/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/studio/EventViewer.cpp

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2009:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
                Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU General Public License as published by
        the Free Software Foundation, either version 3 of the License, or
        any other version as decided by the two original authors
        Stephane Magnenat and Valentin Longchamp.
        
        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.
        
        You should have received a copy of the GNU General Public License
        along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "EventViewer.h"
#include "../common/types.h"
#include <vector>
#include <QtDebug>

#ifdef HAVE_QWT

#include <qwt_data.h>

namespace Aseba
{
        
        class EventDataWrapper : public QwtData
        {
        private:
                std::vector<double>& _x;
                std::vector<sint16>& _y;
                
        public:
                EventDataWrapper(std::vector<double>& _x, std::vector<sint16>& _y) :
                        _x(_x),
                        _y(_y)
                { }
                virtual QwtData *   copy () const { return new EventDataWrapper(*this); }
                virtual size_t   size () const { return _x.size(); }
                virtual double x (size_t i) const { return _x[i]; }
                virtual double y (size_t i) const { return (double)_y[i]; }
        };
        
        EventViewer::EventViewer(unsigned eventId, const QString& eventName, unsigned eventVariablesCount, MainWindow::EventViewers* eventsViewers) :
                eventId(eventId),
                eventsViewers(eventsViewers),
                values(eventVariablesCount),
                startingTime(QTime::currentTime())
        {
                setCanvasBackground(Qt::white);
                setAxisTitle(xBottom, tr("Time (seconds)"));
                setAxisTitle(yLeft, tr("Values"));
                
                QwtLegend *legend = new QwtLegend;
                //legend->setItemMode(QwtLegend::CheckableItem);
                insertLegend(legend, QwtPlot::BottomLegend);
                
                for (size_t i = 0; i < values.size(); i++)
                {
                        QwtPlotCurve *curve = new QwtPlotCurve(QString("%0").arg(i));
                        curve->setData(EventDataWrapper(timeStamps, values[i]));
                        curve->attach(this);
                        curve->setPen(QColor::fromHsv((i * 360) / values.size(), 255, 100));
                }
                
                eventsViewers->insert(eventId, this);
        }
        
        EventViewer::~EventViewer()
        {
                if (eventsViewers)
                        eventsViewers->remove(eventId, this);
        }
        
        void EventViewer::addData(const VariablesDataVector& data)
        {
                double elapsedTime = (double)startingTime.msecsTo(QTime::currentTime()) / 1000.;
                timeStamps.push_back(elapsedTime);
                for (size_t i = 0; i < values.size(); i++)
                {
                        if (i < data.size())
                        {
                                values[i].push_back(data[i]);
                        }
                        else
                        {
                                values[i].push_back(0);
                        }
                }
                replot();
        }
        
}; // Aseba

#endif // HAVE_QWT

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011