Class: Replay

Inherits:
Qt::MainWindow
  • Object
show all
Defined in:
lib/roby/log/gui/replay.rb

Constant Summary collapse

KEY_GOTO = 
Qt::KeySequence.new('g')
BASE_TIME_SLICE = 
0.5

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize ⇒ Replay

Returns a new instance of Replay.



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# File 'lib/roby/log/gui/replay.rb', line 53

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

Instance Attribute Details

#bookmarks ⇒ Object (readonly)

The set of bookmarks as a name => time map



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# File 'lib/roby/log/gui/replay.rb', line 40

def bookmarks
  @bookmarks
end

#first_sample ⇒ Object (readonly)

Time of the first known sample



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# File 'lib/roby/log/gui/replay.rb', line 111

def first_sample
  @first_sample
end

#initial_setup ⇒ Object

A set of procs which are to be called to set up the display



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# File 'lib/roby/log/gui/replay.rb', line 51

def initial_setup
  @initial_setup
end

#initial_time ⇒ Object

Set to a time at which we should go to



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# File 'lib/roby/log/gui/replay.rb', line 49

def initial_time
  @initial_time
end

#last_sample ⇒ Object (readonly)

Time of the last known sample



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# File 'lib/roby/log/gui/replay.rb', line 113

def last_sample
  @last_sample
end

#log_dir ⇒ Object

The log directory, or Roby.app.log_dir



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# File 'lib/roby/log/gui/replay.rb', line 47

def log_dir
  @log_dir
end

#play_now ⇒ Object

True if we should start playing right away



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# File 'lib/roby/log/gui/replay.rb', line 45

def play_now
  @play_now
end

#play_speed ⇒ Object

Returns the value of attribute play_speed.



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# File 'lib/roby/log/gui/replay.rb', line 162

def play_speed
  @play_speed
end

#play_timer ⇒ Object (readonly)

Returns the value of attribute play_timer.



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# File 'lib/roby/log/gui/replay.rb', line 162

def play_timer
  @play_timer
end

#streams ⇒ Object (readonly)

Returns the value of attribute streams.



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# File 'lib/roby/log/gui/replay.rb', line 30

def streams
  @streams
end

#streams_model ⇒ Object (readonly)

Returns the value of attribute streams_model.



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# File 'lib/roby/log/gui/replay.rb', line 31

def streams_model
  @streams_model
end

#time ⇒ Object (readonly)

Returns the value of attribute time.



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# File 'lib/roby/log/gui/replay.rb', line 153

def time
  @time
end

#ui_controls ⇒ Object (readonly)

The widget which hold the replay controls (play, pause, …)



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# File 'lib/roby/log/gui/replay.rb', line 37

def ui_controls
  @ui_controls
end

#ui_displays ⇒ Object (readonly)

The widget which controls the data stream => display mapping, and display control



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# File 'lib/roby/log/gui/replay.rb', line 35

def ui_displays
  @ui_displays
end

Class Method Details

.setup(argv) {|replay, parser, args| ... } ⇒ Object

Yields:



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# File 'lib/roby/log/gui/replay.rb', line 265

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

Instance Method Details

#add_display(kind = nil) ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 260

def add_display(kind = nil)
  ui_displays.add_display(streams_model, kind)
end

#add_stream(stream = nil) ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 249

def add_stream(stream = nil)
  streams_model.add_new(stream)
end

#displayed_streams ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 104

def displayed_streams
  streams.find_all do |s| 
 s.displayed?
  end
end

#next_time ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 155

def next_time
  displayed_streams.
 map { |s| s.next_time }.
 compact.min 
end

#play ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 163

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

#play_step ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 179

def play_step
  seek(nil) unless first_sample
    play_until(next_time) 
end

#play_step_timer ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 184

def play_step_timer
  start = Time.now
  play_until(time + time_slice * play_speed)
end

#play_until(max_time, integrate = true) ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 190

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

#remove_stream ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 254

def remove_stream
  index = ui_displays.streams.current_index.row
  streams.removeRow(index, Qt::ModelIndex.new)
end

#seek(time, integrate = true) ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 115

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

#setup ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 298

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

#stop ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 171

def stop
  if play_timer
 ui_controls.play.checked = false
 play_timer.stop
 @play_timer = nil
  end
end

#time_slice ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 96

def time_slice
  if play_speed < 1
 BASE_TIME_SLICE / play_speed
  else
 BASE_TIME_SLICE
  end
end

#update_time_display ⇒ Object 



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# File 'lib/roby/log/gui/replay.rb', line 148

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