diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
index 4bd149f05409b740f330aaa64c62ad244e76e99e..c0021acd3478a5906ca01142a198dd8238db81a6 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
@@ -115,6 +115,7 @@ namespace armarx
stackedLayout->addWidget(barsWidget);
getWidget()->setLayout(stackedLayout);
+
}
ArmarXPlotter::~ArmarXPlotter()
@@ -122,6 +123,7 @@ namespace armarx
// if(dialog && this->getState() == eManagedIceObjectInitialized)
// getArmarXManager()->removeObjectNonBlocking(dialog);
// delete dialog;
+
}
@@ -160,14 +162,20 @@ namespace armarx
}
+ usingTopic("TopicReplayerListener");
+
}
+
void ArmarXPlotter::onExitComponent()
{
+ unsubscribeFromTopic("TopicReplayerListener");
+
if (pollingTask)
{
pollingTask->stop();
}
+
}
void ArmarXPlotter::onCloseWidget(QCloseEvent* event)
@@ -194,6 +202,7 @@ namespace armarx
dialog->ui.spinBoxUpdateInterval->setValue(updateInterval);
dialog->ui.spinBoxShownInterval->setValue(shownInterval);
+ dialog->ui.syncDataLogging->setChecked(syncDataLogging);
dialog->ui.listWidget->clear();
dialog->ui.listWidget->addItems(selectedChannels);
// if(dialog->exec())
@@ -214,6 +223,7 @@ namespace armarx
pollingInterval = dialog->ui.spinBoxPollingInterval->value();
selectedChannels = dialog->getSelectedChannels();
loggingDir = dialog->ui.editLoggingDirectory->text();
+ syncDataLogging = dialog->ui.syncDataLogging->isChecked();
ui.btnLogToFile->setChecked(false);
ui.BTNPlotterStatus->setChecked(false);
markers.clear();
@@ -230,7 +240,6 @@ namespace armarx
{
if (toggled)
{
-
std::string filename = "datalog-" + IceUtil::Time::now().toDateTime() + ".csv";
boost::replace_all(filename, "/", "-");
filename = loggingDir.toStdString() + "/" + filename;
@@ -527,6 +536,8 @@ namespace armarx
settings->setValue("pollingInterval", pollingInterval);
settings->setValue("selectedChannels", selectedChannels);
settings->setValue("autoScaleActive", ui.BTNAutoScale->isChecked());
+ settings->setValue("syncDataLogging", syncDataLogging);
+
}
void ArmarXPlotter::loadSettings(QSettings* settings)
@@ -537,6 +548,7 @@ namespace armarx
pollingInterval = settings->value("pollingInterval", 33).toInt();
selectedChannels = settings->value("selectedChannels", QStringList()).toStringList();
ui.BTNAutoScale->setChecked(settings->value("autoScaleActive", true).toBool());
+ syncDataLogging = settings->value("syncDataLogging", false).toBool();
ARMARX_VERBOSE << "Settings loaded" << flush;
}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
index 15c0a7f89e570906ed7b6ea1a2d6442317823081..2bf57ee936be87ae041fb84f225ab512077eaf6f 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
@@ -41,6 +41,7 @@
#include <ArmarXCore/observers/variant/Variant.h>
#include <ArmarXCore/util/json/JSONObject.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/interface/components/TopicRecorderInterface.h>
// QT
#include <QWidget>
#include <QDialog>
@@ -78,12 +79,51 @@ namespace armarx
*/
class ARMARXCOMPONENT_IMPORT_EXPORT
ArmarXPlotter:
- public ArmarXComponentWidgetController
+ public ArmarXComponentWidgetController,
+ public TopicReplayerListenerInterface
+
{
Q_OBJECT
public:
+ void onStartReplay(const Ice::Current& c = Ice::Current())
+ {
+ if (!syncDataLogging)
+ {
+ return;
+ }
+
+ if (!ui.btnLogToFile->isChecked())
+ {
+ ui.btnLogToFile->setChecked(true);
+ toggleLogging(true);
+ }
+ else
+ {
+ ARMARX_WARNING << "already logging to file";
+ }
+ }
+
+ void onStopReply(const Ice::Current& c = Ice::Current())
+ {
+ if (!syncDataLogging)
+ {
+ return;
+ }
+
+ if (ui.btnLogToFile->isChecked())
+ {
+ ui.btnLogToFile->setChecked(false);
+ toggleLogging(false);
+ }
+ else
+ {
+ ARMARX_WARNING << "not logging to file.";
+ }
+ }
+
+
std::map<std::string, QwtPlotCurve*> curves;
Ui::ArmarXPlotter ui;
QPointer<ArmarXPlotterDialog> dialog;
@@ -156,6 +196,7 @@ namespace armarx
void logToFile(const IceUtil::Time& time, const std::map<std::string, VariantPtr>& dataMaptoAppend);
Mutex dataMutex;
+ bool syncDataLogging;
PeriodicTask<ArmarXPlotter>::pointer_type pollingTask;
int pollingInterval = 33;
std::ofstream logstream;
@@ -168,6 +209,7 @@ namespace armarx
std::map<std::string, QwtThermo*> bars;
void clearBarList();
+
};
}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
index 4a739efbff645b4943a9e3b245516f36c695245d..b2dc66d441043cc3e1c1a82560140e89cbfb9903 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
@@ -25,33 +25,6 @@
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QGridLayout" name="gridLayout">
- <item row="1" column="0">
- <widget class="QLabel" name="LblUpdateInterval">
- <property name="text">
- <string>Update interval (in ms)</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="LBLShownInterval">
- <property name="text">
- <string>Shown Interval (in s)</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
<item row="4" column="0">
<widget class="QLabel" name="label">
<property name="text">
@@ -59,23 +32,6 @@
</property>
</widget>
</item>
- <item row="5" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Logging directory</string>
- </property>
- </widget>
- </item>
- <item row="5" column="1" colspan="2">
- <widget class="QLineEdit" name="editLoggingDirectory"/>
- </item>
- <item row="5" column="3">
- <widget class="QToolButton" name="btnSelectLoggingDir">
- <property name="text">
- <string>...</string>
- </property>
- </widget>
- </item>
<item row="4" column="2" colspan="2">
<widget class="QSpinBox" name="spinBoxPollingInterval">
<property name="minimum">
@@ -89,6 +45,19 @@
</property>
</widget>
</item>
+ <item row="0" column="1">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
<item row="1" column="2" colspan="2">
<widget class="QSpinBox" name="spinBoxUpdateInterval">
<property name="buttonSymbols">
@@ -108,6 +77,30 @@
</property>
</widget>
</item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="LblUpdateInterval">
+ <property name="text">
+ <string>Update interval (in ms)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1" colspan="2">
+ <widget class="QLineEdit" name="editLoggingDirectory"/>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="LBLShownInterval">
+ <property name="text">
+ <string>Shown Interval (in s)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="3">
+ <widget class="QToolButton" name="btnSelectLoggingDir">
+ <property name="text">
+ <string>...</string>
+ </property>
+ </widget>
+ </item>
<item row="0" column="2" colspan="2">
<widget class="QSpinBox" name="spinBoxShownInterval">
<property name="minimum">
@@ -121,6 +114,20 @@
</property>
</widget>
</item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Logging directory</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <widget class="QCheckBox" name="syncDataLogging">
+ <property name="text">
+ <string>Synchronize data logging with TopicReplayer</string>
+ </property>
+ </widget>
+ </item>
</layout>
</item>
<item>
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
index 48671d0e8edda743e028eec78bfca31ce88660df..b299fbdfbccf8916f2d6b434c0918e5577ea1fc1 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
@@ -64,7 +64,7 @@ set(GUI_UIS
)
-set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreObservers ObserverPropertiesGuiPlugin RobotAPIInterfaces ${qwt_LIBRARIES} ${Simox_LIBRARIES} ${QT_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreTopicRecording ArmarXCoreObservers ObserverPropertiesGuiPlugin RobotAPIInterfaces ${qwt_LIBRARIES} ${Simox_LIBRARIES} ${QT_LIBRARIES})