roby 0.7

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

@@ -0,0 +1,200 @@
+require 'roby/log/gui/replay_controls_ui'
+
+class Ui::ReplayControls
+    attr_reader :replay
+
+    attr_reader :bookmarks_menu
+    attr_reader :bookmarks_actions
+    attr_reader :bookmarks_file
+    attr_reader :bookmarks_start_mark
+
+    KEY_GOTO = Qt::KeySequence.new('g')
+
+    def load_bookmarks(file = nil)
+	file ||= Qt::FileDialog.get_open_file_name replay, "Load bookmarks"
+	unless !file || file.empty?
+	    replay.bookmarks.clear
+
+	    list = File.open(file) { |io| YAML.load(io) }
+	    list.each do |name, times|
+		replay.bookmarks[name] = times.map { |t| Time.from_hms(t) if t }
+	    end
+	    update_bookmarks_menu
+
+	    @bookmarks_file = file
+	    actionBookmarksSave.enabled = true
+	end
+    end
+
+    def save_bookmarks_as
+	file = Qt::FileDialog.get_save_file_name replay, "Save bookmarks"
+	unless !file || file.empty?
+	    @bookmarks_file = file
+	    actionBookmarksSave.enabled = true
+	    save_bookmarks
+	end
+    end
+
+    def save_bookmarks
+	data = replay.bookmarks.inject(Hash.new) do |data, (name, times)|
+	    data[name] = times.map { |t| t.to_hms if t }
+	    data
+	end
+	File.open(bookmarks_file, 'w') do |io|
+	    YAML.dump(data, io)
+	end
+    end
+
+
+    def update_bookmarks_menu
+	bookmarks_actions.each do |action|
+	    bookmarks_menu.remove_action action
+	end
+	bookmarks_actions.clear
+
+	bookmarks = replay.bookmarks.sort_by { |name, time| time }
+	bookmarks.unshift(["Mark", [bookmarks_start_mark, nil]]) if bookmarks_start_mark
+
+	bookmarks.each do |name, range|
+	    start_time, end_time = if replay.first_sample
+				       # Handle sub-millisecond rounding effects
+				       range.map do |t| 
+					   if t
+					       ((t - replay.first_sample) * 1000).round / 1000.0
+					   end
+				       end
+				   else 
+				       range.map { |t| t.to_hms if t }
+				   end
+
+	    display = if start_time && end_time
+			  "#{start_time} - #{end_time}"
+		      else
+			  (start_time || end_time).to_s
+		      end
+
+	    action = Qt::Action.new "#{name} (#{display})", bookmarks_menu
+	    action.connect(SIGNAL(:triggered)) do
+		range.each { |t| replay.seek(t) if t }
+	    end
+	    bookmarks_actions << action
+	    bookmarks_menu.add_action action
+	end
+    end
+    
+    def setupUi(replay, widget)
+	@replay = replay
+	super(widget)
+
+	@bookmarks_actions = []
+	bookmarks.menu = @bookmarks_menu = Qt::Menu.new
+	bookmarks_menu.add_action actionBookmarksSave
+	bookmarks_menu.add_action actionBookmarksSaveAs
+	bookmarks_menu.add_action actionBookmarksLoad
+	bookmarks_menu.add_separator
+	bookmarks_menu.add_action actionBookmarksSetMark
+	bookmarks_menu.add_action actionBookmarksAdd
+	bookmarks_menu.add_separator
+	actionBookmarksLoad.connect(SIGNAL(:triggered)) { load_bookmarks }
+	actionBookmarksSaveAs.connect(SIGNAL(:triggered)) { save_bookmarks_as }
+	actionBookmarksSave.connect(SIGNAL(:triggered)) { save_bookmarks }
+	actionBookmarksSetMark.connect(SIGNAL(:triggered)) do
+	    @bookmarks_start_mark = replay.time
+	    update_bookmarks_menu
+	end
+	actionBookmarksAdd.connect(SIGNAL(:triggered)) do
+	    new_name = Qt::InputDialog.get_text widget, "New bookmark", "Name: "
+	    unless new_name && new_name.empty?
+		replay.bookmarks[new_name] = [bookmarks_start_mark, replay.time]
+		update_bookmarks_menu
+	    end
+	end
+	update_bookmarks_menu
+
+	goto.connect(SIGNAL(:clicked)) do
+	    handleGoto
+	end
+	shortcut = Qt::Shortcut.new(KEY_GOTO, widget)
+	shortcut.context = Qt::ApplicationShortcut
+	shortcut.connect(SIGNAL(:activated)) do
+	    handleGoto
+	end
+
+	seek_start.connect(SIGNAL(:clicked)) do
+	    replay.seek(nil)
+	end
+	faster.connect(SIGNAL('clicked()')) do
+	    speed = replay.play_speed
+	    factor = speed < 1 ? 10 : 1
+	    speed = Float(Integer(factor * speed) + 1.0) / factor
+	    slower.enabled = (speed > 0.1)
+	    replay.play_speed = speed
+	end
+	slower.connect(SIGNAL('clicked()')) do
+	    speed = replay.play_speed
+	    factor = speed <= 1 ? 10 : 1
+	    speed = Float(Integer(factor * speed) - 1.0) / factor
+	    slower.enabled = (speed > 0.1)
+	    replay.play_speed = speed
+	end
+	speed.connect(SIGNAL('editingFinished()')) do
+	    begin
+		new_speed = Float(speed.text)
+		if new_speed <= 0
+		    raise ArgumentError, "negative values are not allowed for speed"
+		end
+		replay.play_speed = new_speed
+	    rescue ArgumentError
+		Qt::MessageBox.warning nil, "Invalid speed", "Invalid value for speed \"#{ui_controls.speed.text}\": #{$!.message}"
+		self.play_speed = play_speed
+	    end
+	end
+
+	play.connect(SIGNAL("clicked()")) do
+	    if play.checked?
+		replay.play
+	    else
+		replay.stop
+	    end
+	    seek_start.enabled = play_step.enabled = !play.checked?
+	end
+	play_step.connect(SIGNAL("clicked()")) do
+	    replay.play_step
+	end
+    end
+
+    def handleGoto
+	user_time = begin
+			user_time = Qt::InputDialog.get_text nil, 'Going to ...', 
+					"<html><b>Go to time</b><ul><li>use \'+\' for a relative jump forward</li><li>'-' for a relative jump backwards</li></ul></html>", 
+					Qt::LineEdit::Normal, (user_time || @last_goto || "")
+			return unless user_time && !user_time.empty?
+
+			@last_goto = user_time
+			if user_time =~ /^\s*([\+\-@])(.*)/
+			    op = $1
+			    user_time = $2
+			end
+			user_time = Time.from_hms(user_time)
+
+		    rescue ArgumentError
+			Qt::MessageBox.warning nil, "Invalid user_time", "Invalid user_time: #{$!.message}", "OK"
+			retry
+		    end
+
+	unless replay.first_sample
+	    replay.seek(nil)
+	end
+
+	user_time = if !op
+			replay.first_sample + (user_time - Time.at(0))
+		    elsif op != "@"
+			replay.time.send(op, user_time - Time.at(0))
+		    else
+			user_time
+		    end
+
+	replay.seek(user_time)
+    end
+end
+

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

@@ -0,0 +1,259 @@
+<ui version="4.0" >
+ <class>ReplayControls</class>
+ <widget class="QWidget" name="ReplayControls" >
+  <property name="geometry" >
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>432</width>
+    <height>168</height>
+   </rect>
+  </property>
+  <property name="windowTitle" >
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" >
+   <item>
+    <widget class="QGroupBox" name="grp_play" >
+     <property name="title" >
+      <string>Play</string>
+     </property>
+     <layout class="QVBoxLayout" >
+      <item>
+       <layout class="QHBoxLayout" >
+        <item>
+         <widget class="QProgressBar" name="progress" >
+          <property name="value" >
+           <number>0</number>
+          </property>
+          <property name="orientation" >
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="goto" >
+          <property name="text" >
+           <string>&amp;Goto</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLCDNumber" name="time_lcd" >
+          <property name="numDigits" >
+           <number>6</number>
+          </property>
+          <property name="segmentStyle" >
+           <enum>QLCDNumber::Flat</enum>
+          </property>
+          <property name="value" stdset="0" >
+           <double>0.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" >
+        <item>
+         <widget class="QLabel" name="textLabel1" >
+          <property name="text" >
+           <string>Speed</string>
+          </property>
+          <property name="wordWrap" >
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLineEdit" name="speed" >
+          <property name="sizePolicy" >
+           <sizepolicy vsizetype="Fixed" hsizetype="Minimum" >
+            <horstretch>1</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="maximumSize" >
+           <size>
+            <width>80</width>
+            <height>32767</height>
+           </size>
+          </property>
+          <property name="toolTip" >
+           <string>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;style type="text/css">
+p, li { white-space: pre-wrap; }
+&lt;/style>&lt;/head>&lt;body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;">
+&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">&lt;span style=" font-weight:600;">Current playing speed&lt;/span>&lt;/p>
+&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;">&lt;span style=" font-weight:400;">it is the factor between the time in the log file and the time of replay. For instance, 2 means that we replay twice as fast as in reality.&lt;/span>&lt;/p>
+&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">&lt;/p>&lt;/body>&lt;/html></string>
+          </property>
+          <property name="text" >
+           <string>1</string>
+          </property>
+          <property name="alignment" >
+           <set>Qt::AlignRight</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="slower" >
+          <property name="toolTip" >
+           <string>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;style type="text/css">
+p, li { white-space: pre-wrap; }
+&lt;/style>&lt;/head>&lt;body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;">
+&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Decrease speed&lt;/p>&lt;/body>&lt;/html></string>
+          </property>
+          <property name="text" >
+           <string>&lt;&lt;</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="play" >
+          <property name="sizePolicy" >
+           <sizepolicy vsizetype="Fixed" hsizetype="MinimumExpanding" >
+            <horstretch>2</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip" >
+           <string>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;style type="text/css">
+p, li { white-space: pre-wrap; }
+&lt;/style>&lt;/head>&lt;body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;">
+&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Play&lt;/p>&lt;/body>&lt;/html></string>
+          </property>
+          <property name="text" >
+           <string>></string>
+          </property>
+          <property name="checkable" >
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="faster" >
+          <property name="toolTip" >
+           <string>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;style type="text/css">
+p, li { white-space: pre-wrap; }
+&lt;/style>&lt;/head>&lt;body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;">
+&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Increase speed&lt;/p>&lt;/body>&lt;/html></string>
+          </property>
+          <property name="text" >
+           <string>>></string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" >
+        <item>
+         <widget class="QToolButton" name="bookmarks" >
+          <property name="text" >
+           <string>Bookmarks</string>
+          </property>
+          <property name="popupMode" >
+           <enum>QToolButton::InstantPopup</enum>
+          </property>
+          <property name="toolButtonStyle" >
+           <enum>Qt::ToolButtonTextBesideIcon</enum>
+          </property>
+          <property name="arrowType" >
+           <enum>Qt::DownArrow</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer>
+          <property name="orientation" >
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" >
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="QPushButton" name="seek_start" >
+          <property name="toolTip" >
+           <string>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;style type="text/css">
+p, li { white-space: pre-wrap; }
+&lt;/style>&lt;/head>&lt;body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;">
+&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Go to start&lt;/p>&lt;/body>&lt;/html></string>
+          </property>
+          <property name="text" >
+           <string>|&lt;&lt;</string>
+          </property>
+          <property name="shortcut" >
+           <string/>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="play_step" >
+          <property name="toolTip" >
+           <string>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;style type="text/css">
+p, li { white-space: pre-wrap; }
+&lt;/style>&lt;/head>&lt;body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal; text-decoration:none;">
+&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Go forward one step&lt;/p>&lt;/body>&lt;/html></string>
+          </property>
+          <property name="text" >
+           <string>>|</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+  <action name="actionBookmarksAdd" >
+   <property name="text" >
+    <string>Add...</string>
+   </property>
+  </action>
+  <action name="actionGoto" >
+   <property name="text" >
+    <string>goto</string>
+   </property>
+   <property name="shortcut" >
+    <string>Shift+G, G</string>
+   </property>
+   <property name="shortcutContext" >
+    <enum>Qt::ApplicationShortcut</enum>
+   </property>
+  </action>
+  <action name="actionBookmarksSave" >
+   <property name="enabled" >
+    <bool>false</bool>
+   </property>
+   <property name="text" >
+    <string>Save</string>
+   </property>
+  </action>
+  <action name="actionBookmarksSaveAs" >
+   <property name="enabled" >
+    <bool>true</bool>
+   </property>
+   <property name="text" >
+    <string>Save As</string>
+   </property>
+  </action>
+  <action name="actionBookmarksLoad" >
+   <property name="text" >
+    <string>Load</string>
+   </property>
+  </action>
+  <action name="actionBookmarksSetMark" >
+   <property name="text" >
+    <string>Set mark</string>
+   </property>
+  </action>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>