From 5608f897b5efcaad2781a638b6efbd7f837bdb13 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Fri, 15 Nov 2019 09:30:44 +0100
Subject: [PATCH] ArViz: GUI for starting, stopping and inspecting recordings
---
.../components/ArViz/ArVizStorage.cpp | 88 +++++++-
.../RobotAPI/components/ArViz/ArVizStorage.h | 2 +-
.../RobotAPI/gui-plugins/ArViz/ArVizWidget.ui | 192 ++++++++++++++++--
.../ArViz/ArVizWidgetController.cpp | 76 ++++++-
.../gui-plugins/ArViz/ArVizWidgetController.h | 5 +
source/RobotAPI/interface/ArViz/Component.ice | 2 +-
6 files changed, 342 insertions(+), 23 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index c1f59cc39..70313c24d 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -28,6 +28,8 @@
#include <VirtualRobot/Util/json/json.hpp>
+#include <iomanip>
+
using namespace armarx;
@@ -202,6 +204,15 @@ namespace armarx::viz
j["lastTimestampInMicroSeconds"] = batch.lastTimestampInMicroSeconds;
}
+ void from_json(nlohmann::json const& j, armarx::viz::RecordingBatchHeader& batch)
+ {
+ batch.index = j["index"] ;
+ batch.firstRevision = j["firstRevision"];
+ batch.lastRevision = j["lastRevision"];
+ batch.firstTimestampInMicroSeconds = j["firstTimestampInMicroSeconds"];
+ batch.lastTimestampInMicroSeconds = j["lastTimestampInMicroSeconds"];
+ }
+
void to_json(nlohmann::json& j, armarx::viz::Recording const& recording)
{
j["id"] = recording.id;
@@ -212,6 +223,16 @@ namespace armarx::viz
j["batchHeaders"] = recording.batchHeaders;
}
+ void from_json(nlohmann::json const& j, armarx::viz::Recording& recording)
+ {
+ recording.id = j["id"];
+ recording.firstRevision = j["firstRevision"];
+ recording.lastRevision = j["lastRevision"];
+ recording.firstTimestampInMicroSeconds = j["firstTimestampInMicroSeconds"];
+ recording.lastTimestampInMicroSeconds = j["lastTimestampInMicroSeconds"];
+ j["batchHeaders"].get_to(recording.batchHeaders);
+ }
+
}
static bool writeCompleteFile(std::string const& filename,
@@ -231,6 +252,21 @@ static bool writeCompleteFile(std::string const& filename,
return true;
}
+static std::string readCompleteFile(std::filesystem::path const& path)
+{
+ FILE* f = fopen(path.string().c_str(), "rb");
+ fseek(f, 0, SEEK_END);
+ long fsize = ftell(f);
+ fseek(f, 0, SEEK_SET); /* same as rewind(f); */
+
+ std::string result(fsize, '\0');
+ std::size_t read = fread(result.data(), 1, fsize, f);
+ result.resize(read);
+ fclose(f);
+
+ return result;
+}
+
void ArVizStorage::recordBatch(std::vector<viz::TimestampedLayerUpdate> const& batch)
{
if (batch.empty())
@@ -291,18 +327,26 @@ void ArVizStorage::recordBatch(std::vector<viz::TimestampedLayerUpdate> const& b
}
-std::string armarx::ArVizStorage::startRecording(std::string const& newRecordingID, const Ice::Current&)
+std::string armarx::ArVizStorage::startRecording(std::string const& newRecordingPrefix, const Ice::Current&)
{
{
std::unique_lock<std::mutex> lock(recordingMutex);
if (recordingMetaData.id.size() > 0)
{
- ARMARX_WARNING << "Could not start recording with ID " << newRecordingID
+ ARMARX_WARNING << "Could not start recording with prefix " << newRecordingPrefix
<< "\nbecause there is already a recording running for the recording ID: "
<< recordingMetaData.id;
return recordingMetaData.id;
}
+ auto t = std::time(nullptr);
+ auto tm = *std::localtime(&t);
+ std::ostringstream id;
+ id << newRecordingPrefix
+ << '_'
+ << std::put_time(&tm, "%Y-%m-%d_%H-%M-%S");
+ std::string newRecordingID = id.str();
+
recordingPath = historyPath / newRecordingID;
if (!std::filesystem::exists(recordingPath))
{
@@ -331,7 +375,7 @@ std::string armarx::ArVizStorage::startRecording(std::string const& newRecording
recordingTask = new RunningTask<ArVizStorage>(this, &ArVizStorage::record);
recordingTask->start();
- return recordingMetaData.id;
+ return "";
}
void armarx::ArVizStorage::stopRecording(const Ice::Current&)
@@ -349,11 +393,49 @@ void armarx::ArVizStorage::stopRecording(const Ice::Current&)
recordBatch(history);
recordingMetaData.id = "";
+ recordingMetaData.firstRevision = -1;
+ recordingMetaData.firstTimestampInMicroSeconds = -1;
}
viz::RecordingSeq armarx::ArVizStorage::getAllRecordings(const Ice::Current&)
{
viz::RecordingSeq result;
+
+ for (std::filesystem::directory_entry const& entry : std::filesystem::directory_iterator(historyPath))
+ {
+ ARMARX_INFO << "Checking: " << entry.path();
+
+ if (!entry.is_directory())
+ {
+ continue;
+ }
+
+ std::filesystem::path recordingFilePath = entry.path() / "recording.json";
+ if (!std::filesystem::exists(recordingFilePath))
+ {
+ ARMARX_INFO << "No recording.json found in directory: " << entry.path();
+ continue;
+ }
+
+ try
+ {
+ std::string recordingString = readCompleteFile(recordingFilePath);
+ nlohmann::json recordingJson = nlohmann::json::parse(recordingString);
+
+ viz::Recording recording;
+ recordingJson.get_to(recording);
+
+ result.push_back(std::move(recording));
+ }
+ catch (std::exception const& ex)
+ {
+ ARMARX_WARNING << "Could not parse JSON file: " << recordingFilePath
+ << "\nReason: " << ex.what();
+ continue;
+ }
+ }
+
+
return result;
}
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.h b/source/RobotAPI/components/ArViz/ArVizStorage.h
index 88570480d..56ec77649 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.h
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.h
@@ -109,7 +109,7 @@ namespace armarx
// StorageInterface interface
viz::LayerUpdates pullUpdatesSince(Ice::Long revision, const Ice::Current&) override;
- std::string startRecording(const std::string&, const Ice::Current&) override;
+ std::string startRecording(std::string const& prefix, const Ice::Current&) override;
void stopRecording(const Ice::Current&) override;
viz::RecordingSeq getAllRecordings(const Ice::Current&) override;
viz::RecordingBatch getRecordingBatch(const std::string&, Ice::Long, const Ice::Current&) override;
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
index 53178c762..6400791a9 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>631</width>
- <height>429</height>
+ <height>488</height>
</rect>
</property>
<property name="windowTitle">
@@ -126,7 +126,7 @@
<item>
<widget class="QLabel" name="label">
<property name="text">
- <string>ID:</string>
+ <string>Prefix:</string>
</property>
</widget>
</item>
@@ -137,30 +137,188 @@
</property>
</widget>
</item>
+ <item>
+ <widget class="QPushButton" name="startRecordingButton">
+ <property name="text">
+ <string>Start</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="stopRecordingButton">
+ <property name="text">
+ <string>Stop</string>
+ </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>
</layout>
</item>
- <item>
- <widget class="QPushButton" name="startRecordingButton">
- <property name="text">
- <string>Start</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="stopRecordingButton">
- <property name="text">
- <string>Stop</string>
- </property>
- </widget>
- </item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
- <string>Replay</string>
+ <string>Replay Selection</string>
</property>
+ <layout class="QVBoxLayout" name="verticalLayout_4">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>All Recordings</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="refreshRecordingsButton">
+ <property name="text">
+ <string>Refresh</string>
+ </property>
+ </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>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <widget class="QListWidget" name="recordingList">
+ <property name="minimumSize">
+ <size>
+ <width>220</width>
+ <height>0</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_4">
+ <property name="title">
+ <string>Recording Information</string>
+ </property>
+ <layout class="QFormLayout" name="formLayout">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Recording ID:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="recordingIdLabel">
+ <property name="text">
+ <string>-----</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>Revision:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="recordingRevisionLabel">
+ <property name="text">
+ <string>-----</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>Timestamp:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLabel" name="recordingTimestampLabel">
+ <property name="minimumSize">
+ <size>
+ <width>290</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>01.01.1970 01:00:00 - 01.01.1970 01:00:00</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>Duration:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLabel" name="recordingDurationLabel">
+ <property name="text">
+ <string>-----</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_11">
+ <property name="text">
+ <string>Batches:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLabel" name="recordingBatchesLabel">
+ <property name="text">
+ <string>-----</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_3">
+ <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>
</item>
</layout>
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 03da4e048..ec24b3917 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -47,6 +47,9 @@ ArVizWidgetController::ArVizWidgetController()
connect(widget.startRecordingButton, &QPushButton::clicked, this, &ArVizWidgetController::onStartRecording);
connect(widget.stopRecordingButton, &QPushButton::clicked, this, &ArVizWidgetController::onStopRecording);
+ connect(widget.refreshRecordingsButton, &QPushButton::clicked, this, &ArVizWidgetController::onRefreshRecordings);
+ connect(widget.recordingList, &QListWidget::currentItemChanged, this, &ArVizWidgetController::onRecordingSelectionChanged);
+
// We need a callback from the visualizer, when the layers have changed
// So we can update the tree accordingly
@@ -312,7 +315,7 @@ void ArVizWidgetController::onStartRecording()
std::string runningID = storage->startRecording(recordingID);
- if (runningID != recordingID)
+ if (runningID.size() > 0)
{
std::string message = "There is already a recording running with ID '"
+ runningID + "'. \n"
@@ -329,6 +332,77 @@ void ArVizWidgetController::onStopRecording()
storage->stopRecording();
}
+void ArVizWidgetController::onRefreshRecordings()
+{
+ allRecordings = storage->getAllRecordings();
+
+ std::string currentText;
+ QListWidgetItem* currentItem = widget.recordingList->currentItem();
+ if (currentItem)
+ {
+ currentText = currentItem->text().toStdString();
+ }
+
+ // TODO: Remember old selected entry and try to restore
+ widget.recordingList->clear();
+ int currentTextIndex = -1;
+ int index = 0;
+ for (auto& recording : allRecordings)
+ {
+ if (recording.id == currentText)
+ {
+ currentTextIndex = index;
+ }
+ widget.recordingList->addItem(QString::fromStdString(recording.id));
+ ++index;
+ }
+
+ if (currentTextIndex > 0)
+ {
+ widget.recordingList->setCurrentRow(currentTextIndex);
+ }
+}
+
+void ArVizWidgetController::onRecordingSelectionChanged(QListWidgetItem* current, QListWidgetItem* previous)
+{
+ std::string selectedID = current->text().toStdString();
+ for (auto& recording : allRecordings)
+ {
+ if (recording.id == selectedID)
+ {
+ widget.recordingIdLabel->setText(QString::fromStdString(recording.id));
+
+ widget.recordingRevisionLabel->setText(QString::fromStdString(
+ std::to_string(recording.firstRevision) +
+ " - " +
+ std::to_string(recording.lastRevision)));
+
+ IceUtil::Time firstTime = IceUtil::Time::microSeconds(recording.firstTimestampInMicroSeconds);
+ IceUtil::Time lastTime = IceUtil::Time::microSeconds(recording.lastTimestampInMicroSeconds);
+ std::string firstTimeString = firstTime.toDateTime();
+ std::string lastTimeString = lastTime.toDateTime();
+ firstTimeString = firstTimeString.substr(0, firstTimeString.size() - 4);
+ lastTimeString = lastTimeString.substr(0, lastTimeString.size() - 4);
+
+ widget.recordingTimestampLabel->setText(QString::fromStdString(
+ firstTimeString +
+ " - " +
+ lastTimeString));
+
+ IceUtil::Time duration = lastTime - firstTime;
+ int durationSeconds = duration.toSeconds();
+ widget.recordingDurationLabel->setText(QString::fromStdString(
+ std::to_string(durationSeconds) + " s"));
+
+ widget.recordingBatchesLabel->setText(QString::fromStdString(
+ std::to_string(recording.batchHeaders.size())
+ ));
+
+ break;
+ }
+ }
+}
+
SoNode* ArVizWidgetController::getScene()
{
return visualizer.root;
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
index 9c1ea5554..3a7bb09b5 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
@@ -124,6 +124,9 @@ namespace armarx
void onStartRecording();
void onStopRecording();
+ void onRefreshRecordings();
+ void onRecordingSelectionChanged(QListWidgetItem* current, QListWidgetItem* previous);
+
private:
Ui::ArVizWidget widget;
@@ -133,6 +136,8 @@ namespace armarx
armarx::viz::StorageInterfacePrx storage;
armarx::viz::CoinVisualizer visualizer;
+
+ viz::RecordingSeq allRecordings;
};
}
diff --git a/source/RobotAPI/interface/ArViz/Component.ice b/source/RobotAPI/interface/ArViz/Component.ice
index 01b5d75e1..198068966 100644
--- a/source/RobotAPI/interface/ArViz/Component.ice
+++ b/source/RobotAPI/interface/ArViz/Component.ice
@@ -84,7 +84,7 @@ interface StorageInterface
{
LayerUpdates pullUpdatesSince(long revision);
- string startRecording(string id);
+ string startRecording(string prefix);
void stopRecording();
--
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