From aea129e46db0270585b9d36cc2cfb87f8eacf67d Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Tue, 3 Dec 2019 17:58:06 +0100
Subject: [PATCH] ArViz: Add loopback capability
---
.../RobotAPI/gui-plugins/ArViz/ArVizWidget.ui | 10 ++++++++++
.../ArViz/ArVizWidgetController.cpp | 18 +++++++++++-------
2 files changed, 21 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
index 7022edb4f..a4fd359f7 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
@@ -481,6 +481,16 @@
</property>
</widget>
</item>
+ <item>
+ <widget class="QCheckBox" name="replayLoopbackCheckBox">
+ <property name="text">
+ <string>Loopback</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 55f18a35c..fd5acc314 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -650,8 +650,7 @@ long ArVizWidgetController::getRevisionForTimestamp(long timestamp)
auto updateEnd = std::lower_bound(batch.updates.begin(), batch.updates.end(), pivot, timestampLess);
if (updateEnd == batch.updates.end())
{
- ARMARX_WARNING << "Could not find revision for timestamp: " << timestampToString(timestamp);
- return -1;
+ return -2;
}
if (updateEnd != batch.updates.begin())
{
@@ -689,13 +688,18 @@ void ArVizWidgetController::onReplayTimerTick()
replayCurrentTimestamp += 33000 * replaySpeed;
long revision = getRevisionForTimestamp(replayCurrentTimestamp);
- ARMARX_INFO << "Timestamp: " << timestampToString(replayCurrentTimestamp)
- << "\nRevision: " << revision;
- if (revision < 0)
+ if (revision == -2)
{
- replayCurrentTimestamp = currentRecording.firstTimestampInMicroSeconds;
+ if (widget.replayLoopbackCheckBox->checkState() == Qt::Checked)
+ {
+ replayCurrentTimestamp = currentRecording.firstTimestampInMicroSeconds;
+ }
+ else
+ {
+ revision = currentRecording.lastRevision;
+ }
}
- else
+ if (revision >= 0)
{
widget.replayRevisionSlider->setValue(revision);
}
--
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