From fabc3dbac023d76835abc9f1ee071d8b03f86183 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Thu, 5 Jan 2017 20:20:47 +0100
Subject: [PATCH] moved plotter to gui package
---
.../ArmarXPlotter/ArmarXPlotter.cpp | 964 ------------------
.../ArmarXPlotter/ArmarXPlotter.h | 220 ----
.../ArmarXPlotter/ArmarXPlotter.ui | 164 ---
.../ArmarXPlotter/ArmarXPlotterDialog.cpp | 207 ----
.../ArmarXPlotter/ArmarXPlotterDialog.h | 100 --
.../ArmarXPlotter/ArmarXPlotterDialog.ui | 302 ------
.../SensorActorWidgetsPlugin/CMakeLists.txt | 13 +-
.../SensorActorWidgetsPlugin.cpp | 3 -
8 files changed, 3 insertions(+), 1970 deletions(-)
delete mode 100644 source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
delete mode 100644 source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
delete mode 100644 source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
delete mode 100644 source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
delete mode 100644 source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
delete mode 100644 source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
deleted file mode 100644
index 0eb423190..000000000
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
+++ /dev/null
@@ -1,964 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package ArmarX::Gui
-* @author Mirko Waechter ( mirko.waechter at kit dot edu)
-* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#include "ArmarXPlotter.h"
-#include "ArmarXPlotterDialog.h"
-
-#include <ArmarXCore/core/time/TimeUtil.h>
-#include <ArmarXCore/observers/ObserverObjectFactories.h>
-#include <ArmarXCore/observers/variant/DataFieldIdentifier.h>
-#include <ArmarXCore/observers/exceptions/local/InvalidChannelException.h>
-
-//ignore errors about extra ; from qwt
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
-#include <qwt_plot.h>
-#include <qwt_plot_marker.h>
-#include <qwt_plot_curve.h>
-#include <qwt_plot_panner.h>
-#include <qwt_plot_magnifier.h>
-#include <qwt_plot_canvas.h>
-#include <qwt_legend.h>
-#include <qwt_legend_item.h>
-#include <qwt_series_data.h>
-#include <qwt_thermo.h>
-#include <qwt_scale_draw.h>
-#pragma GCC diagnostic pop
-
-//QT
-#include <QTimer>
-#include <QTime>
-#include <QSettings>
-#include <QDir>
-#include <QStackedLayout>
-#include <QTextEdit>
-
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/filesystem/path.hpp>
-
-#include <IceUtil/IceUtil.h>
-
-#include <sstream>
-
-
-using namespace std;
-
-namespace armarx
-{
-
- ArmarXPlotter::ArmarXPlotter() :
- ArmarXComponentWidgetController(),
- updateInterval(100),
- shownInterval(60),
- startUpTime(QDateTime::currentDateTime())
-
-
- {
- setTag("Plotter");
- ui.setupUi(getWidget());
- timer = new QTimer(getWidget());
- //bars = new std::vector<QwtThermo*>();
- barlayout = new QHBoxLayout;
- ////////////////
- // Setup Plotter
- ///////////////
- // panning with the left mouse button
- (void) new QwtPlotPanner(ui.qwtPlot->canvas());
-
- // zoom in/out with the wheel
- QwtPlotMagnifier* magnifier = new QwtPlotMagnifier(ui.qwtPlot->canvas());
- magnifier->setAxisEnabled(QwtPlot::xBottom, false);
-
- ui.qwtPlot->canvas()->setPaintAttribute(QwtPlotCanvas::BackingStore, false); //increases performance for incremental drawing
-
- QwtLegend* legend = new QwtLegend;
- legend->setItemMode(QwtLegend::CheckableItem);
- ui.qwtPlot->insertLegend(legend, QwtPlot::BottomLegend);
-
-
- ui.qwtPlot->setAxisTitle(QwtPlot::xBottom, "Time (in sec)");
- ui.qwtPlot->enableAxis(QwtPlot::yLeft, false);
-
- ui.qwtPlot->enableAxis(QwtPlot::yRight, true);
- ui.qwtPlot->setAxisAutoScale(QwtPlot::yRight, true);
- // ui.qwtPlot->setAutoReplot();
-
- 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()
- {
- // if(dialog && this->getState() == eManagedIceObjectInitialized)
- // getArmarXManager()->removeObjectNonBlocking(dialog);
- // delete dialog;
-
- }
-
-
-
-
-
-
-
- void ArmarXPlotter::onInitComponent()
- {
- json = new JSONObject(getIceManager()->getCommunicator());
-
- }
-
- void ArmarXPlotter::onConnectComponent()
- {
- ARMARX_VERBOSE << "ArmarXPlotter started" << flush;
- dialog->setIceManager(getIceManager());
-
- connect(dialog, SIGNAL(accepted()), this, SLOT(configDone()));
- connect(ui.BTNEdit, SIGNAL(clicked()), this, SLOT(configDialog()));
- connect(timer, SIGNAL(timeout()), this, SLOT(updateGraph()));
- connect(ui.BTNPlotterStatus, SIGNAL(toggled(bool)), this, SLOT(plottingPaused(bool)));
-
- connect(ui.BTNAutoScale, SIGNAL(toggled(bool)), this, SLOT(autoScale(bool)));
- connect(ui.qwtPlot, SIGNAL(legendChecked(QwtPlotItem*, bool)),
- SLOT(showCurve(QwtPlotItem*, bool)));
-
- 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";
- }
-
-
- usingTopic("TopicReplayerListener");
-
- }
-
-
- void ArmarXPlotter::onExitComponent()
- {
- unsubscribeFromTopic("TopicReplayerListener");
-
- if (pollingTask)
- {
- pollingTask->stop();
- }
-
- }
-
- void ArmarXPlotter::onCloseWidget(QCloseEvent* event)
- {
- ARMARX_VERBOSE << "closing" << flush;
- timer->stop();
-
- if (logstream.is_open())
- {
- logstream.close();
- }
- }
-
- void ArmarXPlotter::ButtonAddSensorChannelClicked()
- {
- }
-
- void ArmarXPlotter::configDialog()
- {
- if (!dialog)
- {
- return;
- }
-
- 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())
- // configDone();
- dialog->setModal(true);
- dialog->show();
- // dialog->raise();
- // dialog->activateWindow();
- // dialog->setParent(0);
- }
-
- void ArmarXPlotter::configDone()
- {
- {
- ScopedLock lock(dataMutex);
- updateInterval = dialog->ui.spinBoxUpdateInterval->value();
- shownInterval = dialog->ui.spinBoxShownInterval->value();
- 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();
- curves.clear();
- dataMap.clear();
- ui.qwtPlot->detachItems();
- clearBarList();
- }
-
- setupCurves();
- }
-
- void ArmarXPlotter::toggleLogging(bool toggled)
- {
- std::lock_guard<std::mutex> lock(mutex);
-
- if (toggled)
- {
- boost::filesystem::path outputPath;
- if (filename.empty())
- {
- outputPath = loggingDir.toStdString() + "/datalog.csv";
-
- std::string time = IceUtil::Time::now().toDateTime();
- boost::replace_all(time, "/", "-");
- boost::replace_all(time, " ", "_");
- boost::replace_all(time, ":", "-");
- outputPath = outputPath.parent_path() / (outputPath.stem().string() + "-" + time + outputPath.extension().string());
-
- }
- else
- {
- boost::filesystem::path path = filename;
- outputPath = loggingDir.toStdString() + "/" + path.stem().string() + ".csv";
- }
-
- ARMARX_INFO << "Logging to " << outputPath.string();
- logstream.open(outputPath.string());
- logStartTime = IceUtil::Time::now();
-
- if (!logstream.is_open())
- {
- ARMARX_ERROR << "Could not open file for logging: " << outputPath.string();
- ui.btnLogToFile->setChecked(false);
- }
- else
- {
- logstream << "Timestamp";
-
- for (auto& channel : selectedChannels)
- {
- logstream << "," << channel.toStdString();
- }
-
- logstream << std::endl;
- }
- }
- else
- {
- filename = "";
- logstream.flush();
- ARMARX_INFO << "done writing log";
- logstream.close();
- }
- }
-
- 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()
- {
- std::map<string, VariantPtr> newData = getData(selectedChannels);
-
-
- if (ui.btnLogToFile->isChecked())
- {
- logToFile(IceUtil::Time::now(), newData);
- }
- }
-
-
-
- void ArmarXPlotter::updateGraph()
- {
- ScopedLock lock(dataMutex);
- IceUtil::Time curTime = TimeUtil::GetTime();
- // erase old markers
- for (auto& markerChannel : markers)
- {
- for (auto it = markerChannel.second.begin(); it != markerChannel.second.end();)
- {
- if ((curTime - it->first).toSecondsDouble() > shownInterval)
- {
- it = markerChannel.second.erase(it);
- }
- else
- {
- it++;
- }
- }
- }
-
- QPointF p;
-
- // int size = shownInterval*1000/updateInterval;
- GraphDataMap::iterator it = dataMap.begin();
-
-
- for (; it != dataMap.end(); ++it)
- {
-
- QVector<QPointF> pointList;
- pointList.clear();
- auto datafieldId = it->first;
- std::vector<TimeData>& dataVec = it->second;
- // int newSize = min(size,(int)dataVec.size());
- pointList.resize(dataVec.size());
- auto addMarker = [this](IceUtil::Time & age, VariantPtr & var, std::string & datafieldId)
- {
- std::map < std::string, boost::shared_ptr<QwtPlotMarker>>& markerSubMap = markers[datafieldId][age];
-
- std::string value = var->getString();
- auto it2 = markerSubMap.find(value);
- if (it2 != markerSubMap.end())
- {
- boost::shared_ptr<QwtPlotMarker> marker = it2->second;
- marker->setXValue(0.001 * age.toMilliSecondsDouble());
- }
- else
- {
- boost::shared_ptr<QwtPlotMarker> marker(new QwtPlotMarker());
- marker->setValue(0.001 * age.toMilliSecondsDouble(), 0);
- marker->setLabel(QwtText(QString::fromStdString(value)));
- marker->setLineStyle(QwtPlotMarker::VLine);
- marker->setLabelAlignment(Qt::AlignBottom | Qt::AlignLeft);
- int i = 0;
- for (auto& markerSubMap : markers)
- {
- if (markerSubMap.first == datafieldId)
- {
- break;
- }
- i++;
- }
- marker->setLinePen(QColor(Qt::GlobalColor((i) % 5 + 13)));
- marker->attach(ui.qwtPlot);
- markerSubMap[value] = marker;
- }
-
- };
-
- try
- {
- int j = 0;
-
- for (int i = dataVec.size() - 1; i >= 0 ; --i)
- {
- TimeData& data = dataVec[i];
- IceUtil::Time age = (data.time - curTime);
-
- if (age.toMilliSecondsDouble() <= shownInterval * 1000)
- {
- VariantPtr var = VariantPtr::dynamicCast(data.data);
-
- if (var->getInitialized())
- {
- float xValue = 0.001 * age.toMilliSecondsDouble();
- auto type = var->getType();
- double yValue = 0;
- if (type == VariantType::Float && var->getFloat() != std::numeric_limits<float>::infinity())
- {
- yValue = (var->getFloat());
- }
- else if (type == VariantType::Double && var->getDouble() != std::numeric_limits<double>::infinity())
- {
- yValue = (var->getDouble());
- }
- else if (type == VariantType::Int && var->getInt() != std::numeric_limits<int>::infinity())
- {
- yValue = (var->getInt());
- }
- else if (type == VariantType::Bool)
- {
- yValue = (var->getBool() ? 1 : -1);
- }
- else if (type == VariantType::String)
- {
- addMarker(age, var, datafieldId);
- }
- else
- {
- continue;
- }
-
- if ((signed int)j < pointList.size())
- {
- pointList[j].setY(yValue);
- pointList[j].setX(xValue);
- }
- else
- {
-
- p.setY(yValue);
- p.setX(xValue);
- pointList.push_back(p);
- }
-
- j++;
- }
- else
- {
- ARMARX_WARNING << deactivateSpam(3) << "uninitialized field: " << it->first;
- }
-
- }
- else
- {
- break; // data too old from now
- }
- }
- }
- catch (...)
- {
- handleExceptions();
- }
-
- QwtSeriesData<QPointF>* pointSeries = new QwtPointSeriesData(pointList);
-
- if (pointList.size() > 0 && curves.find(it->first) != curves.end() && bars.find(it->first) != bars.end())
- {
- QwtPlotCurve* curve = curves[it->first];
- curve->setData(pointSeries);
- curve->setYAxis(QwtPlot::yRight);
- QwtThermo* bar = bars[it->first];
- bar->setValue(pointList.first().y());
-
- bar->setRange(curve->minYValue(), (curve->maxYValue())); //this autoscales the graph
- }
-
-
- }
-
-
- ui.qwtPlot->setAxisScale(QwtPlot::xBottom, shownInterval * -1, 0.f);
-
- if (ui.BTNAutoScale->isChecked())
- {
- ui.qwtPlot->setAxisAutoScale(QwtPlot::yRight, true);
- }
-
- // ui.qwtPlot->setAxisScale( QwtPlot::yLeft, -1, 1);
-
- ui.qwtPlot->replot();
- }
-
- void ArmarXPlotter::showCurve(QwtPlotItem* item, bool on)
- {
- item->setVisible(on);
-
- QwtLegendItem* legendItem =
- qobject_cast<QwtLegendItem*>(ui.qwtPlot->legend()->find(item));
-
- if (legendItem)
- {
- legendItem->setChecked(on);
- }
-
- ui.qwtPlot->replot();
- }
-
- void ArmarXPlotter::autoScale(bool toggled)
- {
- ARMARX_VERBOSE << "clicked autoscale" << flush;
-
- ui.qwtPlot->setAxisAutoScale(QwtPlot::yRight, toggled);
- ui.qwtPlot->replot();
-
- }
-
- void ArmarXPlotter::plottingPaused(bool toggled)
- {
- __plottingPaused = toggled;
-
- if (pollingTask)
- {
- pollingTask->stop();
- }
-
- if (__plottingPaused)
- {
- timer->stop();
- }
- else
- {
- pollingTask = new PeriodicTask<ArmarXPlotter>(this, & ArmarXPlotter::pollingExec, pollingInterval, false, "DataPollingTask", false);
- pollingTask->start();
- timer->start();
- }
- }
-
-
-
- void ArmarXPlotter::saveSettings(QSettings* settings)
- {
- ScopedLock lock(dataMutex);
- settings->setValue("updateInterval", updateInterval);
- settings->setValue("shownInterval", shownInterval);
- settings->setValue("pollingInterval", pollingInterval);
- settings->setValue("selectedChannels", selectedChannels);
- settings->setValue("autoScaleActive", ui.BTNAutoScale->isChecked());
- settings->setValue("syncDataLogging", syncDataLogging);
-
- }
-
- void ArmarXPlotter::loadSettings(QSettings* settings)
- {
- ScopedLock lock(dataMutex);
- updateInterval = settings->value("updateInterval", 100).toInt();
- shownInterval = settings->value("shownInterval", 60).toInt();
- 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;
- }
-
- QwtPlotCurve* ArmarXPlotter::createCurve(const QString& label)
- {
- QwtPlotCurve* curve = new QwtPlotCurve(label);
- curve->setRenderHint(QwtPlotItem::RenderAntialiased);
- curve->setPen(QColor(Qt::GlobalColor((curves.size()) % 15 + 7)));
- curve->setStyle(QwtPlotCurve::Lines);
- curve->setPaintAttribute(QwtPlotCurve::CacheSymbols, true);
- curve->setPaintAttribute(QwtPlotCurve::ClipPolygons, true);
-
- curve->attach(ui.qwtPlot);
- showCurve(curve, true);
-
- 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);
- auto now = TimeUtil::GetTime();
- std::map<std::string, ChannelHistory> histories;
- markers.clear();
- for (int i = 0; i < selectedChannels.size(); i++)
- {
- try
- {
- ARMARX_VERBOSE << "Channel: " << selectedChannels.at(i).toStdString() << flush;
- 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)
- {
- // do nothing for now
- }
- else if (VariantType::IsBasicType(type))
- {
- QwtPlotCurve* curve = createCurve(selectedChannels.at(i));
- curves[selectedChannels.at(i).toStdString()] = curve;
-
- 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
- {
- auto id = identifier->getIdentifierStr();
- ARMARX_IMPORTANT << id;
- auto dict = JSONObject::ConvertToBasicVariantMap(json, var);
-
- for (auto e : dict)
- {
- if (e.first == "timestamp") // TimedVariants always contain a timestamp field which is irrelevant
- {
- continue;
- }
- VariantTypeId type = e.second->getType();
-
- if (type == VariantType::Double
- || type == VariantType::Float
- || type == VariantType::Int)
- {
- std::string key = id + "." + e.first;
- 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;
- }
- }
- 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 (...)
- {
- handleExceptions();
- }
- }
-
- ui.qwtPlot->replot();
-
- }
- timer->start(updateInterval);
-
- if (pollingTask)
- {
- pollingTask->stop();
- }
-
- pollingTask = new PeriodicTask<ArmarXPlotter>(this, & ArmarXPlotter::pollingExec, pollingInterval, false, "DataPollingTask", false);
- 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)
- {
- map< std::string, DataFieldIdentifierBaseList > channelsSplittedByObserver;
- foreach(QString channel, channels)
- {
- DataFieldIdentifierPtr identifier = new DataFieldIdentifier(channel.toStdString());
- channelsSplittedByObserver[identifier->getObserverName()].push_back(identifier);
- // ARMARX_INFO << identifier;
- }
- std::map<std::string, VariantPtr> newData;
- {
- ScopedLock lock(dataMutex);
-
- // first clear to old entries
- auto now = TimeUtil::GetTime();
- GraphDataMap::iterator itmap = dataMap.begin();
-
- for (; itmap != dataMap.end(); ++itmap)
- {
- std::vector<TimeData>& dataVec = itmap->second;
- int stepSize = std::max<int>(1, dataVec.size() * 0.01);
- int thresholdIndex = -1;
-
- for (unsigned int i = 0; i < dataVec.size(); i += stepSize)
- {
- // only delete if entries are older than 2*showninterval
- // and delete then all entries that are older than showninterval.
- // otherwise it would delete items on every call, which would be very slow
-
- if ((now - dataVec[i].time).toSecondsDouble() > shownInterval * 2
- || (thresholdIndex != -1 && (now - dataVec[i].time).toSecondsDouble() > shownInterval)
- )
- {
- thresholdIndex = i;
- }
- else
- {
- break;
- }
- }
-
- if (thresholdIndex != -1)
- {
- unsigned int offset = std::min((int)dataVec.size(), thresholdIndex);
-
- // ARMARX_IMPORTANT << "Erasing " << offset << " fields";
- if (offset > dataVec.size())
- {
- dataVec.clear();
- }
- else
- {
- dataVec.erase(dataVec.begin(), dataVec.begin() + offset);
- }
- }
-
- // ARMARX_IMPORTANT << deactivateSpam(5) << "size: " << dataVec.size();
- }
-
- }
-
- // now get new data
- IceUtil::Time time = TimeUtil::GetTime();
- map<string, DataFieldIdentifierBaseList >::iterator it = channelsSplittedByObserver.begin();
-
- try
- {
- for (; it != channelsSplittedByObserver.end(); ++it)
- {
- std::string observerName = it->first;
-
- if (proxyMap.find(observerName) == proxyMap.end())
- {
- proxyMap[observerName] = getProxy<ObserverInterfacePrx>(observerName);
- }
-
- // QDateTime time(QDateTime::currentDateTime());
- TimedVariantBaseList variants = proxyMap[observerName]->getDataFields(it->second);
-
- ScopedLock lock(dataMutex);
- // # ARMARX_IMPORTANT << "data from observer: " << observerName;
- for (unsigned int i = 0; i < variants.size(); ++i)
- {
- // ARMARX_IMPORTANT << "Variant: " << VariantPtr::dynamicCast(variants[i]);
- VariantPtr var = VariantPtr::dynamicCast(variants[i]);
- if (!var->getInitialized())
- {
- continue;
- }
- auto id = DataFieldIdentifierPtr::dynamicCast(it->second[i])->getIdentifierStr();
- auto type = var->getType();
- if (type == VariantType::String)
- {
- if (dataMap[id].size() == 0 || dataMap[id].rbegin()->data->getString() != var->getString())
- {
- // only insert if changed
- dataMap[id].push_back(TimeData(time, var));
- newData[id] = var;
- }
- }
- else if (VariantType::IsBasicType(type))
- {
- dataMap[id].push_back(TimeData(time, var));
- newData[id] = var;
- }
- else
- {
- auto dict = JSONObject::ConvertToBasicVariantMap(json, var);
-
- 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(time, var));
- newData[key] = var;
- }
- }
- }
-
- }
-
- }
- }
- catch (Ice::NotRegisteredException& e)
- {
- ARMARX_WARNING << deactivateSpam(3) << "Caught Ice::NotRegisteredException: " << e.what();
- }
- catch (exceptions::local::InvalidDataFieldException& e)
- {
- ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidDataFieldException: " << e.what();
- }
- catch (exceptions::local::InvalidChannelException& e)
- {
- ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidChannelException: " << e.what();
- }
- catch (armarx::UserException& e)
- {
- ARMARX_WARNING << deactivateSpam(5) << "Caught UserException: " << e.what() << "\nReason: " << e.reason;
- }
- catch (...)
- {
- ARMARX_WARNING << deactivateSpam(5) << GetHandledExceptionString();
- }
-
- return newData;
- }
-
- void ArmarXPlotter::logToFile(const IceUtil::Time& time, const std::map<std::string, VariantPtr>& dataMaptoAppend)
- {
-
- if (logstream.is_open() && dataMaptoAppend.size() > 0)
- {
- logstream << (time - logStartTime).toMilliSecondsDouble() << ",";
-
- for (auto& channel : selectedChannels)
- {
- logstream << dataMaptoAppend.at(channel.toStdString())->Variant::getOutputValueOnly();
- if (!selectedChannels.endsWith(channel))
- {
- logstream << ",";
- }
- }
-
- logstream << std::endl;
- }
- }
-
-
-
-}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
deleted file mode 100644
index 2313c9699..000000000
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
+++ /dev/null
@@ -1,220 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package ArmarX::Gui
-* @author Mirko Waechter ( mirko.waechter at kit dot edu)
-* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#ifndef ARMARXPLOTTER_H
-#define ARMARXPLOTTER_H
-
-//ignore errors about extra ; from qwt
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
-#include "ui_ArmarXPlotter.h"
-#pragma GCC diagnostic pop
-
-// ArmarX
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/gui-plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
-
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-#include <ArmarXCore/core/system/AbstractFactoryMethod.h>
-#include <ArmarXCore/interface/observers/ConditionHandlerInterface.h>
-#include <ArmarXCore/observers/variant/DataFieldIdentifier.h>
-#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>
-#include <QDateTime>
-
-#include <vector>
-#include <fstream>
-#include <mutex>
-
-//forward declarations
-class QwtPlotCurve;
-class QwtThermo;
-class QStackedLayout;
-class QwtPlotMarker;
-
-namespace armarx
-{
- struct TimeData
- {
- TimeData(const IceUtil::Time& time, const VariantPtr& data): time(time), data(data) {}
-
- IceUtil::Time time;
- VariantPtr data;
- };
-
- typedef std::map< std::string, ObserverInterfacePrx> ProxyMap;
- typedef std::map< std::string, std::vector<TimeData> > GraphDataMap;
-
- class ArmarXPlotterDialog;
- /*!
- * \page RobotAPI-GuiPlugins-ArmarXPlotter ArmarXPlotter
- * \brief The plotter widget allows the user to plot any sensor channel.
- * \image html PlotterGUI.png
- * A sensor channel can be selected for plotting by clicking the wrench button at the bottom.
- * \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- */
- class ARMARXCOMPONENT_IMPORT_EXPORT
- ArmarXPlotter:
- public ArmarXComponentWidgetController,
- public TopicReplayerListenerInterface
-
- {
- Q_OBJECT
- public:
-
-
- void onStartReplay(const std::string& filename, const Ice::Current& c = Ice::Current())
- {
- if (!syncDataLogging)
- {
- return;
- }
-
- if (!ui.btnLogToFile->isChecked())
- {
- this->filename = filename;
- ui.btnLogToFile->setChecked(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);
- }
- else
- {
- ARMARX_WARNING << "not logging to file.";
- }
- }
-
-
- std::map<std::string, QwtPlotCurve*> curves;
- Ui::ArmarXPlotter ui;
- QPointer<ArmarXPlotterDialog> dialog;
- QTimer* timer;
- ConditionHandlerInterfacePrx handler;
-
- // Configuration Parameters
- int updateInterval;
- int shownInterval;
- QStringList selectedChannels;
- QString loggingDir;
-
- explicit ArmarXPlotter();
- ~ArmarXPlotter();
- //inherited from ArmarXWidget
- virtual QString getWidgetName() const
- {
- return "Observers.Plotter";
- }
- virtual QIcon getWidgetIcon() const
- {
- return QIcon("://icons/combo_chart.svg");
- }
- void loadSettings(QSettings* settings);
- void saveSettings(QSettings* settings);
- //for AbstractFactoryMethod class
-
-
- // inherited from Component
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onExitComponent();
-
-
-
- /**
- * emits the closeRequest signal
- */
- void onCloseWidget(QCloseEvent* event);
- QwtPlotCurve* createCurve(const QString& label);
- QwtThermo* createBar(const QString& label);
- signals:
-
- public slots:
- void ButtonAddSensorChannelClicked();
- void configDialog();
- void updateGraph();
- void showCurve(QwtPlotItem* item, bool on);
- void autoScale(bool toggled);
- void plottingPaused(bool toggled);
- void configDone();
- void toggleLogging(bool toggled);
- void onGraphStyleChanged(int idx);
-
- private slots:
- void setupCurves();
- protected:
- boost::shared_ptr<QSettings> settings;
- private:
-
- void pollingExec();
- QDateTime startUpTime;
- GraphDataMap dataMap;
- std::map< std::string, ObserverInterfacePrx> proxyMap;
- bool __plottingPaused;
- JSONObjectPtr json;
-
-
- std::map<std::string, VariantPtr> getData(const QStringList& channels);
- 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;
- IceUtil::Time logStartTime;
- std::string filename = "";
-
- int graphStyle;
- std::map<std::string, std::map<IceUtil::Time, std::map<std::string, boost::shared_ptr<QwtPlotMarker>>>> markers;
- QStackedLayout* stackedLayout;
- QHBoxLayout* barlayout;
- std::map<std::string, QwtThermo*> bars;
- void clearBarList();
-
- std::mutex mutex;
-
-
- };
-
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
deleted file mode 100644
index 6d70dfa3d..000000000
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
+++ /dev/null
@@ -1,164 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>ArmarXPlotter</class>
- <widget class="QWidget" name="ArmarXPlotter">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>400</width>
- <height>400</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>150</width>
- <height>150</height>
- </size>
- </property>
- <property name="windowTitle">
- <string>ArmarX Plotter</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <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">
- <number>3</number>
- </property>
- <item>
- <widget class="QwtPlot" name="qwtPlot"/>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <property name="spacing">
- <number>0</number>
- </property>
- <item>
- <widget class="QToolButton" name="BTNEdit">
- <property name="toolTip">
- <string>Edit the plotter settings</string>
- </property>
- <property name="text">
- <string>...</string>
- </property>
- <property name="icon">
- <iconset>
- <normaloff>:/icons/configure-3.png</normaloff>:/icons/configure-3.png</iconset>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QToolButton" name="BTNPlotterStatus">
- <property name="toolTip">
- <string>Pause the update of the plotter (saves bandwidth and cpu costs)</string>
- </property>
- <property name="text">
- <string>...</string>
- </property>
- <property name="icon">
- <iconset>
- <normaloff>:/icons/media-playback-pause.ico</normaloff>:/icons/media-playback-pause.ico</iconset>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QToolButton" name="BTNAutoScale">
- <property name="toolTip">
- <string>Automatic scaling of the graph</string>
- </property>
- <property name="text">
- <string>Auto Scale</string>
- </property>
- <property name="icon">
- <iconset>
- <normaloff>:/icons/zoom-original-2.png</normaloff>:/icons/zoom-original-2.png</iconset>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QToolButton" name="btnLogToFile">
- <property name="toolTip">
- <string>Toggle logging to filepath selected in the settings</string>
- </property>
- <property name="text">
- <string>...</string>
- </property>
- <property name="icon">
- <iconset>
- <normaloff>://icons/papyrus.svg</normaloff>://icons/papyrus.svg</iconset>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </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">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <customwidgets>
- <customwidget>
- <class>QwtPlot</class>
- <extends>QFrame</extends>
- <header>qwt_plot.h</header>
- <container>1</container>
- </customwidget>
- </customwidgets>
- <resources/>
- <connections/>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
deleted file mode 100644
index 30a7d5844..000000000
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
+++ /dev/null
@@ -1,207 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package ArmarX::Gui
-* @author Mirko Waechter ( mirko.waechter at kit dot edu)
-* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#include "ArmarXPlotterDialog.h"
-#include "ArmarXPlotter.h"
-
-#include <IceUtil/UUID.h>
-
-#include <QFileDialog>
-#include <sstream>
-
-
-using namespace armarx;
-using namespace std;
-
-
-ArmarXPlotterDialog::ArmarXPlotterDialog(QWidget* parent, IceManagerPtr iceManager) :
- QDialog(parent),
- uuid(IceUtil::generateUUID()),
- iceManager(iceManager)
-{
- ui.setupUi(this);
- model = NULL;
-
-
- connect(ui.BTNAddSelectedChannels, SIGNAL(clicked()), this, SLOT(ButtonAddSelectedChannelClicked()));
- connect(ui.BTNRemoveSelected, SIGNAL(clicked()), this, SLOT(ButtonRemoveChannelClicked()));
- connect(ui.treeViewObservers, SIGNAL(doubleClicked(QModelIndex)), this, SLOT(treeView_doubleClick(QModelIndex)));
- connect(ui.listWidget, SIGNAL(doubleClicked(QModelIndex)), this, SLOT(ButtonRemoveChannelClicked(QModelIndex)));
- connect(ui.btnRefresh, SIGNAL(clicked()), this, SLOT(updateObservers()));
-
-
-}
-
-ArmarXPlotterDialog::~ArmarXPlotterDialog()
-{
- // ARMARX_INFO << "~ArmarXPlotterDialog" ;
-}
-
-void ArmarXPlotterDialog::setIceManager(IceManagerPtr iceManager)
-{
- this->iceManager = iceManager;
-}
-
-
-
-//string ArmarXPlotterDialog::getDefaultName() const
-//{
-// stringstream str;
-// str << "ArmarXPlotterDialog" << uuid;
-// return str.str();
-//}
-
-
-//void ArmarXPlotterDialog::onInitComponent()
-//{
-// usingProxy("ConditionHandler");
-//}
-
-//void ArmarXPlotterDialog::onConnectComponent()
-//{
-// // get proxy of conditionhandler
-// handler = getProxy<ConditionHandlerInterfacePrx>("ConditionHandler");
-
-// updateObservers();
-//}
-
-//void ArmarXPlotterDialog::onExitComponent()
-//{
-
-//}
-
-void ArmarXPlotterDialog::onCloseWidget(QCloseEvent* event)
-{
-
-}
-
-void ArmarXPlotterDialog::updateObservers()
-{
- if (!model)
- {
- model = new ObserverItemModel(iceManager);
- ui.treeViewObservers->setModel(model);
-
- }
-
- model->updateObservers();
-
- // if(!iceManager)
- // return;
- // ObserverList observerList = iceManager->getIceGridSession()->getRegisteredObjectNames<ObserverInterfacePrx>("*Observer");
- // ObserverList::iterator iter = observerList.begin();
-
- // while(iter != observerList.end())
- // {
- // model->updateModel(*iter, iceManager->getProxy<ObserverInterfacePrx>(*iter)->getAvailableChannels(), StringConditionCheckMap());
- // iter++;
- // }
-}
-
-
-
-
-
-
-void ArmarXPlotterDialog::ButtonAddSelectedChannelClicked()
-{
- QItemSelectionModel* selectionModel = ui.treeViewObservers->selectionModel();
-
- for (int i = 0; i < selectionModel->selectedIndexes().size(); ++i)
- {
- QModelIndex index = selectionModel->selectedIndexes().at(i);
- treeView_doubleClick(index);
- }
-
- ui.treeViewObservers->clearSelection();
-
-}
-
-void ArmarXPlotterDialog::ButtonRemoveChannelClicked()
-{
- QList<QListWidgetItem*> selectedItems = ui.listWidget->selectedItems();
-
- for (int i = 0; i < selectedItems.size(); ++i)
- {
- delete selectedItems.at(i);
- }
-}
-
-void ArmarXPlotterDialog::ButtonRemoveChannelClicked(QModelIndex index)
-{
- delete ui.listWidget->item(index.row());
-}
-
-QStringList ArmarXPlotterDialog::getSelectedChannels()
-{
- QStringList result;
- QList <QListWidgetItem*> items = ui.listWidget->findItems(QString("*"), Qt::MatchWrap | Qt::MatchWildcard);
- foreach(QListWidgetItem * item, items)
- result.append(item->text());
-
- return result;
-}
-
-void ArmarXPlotterDialog::treeView_selected(const QItemSelection& selected, const QItemSelection& deselected)
-{
-}
-
-void ArmarXPlotterDialog::treeView_doubleClick(const QModelIndex& index)
-{
-
- QStandardItem* item = model->itemFromIndex(index);
- QVariant id = item->data(OBSERVER_ITEM_ID);
-
- switch (item->data(OBSERVER_ITEM_TYPE).toInt())
- {
- case eDataFieldItem:
- if (ui.listWidget->findItems(id.toString(), Qt::MatchExactly).size() == 0)
- {
- ui.listWidget->addItem(id.toString());
- }
-
- break;
-
- }
-}
-
-void ArmarXPlotterDialog::destroyed(QObject*)
-{
- setParent(0);
-}
-
-void ArmarXPlotterDialog::showEvent(QShowEvent*)
-{
- updateObservers();
-}
-
-
-void armarx::ArmarXPlotterDialog::on_btnSelectLoggingDir_clicked()
-{
- QString newLoggingDir = QFileDialog::getExistingDirectory(this, "Select a directory to which data should be logged",
- ui.editLoggingDirectory->text());
-
- if (!newLoggingDir.isEmpty())
- {
- ui.editLoggingDirectory->setText(newLoggingDir);
- }
-}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
deleted file mode 100644
index b912d58f8..000000000
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package ArmarX::Gui
-* @author Mirko Waechter ( mirko.waechter at kit dot edu)
-* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#ifndef ARMARXPLOTTERDIALOG_H
-#define ARMARXPLOTTERDIALOG_H
-
-
-// QT
-#include "ui_ArmarXPlotterDialog.h"
-
-#include <ArmarXGui/gui-plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
-
-#include <ArmarXCore/core/IceManager.h>
-#include <ArmarXCore/interface/observers/ConditionHandlerInterface.h>
-
-#include <QDialog>
-#include <QComboBox>
-#include <QList>
-#include <QMenu>
-#include <QAction>
-#include <QItemSelectionModel>
-#include <QStandardItemModel>
-
-#include <vector>
-
-
-namespace armarx
-{
- class ArmarXPlotter;
- class ArmarXPlotterDialog:
- public QDialog
- {
- Q_OBJECT
- QStringList availableChannelsList;
- ObserverItemModel* model;
- std::string uuid;
- IceManagerPtr iceManager;
- int mdiId;
-
-
- public:
- ArmarXPlotterDialog(QWidget* parent, IceManagerPtr iceManager);
- ~ArmarXPlotterDialog();
- ConditionHandlerInterfacePrx handler;
- struct ChannelWidgetsEntry
- {
- QComboBox* comboBox;
- QLabel* label;
- QPushButton* deleteButton;
- };
-
- void setIceManager(IceManagerPtr iceManager);
-
- Ui::ArmarXPlotterDialog ui;
- std::vector< ChannelWidgetsEntry > sensorChannelList;
- QStringList getSelectedChannels();
-
-
- // // inherited from Component
- // std::string getDefaultName() const;
- // virtual void onInitComponent();
- // virtual void onConnectComponent();
- // void onExitComponent();
- /**
- * emits the closeRequest signal
- */
- void onCloseWidget(QCloseEvent* event);
- public slots:
- void ButtonAddSelectedChannelClicked();
- void ButtonRemoveChannelClicked();
- void ButtonRemoveChannelClicked(QModelIndex index);
- void updateObservers();
- void treeView_selected(const QItemSelection& selected, const QItemSelection& deselected);
- void treeView_doubleClick(const QModelIndex& index);
- void destroyed(QObject*);
- void showEvent(QShowEvent*);
- private slots:
- void on_btnSelectLoggingDir_clicked();
- };
-}
-#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
deleted file mode 100644
index b2dc66d44..000000000
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
+++ /dev/null
@@ -1,302 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>ArmarXPlotterDialog</class>
- <widget class="QDialog" name="ArmarXPlotterDialog">
- <property name="windowModality">
- <enum>Qt::ApplicationModal</enum>
- </property>
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>586</width>
- <height>599</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>ArmarX Plotter Config Dialog</string>
- </property>
- <property name="sizeGripEnabled">
- <bool>true</bool>
- </property>
- <property name="modal">
- <bool>true</bool>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <layout class="QGridLayout" name="gridLayout">
- <item row="4" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Data polling interval (in ms)</string>
- </property>
- </widget>
- </item>
- <item row="4" column="2" colspan="2">
- <widget class="QSpinBox" name="spinBoxPollingInterval">
- <property name="minimum">
- <number>1</number>
- </property>
- <property name="maximum">
- <number>999999</number>
- </property>
- <property name="value">
- <number>33</number>
- </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">
- <enum>QAbstractSpinBox::UpDownArrows</enum>
- </property>
- <property name="minimum">
- <number>1</number>
- </property>
- <property name="maximum">
- <number>999999999</number>
- </property>
- <property name="singleStep">
- <number>10</number>
- </property>
- <property name="value">
- <number>100</number>
- </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">
- <number>1</number>
- </property>
- <property name="maximum">
- <number>6000</number>
- </property>
- <property name="value">
- <number>60</number>
- </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>
- <widget class="QGroupBox" name="groupBoxSensorChannels">
- <property name="minimumSize">
- <size>
- <width>200</width>
- <height>200</height>
- </size>
- </property>
- <property name="title">
- <string>Sensor Channels</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_3">
- <item>
- <widget class="QSplitter" name="splitter">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <widget class="FilterableTreeView" name="treeViewObservers">
- <property name="editTriggers">
- <set>QAbstractItemView::NoEditTriggers</set>
- </property>
- <property name="selectionMode">
- <enum>QAbstractItemView::ExtendedSelection</enum>
- </property>
- <property name="animated">
- <bool>true</bool>
- </property>
- <property name="headerHidden">
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QListWidget" name="listWidget">
- <property name="editTriggers">
- <set>QAbstractItemView::NoEditTriggers</set>
- </property>
- <property name="selectionMode">
- <enum>QAbstractItemView::ExtendedSelection</enum>
- </property>
- </widget>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QToolButton" name="BTNAddSelectedChannels">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="toolTip">
- <string>Add selected datafields</string>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="icon">
- <iconset>
- <normaloff>:/icons/edit-add.ico</normaloff>:/icons/edit-add.ico</iconset>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QToolButton" name="btnRefresh">
- <property name="toolTip">
- <string>Refresh observerlist</string>
- </property>
- <property name="text">
- <string>...</string>
- </property>
- <property name="icon">
- <iconset>
- <normaloff>:/icons/view-refresh-7.png</normaloff>:/icons/view-refresh-7.png</iconset>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_2">
- <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>
- <widget class="QToolButton" name="BTNRemoveSelected">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="toolTip">
- <string>Remove selected datafields</string>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="icon">
- <iconset>
- <normaloff>:/icons/dialog-cancel-5.svg</normaloff>:/icons/dialog-cancel-5.svg</iconset>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <customwidgets>
- <customwidget>
- <class>FilterableTreeView</class>
- <extends>QTreeView</extends>
- <header location="global">ArmarXGui/libraries/ArmarXGuiBase/widgets/FilterableTreeView.h</header>
- </customwidget>
- </customwidgets>
- <resources/>
- <connections>
- <connection>
- <sender>buttonBox</sender>
- <signal>accepted()</signal>
- <receiver>ArmarXPlotterDialog</receiver>
- <slot>accept()</slot>
- <hints>
- <hint type="sourcelabel">
- <x>248</x>
- <y>254</y>
- </hint>
- <hint type="destinationlabel">
- <x>157</x>
- <y>274</y>
- </hint>
- </hints>
- </connection>
- <connection>
- <sender>buttonBox</sender>
- <signal>rejected()</signal>
- <receiver>ArmarXPlotterDialog</receiver>
- <slot>reject()</slot>
- <hints>
- <hint type="sourcelabel">
- <x>316</x>
- <y>260</y>
- </hint>
- <hint type="destinationlabel">
- <x>286</x>
- <y>274</y>
- </hint>
- </hints>
- </connection>
- </connections>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
index b299fbdfb..8fabc7cdd 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
@@ -31,40 +31,33 @@ endif()
set(SOURCES
SensorActorWidgetsPlugin.cpp
- ArmarXPlotter/ArmarXPlotter.cpp
- ArmarXPlotter/ArmarXPlotterDialog.cpp
-
ArmarXTCPMover/TCPMover.cpp
ArmarXTCPMover/TCPMoverConfigDialog.cpp
)
set(HEADERS
SensorActorWidgetsPlugin.h
- ArmarXPlotter/ArmarXPlotter.h
- ArmarXPlotter/ArmarXPlotterDialog.h
ArmarXTCPMover/TCPMover.h
ArmarXTCPMover/TCPMoverConfigDialog.h
)
set(GUI_MOC_HDRS
- ArmarXPlotter/ArmarXPlotter.h
- ArmarXPlotter/ArmarXPlotterDialog.h
+
ArmarXTCPMover/TCPMover.h
ArmarXTCPMover/TCPMoverConfigDialog.h
)
set(GUI_UIS
- ArmarXPlotter/ArmarXPlotter.ui
- ArmarXPlotter/ArmarXPlotterDialog.ui
+
ArmarXTCPMover/TCPMover.ui
ArmarXTCPMover/TCPMoverConfigDialog.ui
)
-set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreTopicRecording ArmarXCoreObservers ObserverPropertiesGuiPlugin RobotAPIInterfaces ${qwt_LIBRARIES} ${Simox_LIBRARIES} ${QT_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreObservers RobotAPIInterfaces ${Simox_LIBRARIES} ${QT_LIBRARIES})
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
index 1845914fc..1dc259cf1 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
@@ -21,8 +21,6 @@
*/
#include "SensorActorWidgetsPlugin.h"
-
-#include "ArmarXPlotter/ArmarXPlotter.h"
#include "ArmarXTCPMover/TCPMover.h"
namespace armarx
@@ -31,7 +29,6 @@ namespace armarx
SensorActorPlugin::SensorActorPlugin()
{
addWidget<TCPMover>();
- addWidget<ArmarXPlotter>();
}
Q_EXPORT_PLUGIN2(armarX_gui_SensorActorPlugin, SensorActorPlugin)
--
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