From 7a01369f7bff755d41bbef112417b87274a66c89 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Thu, 22 Dec 2016 17:04:27 +0100
Subject: [PATCH] plotter supports observers history now
---
.../ArmarXPlotter/ArmarXPlotter.cpp | 73 +++++++++++++++++--
.../core/remoterobot/RobotStateObserver.h | 4 +-
2 files changed, 69 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
index 5c43f0c87..0eb423190 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
@@ -274,7 +274,7 @@ namespace armarx
{
logstream << "Timestamp";
- for (auto & channel : selectedChannels)
+ for (auto& channel : selectedChannels)
{
logstream << "," << channel.toStdString();
}
@@ -334,7 +334,7 @@ namespace armarx
ScopedLock lock(dataMutex);
IceUtil::Time curTime = TimeUtil::GetTime();
// erase old markers
- for (auto & markerChannel : markers)
+ for (auto& markerChannel : markers)
{
for (auto it = markerChannel.second.begin(); it != markerChannel.second.end();)
{
@@ -383,7 +383,7 @@ namespace armarx
marker->setLineStyle(QwtPlotMarker::VLine);
marker->setLabelAlignment(Qt::AlignBottom | Qt::AlignLeft);
int i = 0;
- for (auto & markerSubMap : markers)
+ for (auto& markerSubMap : markers)
{
if (markerSubMap.first == datafieldId)
{
@@ -623,7 +623,8 @@ namespace armarx
{
ScopedLock lock(dataMutex);
-
+ auto now = TimeUtil::GetTime();
+ std::map<std::string, ChannelHistory> histories;
markers.clear();
for (int i = 0; i < selectedChannels.size(); i++)
{
@@ -633,6 +634,22 @@ namespace armarx
DataFieldIdentifierPtr identifier = new DataFieldIdentifier(selectedChannels.at(i).toStdString());
auto prx = getProxy<ObserverInterfacePrx>(identifier->observerName);
+
+ // get past data of that datafield
+ auto id = identifier->getIdentifierStr();
+ auto historiesIt = histories.find(identifier->channelName);
+
+ if (historiesIt == histories.end())
+ {
+ auto start = IceUtil::Time::now();
+ histories[identifier->channelName] = prx->getPartialChannelHistory(identifier->channelName,
+ (now - IceUtil::Time::seconds(shownInterval)).toMicroSeconds(), now.toMicroSeconds());
+ ARMARX_DEBUG << "history data polling took : " << (IceUtil::Time::now() - start).toMilliSecondsDouble() << " got " << histories[identifier->channelName].size() << " entries";
+ historiesIt = histories.find(identifier->channelName);
+ }
+
+ long lastTimestamp = 0;
+
VariantPtr var = VariantPtr::dynamicCast(prx->getDataField(identifier));
auto type = var->getType();
if (type == VariantType::String)
@@ -646,6 +663,15 @@ namespace armarx
QwtThermo* bar = createBar(selectedChannels.at(i));
bars[selectedChannels.at(i).toStdString()] = bar;
+
+ for (auto& entry : historiesIt->second)
+ {
+ if (lastTimestamp + pollingInterval < entry.first)
+ {
+ dataMap[id].push_back(TimeData(IceUtil::Time::microSeconds(entry.first), VariantPtr::dynamicCast(entry.second[identifier->datafieldName].value)));
+ lastTimestamp = entry.first;
+ }
+ }
}
else
{
@@ -674,7 +700,42 @@ namespace armarx
bars[key] = bar;
}
}
+ for (auto& entry : historiesIt->second)
+ {
+ if (lastTimestamp + pollingInterval < entry.first)
+ {
+ auto dict = JSONObject::ConvertToBasicVariantMap(json, entry.second[identifier->datafieldName].value);
+ for (const auto& e : dict)
+ {
+ if (e.first == "timestamp") // TimedVariants always contain a timestamp field which is irrelevant
+ {
+ continue;
+ }
+ std::string key = id + "." + e.first;
+ // ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
+ VariantPtr var = VariantPtr::dynamicCast(e.second);
+ auto type = var->getType();
+ if (type == VariantType::String)
+ {
+ // complex contain additional strings often, which cannot be selected right now -> disable strings from complex types
+ // if (dataMap[id].size() == 0 || dataMap[id].rbegin()->data->getString() != var->getString())
+ // {
+ // // only insert if changed
+ // dataMap[id].push_back(TimeData(time, var));
+ // newData[key] = var;
+ // }
+ }
+ else
+ {
+ dataMap[key].push_back(TimeData(IceUtil::Time::microSeconds(entry.first), var));
+ }
+ }
+ }
+ }
+
+
}
+
}
catch (...)
{
@@ -822,7 +883,7 @@ namespace armarx
{
auto dict = JSONObject::ConvertToBasicVariantMap(json, var);
- for (const auto & e : dict)
+ for (const auto& e : dict)
{
if (e.first == "timestamp") // TimedVariants always contain a timestamp field which is irrelevant
{
@@ -885,7 +946,7 @@ namespace armarx
{
logstream << (time - logStartTime).toMilliSecondsDouble() << ",";
- for (auto & channel : selectedChannels)
+ for (auto& channel : selectedChannels)
{
logstream << dataMaptoAppend.at(channel.toStdString())->Variant::getOutputValueOnly();
if (!selectedChannels.endsWith(channel))
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
index 2c4eae006..972e9c155 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
@@ -49,11 +49,11 @@ namespace armarx
* RobotStatePropertyDefinition Property Definitions
*/
class RobotStateObserverPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ObserverPropertyDefinitions
{
public:
RobotStateObserverPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
+ ObserverPropertyDefinitions(prefix)
{
defineOptionalProperty<std::string>("TCPsToReport", "", "comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none");
}
--
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