action_panel.py 文件源码

def __init__(self, fig, gs, rows, cols, actions_arr):
        """
        Constructs an ActionPanel assuming actions_arr is an array of
        fully initialized actions.
        Each action must have: key, name, func.
        Each action can have: axis_pos, keyboard_binding, ps3_binding.
        """
        assert len(actions_arr) <= rows*cols, 'Too many actions to put into gridspec.'

        self._fig = fig
        self._gs = gridspec.GridSpecFromSubplotSpec(rows, cols, subplot_spec=gs)
        self._axarr = [plt.subplot(self._gs[i]) for i in range(len(actions_arr))]

        # Read keyboard_bindings and ps3_bindings from config
        self._actions = {action.key: action for action in actions_arr}
        for key, action in self._actions.iteritems():
            if key in config['keyboard_bindings']:
                action.kb = config['keyboard_bindings'][key]
            if key in config['ps3_bindings']:
                action.pb = config['ps3_bindings'][key]

        self._buttons = None
        self._initialize_buttons()
        self._cid = self._fig.canvas.mpl_connect('key_press_event', self.on_key_press)
        if ROS_ENABLED:
            self._ps3_count = 0
            rospy.Subscriber(config['ps3_topic'], Joy, self.ps3_callback)