roby 0.7

data/lib/roby/log/gui/relations_view.ui

@@ -0,0 +1,149 @@
+<ui version="4.0" >
+ <class>RelationsView</class>
+ <widget class="QMainWindow" name="RelationsView" >
+  <property name="geometry" >
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle" >
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget" >
+   <layout class="QVBoxLayout" >
+    <item>
+     <widget class="QGraphicsView" name="graphics" >
+      <property name="renderHints" >
+       <set>QPainter::Antialiasing|QPainter::TextAntialiasing</set>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menubar" >
+   <property name="geometry" >
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>800</width>
+     <height>29</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menuView" >
+    <property name="title" >
+     <string>View</string>
+    </property>
+    <addaction name="actionKeepSignals" />
+    <addaction name="actionHideFinalized" />
+    <addaction name="actionShowAll" />
+    <addaction name="actionRedraw" />
+    <addaction name="separator" />
+    <addaction name="actionZoom" />
+    <addaction name="actionUnzoom" />
+    <addaction name="actionFit" />
+    <addaction name="separator" />
+    <addaction name="actionSVGExport" />
+    <addaction name="actionPrint" />
+   </widget>
+   <widget class="QMenu" name="menuTask_labels" >
+    <property name="title" >
+     <string>Task labels</string>
+    </property>
+    <widget class="QMenu" name="menuRemovedPrefixes" >
+     <property name="title" >
+      <string>Removed prefixes</string>
+     </property>
+     <addaction name="actionPrefixAdd" />
+     <addaction name="separator" />
+    </widget>
+    <addaction name="actionOwnership" />
+    <addaction name="menuRemovedPrefixes" />
+   </widget>
+   <addaction name="menuView" />
+   <addaction name="menuTask_labels" />
+  </widget>
+  <action name="actionShowAll" >
+   <property name="text" >
+    <string>Show All</string>
+   </property>
+  </action>
+  <action name="actionRedraw" >
+   <property name="text" >
+    <string>Redaw</string>
+   </property>
+  </action>
+  <action name="actionZoom" >
+   <property name="text" >
+    <string>Zoom +</string>
+   </property>
+  </action>
+  <action name="actionUnzoom" >
+   <property name="text" >
+    <string>Zoom -</string>
+   </property>
+  </action>
+  <action name="actionFit" >
+   <property name="text" >
+    <string>Fit</string>
+   </property>
+  </action>
+  <action name="actionOwnership" >
+   <property name="checkable" >
+    <bool>true</bool>
+   </property>
+   <property name="checked" >
+    <bool>true</bool>
+   </property>
+   <property name="text" >
+    <string>Ownership</string>
+   </property>
+  </action>
+  <action name="actionPrefixAdd" >
+   <property name="text" >
+    <string>Add...</string>
+   </property>
+  </action>
+  <action name="actionSVGExport" >
+   <property name="text" >
+    <string>SVG Export</string>
+   </property>
+  </action>
+  <action name="actionPrint" >
+   <property name="text" >
+    <string>Print</string>
+   </property>
+  </action>
+  <action name="actionKeepSignals" >
+   <property name="checkable" >
+    <bool>true</bool>
+   </property>
+   <property name="checked" >
+    <bool>false</bool>
+   </property>
+   <property name="text" >
+    <string>Keep signals</string>
+   </property>
+  </action>
+  <action name="actionBookmarksAdd" >
+   <property name="text" >
+    <string>Add ...</string>
+   </property>
+  </action>
+  <action name="actionHideFinalized" >
+   <property name="checkable" >
+    <bool>true</bool>
+   </property>
+   <property name="checked" >
+    <bool>true</bool>
+   </property>
+   <property name="text" >
+    <string>Hide Finalized</string>
+   </property>
+  </action>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

data/lib/roby/log/gui/replay.rb

@@ -0,0 +1,327 @@
+require 'Qt4'
+require 'roby/app'
+require 'optparse'
+
+require 'roby/log/gui/replay_controls'
+require 'roby/log/gui/data_displays'
+
+# This class is a data stream list model for offline replay:
+# it holds a list of log file which can then be used for
+# display by log/replay
+class OfflineStreamListModel < DataStreamListModel
+    def edit(stream)
+	dir = if !stream || stream.files.empty? then ""
+	      else File.dirname(stream.files.first) end
+
+	newfiles = Qt::FileDialog.get_open_file_names nil, "New data stream", dir
+	return if newfiles.empty?
+	if !newfiles.empty?
+	    if newstream = Roby.app.data_stream(newfiles)
+		return newstream
+	    else
+		Qt::MessageBox.warning nil, "Add data stream", "Cannot determine data stream type for #{newfiles.join(", ")}"
+		return
+	    end
+	end
+    end
+end
+
+class Replay < Qt::MainWindow
+    attr_reader :streams
+    attr_reader :streams_model
+
+    # The widget which controls the data stream => display mapping, and display
+    # control
+    attr_reader :ui_displays
+    # The widget which hold the replay controls (play, pause, ...)
+    attr_reader :ui_controls
+
+    # The set of bookmarks as a name => time map
+    attr_reader :bookmarks
+
+    KEY_GOTO = Qt::KeySequence.new('g')
+    
+    # True if we should start playing right away
+    attr_accessor :play_now
+    # The log directory, or Roby.app.log_dir
+    attr_accessor :log_dir
+    # Set to a time at which we should go to
+    attr_accessor :initial_time
+    # A set of procs which are to be called to set up the display
+    attr_accessor :initial_setup
+
+    def initialize
+	super()
+	@play_speed    = 1.0
+	@play_now      = nil
+	@logdir        = nil
+	@goto          = nil
+	@initial_setup = []
+	@bookmarks     = Hash.new
+
+	# Create the vertical layout for this window
+	central_widget = Qt::Widget.new(self)
+	self.central_widget = central_widget
+	layout = Qt::VBoxLayout.new(central_widget)
+	layout.spacing = 6
+	layout.margin  = 0
+
+	# Add support for the data streams and display setup
+	@streams = Array.new
+	@streams_model = OfflineStreamListModel.new(streams)
+	displays_holder = Qt::Widget.new(central_widget)
+	layout.add_widget displays_holder
+	@ui_displays = Ui_DataDisplays.new
+	ui_displays.setupUi(displays_holder)
+	ui_displays.streams.model = streams_model
+	connect(ui_displays.add_stream, SIGNAL("clicked()"), self, SLOT("add_stream()"))
+	connect(ui_displays.remove_stream, SIGNAL("clicked()"), self, SLOT("remove_stream()"))
+	connect(ui_displays.display_add, SIGNAL("clicked()"), self, SLOT("add_display()"))
+
+	controls_holder = Qt::Widget.new(central_widget)
+	@ui_controls = Ui::ReplayControls.new
+	ui_controls.setupUi(self, controls_holder)
+	layout.add_widget controls_holder
+    end
+
+    def play_speed=(value)
+	ui_controls.speed.text = value.to_s
+	@play_speed = value
+
+	if play_timer
+	    play_timer.stop
+	    play_timer.start(Integer(time_slice * 1000))
+	end
+    end
+    def time_slice
+	if play_speed < 1
+	    BASE_TIME_SLICE / play_speed
+	else
+	    BASE_TIME_SLICE
+	end
+    end
+
+    def displayed_streams
+	streams.find_all do |s| 
+	    s.displayed?
+	end
+    end
+
+    # Time of the first known sample
+    attr_reader :first_sample
+    # Time of the last known sample
+    attr_reader :last_sample
+
+    def seek(time, integrate = true)
+	if time && !first_sample
+	    seek(nil) 
+	elsif time && first_sample && time < first_sample
+	    time = nil
+	end
+
+	displayed_streams.each { |s| s.prepare_seek(time) }
+	if !time || time == Time.at(0)
+	    min, max = displayed_streams.inject([nil, nil]) do |(min, max), stream|
+		stream_min, stream_max = stream.range
+		if !min || stream_min < min
+		    min = stream_min
+		end
+		if !max || stream_max > max
+		    max = stream_max
+		end
+		[min, max]
+	    end
+
+	    @first_sample = @time = min
+	    @last_sample  = max
+
+	    ui_controls.progress.minimum = min.to_i
+	    ui_controls.progress.maximum = max.to_i
+	    ui_controls.update_bookmarks_menu
+	else
+	    play_until time, integrate
+	end
+
+	update_time_display
+    end
+
+    def update_time_display
+	ui_controls.time_lcd.display(((self.time - first_sample) * 1000.0).round / 1000.0)
+	ui_controls.progress.value = self.time.to_i
+    end
+
+    attr_reader :time
+
+    def next_time
+	displayed_streams.
+	    map { |s| s.next_time }.
+	    compact.min 
+    end
+
+    BASE_TIME_SLICE = 0.5
+    attr_reader :play_timer, :play_speed
+    def play
+	seek(nil) unless first_sample
+
+	@play_timer = Qt::Timer.new(self)
+	connect(play_timer, SIGNAL("timeout()"), self, SLOT("play_step_timer()"))
+	play_timer.start(Integer(time_slice * 1000))
+    end
+
+    def stop
+	if play_timer
+	    ui_controls.play.checked = false
+	    play_timer.stop
+	    @play_timer = nil
+	end
+    end
+
+    def play_step
+	seek(nil) unless first_sample
+       	play_until(next_time) 
+    end
+
+    def play_step_timer
+	start = Time.now
+	play_until(time + time_slice * play_speed)
+    end
+    slots 'play_step_timer()'
+    
+    def play_until(max_time, integrate = true)
+	start_at = Time.now
+	displayed_streams.inject(timeline = []) do |timeline, s| 
+	    if s.next_time
+		timeline << [s.next_time, s]
+	    end
+	    timeline
+	end
+
+	if timeline.empty?
+	    stop
+	    return
+	end
+
+	updated_streams = Set.new
+
+	timeline.sort_by { |t, _| t }
+	while !timeline.empty? && (timeline[0][0] - max_time) < 0.001
+	    @time, stream = timeline.first
+
+	    stream.advance
+	    stream.clear_integrated unless integrate
+	    updated_streams << stream
+	    if next_time = stream.next_time
+		timeline[0] = [next_time, stream]
+	    else
+		timeline.shift
+	    end
+	    timeline.sort_by { |t, _| t }
+	end
+
+	replayed = Time.now
+
+	updated_streams.each do |stream|
+	    stream.display
+	end
+
+	STDERR.puts "replay #{replayed - start_at}, display #{Time.now-replayed}"
+
+	if timeline.empty? then stop
+	else @time = max_time
+	end
+
+	if time > last_sample
+	    @last_sample = time
+
+	    time_display = time.to_i
+	    if ui_controls.progress.maximum < time_display
+		ui_controls.progress.maximum = (first_sample + (last_sample - first_sample) * 4 / 3).to_i
+	    end
+	end
+	update_time_display
+
+    rescue Exception => e
+	message = "<html>#{Qt.escape(e.message)}<ul><li>#{e.backtrace.join("</li><li>")}</li></ul></html>"
+	Qt::MessageBox.critical self, "Replay failure", message
+	stop
+    end
+
+    def add_stream(stream = nil)
+	streams_model.add_new(stream)
+    end
+    slots 'add_stream()'
+
+    def remove_stream
+	index = ui_displays.streams.current_index.row
+	streams.removeRow(index, Qt::ModelIndex.new)
+    end
+    slots 'remove_stream()'
+
+    def add_display(kind = nil)
+	ui_displays.add_display(streams_model, kind)
+    end
+    slots 'add_display()'
+
+    def self.setup(argv)
+	replay = self.new
+
+	parser = OptionParser.new do |opt|
+	    Ui_DataDisplays::DISPLAYS.each_value do |config_ui|
+		config_ui.setup_optparse(opt, replay)
+	    end
+
+	    opt.on("--logdir=DIR", String, "the log directory in which we initialize the data streams") do |dir|
+		replay.log_dir = dir
+	    end
+	    opt.on("--play", "start playing after loading the event log") do 
+		replay.play_now = true
+	    end
+
+	    opt.on("--speed=SPEED", Integer, "play speed") do |speed|
+		replay.play_speed = speed
+	    end
+	    opt.on("--goto=TIME", String, "go to TIME before playing normally. Time is given relatively to the simulation start") do |goto| 
+		replay.initial_time = goto
+	    end
+	    opt.on('--bookmarks=FILE', String, "load the bookmarks in FILE") do |file|
+		replay.ui_controls.load_bookmarks(file)
+	    end
+	end
+	args = argv.dup
+	parser.parse!(args)
+
+	yield(replay, parser, args) if block_given?
+
+	replay
+    end
+
+    def setup
+	initial_setup.each do |prc|
+	    prc.call(self)
+	end
+
+	show
+	if initial_time
+	    seek(nil)
+
+	    seek_time = if initial_time[0] == ?@
+			    Time.from_hms(initial_time[1..-1])
+			else
+			    first_sample + (Time.from_hms(initial_time) - Time.at(0))
+			end
+	    seek(seek_time, false)
+	end
+
+	if play_now
+	    ui_controls.play.checked = true
+	end
+    end
+end
+
+if $0 == __FILE__
+    a = Qt::Application.new(ARGV)
+    w = Replay.new
+    w.show
+    a.exec
+end
+