_name = str(self.treeSelectedTopics.topLevelItem(bagIndex).text(0)).split('/')[-1][:-4]
181 | # loader = plot_loader(str(tempThread), bag_filename, bag_name, bagIndex,
182 | # self.listOfTopics, self.treeSelectedTopics)
183 | # loader.progressSignal.connect(self.updateProgressBar)
184 | # loader.finishThread.connect(self.killPlotThread)
185 | # loader.moveToThread(tempThread)
186 | # loader.start.emit()
187 | # self.thread_dict[str(tempThread)] = tempThread
188 | # self.worker_dict[str(tempThread)] = loader
189 | #
190 | # # if there is no item in the topic tree widget and the user try to launch the csv exportation
191 | # elif self.treeSelectedTopics.topLevelItemCount() == 0:
192 | # QtWidgets.QMessageBox.warning(self, "Warning", "No bag selected")
193 | # # if no tf topics or meaningful topic has been selected
194 | # else:
195 | # QtWidgets.QMessageBox.warning(self, "Warning", "No topics selected")
196 | #
197 | # # Disable the functions buttons
198 | # self.enableDisableButton(False)
199 |
200 |
201 |
202 |
203 |
204 | def onSelectionChanged(self):
205 | self.label_topics_selected.setText("Topics selected : "+str(len(self.treeSelectedTopics.selectedItems())))
206 |
207 |
208 | def changeTextlineResearch(self,text):
209 | self.treeSelectedTopics.clearSelection()
210 | text_list = text.split("|")
211 | items = []
212 | for topics in text_list:
213 | items = items + self.treeSelectedTopics.findItems(topics, QtCore.Qt.MatchContains|QtCore.Qt.MatchRecursive,1)
214 | items = items + self.treeSelectedTopics.findItems(topics,
215 | QtCore.Qt.MatchContains | QtCore.Qt.MatchRecursive, 2)
216 | # items = items + self.treeSelectedTopics.findItems(text, QtCore.Qt.MatchContains,2)
217 | for item in items:
218 | item.setSelected(True)
219 |
220 | def editBagTimeStamp(self, item, column):
221 | item.setFlags(item.flags() | QtCore.Qt.ItemIsEditable)
222 | if (column != 3 or item.parent()!=None):
223 | item.setFlags(item.flags() & ~QtCore.Qt.ItemIsEditable)
224 |
225 |
226 | def changeBagTimeStamp(self, item, column):
227 |
228 | self.treeSelectedTopics.itemChanged.disconnect()
229 |
230 | if (column == 3):
231 | bagName = item.text(0)
232 | oldTimeStamped = str(self.dictBagsInfos[bagName][2])
233 | try:
234 | newTimeStamped = float(item.text(3))
235 | self.enableDisableButton(False)
236 |
237 | self.labelProgress.setText("Editing bag "+bagName+" timestamp" )
238 | self.labelProgress.show()
239 | self.progressBar.show()
240 | self.progressBar.setValue(0.)
241 |
242 | bag = rosbag.Bag(bagName)
243 |
244 | splitBagName = bagName.split("_timestamped_")
245 | if len(splitBagName) == 1 :
246 | tempBagName = splitBagName[0][:-4]
247 | else:
248 | tempBagName = splitBagName[0]
249 |
250 | newBagName = tempBagName+"_timestamped_"+str(newTimeStamped).replace(".","_")+".bag"
251 |
252 | if self.checkMeta.checkState() != 2:
253 | newBagName = newBagName[:-4] + "_with_meta.bag"
254 |
255 | outbag = rosbag.Bag(newBagName, "w", options=bag.options )
256 | i = 0.
257 |
258 | if self.checkMeta.checkState() != 2:
259 | metadata_msg = String(data='time when the bag was recorded ')
260 | outbag.write('/metadata', metadata_msg, rospy.Time.from_sec(newTimeStamped))
261 |
262 | for topic, msg, t in bag.read_messages():
263 | if self.checkMeta.checkState() == 2 and i == 0:
264 | oldTimeStamped = t.to_sec()
265 |
266 | i += 1
267 | self.progressBar.setValue(int(float(i) / float(self.dictBagsInfos[bagName][0]) * 100))
268 | newT = rospy.Time.from_sec((t.to_sec() - float(oldTimeStamped)) + newTimeStamped)
269 | outbag.write(topic, msg, newT)
270 |
271 | if self.checkMeta.checkState() != 2:
272 | metadata_msg = String(data='time when the bag was ended')
273 | outbag.write('/metadata', metadata_msg, rospy.Time.from_sec((self.dictBagsInfos[bagName][3] - float(oldTimeStamped)) + newTimeStamped))
274 |
275 | outbag.close()
276 | bag.close()
277 |
278 | #os.system("mv -f "+newBagName+" "+bagName)
279 |
280 | if self.treeSelectedTopics.findItems(newBagName, QtCore.Qt.MatchExactly, 0) == []:
281 | self.loadBag(newBagName)
282 |
283 |
284 | self.labelProgress.hide()
285 | self.progressBar.hide()
286 | self.enableDisableButton(True)
287 | except ValueError:
288 | QtWidgets.QMessageBox.warning(self, "Warning", "Enter only numbers")
289 | except TypeError:
290 | QtWidgets.QMessageBox.warning(self, "Warning", "Enter a positive number")
291 |
292 | item.setText(3, str(oldTimeStamped))
293 | self.treeSelectedTopics.itemChanged.connect(self.changeBagTimeStamp)
294 |
295 |
296 | def setTreeSize(self):
297 | """This function corrects the column header sizes of the tree widget which displays the topics and bags topics"""
298 | self.treeSelectedTopics.setColumnWidth(0, self.treeSelectedTopics.width() / 4.)
299 | self.treeSelectedTopics.setColumnWidth(1, self.treeSelectedTopics.width() / 4.)
300 | self.treeSelectedTopics.setColumnWidth(2, self.treeSelectedTopics.width() / 4.)
301 | self.treeSelectedTopics.setColumnWidth(3, self.treeSelectedTopics.width() / 4.)
302 |
303 |
304 |
305 | def showClipboard(self):
306 | """Show or hide the clipboard when the user click on the clipboard button"""
307 | if self.textClipboard.isVisible():
308 | self.textClipboard.hide()
309 | else:
310 | self.textClipboard.show()
311 |
312 |
313 | def clearTree(self):
314 | """Reset all the data structures and flush the tree widget"""
315 | self.treeSelectedTopics.clear()
316 | self.textClipboard.clear()
317 | self.listOfTopics = {}
318 | self.tfDict = {}
319 | # self.dictSameTypesItem = {}
320 | self.dictBagsInfos = {}
321 |
322 |
323 | def enableDisableButton(self, available):
324 | """Lock/unlock the ui by enabling or disabling button events when loading or processing bags"""
325 | self.buttonPlayBag.setEnabled(available)
326 | self.buttonSaveBag.setEnabled(available)
327 | self.buttonLoadBagPath.setEnabled(available)
328 | self.buttonQuit.setEnabled(available)
329 | self.dragDropEnable = available
330 |
331 |
332 | def loadBag(self, filename):
333 | """Read the topics contained in the bag as an argument and update the bag/topic tree widget and the data structures """
334 | #Disable the functions buttons
335 | self.enableDisableButton(False)
336 |
337 | #Check if the filename is not empty
338 | if filename == "":
339 | filePath = QtWidgets.QFileDialog.getOpenFileName(self, "Find your bag file", filter="bag (*.bag *.)")
340 | filePath = filePath[0]
341 | else:
342 | filePath = filename
343 |
344 | #Check if the specified file is a bag
345 | if filePath[-4:] == ".bag":
346 | self.labelProgress.setText("Loading Bag " + filePath)
347 | self.labelProgress.show()
348 | self.progressBar.show()
349 | self.progressBar.setValue(0.)
350 | # Create the bag item in the bag/topic tree widget
351 | bagItem = QtWidgets.QTreeWidgetItem()
352 | bagItem.setText(0, filePath)
353 | self.listOfTopics[filePath] = []
354 | self.tfDict[filePath] = [[], []]
355 | if self.checkEnableTF.checkState() == 2:
356 | # Load the bag
357 | self.labelProgress.setText("Loading bag into baggetfilter " + filePath + ", it can take time ...")
358 | self.progressBar.setValue(50)
359 | bag = rosbag.Bag(filePath)
360 | self.progressBar.setValue(95)
361 | self.labelProgress.setText("Loading TF of " + filePath)
362 | bagContents = bag.read_messages()
363 | bagName = bag.filename
364 | bagItem.setText(3, str(bag.get_start_time()))
365 | # Update the ui elements and the data structures
366 | self.bagSize = bag.get_message_count()
367 | #i variable is used to update the progress bar
368 | i = 0.
369 | #Read the bag contents
370 | for topic, msg, t in bagContents:
371 | self.progressBar.setValue(int(float(i) / self.bagSize * 100))
372 | i += 1
373 |
374 | #If the current topic hasn't been loaded in the tree widget then add it
375 | if topic not in self.listOfTopics[filePath]:
376 | item = QtWidgets.QTreeWidgetItem()
377 | item.setText(1,topic)
378 | bagItem.addChild(item)
379 | self.listOfTopics[filePath].append(topic)
380 | if topic == "/tf":
381 | tf_item = item
382 |
383 | #if the current topic is tf, check if the frame and the child frame of this transformation have been added to the data structure and to the tree widget; if not then add it
384 | if topic == "/tf":
385 | try:
386 | #in every tf msg, there can be multiples transformations messages.This iteration goes throught all theses transformations messages and save them in data structures
387 | for index in range(len(msg.transforms)):
388 | msg_string = "frame_id : "+str(msg.transforms[index].header.frame_id)+" | child_frame_id : "+str(msg.transforms[index].child_frame_id)
389 | stringId = self.tfDict[filePath][0].index(msg_string) if msg_string in self.tfDict[filePath][0] else -1
390 | if msg_string not in self.tfDict[filePath][0]:
391 | self.tfDict[filePath][0].append(msg_string)
392 | self.tfDict[filePath][1].append([index])
393 | sub_item = QtWidgets.QTreeWidgetItem()
394 | sub_item.setText(2,msg_string)
395 | tf_item.addChild(sub_item)
396 | #register each index of transformation messages
397 | elif stringId != -1 and index not in self.tfDict[filePath][1][stringId]:
398 | self.tfDict[filePath][1][stringId].append(index)
399 | except:
400 | pass
401 | bag.close()
402 | self.dictBagsInfos[filePath] = [self.bagSize, bag.get_end_time() - bag.get_start_time(),
403 | bag.get_start_time(), bag.get_end_time()]
404 | elif self.checkEnableTF.checkState() == 0:
405 | info_dict = yaml.load(
406 | subprocess.Popen(['rosbag', 'info', '--yaml', filePath], stdout=subprocess.PIPE).communicate()[
407 | 0],yaml.Loader)
408 |
409 | # Load the bag
410 | bagItem.setText(3, str(info_dict["start"]))
411 | # Update the ui elements and the data structures
412 |
413 | self.bagSize = info_dict["messages"]
414 |
415 | for topic in info_dict["topics"]:
416 | item = QtWidgets.QTreeWidgetItem()
417 | item.setText(1, topic["topic"])
418 | bagItem.addChild(item)
419 | self.listOfTopics[filePath].append(topic["topic"])
420 | self.dictBagsInfos[filePath] = [self.bagSize, info_dict["end"]- info_dict["start"],
421 | info_dict["start"], info_dict["end"]]
422 |
423 | #update the bag/topic tree widget
424 | self.treeSelectedTopics.addTopLevelItem(bagItem)
425 | self.treeSelectedTopics.expandAll()
426 | self.treeSelectedTopics.setSortingEnabled(True)
427 | self.treeSelectedTopics.sortByColumn(1,QtCore.Qt.AscendingOrder)
428 | self.treeSelectedTopics.sortByColumn(2, QtCore.Qt.AscendingOrder)
429 | self.treeSelectedTopics.setSortingEnabled(False)
430 |
431 |
432 |
433 |
434 | #update ui elements at the end of the loading
435 | self.progressBar.hide()
436 | self.labelProgress.hide()
437 | self.textClipboard.appendPlainText(' \n')
438 | lastSlashIndex= filePath.rindex('/')
439 |
440 | #If the selected file is not a bag file
441 | elif filePath != "":
442 | QtWidgets.QMessageBox.warning(self, "Warning", "It's not a bag file")
443 |
444 | #Reenable the function button of the ui
445 | self.enableDisableButton(True)
446 |
447 | #changing directory
448 | filename_list = filename.split("/")
449 | filename_list = filename_list[:-1]
450 | directory = "/".join(filename_list)
451 | self.fileDialog.setDirectory(directory)
452 |
453 |
454 | def bagSelected(self):
455 | """This function retrieves and sorts the selected bags, selected topics, and selected tf topics from the topic tree widget. It then returns them in temporary dictionaries and list"""
456 |
457 | bagSelection = []
458 | dictTopicSelection = {}
459 | dictTfSelection = {}
460 | #if some topic item or tf item are selected then set this variable to true
461 | meaningfullItemSelected = False
462 |
463 | #iterate over all the selected items
464 | for currentItem in self.treeSelectedTopics.selectedItems():
465 |
466 | #if the current selected item is a topic item
467 | if (currentItem.parent() != None) and (currentItem.text(1) != "/tf") and (currentItem.parent().text(1) != "/tf"):
468 | bagItem = currentItem.parent()
469 |
470 | #save the bagitem index selected if it is not already in the bagSelection list
471 | if self.treeSelectedTopics.indexOfTopLevelItem(bagItem) not in bagSelection:
472 | bagSelection.append(self.treeSelectedTopics.indexOfTopLevelItem(bagItem))
473 |
474 | #store the topic name selected if it is not already in the topic selected dictionary
475 | if bagItem.text(0) not in dictTopicSelection.keys():
476 | dictTopicSelection[bagItem.text(0)] = []
477 | dictTopicSelection[bagItem.text(0)].append(currentItem.text(1))
478 | else:
479 | dictTopicSelection[bagItem.text(0)].append(currentItem.text(1))
480 | meaningfullItemSelected = True
481 |
482 | # if the current selected item is a tf item
483 | if (currentItem.parent() != None) and (currentItem.parent().text(1) == "/tf"):
484 | bagItem = currentItem.parent().parent()
485 |
486 | #save the bagitem index selected if it is not already in the bagSelection list
487 | if self.treeSelectedTopics.indexOfTopLevelItem(bagItem) not in bagSelection:
488 | bagSelection.append(self.treeSelectedTopics.indexOfTopLevelItem(bagItem))
489 |
490 | #retrieve the frame id and the child id from the tf item
491 | frameTfTopicString = str(currentItem.text(2)).split('|')
492 | frameId = frameTfTopicString[0].split(':')[1].strip()
493 | childFrameId = frameTfTopicString[1].split(':')[1].strip()
494 | childId = self.tfDict[bagItem.text(0)][0].index(str(currentItem.text(2)))
495 | indexList = self.tfDict[bagItem.text(0)][1][childId]
496 |
497 | # store the ttf topic name selected if it is not already in the tf topic selected dictionary
498 | if bagItem.text(0) not in dictTfSelection.keys():
499 | dictTfSelection[bagItem.text(0)] = []
500 | dictTfSelection[bagItem.text(0)].append([frameId, childFrameId, indexList])
501 | else:
502 | dictTfSelection[bagItem.text(0)].append([frameId, childFrameId, indexList])
503 |
504 | meaningfullItemSelected = True
505 |
506 | return bagSelection, dictTopicSelection, dictTfSelection, meaningfullItemSelected
507 |
508 |
509 |
510 | @QtCore.pyqtSlot(str, int)
511 | def updateProgressBar(self, text, progression):
512 | if text != "":
513 | self.labelProgress.setText(text)
514 | if progression != -1:
515 | self.multiThreadedProgression[0] += progression
516 | self.multiThreadedProgression[1] += 1
517 | progression_mean = self.multiThreadedProgression[0] / self.multiThreadedProgression[1]
518 | self.progressBar.setValue(progression_mean)
519 |
520 | @QtCore.pyqtSlot(str)
521 | def killThread(self, id):
522 | del self.worker_dict[id]
523 | self.thread_dict[id].quit()
524 | self.thread_dict[id].wait()
525 | del self.thread_dict[id]
526 | # Update ui elements
527 | self.labelProgress.hide()
528 | self.progressBar.hide()
529 | # Reenable the function button of the ui
530 | self.enableDisableButton(True)
531 |
532 |
533 | def saveCsvFile(self):
534 | """Save the selected topics in csv files"""
535 |
536 | #Disable the functions buttons
537 | self.enableDisableButton(False)
538 |
539 | #retrieve all the selected informations from the topics tree widget
540 | bagSelection, dictTopicSelection, dictTfSelection, meaningfullItemSelected = self.bagSelected()
541 |
542 | if meaningfullItemSelected:
543 | #let the user choose the directory where he wants to store the csv file
544 | folder = QtWidgets.QFileDialog.getExistingDirectory(self, "Choose a folder to store your csv topics", self.fileDialog.directoryUrl().path())
545 | #check if the user has chosen a valid folder
546 | if folder:
547 | # Update ui elements
548 | self.labelProgress.show()
549 | self.progressBar.show()
550 | self.progressBar.setValue(0.)
551 | self.multiThreadedProgression = [0,0]
552 | #iterate on all the bags index selected
553 | for bagIndex in bagSelection:
554 | tempThread = QtCore.QThread()
555 | tempThread.start()
556 | bag_filename = str(self.treeSelectedTopics.topLevelItem(bagIndex).text(0))
557 | bag_name = str(self.treeSelectedTopics.topLevelItem(bagIndex).text(0)).split('/')[-1][:-4]
558 | csv_worker = CSV_Worker(str(tempThread),bag_filename,bag_name,bagIndex,folder,self.listOfTopics,self.treeSelectedTopics)
559 | csv_worker.progressSignal.connect(self.updateProgressBar)
560 | csv_worker.finishThread.connect(self.killThread)
561 | csv_worker.moveToThread(tempThread)
562 | csv_worker.start.emit()
563 | self.thread_dict[str(tempThread)] = tempThread
564 | self.worker_dict[str(tempThread)] = csv_worker
565 |
566 |
567 | #if there is no item in the topic tree widget and the user try to launch the csv exportation
568 | elif self.treeSelectedTopics.topLevelItemCount() == 0:
569 | QtWidgets.QMessageBox.warning(self, "Warning", "No bag selected")
570 | #if no tf topics or meaningful topic has been selected
571 | else:
572 | QtWidgets.QMessageBox.warning(self, "Warning", "No topics selected")
573 |
574 |
575 | @QtCore.pyqtSlot(str,str)
576 | def killFilterThread(self, id,filename):
577 | del self.worker_dict[id]
578 | self.thread_dict[id].quit()
579 | self.thread_dict[id].wait()
580 | del self.thread_dict[id]
581 |
582 | # load the newly created bags in the topic tree widget
583 | if self.checkLoad.checkState() == 2:
584 | self.listOfFilteredToLoadBags.append(filename)
585 | #if last bag habe been filtered and no more thread, reload the bags and reenable the ui
586 | if len(self.thread_dict.keys()) == 0:
587 | self.clearTree()
588 | for bag in self.listOfFilteredToLoadBags:
589 | self.loadBag(bag)
590 | self.listOfFilteredToLoadBags =[]
591 | QtWidgets.QMessageBox.information(self, "Information", "The new bag has been successfully created. \n")
592 | # update ui elements
593 | self.labelProgress.hide()
594 | self.progressBar.hide()
595 | # Reenable the function button of the ui
596 | self.enableDisableButton(True)
597 |
598 | def saveNewBag(self):
599 | """ This function filter the topic selected by the user in a new bag"""
600 |
601 | # Disable the functions buttons
602 | self.enableDisableButton(False)
603 |
604 | listFileName = []
605 |
606 | #if there is at least one bag loaded in the topic tree widget
607 | if len(self.treeSelectedTopics.selectedItems()) != 0:
608 | # let the user choose the directory where he wants to store the csv file
609 | folder = QtWidgets.QFileDialog.getExistingDirectory(self, "Choose a folder to store the new filtered bag",
610 | self.fileDialog.directoryUrl().path())
611 |
612 | # check if the user has chosen a valid folder
613 | if folder:
614 |
615 | # retrieve all the selected informations from the topics tree widget
616 | bagSelection, dictTopicSelection, dictTfSelection, meaningfullItemSelected = self.bagSelected()
617 |
618 | if meaningfullItemSelected:
619 |
620 | #iterate over the bag selection
621 | for bagIndex in bagSelection:
622 | #variable to update the progress bar
623 | i = 0
624 | # retrieve all the selected informations from current bag
625 | if self.lineBagFile.text()[0] != "_":
626 | suffix = "_" + self.lineBagFile.text()
627 | else:
628 | suffix = self.lineBagFile.text()
629 |
630 | filename = folder+"/"+self.treeSelectedTopics.topLevelItem(bagIndex).text(0).split('/')[-1].replace(".","_") + suffix +".bag"
631 | tfSelection = dictTfSelection[self.treeSelectedTopics.topLevelItem(bagIndex).text(0)] if self.treeSelectedTopics.topLevelItem(bagIndex).text(0) in dictTfSelection.keys() else []
632 | topicSelection = dictTopicSelection[self.treeSelectedTopics.topLevelItem(bagIndex).text(0)] if self.treeSelectedTopics.topLevelItem(bagIndex).text(0) in dictTopicSelection.keys() else []
633 |
634 | #update ui elements
635 | self.labelProgress.show()
636 | self.progressBar.show()
637 | self.multiThreadedProgression = [0, 0]
638 | listFileName.append(filename)
639 | self.labelProgress.setText("Creating new bag : "+filename)
640 | tempThread = QtCore.QThread()
641 | tempThread.start()
642 | filter_worker = BagFilter_Worker(str(tempThread),filename,bagIndex,self.treeSelectedTopics,topicSelection,tfSelection,self.dictBagsInfos,self.checkMeta.checkState(), self.bagSize)
643 | filter_worker.progressSignal.connect(self.updateProgressBar)
644 | filter_worker.finishThread.connect(self.killFilterThread)
645 | filter_worker.moveToThread(tempThread)
646 | filter_worker.start.emit()
647 | self.thread_dict[str(tempThread)] = tempThread
648 | self.worker_dict[str(tempThread)] = filter_worker
649 |
650 |
651 |
652 | # if no tf topics or meaningful topic has been selected
653 | else:
654 | QtWidgets.QMessageBox.warning(self, "Warning", "No valid topic selected")
655 |
656 | # If there is no item in the topic tree widget and the user try to launch the bag filter
657 | else:
658 | QtWidgets.QMessageBox.warning(self, "Warning", "No bag selected")
659 |
660 |
661 |
662 | def playBag(self):
663 | """Display the play bag window"""
664 | if self.treeSelectedTopics.topLevelItemCount() != 0:
665 | self.playBagWindow = BagPlay(self.dictBagsInfos)
666 | self.playBagWindow.show()
667 |
668 | else:
669 | QtWidgets.QMessageBox.warning(self, "Warning", "No bag loaded")
670 |
671 |
672 | def dragEnterEvent(self, e):
673 | """Accept the drag and drop event"""
674 | if e.mimeData().hasText() and self.dragDropEnable:
675 | e.accept()
676 | else:
677 | e.ignore()
678 |
679 |
680 | def dropEvent(self, e):
681 | """Define the behavior when an item is dropped in the Main Window"""
682 |
683 | #Retrieve the paths of the items
684 | urls = e.mimeData().urls()
685 | errorString = ""
686 | #iterate over all the path
687 | for url in urls:
688 | filename = url.path()
689 | bagAlreadyInTree = False
690 | #Check if the bag has been already added to the topic tree widget
691 | for topItemIndex in range(self.treeSelectedTopics.topLevelItemCount()):
692 | if self.treeSelectedTopics.topLevelItem(topItemIndex).text(0) == filename:
693 | bagAlreadyInTree = True
694 |
695 | #throw an error when the bag has aleady been loaded
696 | if not bagAlreadyInTree:
697 | self.loadBag(filename)
698 | else:
699 | errorString += "the bag : "+filename+" is already loaded \n"
700 |
701 | if errorString != "":
702 | QtWidgets.QMessageBox.warning(self, "Warning", errorString)
703 |
704 |
705 | def resizeEvent(self, event):
706 | """Adjust the header of the topic tree widget every time the size of the main window is updated"""
707 | self.setTreeSize()
708 |
709 | def closeEvent(self, event):
710 | for worker in self.worker_dict.items():
711 | del worker
712 | for thread in self.thread_dict.items():
713 | thread.quit()
714 | thread.wait()
715 | del thread
716 |
717 |
718 |
719 | def main():
720 | """Create and run the Main Window"""
721 | app = QtWidgets.QApplication(sys.argv)
722 | form = BagFilter()
723 | form.showMaximized()
724 | app.exec_()
725 |
726 |
727 | # Call main
728 | if __name__ == '__main__':
729 | main()
730 |
--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
1 | GNU GENERAL PUBLIC LICENSE
2 | Version 3, 29 June 2007
3 |
4 | Copyright (C) 2007 Free Software Foundation, Inc.
5 | Everyone is permitted to copy and distribute verbatim copies
6 | of this license document, but changing it is not allowed.
7 |
8 | Preamble
9 |
10 | The GNU General Public License is a free, copyleft license for
11 | software and other kinds of works.
12 |
13 | The licenses for most software and other practical works are designed
14 | to take away your freedom to share and change the works. By contrast,
15 | the GNU General Public License is intended to guarantee your freedom to
16 | share and change all versions of a program--to make sure it remains free
17 | software for all its users. We, the Free Software Foundation, use the
18 | GNU General Public License for most of our software; it applies also to
19 | any other work released this way by its authors. You can apply it to
20 | your programs, too.
21 |
22 | When we speak of free software, we are referring to freedom, not
23 | price. Our General Public Licenses are designed to make sure that you
24 | have the freedom to distribute copies of free software (and charge for
25 | them if you wish), that you receive source code or can get it if you
26 | want it, that you can change the software or use pieces of it in new
27 | free programs, and that you know you can do these things.
28 |
29 | To protect your rights, we need to prevent others from denying you
30 | these rights or asking you to surrender the rights. Therefore, you have
31 | certain responsibilities if you distribute copies of the software, or if
32 | you modify it: responsibilities to respect the freedom of others.
33 |
34 | For example, if you distribute copies of such a program, whether
35 | gratis or for a fee, you must pass on to the recipients the same
36 | freedoms that you received. You must make sure that they, too, receive
37 | or can get the source code. And you must show them these terms so they
38 | know their rights.
39 |
40 | Developers that use the GNU GPL protect your rights with two steps:
41 | (1) assert copyright on the software, and (2) offer you this License
42 | giving you legal permission to copy, distribute and/or modify it.
43 |
44 | For the developers' and authors' protection, the GPL clearly explains
45 | that there is no warranty for this free software. For both users' and
46 | authors' sake, the GPL requires that modified versions be marked as
47 | changed, so that their problems will not be attributed erroneously to
48 | authors of previous versions.
49 |
50 | Some devices are designed to deny users access to install or run
51 | modified versions of the software inside them, although the manufacturer
52 | can do so. This is fundamentally incompatible with the aim of
53 | protecting users' freedom to change the software. The systematic
54 | pattern of such abuse occurs in the area of products for individuals to
55 | use, which is precisely where it is most unacceptable. Therefore, we
56 | have designed this version of the GPL to prohibit the practice for those
57 | products. If such problems arise substantially in other domains, we
58 | stand ready to extend this provision to those domains in future versions
59 | of the GPL, as needed to protect the freedom of users.
60 |
61 | Finally, every program is threatened constantly by software patents.
62 | States should not allow patents to restrict development and use of
63 | software on general-purpose computers, but in those that do, we wish to
64 | avoid the special danger that patents applied to a free program could
65 | make it effectively proprietary. To prevent this, the GPL assures that
66 | patents cannot be used to render the program non-free.
67 |
68 | The precise terms and conditions for copying, distribution and
69 | modification follow.
70 |
71 | TERMS AND CONDITIONS
72 |
73 | 0. Definitions.
74 |
75 | "This License" refers to version 3 of the GNU General Public License.
76 |
77 | "Copyright" also means copyright-like laws that apply to other kinds of
78 | works, such as semiconductor masks.
79 |
80 | "The Program" refers to any copyrightable work licensed under this
81 | License. Each licensee is addressed as "you". "Licensees" and
82 | "recipients" may be individuals or organizations.
83 |
84 | To "modify" a work means to copy from or adapt all or part of the work
85 | in a fashion requiring copyright permission, other than the making of an
86 | exact copy. The resulting work is called a "modified version" of the
87 | earlier work or a work "based on" the earlier work.
88 |
89 | A "covered work" means either the unmodified Program or a work based
90 | on the Program.
91 |
92 | To "propagate" a work means to do anything with it that, without
93 | permission, would make you directly or secondarily liable for
94 | infringement under applicable copyright law, except executing it on a
95 | computer or modifying a private copy. Propagation includes copying,
96 | distribution (with or without modification), making available to the
97 | public, and in some countries other activities as well.
98 |
99 | To "convey" a work means any kind of propagation that enables other
100 | parties to make or receive copies. Mere interaction with a user through
101 | a computer network, with no transfer of a copy, is not conveying.
102 |
103 | An interactive user interface displays "Appropriate Legal Notices"
104 | to the extent that it includes a convenient and prominently visible
105 | feature that (1) displays an appropriate copyright notice, and (2)
106 | tells the user that there is no warranty for the work (except to the
107 | extent that warranties are provided), that licensees may convey the
108 | work under this License, and how to view a copy of this License. If
109 | the interface presents a list of user commands or options, such as a
110 | menu, a prominent item in the list meets this criterion.
111 |
112 | 1. Source Code.
113 |
114 | The "source code" for a work means the preferred form of the work
115 | for making modifications to it. "Object code" means any non-source
116 | form of a work.
117 |
118 | A "Standard Interface" means an interface that either is an official
119 | standard defined by a recognized standards body, or, in the case of
120 | interfaces specified for a particular programming language, one that
121 | is widely used among developers working in that language.
122 |
123 | The "System Libraries" of an executable work include anything, other
124 | than the work as a whole, that (a) is included in the normal form of
125 | packaging a Major Component, but which is not part of that Major
126 | Component, and (b) serves only to enable use of the work with that
127 | Major Component, or to implement a Standard Interface for which an
128 | implementation is available to the public in source code form. A
129 | "Major Component", in this context, means a major essential component
130 | (kernel, window system, and so on) of the specific operating system
131 | (if any) on which the executable work runs, or a compiler used to
132 | produce the work, or an object code interpreter used to run it.
133 |
134 | The "Corresponding Source" for a work in object code form means all
135 | the source code needed to generate, install, and (for an executable
136 | work) run the object code and to modify the work, including scripts to
137 | control those activities. However, it does not include the work's
138 | System Libraries, or general-purpose tools or generally available free
139 | programs which are used unmodified in performing those activities but
140 | which are not part of the work. For example, Corresponding Source
141 | includes interface definition files associated with source files for
142 | the work, and the source code for shared libraries and dynamically
143 | linked subprograms that the work is specifically designed to require,
144 | such as by intimate data communication or control flow between those
145 | subprograms and other parts of the work.
146 |
147 | The Corresponding Source need not include anything that users
148 | can regenerate automatically from other parts of the Corresponding
149 | Source.
150 |
151 | The Corresponding Source for a work in source code form is that
152 | same work.
153 |
154 | 2. Basic Permissions.
155 |
156 | All rights granted under this License are granted for the term of
157 | copyright on the Program, and are irrevocable provided the stated
158 | conditions are met. This License explicitly affirms your unlimited
159 | permission to run the unmodified Program. The output from running a
160 | covered work is covered by this License only if the output, given its
161 | content, constitutes a covered work. This License acknowledges your
162 | rights of fair use or other equivalent, as provided by copyright law.
163 |
164 | You may make, run and propagate covered works that you do not
165 | convey, without conditions so long as your license otherwise remains
166 | in force. You may convey covered works to others for the sole purpose
167 | of having them make modifications exclusively for you, or provide you
168 | with facilities for running those works, provided that you comply with
169 | the terms of this License in conveying all material for which you do
170 | not control copyright. Those thus making or running the covered works
171 | for you must do so exclusively on your behalf, under your direction
172 | and control, on terms that prohibit them from making any copies of
173 | your copyrighted material outside their relationship with you.
174 |
175 | Conveying under any other circumstances is permitted solely under
176 | the conditions stated below. Sublicensing is not allowed; section 10
177 | makes it unnecessary.
178 |
179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law.
180 |
181 | No covered work shall be deemed part of an effective technological
182 | measure under any applicable law fulfilling obligations under article
183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or
184 | similar laws prohibiting or restricting circumvention of such
185 | measures.
186 |
187 | When you convey a covered work, you waive any legal power to forbid
188 | circumvention of technological measures to the extent such circumvention
189 | is effected by exercising rights under this License with respect to
190 | the covered work, and you disclaim any intention to limit operation or
191 | modification of the work as a means of enforcing, against the work's
192 | users, your or third parties' legal rights to forbid circumvention of
193 | technological measures.
194 |
195 | 4. Conveying Verbatim Copies.
196 |
197 | You may convey verbatim copies of the Program's source code as you
198 | receive it, in any medium, provided that you conspicuously and
199 | appropriately publish on each copy an appropriate copyright notice;
200 | keep intact all notices stating that this License and any
201 | non-permissive terms added in accord with section 7 apply to the code;
202 | keep intact all notices of the absence of any warranty; and give all
203 | recipients a copy of this License along with the Program.
204 |
205 | You may charge any price or no price for each copy that you convey,
206 | and you may offer support or warranty protection for a fee.
207 |
208 | 5. Conveying Modified Source Versions.
209 |
210 | You may convey a work based on the Program, or the modifications to
211 | produce it from the Program, in the form of source code under the
212 | terms of section 4, provided that you also meet all of these conditions:
213 |
214 | a) The work must carry prominent notices stating that you modified
215 | it, and giving a relevant date.
216 |
217 | b) The work must carry prominent notices stating that it is
218 | released under this License and any conditions added under section
219 | 7. This requirement modifies the requirement in section 4 to
220 | "keep intact all notices".
221 |
222 | c) You must license the entire work, as a whole, under this
223 | License to anyone who comes into possession of a copy. This
224 | License will therefore apply, along with any applicable section 7
225 | additional terms, to the whole of the work, and all its parts,
226 | regardless of how they are packaged. This License gives no
227 | permission to license the work in any other way, but it does not
228 | invalidate such permission if you have separately received it.
229 |
230 | d) If the work has interactive user interfaces, each must display
231 | Appropriate Legal Notices; however, if the Program has interactive
232 | interfaces that do not display Appropriate Legal Notices, your
233 | work need not make them do so.
234 |
235 | A compilation of a covered work with other separate and independent
236 | works, which are not by their nature extensions of the covered work,
237 | and which are not combined with it such as to form a larger program,
238 | in or on a volume of a storage or distribution medium, is called an
239 | "aggregate" if the compilation and its resulting copyright are not
240 | used to limit the access or legal rights of the compilation's users
241 | beyond what the individual works permit. Inclusion of a covered work
242 | in an aggregate does not cause this License to apply to the other
243 | parts of the aggregate.
244 |
245 | 6. Conveying Non-Source Forms.
246 |
247 | You may convey a covered work in object code form under the terms
248 | of sections 4 and 5, provided that you also convey the
249 | machine-readable Corresponding Source under the terms of this License,
250 | in one of these ways:
251 |
252 | a) Convey the object code in, or embodied in, a physical product
253 | (including a physical distribution medium), accompanied by the
254 | Corresponding Source fixed on a durable physical medium
255 | customarily used for software interchange.
256 |
257 | b) Convey the object code in, or embodied in, a physical product
258 | (including a physical distribution medium), accompanied by a
259 | written offer, valid for at least three years and valid for as
260 | long as you offer spare parts or customer support for that product
261 | model, to give anyone who possesses the object code either (1) a
262 | copy of the Corresponding Source for all the software in the
263 | product that is covered by this License, on a durable physical
264 | medium customarily used for software interchange, for a price no
265 | more than your reasonable cost of physically performing this
266 | conveying of source, or (2) access to copy the
267 | Corresponding Source from a network server at no charge.
268 |
269 | c) Convey individual copies of the object code with a copy of the
270 | written offer to provide the Corresponding Source. This
271 | alternative is allowed only occasionally and noncommercially, and
272 | only if you received the object code with such an offer, in accord
273 | with subsection 6b.
274 |
275 | d) Convey the object code by offering access from a designated
276 | place (gratis or for a charge), and offer equivalent access to the
277 | Corresponding Source in the same way through the same place at no
278 | further charge. You need not require recipients to copy the
279 | Corresponding Source along with the object code. If the place to
280 | copy the object code is a network server, the Corresponding Source
281 | may be on a different server (operated by you or a third party)
282 | that supports equivalent copying facilities, provided you maintain
283 | clear directions next to the object code saying where to find the
284 | Corresponding Source. Regardless of what server hosts the
285 | Corresponding Source, you remain obligated to ensure that it is
286 | available for as long as needed to satisfy these requirements.
287 |
288 | e) Convey the object code using peer-to-peer transmission, provided
289 | you inform other peers where the object code and Corresponding
290 | Source of the work are being offered to the general public at no
291 | charge under subsection 6d.
292 |
293 | A separable portion of the object code, whose source code is excluded
294 | from the Corresponding Source as a System Library, need not be
295 | included in conveying the object code work.
296 |
297 | A "User Product" is either (1) a "consumer product", which means any
298 | tangible personal property which is normally used for personal, family,
299 | or household purposes, or (2) anything designed or sold for incorporation
300 | into a dwelling. In determining whether a product is a consumer product,
301 | doubtful cases shall be resolved in favor of coverage. For a particular
302 | product received by a particular user, "normally used" refers to a
303 | typical or common use of that class of product, regardless of the status
304 | of the particular user or of the way in which the particular user
305 | actually uses, or expects or is expected to use, the product. A product
306 | is a consumer product regardless of whether the product has substantial
307 | commercial, industrial or non-consumer uses, unless such uses represent
308 | the only significant mode of use of the product.
309 |
310 | "Installation Information" for a User Product means any methods,
311 | procedures, authorization keys, or other information required to install
312 | and execute modified versions of a covered work in that User Product from
313 | a modified version of its Corresponding Source. The information must
314 | suffice to ensure that the continued functioning of the modified object
315 | code is in no case prevented or interfered with solely because
316 | modification has been made.
317 |
318 | If you convey an object code work under this section in, or with, or
319 | specifically for use in, a User Product, and the conveying occurs as
320 | part of a transaction in which the right of possession and use of the
321 | User Product is transferred to the recipient in perpetuity or for a
322 | fixed term (regardless of how the transaction is characterized), the
323 | Corresponding Source conveyed under this section must be accompanied
324 | by the Installation Information. But this requirement does not apply
325 | if neither you nor any third party retains the ability to install
326 | modified object code on the User Product (for example, the work has
327 | been installed in ROM).
328 |
329 | The requirement to provide Installation Information does not include a
330 | requirement to continue to provide support service, warranty, or updates
331 | for a work that has been modified or installed by the recipient, or for
332 | the User Product in which it has been modified or installed. Access to a
333 | network may be denied when the modification itself materially and
334 | adversely affects the operation of the network or violates the rules and
335 | protocols for communication across the network.
336 |
337 | Corresponding Source conveyed, and Installation Information provided,
338 | in accord with this section must be in a format that is publicly
339 | documented (and with an implementation available to the public in
340 | source code form), and must require no special password or key for
341 | unpacking, reading or copying.
342 |
343 | 7. Additional Terms.
344 |
345 | "Additional permissions" are terms that supplement the terms of this
346 | License by making exceptions from one or more of its conditions.
347 | Additional permissions that are applicable to the entire Program shall
348 | be treated as though they were included in this License, to the extent
349 | that they are valid under applicable law. If additional permissions
350 | apply only to part of the Program, that part may be used separately
351 | under those permissions, but the entire Program remains governed by
352 | this License without regard to the additional permissions.
353 |
354 | When you convey a copy of a covered work, you may at your option
355 | remove any additional permissions from that copy, or from any part of
356 | it. (Additional permissions may be written to require their own
357 | removal in certain cases when you modify the work.) You may place
358 | additional permissions on material, added by you to a covered work,
359 | for which you have or can give appropriate copyright permission.
360 |
361 | Notwithstanding any other provision of this License, for material you
362 | add to a covered work, you may (if authorized by the copyright holders of
363 | that material) supplement the terms of this License with terms:
364 |
365 | a) Disclaiming warranty or limiting liability differently from the
366 | terms of sections 15 and 16 of this License; or
367 |
368 | b) Requiring preservation of specified reasonable legal notices or
369 | author attributions in that material or in the Appropriate Legal
370 | Notices displayed by works containing it; or
371 |
372 | c) Prohibiting misrepresentation of the origin of that material, or
373 | requiring that modified versions of such material be marked in
374 | reasonable ways as different from the original version; or
375 |
376 | d) Limiting the use for publicity purposes of names of licensors or
377 | authors of the material; or
378 |
379 | e) Declining to grant rights under trademark law for use of some
380 | trade names, trademarks, or service marks; or
381 |
382 | f) Requiring indemnification of licensors and authors of that
383 | material by anyone who conveys the material (or modified versions of
384 | it) with contractual assumptions of liability to the recipient, for
385 | any liability that these contractual assumptions directly impose on
386 | those licensors and authors.
387 |
388 | All other non-permissive additional terms are considered "further
389 | restrictions" within the meaning of section 10. If the Program as you
390 | received it, or any part of it, contains a notice stating that it is
391 | governed by this License along with a term that is a further
392 | restriction, you may remove that term. If a license document contains
393 | a further restriction but permits relicensing or conveying under this
394 | License, you may add to a covered work material governed by the terms
395 | of that license document, provided that the further restriction does
396 | not survive such relicensing or conveying.
397 |
398 | If you add terms to a covered work in accord with this section, you
399 | must place, in the relevant source files, a statement of the
400 | additional terms that apply to those files, or a notice indicating
401 | where to find the applicable terms.
402 |
403 | Additional terms, permissive or non-permissive, may be stated in the
404 | form of a separately written license, or stated as exceptions;
405 | the above requirements apply either way.
406 |
407 | 8. Termination.
408 |
409 | You may not propagate or modify a covered work except as expressly
410 | provided under this License. Any attempt otherwise to propagate or
411 | modify it is void, and will automatically terminate your rights under
412 | this License (including any patent licenses granted under the third
413 | paragraph of section 11).
414 |
415 | However, if you cease all violation of this License, then your
416 | license from a particular copyright holder is reinstated (a)
417 | provisionally, unless and until the copyright holder explicitly and
418 | finally terminates your license, and (b) permanently, if the copyright
419 | holder fails to notify you of the violation by some reasonable means
420 | prior to 60 days after the cessation.
421 |
422 | Moreover, your license from a particular copyright holder is
423 | reinstated permanently if the copyright holder notifies you of the
424 | violation by some reasonable means, this is the first time you have
425 | received notice of violation of this License (for any work) from that
426 | copyright holder, and you cure the violation prior to 30 days after
427 | your receipt of the notice.
428 |
429 | Termination of your rights under this section does not terminate the
430 | licenses of parties who have received copies or rights from you under
431 | this License. If your rights have been terminated and not permanently
432 | reinstated, you do not qualify to receive new licenses for the same
433 | material under section 10.
434 |
435 | 9. Acceptance Not Required for Having Copies.
436 |
437 | You are not required to accept this License in order to receive or
438 | run a copy of the Program. Ancillary propagation of a covered work
439 | occurring solely as a consequence of using peer-to-peer transmission
440 | to receive a copy likewise does not require acceptance. However,
441 | nothing other than this License grants you permission to propagate or
442 | modify any covered work. These actions infringe copyright if you do
443 | not accept this License. Therefore, by modifying or propagating a
444 | covered work, you indicate your acceptance of this License to do so.
445 |
446 | 10. Automatic Licensing of Downstream Recipients.
447 |
448 | Each time you convey a covered work, the recipient automatically
449 | receives a license from the original licensors, to run, modify and
450 | propagate that work, subject to this License. You are not responsible
451 | for enforcing compliance by third parties with this License.
452 |
453 | An "entity transaction" is a transaction transferring control of an
454 | organization, or substantially all assets of one, or subdividing an
455 | organization, or merging organizations. If propagation of a covered
456 | work results from an entity transaction, each party to that
457 | transaction who receives a copy of the work also receives whatever
458 | licenses to the work the party's predecessor in interest had or could
459 | give under the previous paragraph, plus a right to possession of the
460 | Corresponding Source of the work from the predecessor in interest, if
461 | the predecessor has it or can get it with reasonable efforts.
462 |
463 | You may not impose any further restrictions on the exercise of the
464 | rights granted or affirmed under this License. For example, you may
465 | not impose a license fee, royalty, or other charge for exercise of
466 | rights granted under this License, and you may not initiate litigation
467 | (including a cross-claim or counterclaim in a lawsuit) alleging that
468 | any patent claim is infringed by making, using, selling, offering for
469 | sale, or importing the Program or any portion of it.
470 |
471 | 11. Patents.
472 |
473 | A "contributor" is a copyright holder who authorizes use under this
474 | License of the Program or a work on which the Program is based. The
475 | work thus licensed is called the contributor's "contributor version".
476 |
477 | A contributor's "essential patent claims" are all patent claims
478 | owned or controlled by the contributor, whether already acquired or
479 | hereafter acquired, that would be infringed by some manner, permitted
480 | by this License, of making, using, or selling its contributor version,
481 | but do not include claims that would be infringed only as a
482 | consequence of further modification of the contributor version. For
483 | purposes of this definition, "control" includes the right to grant
484 | patent sublicenses in a manner consistent with the requirements of
485 | this License.
486 |
487 | Each contributor grants you a non-exclusive, worldwide, royalty-free
488 | patent license under the contributor's essential patent claims, to
489 | make, use, sell, offer for sale, import and otherwise run, modify and
490 | propagate the contents of its contributor version.
491 |
492 | In the following three paragraphs, a "patent license" is any express
493 | agreement or commitment, however denominated, not to enforce a patent
494 | (such as an express permission to practice a patent or covenant not to
495 | sue for patent infringement). To "grant" such a patent license to a
496 | party means to make such an agreement or commitment not to enforce a
497 | patent against the party.
498 |
499 | If you convey a covered work, knowingly relying on a patent license,
500 | and the Corresponding Source of the work is not available for anyone
501 | to copy, free of charge and under the terms of this License, through a
502 | publicly available network server or other readily accessible means,
503 | then you must either (1) cause the Corresponding Source to be so
504 | available, or (2) arrange to deprive yourself of the benefit of the
505 | patent license for this particular work, or (3) arrange, in a manner
506 | consistent with the requirements of this License, to extend the patent
507 | license to downstream recipients. "Knowingly relying" means you have
508 | actual knowledge that, but for the patent license, your conveying the
509 | covered work in a country, or your recipient's use of the covered work
510 | in a country, would infringe one or more identifiable patents in that
511 | country that you have reason to believe are valid.
512 |
513 | If, pursuant to or in connection with a single transaction or
514 | arrangement, you convey, or propagate by procuring conveyance of, a
515 | covered work, and grant a patent license to some of the parties
516 | receiving the covered work authorizing them to use, propagate, modify
517 | or convey a specific copy of the covered work, then the patent license
518 | you grant is automatically extended to all recipients of the covered
519 | work and works based on it.
520 |
521 | A patent license is "discriminatory" if it does not include within
522 | the scope of its coverage, prohibits the exercise of, or is
523 | conditioned on the non-exercise of one or more of the rights that are
524 | specifically granted under this License. You may not convey a covered
525 | work if you are a party to an arrangement with a third party that is
526 | in the business of distributing software, under which you make payment
527 | to the third party based on the extent of your activity of conveying
528 | the work, and under which the third party grants, to any of the
529 | parties who would receive the covered work from you, a discriminatory
530 | patent license (a) in connection with copies of the covered work
531 | conveyed by you (or copies made from those copies), or (b) primarily
532 | for and in connection with specific products or compilations that
533 | contain the covered work, unless you entered into that arrangement,
534 | or that patent license was granted, prior to 28 March 2007.
535 |
536 | Nothing in this License shall be construed as excluding or limiting
537 | any implied license or other defenses to infringement that may
538 | otherwise be available to you under applicable patent law.
539 |
540 | 12. No Surrender of Others' Freedom.
541 |
542 | If conditions are imposed on you (whether by court order, agreement or
543 | otherwise) that contradict the conditions of this License, they do not
544 | excuse you from the conditions of this License. If you cannot convey a
545 | covered work so as to satisfy simultaneously your obligations under this
546 | License and any other pertinent obligations, then as a consequence you may
547 | not convey it at all. For example, if you agree to terms that obligate you
548 | to collect a royalty for further conveying from those to whom you convey
549 | the Program, the only way you could satisfy both those terms and this
550 | License would be to refrain entirely from conveying the Program.
551 |
552 | 13. Use with the GNU Affero General Public License.
553 |
554 | Notwithstanding any other provision of this License, you have
555 | permission to link or combine any covered work with a work licensed
556 | under version 3 of the GNU Affero General Public License into a single
557 | combined work, and to convey the resulting work. The terms of this
558 | License will continue to apply to the part which is the covered work,
559 | but the special requirements of the GNU Affero General Public License,
560 | section 13, concerning interaction through a network will apply to the
561 | combination as such.
562 |
563 | 14. Revised Versions of this License.
564 |
565 | The Free Software Foundation may publish revised and/or new versions of
566 | the GNU General Public License from time to time. Such new versions will
567 | be similar in spirit to the present version, but may differ in detail to
568 | address new problems or concerns.
569 |
570 | Each version is given a distinguishing version number. If the
571 | Program specifies that a certain numbered version of the GNU General
572 | Public License "or any later version" applies to it, you have the
573 | option of following the terms and conditions either of that numbered
574 | version or of any later version published by the Free Software
575 | Foundation. If the Program does not specify a version number of the
576 | GNU General Public License, you may choose any version ever published
577 | by the Free Software Foundation.
578 |
579 | If the Program specifies that a proxy can decide which future
580 | versions of the GNU General Public License can be used, that proxy's
581 | public statement of acceptance of a version permanently authorizes you
582 | to choose that version for the Program.
583 |
584 | Later license versions may give you additional or different
585 | permissions. However, no additional obligations are imposed on any
586 | author or copyright holder as a result of your choosing to follow a
587 | later version.
588 |
589 | 15. Disclaimer of Warranty.
590 |
591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
599 |
600 | 16. Limitation of Liability.
601 |
602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
610 | SUCH DAMAGES.
611 |
612 | 17. Interpretation of Sections 15 and 16.
613 |
614 | If the disclaimer of warranty and limitation of liability provided
615 | above cannot be given local legal effect according to their terms,
616 | reviewing courts shall apply local law that most closely approximates
617 | an absolute waiver of all civil liability in connection with the
618 | Program, unless a warranty or assumption of liability accompanies a
619 | copy of the Program in return for a fee.
620 |
621 | END OF TERMS AND CONDITIONS
622 |
623 | How to Apply These Terms to Your New Programs
624 |
625 | If you develop a new program, and you want it to be of the greatest
626 | possible use to the public, the best way to achieve this is to make it
627 | free software which everyone can redistribute and change under these terms.
628 |
629 | To do so, attach the following notices to the program. It is safest
630 | to attach them to the start of each source file to most effectively
631 | state the exclusion of warranty; and each file should have at least
632 | the "copyright" line and a pointer to where the full notice is found.
633 |
634 |
635 | Copyright (C)
636 |
637 | This program is free software: you can redistribute it and/or modify
638 | it under the terms of the GNU General Public License as published by
639 | the Free Software Foundation, either version 3 of the License, or
640 | (at your option) any later version.
641 |
642 | This program is distributed in the hope that it will be useful,
643 | but WITHOUT ANY WARRANTY; without even the implied warranty of
644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
645 | GNU General Public License for more details.
646 |
647 | You should have received a copy of the GNU General Public License
648 | along with this program. If not, see .
649 |
650 | Also add information on how to contact you by electronic and paper mail.
651 |
652 | If the program does terminal interaction, make it output a short
653 | notice like this when it starts in an interactive mode:
654 |
655 | Copyright (C)
656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
657 | This is free software, and you are welcome to redistribute it
658 | under certain conditions; type `show c' for details.
659 |
660 | The hypothetical commands `show w' and `show c' should show the appropriate
661 | parts of the General Public License. Of course, your program's commands
662 | might be different; for a GUI interface, you would use an "about box".
663 |
664 | You should also get your employer (if you work as a programmer) or school,
665 | if any, to sign a "copyright disclaimer" for the program, if necessary.
666 | For more information on this, and how to apply and follow the GNU GPL, see
667 | .
668 |
669 | The GNU General Public License does not permit incorporating your program
670 | into proprietary programs. If your program is a subroutine library, you
671 | may consider it more useful to permit linking proprietary applications with
672 | the library. If this is what you want to do, use the GNU Lesser General
673 | Public License instead of this License. But first, please read
674 | .
675 |
--------------------------------------------------------------------------------