From b4027acfce38fcfb574801d7fa09b5c67ba20c12 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 29 Jul 2021 14:49:31 +0200
Subject: [PATCH] ArViz: Cleanup timer changes from Coin to Qt
---
.../components/ArViz/Coin/Visualizer.cpp | 14 +---
.../components/ArViz/Coin/Visualizer.h | 1 -
.../ArViz/ArVizWidgetController.cpp | 73 ++++++++++++++-----
.../gui-plugins/ArViz/ArVizWidgetController.h | 3 +
4 files changed, 59 insertions(+), 32 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index 5f99047a6..778c2db5f 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -5,6 +5,7 @@
#include <Inventor/sensors/SoTimerSensor.h>
#include <Inventor/nodes/SoUnits.h>
+#include <QCoreApplication>
#include <thread>
@@ -88,11 +89,6 @@ namespace armarx::viz
&CoinVisualizerWrapper::onUpdateSuccess,
&CoinVisualizerWrapper::onUpdateFailure);
root = new SoSeparator;
-
- //timerSensor = new SoTimerSensor(updateVisualizationCB, this);
-
- //float cycleTimeMS = 33.0f;
- //timerSensor->setInterval(SbTime(cycleTimeMS / 1000.0f));
}
CoinVisualizer::~CoinVisualizer()
@@ -114,9 +110,6 @@ namespace armarx::viz
}
state = CoinVisualizerState::STARTING;
stateStorage = storage;
-
- //SoSensorManager* sensor_mgr = SoDB::getSensorManager();
- //sensor_mgr->insertTimerSensor(timerSensor);
}
void CoinVisualizer::stop()
@@ -126,15 +119,12 @@ namespace armarx::viz
return;
}
- SoSensorManager* sensor_mgr = SoDB::getSensorManager();
state = CoinVisualizerState::STOPPING;
while (state != CoinVisualizerState::STOPPED)
{
- sensor_mgr->processTimerQueue();
+ QCoreApplication::processEvents();
usleep(1000);
}
- sensor_mgr->removeTimerSensor(timerSensor);
-
}
CoinVisualizer_ApplyTiming CoinVisualizer::apply(data::LayerUpdate const& update)
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.h b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
index 49ad2a51b..1494be07d 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -229,7 +229,6 @@ namespace armarx::viz
std::mutex storageMutex;
viz::StorageInterfacePrx storage;
- SoTimerSensor* timerSensor = nullptr;
CoinLayerMap layers;
std::vector<std::type_index> elementVisualizersTypes;
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 4f7372a5e..e210b778f 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -810,30 +810,34 @@ namespace armarx
void ArVizWidgetController::onReplayTimerTick()
{
- if (mode != ArVizWidgetMode::ReplayingTimed)
+ if (mode == ArVizWidgetMode::ReplayingTimed)
{
- return;
- }
- double replaySpeed = widget.replaySpeedSpinBox->value();
+ double replaySpeed = widget.replaySpeedSpinBox->value();
- replayCurrentTimestamp += 33000 * replaySpeed;
+ long currentRealTime = IceUtil::Time::now().toMicroSeconds();
+ long elapsedRealTime = currentRealTime - lastReplayRealTime;
- long revision = getRevisionForTimestamp(replayCurrentTimestamp);
- if (revision == -2)
- {
- if (widget.replayLoopbackCheckBox->checkState() == Qt::Checked)
+ replayCurrentTimestamp += elapsedRealTime * replaySpeed;
+
+ long revision = getRevisionForTimestamp(replayCurrentTimestamp);
+ if (revision == -2)
{
- replayCurrentTimestamp = currentRecording.firstTimestampInMicroSeconds;
+ if (widget.replayLoopbackCheckBox->checkState() == Qt::Checked)
+ {
+ replayCurrentTimestamp = currentRecording.firstTimestampInMicroSeconds;
+ }
+ else
+ {
+ revision = currentRecording.lastRevision;
+ }
}
- else
+ if (revision >= 0)
{
- revision = currentRecording.lastRevision;
+ widget.replayRevisionSlider->setValue(revision);
}
}
- if (revision >= 0)
- {
- widget.replayRevisionSlider->setValue(revision);
- }
+
+ lastReplayRealTime = IceUtil::Time::now().toMicroSeconds();
}
void ArVizWidgetController::changeMode(ArVizWidgetMode newMode)
@@ -917,10 +921,16 @@ namespace armarx
auto& entry = recordingBatchCache[batch.header.index];
entry.data = batch;
entry.lastUsed = IceUtil::Time::now();
+
+ limitRecordingBatchCacheSize();
+
+ recordingWaitingForBatchIndex = -1;
}
viz::data::RecordingBatch const& ArVizWidgetController::getRecordingBatch(long index)
{
+ ARMARX_TRACE;
+
IceUtil::Time now = IceUtil::Time::now();
std::unique_lock<std::mutex> lock(recordingBatchCacheMutex);
@@ -930,16 +940,23 @@ namespace armarx
{
// Start prefetching neighbouring batches
bool asyncPrefetchIsRunning = callbackResult && !callbackResult->isCompleted();
- if (!asyncPrefetchIsRunning)
+ if (!asyncPrefetchIsRunning && recordingWaitingForBatchIndex == -1)
{
if (index + 1 < long(currentRecording.batchHeaders.size())
&& recordingBatchCache.count(index + 1) == 0)
{
+ // ARMARX_WARNING << "after begin_getRecordingBatch: " << (index + 1)
+ // << " waiting for " << recordingWaitingForBatchIndex;
callbackResult = storage->begin_getRecordingBatch(currentRecording.id, index + 1, callback);
+ recordingWaitingForBatchIndex = index + 1;
+ ARMARX_INFO << "Now waiting for " << recordingWaitingForBatchIndex;
}
else if (index > 0 && recordingBatchCache.count(index - 1) == 0)
{
+ // ARMARX_WARNING << "before begin_getRecordingBatch: " << (index - 1)
+ // << " waiting for " << recordingWaitingForBatchIndex;
callbackResult = storage->begin_getRecordingBatch(currentRecording.id, index - 1, callback);
+ recordingWaitingForBatchIndex = index - 1;
}
}
@@ -949,6 +966,19 @@ namespace armarx
return entry.data;
}
+ // Maybe there has already been sent a asynchronous request to get
+ if (index == recordingWaitingForBatchIndex)
+ {
+ lock.unlock();
+ ARMARX_INFO << "Waiting to receive async batch: " << index;
+ // Wait until request completes
+ while (recordingWaitingForBatchIndex != -1)
+ {
+ QCoreApplication::processEvents();
+ }
+ return getRecordingBatch(index);
+ }
+
ARMARX_INFO << "Batch #" << index << " is not in the cache. Getting synchronously, blocking GUI...";
// Entry is not in the cache, we have to get it from ArVizStorage
@@ -956,6 +986,13 @@ namespace armarx
newEntry.lastUsed = now;
newEntry.data = storage->getRecordingBatch(currentRecording.id, index);
+ limitRecordingBatchCacheSize();
+
+ return newEntry.data;
+ }
+
+ void ArVizWidgetController::limitRecordingBatchCacheSize()
+ {
if (recordingBatchCache.size() > recordingBatchCacheMaxSize)
{
// Remove the entry with the oldest last used timestamp
@@ -972,8 +1009,6 @@ namespace armarx
recordingBatchCache.erase(oldestIter);
}
-
- return newEntry.data;
}
SoNode* ArVizWidgetController::getScene()
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
index 31383a63e..4a493dbd1 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
@@ -182,6 +182,7 @@ namespace armarx
QTimer* replayTimer;
long replayCurrentTimestamp = 0;
+ long lastReplayRealTime = 0;
std::string storageName;
armarx::viz::StorageInterfacePrx storage;
@@ -207,9 +208,11 @@ namespace armarx
};
viz::data::RecordingBatch const& getRecordingBatch(long index);
+ void limitRecordingBatchCacheSize();
std::size_t recordingBatchCacheMaxSize = 5;
std::mutex recordingBatchCacheMutex;
+ std::atomic<long> recordingWaitingForBatchIndex = -1;
std::map<long, TimestampedRecordingBatch> recordingBatchCache;
ArVizWidgetMode mode = ArVizWidgetMode::NotConnected;
--
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