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Zcm loader prefix #1022

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Zcm loader prefix #1022

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d9df448
Added a prefix to data loaded from file
jbendes Nov 14, 2024
54f5f5d
Supporting prefix in datastream also
jbendes Nov 15, 2024
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5 changes: 5 additions & 0 deletions plotjuggler_plugins/PluginsZcm/config_zcm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,11 @@ QString ConfigZCM::getLibraries() const
}
}

QString ConfigZCM::getDataPrefix() const
{
return ui->lineEditDataPrefix->text();
}

void ConfigZCM::on_radioEnvironmentLibrary_toggled(bool checked)
{
if (checked)
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1 change: 1 addition & 0 deletions plotjuggler_plugins/PluginsZcm/config_zcm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ class ConfigZCM : public QWidget
~ConfigZCM();

QString getLibraries() const;
QString getDataPrefix() const;

private slots:
void on_radioEnvironmentLibrary_toggled(bool checked);
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56 changes: 48 additions & 8 deletions plotjuggler_plugins/PluginsZcm/config_zcm.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -7,13 +7,13 @@
<x>0</x>
<y>0</y>
<width>553</width>
<height>264</height>
<height>200</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,0,1">
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,0,0,1">
<property name="leftMargin">
<number>0</number>
</property>
Expand All @@ -26,6 +26,49 @@
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:700;&quot;&gt;Data Prefix:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEditDataPrefix">
<property name="minimumSize">
<size>
<width>200</width>
<height>26</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>28</height>
</size>
</property>
<property name="text">
<string></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="QLabel" name="label">
<property name="text">
Expand Down Expand Up @@ -78,6 +121,9 @@
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QListWidget" name="listWidgetLibs">
<property name="sizeAdjustPolicy">
<enum>QAbstractScrollArea::AdjustToContents</enum>
</property>
<property name="editTriggers">
<set>QAbstractItemView::NoEditTriggers</set>
</property>
Expand Down Expand Up @@ -137,12 +183,6 @@
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
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19 changes: 13 additions & 6 deletions plotjuggler_plugins/PluginsZcm/dataload_zcm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,9 @@ DataLoadZcm::DataLoadZcm()
_ui->setupUi(_dialog);

_config_widget = new ConfigZCM("DataLoadZcm", _dialog);
_config_widget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
_ui->mainLayout->insertWidget(0, _config_widget, 1);
_ui->mainLayout->setStretchFactor(_config_widget, 0);

_ui->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(false);

Expand Down Expand Up @@ -269,6 +271,8 @@ bool DataLoadZcm::readDataFromFile(FileLoadInfo* info, PlotDataMapRef& plot_data
vector<pair<string, string>> strings;
ProcessUsr usr = { numerics, strings };

string prefix = _config_widget->getDataPrefix().toStdString() + "/";

auto processEvent = [&](const zcm::LogEvent* evt) {
if (_selected_channels.find(evt->channel) == _selected_channels.end())
{
Expand All @@ -277,9 +281,10 @@ bool DataLoadZcm::readDataFromFile(FileLoadInfo* info, PlotDataMapRef& plot_data

if (evt->datalen == 0)
{
auto itr = plot_data.numeric.find(evt->channel);
string chan(prefix + evt->channel);
auto itr = plot_data.numeric.find(chan);
if (itr == plot_data.numeric.end())
itr = plot_data.addNumeric(evt->channel);
itr = plot_data.addNumeric(chan);
itr->second.pushBack({ (double)evt->timestamp / 1e6, 0 });
return;
}
Expand All @@ -288,16 +293,18 @@ bool DataLoadZcm::readDataFromFile(FileLoadInfo* info, PlotDataMapRef& plot_data
types, processData, &usr);
for (auto& n : usr.numerics)
{
auto itr = plot_data.numeric.find(n.first);
string chan(prefix + n.first);
auto itr = plot_data.numeric.find(chan);
if (itr == plot_data.numeric.end())
itr = plot_data.addNumeric(n.first);
itr = plot_data.addNumeric(chan);
itr->second.pushBack({ (double)evt->timestamp / 1e6, n.second });
}
for (auto& s : usr.strings)
{
auto itr = plot_data.strings.find(s.first);
string chan(prefix + s.first);
auto itr = plot_data.strings.find(chan);
if (itr == plot_data.strings.end())
itr = plot_data.addStringSeries(s.first);
itr = plot_data.addStringSeries(chan);
itr->second.pushBack({ (double)evt->timestamp / 1e6, s.second });
}

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12 changes: 8 additions & 4 deletions plotjuggler_plugins/PluginsZcm/datastream_zcm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,6 +131,7 @@ bool DataStreamZcm::start(QStringList*)
}
}

_prefix = _config_widget->getDataPrefix().toStdString() + "/";
_zcm->start();
_running = true;
return true;
Expand Down Expand Up @@ -227,24 +228,27 @@ void DataStreamZcm::handler(const zcm::ReceiveBuffer* rbuf, const string& channe
{
zcm::Introspection::processEncodedType(channel, rbuf->data, rbuf->data_size, "/",
*_types.get(), processData, this);

{
std::lock_guard<std::mutex> lock(mutex());

for (auto& n : _numerics)
{
auto itr = dataMap().numeric.find(n.first);
auto chan = _prefix + n.first;
auto itr = dataMap().numeric.find(chan);
if (itr == dataMap().numeric.end())
{
itr = dataMap().addNumeric(n.first);
itr = dataMap().addNumeric(chan);
}
itr->second.pushBack({ double(rbuf->recv_utime) / 1e6, n.second });
}
for (auto& s : _strings)
{
auto itr = dataMap().strings.find(s.first);
auto chan = _prefix + s.first;
auto itr = dataMap().strings.find(chan);
if (itr == dataMap().strings.end())
{
itr = dataMap().addStringSeries(s.first);
itr = dataMap().addStringSeries(chan);
}
itr->second.pushBack({ double(rbuf->recv_utime) / 1e6, s.second });
}
Expand Down
1 change: 1 addition & 0 deletions plotjuggler_plugins/PluginsZcm/datastream_zcm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ private slots:

void handler(const zcm::ReceiveBuffer* rbuf, const std::string& channel);

std::string _prefix;
bool _running;
QString _types_library;
QString _subscribe_string;
Expand Down
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