Added exception for if BLF is not installed

ami-iit · May 17, 2024 · f8b88fa · f8b88fa
1 parent 0b033ba
commit f8b88fa
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Showing 3 changed files with 20 additions and 5 deletions.
diff --git a/robot_log_visualizer/file_reader/signal_provider.py b/robot_log_visualizer/file_reader/signal_provider.py
@@ -10,7 +10,6 @@
 from robot_log_visualizer.utils.utils import PeriodicThreadState, RobotStatePath
 import idyntree.swig as idyn
 
-import bipedal_locomotion_framework.bindings as blf
 
 # for real-time logging
 import yarp
@@ -40,6 +39,13 @@ class SignalProvider(QThread):
     def __init__(self, period: float):
         QThread.__init__(self)
 
+        self.blfInstalled = True
+        try:
+            import bipedal_locomotion_framework.bindings as blf
+            self.blf = blf
+        except ImportError:
+            self.blfInstalled = False
+
         # set device state
         self._state = PeriodicThreadState.pause
         self.state_lock = QMutex()
@@ -78,7 +84,8 @@ def __init__(self, period: float):
 
         # for networking with the real-time logger
         self.realtime_network_init = False
-        self.vector_collections_client = blf.yarp_utilities.VectorsCollectionClient()
+        if self.blfInstalled:
+            self.vector_collections_client = blf.yarp_utilities.VectorsCollectionClient()
         self.trajectory_span = 200
         self.rt_metadata_dict = {}
 
@@ -207,7 +214,7 @@ def maintain_connection(self):
         if not self.realtime_network_init:
             yarp.Network.init()
 
-            param_handler = blf.parameters_handler.YarpParametersHandler()
+            param_handler = self.blf.parameters_handler.YarpParametersHandler()
             param_handler.set_parameter_string("remote", "/rtLoggingVectorCollections") # you must have some local port as well
             param_handler.set_parameter_string("local", "/visualizerInput") # remote must match the server
             param_handler.set_parameter_string("carrier", "udp")

diff --git a/robot_log_visualizer/ui/autogenerated/visualizer.py b/robot_log_visualizer/ui/autogenerated/visualizer.py
@@ -248,6 +248,7 @@ def setupUi(self, MainWindow):
 
         # Add a GUI action for connecting to the YARP port
         # for real-time logging
+
         self.actionConnect = QtWidgets.QAction(MainWindow)
         self.actionConnect.setObjectName("actionConnect")
 
@@ -284,8 +285,13 @@ def retranslateUi(self, MainWindow):
         self.actionQuit.setText(_translate("MainWindow", "&Quit"))
         self.actionQuit.setShortcut(_translate("MainWindow", "Ctrl+Q"))
         self.actionOpen.setText(_translate("MainWindow", "&Open"))
-        self.actionConnect.setText(_translate("MainWindow", "Realtime Connect"))
+        try:
+            import bipedal_locomotion_framework.bindings as blf
+            self.actionConnect.setText(_translate("MainWindow", "Realtime Connect"))
+        except ImportError:
+            self.actionConnect.setText(_translate("MainWindow", "Install BLF for RT Connect Functionality"))
         self.actionOpen.setShortcut(_translate("MainWindow", "Ctrl+O"))
         self.actionAbout.setText(_translate("MainWindow", "About"))
         self.actionSet_Robot_Model.setText(_translate("MainWindow", "Set Robot Model"))
+
 from PyQt5 import QtWebEngineWidgets
diff --git a/robot_log_visualizer/ui/gui.py b/robot_log_visualizer/ui/gui.py
@@ -199,7 +199,9 @@ def __init__(self, signal_provider, meshcat_provider, animation_period):
         # connect action
         self.ui.actionQuit.triggered.connect(self.close)
         self.ui.actionOpen.triggered.connect(self.open_mat_file)
-        self.ui.actionConnect.triggered.connect(self.connect_realtime_logger)
+
+        if self.signal_provider.blfInstalled:
+            self.ui.actionConnect.triggered.connect(self.connect_realtime_logger)
         self.ui.actionAbout.triggered.connect(self.open_about)
         self.ui.actionSet_Robot_Model.triggered.connect(self.open_set_robot_model)