Merge branch 'barchart' into 'master'

Barchart add-on for plotter gui-plugin

The plotter now has a dropdown menu to change the visualization style from curves to bars. 
The bars are dynamically scaled and added and receive the data in the same time as the curves.
The colors of bars and curves match.
Adding more styles in the future is easily possible due to stacked layout and singular distribution of data.

See merge request !3

source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp

@@ -35,12 +35,16 @@
 #include <qwt_legend.h>
 #include <qwt_legend_item.h>
 #include <qwt_series_data.h>
+#include <qwt_thermo.h>
+#include <qwt_scale_draw.h>
 
 //QT
 #include <QTimer>
 #include <QTime>
 #include <QSettings>
 #include <QDir>
+#include <QStackedLayout>
+#include <QTextEdit>
 
 #include <boost/date_time/posix_time/posix_time.hpp>
 
@@ -65,7 +69,8 @@ namespace armarx
         setTag("Plotter");
         ui.setupUi(getWidget());
         timer = new QTimer(getWidget());
-
+        //bars = new std::vector<QwtThermo*>();
+        barlayout = new QHBoxLayout;
         ////////////////
         //  Setup Plotter
         ///////////////
@@ -89,6 +94,17 @@ namespace armarx
         dialog = new ArmarXPlotterDialog(getWidget(), NULL);
         loggingDir = (QDir::currentPath());
         dialog->ui.editLoggingDirectory->setText(loggingDir);
+
+        graphStyle = ui.CBgraphStyle->currentIndex();
+        stackedLayout = new QStackedLayout(ui.verticalLayout);
+        stackedLayout->addWidget(ui.qwtPlot);
+
+        QWidget* barsWidget = new QWidget(getWidget());
+        barsWidget->setLayout(barlayout);
+        barsWidget->setAccessibleName("barsWidget");
+        stackedLayout->addWidget(barsWidget);
+
+        getWidget()->setLayout(stackedLayout);
     }
 
     ArmarXPlotter::~ArmarXPlotter()
@@ -126,6 +142,8 @@ namespace armarx
 
         connect(ui.btnLogToFile, SIGNAL(toggled(bool)), this, SLOT(toggleLogging(bool)));
 
+        connect(ui.CBgraphStyle, SIGNAL(currentIndexChanged(int)), this, SLOT(onGraphStyleChanged(int)));
+
         if (!QMetaObject::invokeMethod(this, "setupCurves"))
         {
             ARMARX_WARNING << "Failed to invoke enable";
@@ -189,6 +207,7 @@ namespace armarx
             ui.btnLogToFile->setChecked(false);
             curves.clear();
             ui.qwtPlot->detachItems();
+            clearBarList();
         }
 
         setupCurves();
@@ -215,7 +234,7 @@ namespace armarx
             {
                 logstream << "Timestamp";
 
-                for (auto& channel : selectedChannels)
+                for (auto & channel : selectedChannels)
                 {
                     logstream <<  "," << channel.toStdString();
                 }
@@ -229,6 +248,31 @@ namespace armarx
         }
     }
 
+    void ArmarXPlotter::onGraphStyleChanged(int idx)
+    {
+        if (graphStyle != idx)
+        {
+            graphStyle = idx;
+            stackedLayout->setCurrentIndex(graphStyle);
+
+            switch (idx)
+            {
+                case 0: //curves can have various scalings
+
+                    ui.BTNAutoScale->setDisabled(false);
+                    break;
+
+                case 1: //bar chart only autoscale possible
+
+                    ui.BTNAutoScale->setDisabled(true);
+                    break;
+
+                default:
+                    break;
+            }
+        }
+    }
+
     void ArmarXPlotter::pollingExec()
     {
         ScopedLock lock(dataMutex);
@@ -341,11 +385,18 @@ namespace armarx
 
             QwtSeriesData<QPointF>* pointSeries = new  QwtPointSeriesData(pointList);
 
-            if (curves.find(it->first) != curves.end())
+            if (curves.find(it->first) != curves.end() && bars.find(it->first) != bars.end())
             {
                 QwtPlotCurve* curve = curves[it->first];
                 curve->setData(pointSeries);
+
+                QwtThermo* bar = bars[it->first];
+                bar->setValue(pointList.first().y());
+
+                bar->setRange(curve->minYValue(), (curve->maxYValue())); //this autoscales the graph
             }
+
+
         }
 
 
@@ -383,7 +434,6 @@ namespace armarx
         ui.qwtPlot->setAxisAutoScale(QwtPlot::yLeft, toggled);
         ui.qwtPlot->replot();
 
-
     }
 
     void ArmarXPlotter::plottingPaused(bool toggled)
@@ -445,11 +495,42 @@ namespace armarx
         return curve;
     }
 
+    QwtThermo* ArmarXPlotter::createBar(const QString& label)
+    {
+        //creates a widget containing a bar chart and a label
+        //with the fill color of chart same as its curve
+
+        QwtThermo* bar = new QwtThermo(getWidget());
+        bar->setAccessibleName(label);
+        bar->setFillBrush(QBrush(QColor(Qt::GlobalColor((bars.size() + 7) % 15))));
+        bar->setStyleSheet("* { background-color: rgb(240, 240, 240); }"); //neccessary because white is a picked fill color
+
+        QTextEdit* lab = new QTextEdit(label, getWidget());
+        lab->setStyleSheet("* { background-color: rgb(240, 240, 240); }");
+        lab->setLineWrapMode(QTextEdit::WidgetWidth);
+        lab->setTextInteractionFlags(0);
+        lab->setFrameStyle(0);
+        int linecount = lab->document()->blockCount();
+        lab->setMaximumHeight(70 * linecount);
+        lab->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
+        QVBoxLayout* layout = new QVBoxLayout();
+        layout->addWidget(bar);
+        layout->addWidget(lab);
+
+        QWidget* widget = new QWidget(layout->widget());
+        widget->setLayout(layout);
+        barlayout->addWidget(widget);
+
+        return bar;
+    }
+
     void ArmarXPlotter::setupCurves()
     {
         {
+
             ScopedLock lock(dataMutex);
 
+
             for (int i = 0; i < selectedChannels.size(); i++)
             {
                 ARMARX_VERBOSE << "Channel: " << selectedChannels.at(i).toStdString() << flush;
@@ -462,6 +543,11 @@ namespace armarx
                 {
                     QwtPlotCurve* curve = createCurve(selectedChannels.at(i));
                     curves[selectedChannels.at(i).toStdString()] = curve;
+
+                    QwtThermo* bar = createBar(selectedChannels.at(i));
+                    bars[selectedChannels.at(i).toStdString()] = bar;
+
+
                 }
                 else
                 {
@@ -481,12 +567,16 @@ namespace armarx
                             ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
                             QwtPlotCurve* curve = createCurve(QString::fromStdString(key));
                             curves[key] = curve;
+
+                            QwtThermo* bar = createBar(QString::fromStdString(key));
+                            bars[key] = bar;
                         }
                     }
                 }
             }
 
             ui.qwtPlot->replot();
+
         }
         timer->start(updateInterval);
 
@@ -499,6 +589,23 @@ namespace armarx
         pollingTask->start();
     }
 
+    void ArmarXPlotter::clearBarList()
+    {
+        //maybe comparing new and old selected list better than doing a new one every time?
+        QLayoutItem* child;
+        int containedItems = barlayout->count() - 1;
+
+        for (int i = containedItems; i >= 0 ; i--) //must be done in this order due to internal implementation of layout item numbering
+        {
+            child = barlayout->itemAt(i);
+            barlayout->removeItem(child);
+            delete(child->widget());
+        }
+
+        bars.clear();
+    }
+
+
     std::map<string, VariantPtr> ArmarXPlotter::getData(const QStringList& channels, GraphDataMap& dataMaptoAppend)
     {
         map< std::string, DataFieldIdentifierBaseList > channelsSplittedByObserver;
@@ -591,7 +698,7 @@ namespace armarx
                         //                        ARMARX_IMPORTANT << id;
                         auto dict = JSONObject::ConvertToBasicVariantMap(json, var);
 
-                        for (const auto& e : dict)
+                        for (const auto & e : dict)
                         {
                             std::string key = id + "." + e.first;
                             //                            ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
@@ -631,7 +738,7 @@ namespace armarx
         {
             logstream << (time - logStartTime).toMilliSecondsDouble();
 
-            for (const auto& elem : dataMaptoAppend)
+            for (const auto & elem : dataMaptoAppend)
             {
                 logstream  << "," /*<< elem.first << ","*/ << elem.second->getOutputValueOnly();
             }
@@ -641,4 +748,5 @@ namespace armarx
     }
 
 
+
 }

source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h

@@ -48,6 +48,8 @@
 
 //forward declarations
 class QwtPlotCurve;
+class QwtThermo;
+class QStackedLayout;
 
 namespace armarx
 {
@@ -72,7 +74,7 @@ namespace armarx
       */
     class ARMARXCOMPONENT_IMPORT_EXPORT
         ArmarXPlotter:
-        public ArmarXComponentWidgetController
+    public ArmarXComponentWidgetController
     {
         Q_OBJECT
     public:
@@ -118,6 +120,7 @@ namespace armarx
         */
         void onCloseWidget(QCloseEvent* event);
         QwtPlotCurve* createCurve(const QString& label);
+        QwtThermo*  createBar(const QString& label);
     signals:
 
     public slots:
@@ -129,6 +132,7 @@ namespace armarx
         void plottingPaused(bool toggled);
         void configDone();
         void toggleLogging(bool toggled);
+        void onGraphStyleChanged(int idx);
 
     private slots:
         void setupCurves();
@@ -152,6 +156,13 @@ namespace armarx
         int pollingInterval;
         std::ofstream logstream;
         IceUtil::Time logStartTime;
+
+        int graphStyle;
+        QStackedLayout* stackedLayout;
+        QHBoxLayout* barlayout;
+        std::map<std::string, QwtThermo*> bars;
+        void clearBarList();
+
     };
 
 }

source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui

@@ -32,16 +32,7 @@
    <property name="spacing">
     <number>3</number>
    </property>
-   <property name="leftMargin">
-    <number>3</number>
-   </property>
-   <property name="topMargin">
-    <number>3</number>
-   </property>
-   <property name="rightMargin">
-    <number>3</number>
-   </property>
-   <property name="bottomMargin">
+   <property name="margin">
     <number>3</number>
    </property>
    <item>
@@ -111,6 +102,20 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QComboBox" name="CBgraphStyle">
+       <item>
+        <property name="text">
+         <string>Curve</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>Bar chart</string>
+        </property>
+       </item>
+      </widget>
+     </item>
      <item>
       <spacer name="horizontalSpacer">
        <property name="orientation">
@@ -132,7 +137,7 @@
   <customwidget>
    <class>QwtPlot</class>
    <extends>QFrame</extends>
-   <header location="global">qwt/qwt_plot.h</header>
+   <header>qwt_plot.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>