diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
index 7c466cdacab7c4a95862d2a7e9508d2d8dda450f..0e2ae813fbef99c1ce24e35c8be0be63deeeff8b 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
@@ -110,7 +110,7 @@ namespace armarx::viz::coin
<< "\nFilename: " << element.filename;
return true;
}
- IceUtil::Time time_load = IceUtil::Time::now();
+ //IceUtil::Time time_load = IceUtil::Time::now();
bool drawStyleChanged = loadedDrawStyle != element.drawStyle;
if (robotChanged || drawStyleChanged)
@@ -118,7 +118,7 @@ namespace armarx::viz::coin
recreateVisualizationNodes(element.drawStyle);
loadedDrawStyle = element.drawStyle;
}
- IceUtil::Time time_style = IceUtil::Time::now();
+ //IceUtil::Time time_style = IceUtil::Time::now();
// Set pose, configuration and so on
@@ -132,33 +132,40 @@ namespace armarx::viz::coin
// robot.setGlobalPose(pose, false);
robot.setJointValues(element.jointValues);
- IceUtil::Time time_set = IceUtil::Time::now();
+ //IceUtil::Time time_set = IceUtil::Time::now();
if (loadedDrawStyle & data::ModelDrawStyle::OVERRIDE_COLOR)
{
- int numChildren = node->getNumChildren();
- for (int i = 0; i < numChildren; i++)
+ if (loadedColor.r != element.color.r
+ || loadedColor.g != element.color.g
+ || loadedColor.b != element.color.b
+ || loadedColor.a != element.color.a)
{
- SoSeparator* nodeSep = static_cast<SoSeparator*>(node->getChild(i));
- // The first entry must be a SoMaterial (see recreateVisualizationNodes)
- SoMaterial* m = dynamic_cast<SoMaterial*>(nodeSep->getChild(0));
- if (!m)
+ int numChildren = node->getNumChildren();
+ for (int i = 0; i < numChildren; i++)
{
- ARMARX_WARNING << "Error at node with index: " << i;
- continue;
+ SoSeparator* nodeSep = static_cast<SoSeparator*>(node->getChild(i));
+ // The first entry must be a SoMaterial (see recreateVisualizationNodes)
+ SoMaterial* m = dynamic_cast<SoMaterial*>(nodeSep->getChild(0));
+ if (!m)
+ {
+ ARMARX_WARNING << "Error at node with index: " << i;
+ continue;
+ }
+
+ auto color = element.color;
+ const float conv = 1.0f / 255.0f;
+ float a = color.a * conv;
+ SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
+ m->diffuseColor = coinColor;
+ m->ambientColor = coinColor;
+ m->transparency = 1.0f - a;
+ m->setOverride(true);
}
-
- auto color = element.color;
- const float conv = 1.0f / 255.0f;
- float a = color.a * conv;
- SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
- m->diffuseColor = coinColor;
- m->ambientColor = coinColor;
- m->transparency = 1.0f - a;
- m->setOverride(true);
+ loadedColor = element.color;
}
}
- IceUtil::Time time_color = IceUtil::Time::now();
+ //IceUtil::Time time_color = IceUtil::Time::now();
// Setting the joint angles takes > 0.5 ms! This is unexpected...
// ARMARX_INFO << "Total: " << (time_color - time_start).toMilliSecondsDouble()
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
index cb6699735a40b1783bb0e09270891910514278da..63aa3f1f8cabf92029b1d1b763d808f9b2123d77 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
@@ -25,6 +25,7 @@ namespace armarx::viz::coin
LoadedRobot loaded;
int loadedDrawStyle = data::ModelDrawStyle::ORIGINAL;
+ armarx::viz::data::Color loadedColor{0, 0, 0, 0};
};
void clearRobotCache();
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index f11c7aa9de6672cafcda2bbcfdb2e5114eb2be69..692800bc7d85488b4af3dc7090c6efabde509911 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -143,8 +143,8 @@ namespace armarx::viz
layerIt = layers.emplace(layerID, CoinLayer(coinNode)).first;
}
- IceUtil::Time time_start1 = IceUtil::Time::now();
- IceUtil::Time time_start = IceUtil::Time::now();
+ //IceUtil::Time time_start1 = IceUtil::Time::now();
+ //IceUtil::Time time_start = IceUtil::Time::now();
// Add or update the elements in the update
CoinLayer& layer = layerIt->second;
@@ -171,10 +171,10 @@ namespace armarx::viz
continue;
}
coin::ElementVisualizer* visualizer = elementVisualizers[visuIndex].get();
- IceUtil::Time time_findVisu = IceUtil::Time::now();
+ //IceUtil::Time time_findVisu = IceUtil::Time::now();
auto oldElementIter = layer.elements.find(updatedElement.id);
- IceUtil::Time time_findElement = IceUtil::Time::now();
+ //IceUtil::Time time_findElement = IceUtil::Time::now();
if (oldElementIter != layer.elements.end())
{
// Element already exists
@@ -238,7 +238,7 @@ namespace armarx::viz
iter = layer.elements.erase(iter);
}
}
- IceUtil::Time time_remove = IceUtil::Time::now();
+ //IceUtil::Time time_remove = IceUtil::Time::now();
// if (update.name == "Example")
// {
@@ -290,7 +290,7 @@ namespace armarx::viz
{
case CoinVisualizerUpdateResult::SUCCESS:
{
- IceUtil::Time time_start = IceUtil::Time::now();
+ //IceUtil::Time time_start = IceUtil::Time::now();
// We should restart the pull for updates so it can run in parallel
data::LayerUpdates currentUpdates = pulledUpdates;
@@ -299,20 +299,20 @@ namespace armarx::viz
auto layerIDsBefore = getLayerIDs();
- IceUtil::Time time_afterPull = IceUtil::Time::now();
+ //IceUtil::Time time_afterPull = IceUtil::Time::now();
for (data::LayerUpdate const& update : currentUpdates.updates)
{
apply(update);
}
- IceUtil::Time time_afterApply = IceUtil::Time::now();
+ //IceUtil::Time time_afterApply = IceUtil::Time::now();
auto layerIDsAfter = getLayerIDs();
if (layerIDsAfter != layerIDsBefore)
{
emitLayersChanged(layerIDsAfter);
}
- IceUtil::Time time_afterLayersChanged = IceUtil::Time::now();
+ //IceUtil::Time time_afterLayersChanged = IceUtil::Time::now();
// Most of the time is spent in apply
// ARMARX_INFO << "Updates: " << pulledUpdates.updates.size()
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidget.ui b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidget.ui
index 8d4e7919a123d4fe736a68de36dc19a10f6daa84..8b4af8524ff6102e7230794f12fdaac64b07a876 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidget.ui
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidget.ui
@@ -14,12 +14,6 @@
<string>RobotUnitPluginWidget</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
<item>
<widget class="QSplitter" name="splitter">
<property name="orientation">
@@ -101,6 +95,116 @@
</property>
</layout>
</widget>
+ <widget class="QGroupBox" name="groupBoxLogging">
+ <property name="title">
+ <string>Logging</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0" colspan="2">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Filter</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEditLoggingFilter"/>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="0" colspan="2">
+ <widget class="QTreeWidget" name="treeWidgetLoggingNames">
+ <column>
+ <property name="text">
+ <string/>
+ </property>
+ </column>
+ </widget>
+ </item>
+ <item row="3" column="0" colspan="2">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Save path</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEditLoggingPath">
+ <property name="toolTip">
+ <string><html><head/><body><p>Accepts patterns:</p><p>{LEFT<span style=" color:#c0c0c0;"/>CURLY}<span style=" color:#c0c0c0;"/>-&gt;<span style=" color:#c0c0c0;"/>{</p><p><span style=" font-family:'monospace';">{RIGHT</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">CURLY}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">}</span></p><p><span style=" font-family:'monospace';">{year</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">/</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Year}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">year</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">(</span><span style=" font-family:'monospace'; color:#000080;">2</span><span style=" font-family:'monospace';">/</span><span style=" font-family:'monospace'; color:#000080;">4</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">digits)</span></p><p><span style=" font-family:'monospace';">{month}</span></p><p><span style=" font-family:'monospace';">{day}</span></p><p><span style=" font-family:'monospace';">{hour}</span></p><p><span style=" font-family:'monospace';">{minute}</span></p><p><span style=" font-family:'monospace';">{second}</span></p><p><span style=" font-family:'monospace';">{Date}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">YYYY-MM-DD</span></p><p><span style=" font-family:'monospace';">{Time}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">HH-MM-SS</span></p><p><span style=" font-family:'monospace';">{DateTime}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">{Date}_{Time}</span></p><p><span style=" font-family:'monospace';">{time-since-epoch}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">nanoseconds</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">since</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">epoch</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">(can</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">be</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">used</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">as</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">uuid)</span></p><p><span style=" font-family:'monospace';">{PackageDir:...}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Directory</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">of</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">the</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">given</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">package</span></p><p><span style=" font-family:'monospace';">{ScenarioDir:...}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Scenario</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Directory</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">of</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">the</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">given</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">package</span></p><p><span style=" font-family:'monospace';">{DataDir:...}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Data</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Directory</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">of</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">the</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">given</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">package</span></p><p><span style=" font-family:'monospace';">{BinaryeDir:...}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Binary</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Directory</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">of</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">the</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">given</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">package</span></p><p><span style=" font-family:'monospace';">{CMakeDir:...}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">CMake</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Directory</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">of</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">the</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">given</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">package</span></p><p><span style=" font-family:'monospace';">{BuildDir:...}</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">-&gt;</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Build</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">Directory</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">of</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">the</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">given</span><span style=" font-family:'monospace'; color:#c0c0c0;"/><span style=" font-family:'monospace';">package</span></p></body></html></string>
+ </property>
+ <property name="text">
+ <string>/tmp/logging/{DateTime}.csv</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pushButtonLoggingStart">
+ <property name="text">
+ <string>Start</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pushButtonLoggingStop">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Stop</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="5" column="0" colspan="2">
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <widget class="QLineEdit" name="lineEditLoggingMark1">
+ <property name="text">
+ <string>Start</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLineEdit" name="lineEditLoggingMark2">
+ <property name="text">
+ <string>Stop</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLineEdit" name="lineEditLoggingMark3"/>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonLoggingMark2">
+ <property name="text">
+ <string>Set Mark</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="pushButtonLoggingMark1">
+ <property name="text">
+ <string>Set Mark</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QPushButton" name="pushButtonLoggingMark3">
+ <property name="text">
+ <string>Set Mark</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
</layout>
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
index 076dfbbcebef9b02331fe6943fb7ba18943aa6c3..9f6229c5105a523109babbc9f2b7121ace039e42 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
@@ -24,13 +24,14 @@
#include "../QWidgets/StyleSheets.h"
#include <string>
-
+#include <regex>
#include <filesystem>
#include <QDir>
#include <QSortFilterProxyModel>
#include <QAction>
+#include <ArmarXCore/util/CPPUtility/Iterator.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -72,6 +73,21 @@ RobotUnitPluginWidgetController::RobotUnitPluginWidgetController()
nJointControllerClasses->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Expanding);
nJointControllerClasses->setVisible(false);
}
+ //update logging
+ {
+ widget.groupBoxLogging->setVisible(false);
+ widget.groupBoxLogging->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Expanding);
+
+ connect(widget.pushButtonLoggingStart, SIGNAL(clicked()), this, SLOT(on_pushButtonLoggingStart_clicked()));
+ connect(widget.pushButtonLoggingStop, SIGNAL(clicked()), this, SLOT(on_pushButtonLoggingStop_clicked()));
+ connect(widget.pushButtonLoggingMark1, SIGNAL(clicked()), this, SLOT(on_pushButtonLoggingMark1_clicked()));
+ connect(widget.pushButtonLoggingMark2, SIGNAL(clicked()), this, SLOT(on_pushButtonLoggingMark2_clicked()));
+ connect(widget.pushButtonLoggingMark3, SIGNAL(clicked()), this, SLOT(on_pushButtonLoggingMark3_clicked()));
+ connect(widget.lineEditLoggingFilter, SIGNAL(textChanged(const QString&)),
+ this, SLOT(on_lineEditLoggingFilter_textChanged(const QString&)));
+ connect(widget.treeWidgetLoggingNames, SIGNAL(itemChanged(QTreeWidgetItem*, int)),
+ this, SLOT(on_treeWidgetLoggingNames_itemChanged(QTreeWidgetItem*, int)));
+ }
updateToolBarActionCheckedState();
}
@@ -195,6 +211,14 @@ QPointer<QWidget> RobotUnitPluginWidgetController::getCustomTitlebarWidget(QWidg
customToolbar->addAction(showNJointClasses);
customToolbar->addSeparator();
+ customToolbar->addAction(QIcon(":/icons/view-refresh-7.png"), "", this, SLOT(refreshLogging()));
+ showLogging = new QAction {"Logging", customToolbar};
+ showLogging->setCheckable(true);
+ showLogging->setToolTip("Hide/Show the logging pane");
+ connect(showLogging, SIGNAL(toggled(bool)), widget.groupBoxLogging, SLOT(setVisible(bool)));
+ customToolbar->addAction(showLogging);
+ customToolbar->addSeparator();
+
customToolbar->addAction(QIcon(":/icons/document-save.svg"), "Write log", this, SLOT(writeLogClicked()))
->setToolTip("Writes the log to /tmp/");
}
@@ -285,6 +309,263 @@ void armarx::RobotUnitPluginWidgetController::timerEvent(QTimerEvent*)
refreshNJointControllerClassesClicked();
refreshControlDevicesClicked();
refreshSensorDevicesClicked();
+ refreshLogging();
killTimer(onConnectTimerId);
}
}
+
+void armarx::RobotUnitPluginWidgetController::refreshLogging()
+{
+ on_pushButtonLoggingStop_clicked();
+
+ widget.treeWidgetLoggingNames->clear();
+ loggingData.allItems.clear();
+
+ const auto allLoggingNames = robotUnitPrx->getLoggingNames();
+
+ std::map<std::string, QTreeWidgetItem*> separators;
+ auto add = [&](const std::string & name, const std::string & display, auto parent)
+ {
+ QTreeWidgetItem* i = new QTreeWidgetItem(parent);
+ i->setText(0, QString::fromStdString(display) + "*");
+ i->setData(0, Qt::ToolTipRole, QString::fromStdString(name));
+ separators[name] = i;
+ loggingData.allItems.emplace_back(i);
+ i->setCheckState(0, Qt::Unchecked);
+ };
+ add("", "", widget.treeWidgetLoggingNames);
+ loggingData.top = loggingData.allItems.front();
+
+ for (const auto& name : allLoggingNames)
+ {
+ const auto parts = Split(name, ".", true, true);
+ std::string reassembled;
+ for (const auto& p : parts)
+ {
+ ARMARX_CHECK_EXPRESSION(separators.count(reassembled));
+ auto parent = separators.at(reassembled);
+ reassembled += (reassembled.empty() ? p : "." + p) ;
+ if (!separators.count(reassembled))
+ {
+ add(reassembled, p, parent);
+ }
+ }
+ loggingData.allItems.back()->setText(0, QString::fromStdString(parts.back()));
+ }
+
+}
+
+void armarx::RobotUnitPluginWidgetController::on_pushButtonLoggingStart_clicked()
+{
+ if (!robotUnitPrx || loggingData.handle)
+ {
+ return;
+ }
+ std::vector<std::string> loggingNames;
+ std::function<void(QTreeWidgetItem*)> recurseChildren = [&](auto it)
+ {
+ switch (it->checkState(0))
+ {
+ case Qt::Checked:
+ loggingNames.emplace_back(it->data(0, Qt::ToolTipRole).toString().toStdString());
+ break;
+ case Qt::Unchecked:
+ break;
+ case Qt::PartiallyChecked:
+ for (int i = 0; i < it->childCount(); ++i)
+ {
+ recurseChildren(it->child(i));
+ }
+ break;
+ }
+ };
+ recurseChildren(loggingData.top);
+ ARMARX_INFO << "start logging " << loggingNames;
+
+ loggingData.handle = robotUnitPrx->startRtLogging(
+ widget.lineEditLoggingPath->text().toStdString(),
+ loggingNames);
+ widget.pushButtonLoggingStart->setEnabled(false);
+ widget.pushButtonLoggingStop->setEnabled(true);
+ widget.pushButtonLoggingMark1->setEnabled(true);
+ widget.pushButtonLoggingMark2->setEnabled(true);
+ widget.pushButtonLoggingMark3->setEnabled(true);
+}
+
+void armarx::RobotUnitPluginWidgetController::on_pushButtonLoggingStop_clicked()
+{
+ widget.pushButtonLoggingStart->setEnabled(true);
+ widget.pushButtonLoggingStop->setEnabled(false);
+ widget.pushButtonLoggingMark1->setEnabled(false);
+ widget.pushButtonLoggingMark2->setEnabled(false);
+ widget.pushButtonLoggingMark3->setEnabled(false);
+ if (!loggingData.handle)
+ {
+ return;
+ }
+ robotUnitPrx->stopRtLogging(loggingData.handle);
+ loggingData.handle = nullptr;
+}
+
+void armarx::RobotUnitPluginWidgetController::on_lineEditLoggingFilter_textChanged(const QString& arg1)
+{
+ std::regex reg;
+ try
+ {
+ reg = std::regex{arg1.toStdString()};
+ }
+ catch (...)
+ {
+ //broken regex
+ widget.lineEditLoggingFilter->setStyleSheet("QLineEdit { background: rgb(255, 150, 150); selection-background-color: rgb(255, 0, 0); }");
+ return;
+ }
+ widget.lineEditLoggingFilter->setStyleSheet("QLineEdit {}");
+
+ std::function<void(QTreeWidgetItem* item)> setVisible = [&](auto it)
+ {
+ it->setHidden(false);
+ auto parent = it->parent();
+ //set parent state depending on its childrens state
+ if (!parent)
+ {
+ return;
+ }
+ setVisible(parent);
+ };
+ for (auto item : loggingData.allItems)
+ {
+ item->setHidden(true);
+ }
+ for (auto item : loggingData.allItems)
+ {
+ const auto str = item->data(0, Qt::ToolTipRole).toString().toStdString();
+ std::smatch match;
+ if (std::regex_search(str, match, reg))
+ {
+ setVisible(item);
+ }
+ }
+ widget.treeWidgetLoggingNames->blockSignals(true);
+ for (auto item : MakeReversedRange(loggingData.allItems))
+ {
+ loggingData.updateCheckStateUpward(item, false);
+ }
+ widget.treeWidgetLoggingNames->blockSignals(false);
+}
+
+void armarx::RobotUnitPluginWidgetController::on_treeWidgetLoggingNames_itemChanged(QTreeWidgetItem* item, int)
+{
+ widget.treeWidgetLoggingNames->blockSignals(true);
+ loggingData.updateCheckStateDownward(item, item->checkState(0), true);
+ loggingData.updateCheckStateUpward(item->parent(), true);
+ widget.treeWidgetLoggingNames->blockSignals(false);
+}
+
+void armarx::RobotUnitPluginWidgetController::on_pushButtonLoggingMark1_clicked()
+{
+ if (!loggingData.handle)
+ {
+ return;
+ }
+ const auto mark = widget.lineEditLoggingMark1->text().toStdString();
+ ARMARX_INFO << "set mark " << mark;
+ robotUnitPrx->addMarkerToRtLog(loggingData.handle, mark);
+}
+
+void armarx::RobotUnitPluginWidgetController::on_pushButtonLoggingMark2_clicked()
+{
+ if (!loggingData.handle)
+ {
+ return;
+ }
+ const auto mark = widget.lineEditLoggingMark2->text().toStdString();
+ ARMARX_INFO << "set mark " << mark;
+ robotUnitPrx->addMarkerToRtLog(loggingData.handle, mark);
+}
+
+void armarx::RobotUnitPluginWidgetController::on_pushButtonLoggingMark3_clicked()
+{
+ if (!loggingData.handle)
+ {
+ return;
+ }
+ const auto mark = widget.lineEditLoggingMark3->text().toStdString();
+ ARMARX_INFO << "set mark " << mark;
+ robotUnitPrx->addMarkerToRtLog(loggingData.handle, mark);
+}
+
+void RobotUnitPluginWidgetController::LoggingData::updateCheckStateUpward(QTreeWidgetItem* item, bool recurseParents)
+{
+ //set item state depending on its childrens state and maybe recurse parent
+ for (; item; item = recurseParents ? item->parent() : nullptr)
+ {
+ if (item->isHidden())
+ {
+ continue;
+ }
+ bool anyChecked = false;
+ bool anyUnchecked = false;
+ bool anyTri = false;
+ for (int i = 0; i < item->childCount(); ++i)
+ {
+ auto c = item->child(i);
+ if (c->isHidden())
+ {
+ continue;
+ }
+ switch (c->checkState(0))
+ {
+ case Qt::Checked:
+ anyChecked = true;
+ break;
+ case Qt::Unchecked:
+ anyUnchecked = true;
+ break;
+ case Qt::PartiallyChecked:
+ anyTri = true;
+ break;
+ }
+ if (anyChecked + anyUnchecked + anyTri > 1 || anyTri)
+ {
+ item->setCheckState(0, Qt::PartiallyChecked);
+ }
+ else if (anyChecked)
+ {
+ item->setCheckState(0, Qt::Checked);
+ }
+ else if (anyUnchecked)
+ {
+ item->setCheckState(0, Qt::Unchecked);
+ }
+ //case all false -> leaf -> do nothing
+ }
+ }
+}
+
+void RobotUnitPluginWidgetController::LoggingData::updateCheckStateDownward(
+ QTreeWidgetItem* item,
+ Qt::CheckState state,
+ bool recurseChildren)
+{
+ if (item->isHidden())
+ {
+ return;
+ }
+ item->setCheckState(0, state);
+
+ if (!recurseChildren)
+ {
+ return;
+ }
+ for (int i = 0; i < item->childCount(); ++i)
+ {
+ auto c = item->child(i);
+ if (c->isHidden())
+ {
+ continue;
+ }
+ c->setCheckState(0, state);
+ updateCheckStateDownward(c, state, true);
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
index 9b57ef2d510a9c2ce896e86a36dbab461e9e7a12..06270ecbc7e9c7280fac72f6dac959e504db26bd 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
@@ -132,11 +132,21 @@ namespace armarx
void refreshNJointControllerClassesClicked();
void refreshControlDevicesClicked();
void refreshSensorDevicesClicked();
+ void refreshLogging();
void writeLogClicked();
void startOnConnectTimer();
+ //logging
+ void on_lineEditLoggingFilter_textChanged(const QString& arg1);
+ void on_pushButtonLoggingStop_clicked();
+ void on_pushButtonLoggingStart_clicked();
+ void on_treeWidgetLoggingNames_itemChanged(QTreeWidgetItem* item, int column);
+ void on_pushButtonLoggingMark1_clicked();
+ void on_pushButtonLoggingMark2_clicked();
+ void on_pushButtonLoggingMark3_clicked();
+
private:
void timerEvent(QTimerEvent*) override;
void updateToolBarActionCheckedState();
@@ -162,6 +172,17 @@ namespace armarx
QPointer<QAction> showSDevs;
QPointer<QAction> showNJoint;
QPointer<QAction> showNJointClasses;
+ QPointer<QAction> showLogging;
+
+ struct LoggingData
+ {
+ QTreeWidgetItem* top;
+ std::vector<QTreeWidgetItem*> allItems;
+ RemoteReferenceCounterBasePtr handle;
+ static void updateCheckStateUpward(QTreeWidgetItem* item, bool recurseParents);
+ static void updateCheckStateDownward(QTreeWidgetItem* item, Qt::CheckState state, bool recurseChildren);
+ };
+ LoggingData loggingData;
int onConnectTimerId;
};