StatsToolBox.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
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15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #include "rtabmap/gui/StatsToolBox.h"
29 
30 #include <QHBoxLayout>
31 #include <QVBoxLayout>
32 #include <QGridLayout>
33 #include <QMenu>
34 #include <QLabel>
35 #include <QToolButton>
36 #include <QtCore/QChildEvent>
37 #include <QtCore/QDir>
38 #include <QtGui/QContextMenuEvent>
39 #include <QToolBox>
40 #include <QDialog>
41 
42 #include "rtabmap/utilite/UPlot.h"
43 #include <rtabmap/utilite/ULogger.h>
44 
45 namespace rtabmap {
46 
47 StatItem::StatItem(const QString & name, bool cacheOn, const std::vector<qreal> & x, const std::vector<qreal> & y, const QString & unit, const QMenu * menu, QGridLayout * grid, QWidget * parent) :
48  QWidget(parent),
49  _button(0),
50  _name(0),
51  _value(0),
52  _unit(0),
53  _menu(0),
54  _cacheOn(cacheOn)
55 {
56  this->setupUi(grid);
57  _name->setText(name);
58  if(y.size() == 1 || (y.size() > 1 && _cacheOn))
59  {
60  _value->setNum(y[y.size()-1]);
61  }
62  else if(y.size() > 1)
63  {
64  _value->setText("*");
65  }
66  if(cacheOn)
67  {
68  _x = x;
69  _y = y;
70  }
71  _unit->setText(unit);
72  this->updateMenu(menu);
73 }
74 
75 StatItem::~StatItem()
76 {
77 
78 }
79 
80 void StatItem::clearCache()
81 {
82  _x.clear();
83  _y.clear();
84  _value->clear();
85 }
86 
87 void StatItem::addValue(qreal y)
88 {
89  if(_cacheOn)
90  {
91  _y.push_back(y);
92  }
93  _value->setText(QString::number(y, 'g', 3));
94  Q_EMIT valueAdded(y);
95 }
96 
97 void StatItem::addValue(qreal x, qreal y)
98 {
99  if(_cacheOn)
100  {
101  if (_x.size() && x <_x.back())
102  {
103  clearCache();
104  }
105 
106  _y.push_back(y);
107  _x.push_back(x);
108  }
109 
110  _value->setText(QString::number(y, 'g', 3));
111  Q_EMIT valueAdded(x,y);
112 }
113 
114 void StatItem::setValues(const std::vector<qreal> & x, const std::vector<qreal> & y)
115 {
116  if(_cacheOn)
117  {
118  _x = x;
119  _y = y;
120  if(y.size())
121  {
122  _value->setNum(y[y.size()-1]);
123  }
124  }
125  else
126  {
127  _value->setText("*");
128  }
129  Q_EMIT valuesChanged(x,y);
130 }
131 
132 QString StatItem::value() const
133 {
134  return _value->text();
135 }
136 
137 void StatItem::setupUi(QGridLayout * grid)
138 {
139  _menu = new QMenu(this);
140  _menu->addMenu("Add to figure...");
141  _button = new QToolButton(this);
142  _button->setIcon(QIcon(":/images/Plot16.png"));
143  _button->setPopupMode(QToolButton::InstantPopup);
144  _button->setMenu(_menu);
145  _name = new QLabel(this);
146  _name->setTextInteractionFlags(Qt::TextSelectableByMouse);
147  _name->setWordWrap(true);
148  _value = new QLabel(this);
149  _value->setTextInteractionFlags(Qt::TextSelectableByMouse);
150  _unit = new QLabel(this);
151 
152  if(grid)
153  {
154  int row = grid->rowCount();
155 
156  //This fixes an issue where the
157  //button (used on col 0) of the first line in the
158  //toolbox couldn't be clicked
159  grid->addWidget(_button, row, 3);
160  grid->addWidget(_name, row, 0);
161  grid->addWidget(_value, row, 1);
162  grid->addWidget(_unit, row, 2);
163  }
164  else
165  {
166  QHBoxLayout * layout = new QHBoxLayout(this);
167  this->setLayout(layout);
168  layout->addWidget(_button);
169  layout->addWidget(_name);
170  layout->addWidget(_value);
171  layout->addWidget(_unit);
172  layout->addStretch();
173  layout->setMargin(0);
174  }
175 }
176 
177 void StatItem::setCacheOn(bool on)
178 {
179  _cacheOn = on;
180  if(!on)
181  {
182  _x.clear();
183  _y.clear();
184  }
185 }
186 
187 void StatItem::updateMenu(const QMenu * menu)
188 {
189  _menu->clear();
190  QAction * action;
191  QList<QAction *> actions = menu->actions();
192  QMenu * plotMenu = _menu->addMenu("Add to figure...");
193  for(int i=0; i<actions.size(); ++i)
194  {
195  action = plotMenu->addAction(actions.at(i)->text());
196  connect(action, SIGNAL(triggered()), this, SLOT(preparePlotRequest()));
197  }
198 }
199 
200 void StatItem::preparePlotRequest()
201 {
202  QAction * action = qobject_cast<QAction*>(sender());
203  if(action)
204  {
205  Q_EMIT plotRequested(this, action->text());
206  }
207 }
208 
209 
210 
211 
212 
213 
214 
215 
216 StatsToolBox::StatsToolBox(QWidget * parent) :
217  QWidget(parent)
218 {
219  ULOGGER_DEBUG("");
220  //Statistics in the GUI (for plotting)
221  _statBox = new QToolBox(this);
222  this->setLayout(new QVBoxLayout());
223  this->layout()->setMargin(0);
224  this->layout()->addWidget(_statBox);
225  _statBox->layout()->setSpacing(0);
226  _plotMenu = new QMenu(this);
227  _plotMenu->addAction(tr("<New figure>"));
228  _workingDirectory = QDir::homePath();
229  _newFigureMaxItems = 0;
230 }
231 
232 StatsToolBox::~StatsToolBox()
233 {
234  closeFigures();
235 }
236 
237 void StatsToolBox::closeFigures()
238 {
239  QMap<QString, QWidget*> figuresTmp = _figures;
240  for(QMap<QString, QWidget*>::iterator iter = figuresTmp.begin(); iter!=figuresTmp.end(); ++iter)
241  {
242  iter.value()->close();
243  }
244 }
245 
246 void StatsToolBox::setCacheOn(bool on)
247 {
248  QList<StatItem *> items = _statBox->findChildren<StatItem *>();
249  for(int i=0; i<items.size(); ++i)
250  {
251  items[i]->setCacheOn(on);
252  }
253 }
254 
255 void StatsToolBox::updateStat(const QString & statFullName, bool cacheOn)
256 {
257  std::vector<qreal> vx,vy;
258  updateStat(statFullName, vx, vy, cacheOn);
259 }
260 
261 void StatsToolBox::updateStat(const QString & statFullName, qreal y, bool cacheOn)
262 {
263  std::vector<qreal> vx,vy(1);
264  vy[0] = y;
265  updateStat(statFullName, vx, vy, cacheOn);
266 }
267 
268 void StatsToolBox::updateStat(const QString & statFullName, qreal x, qreal y, bool cacheOn)
269 {
270  std::vector<qreal> vx(1),vy(1);
271  vx[0] = x;
272  vy[0] = y;
273  updateStat(statFullName, vx, vy, cacheOn);
274 }
275 
276 void StatsToolBox::updateStat(const QString & statFullName, const std::vector<qreal> & x, const std::vector<qreal> & y, bool cacheOn)
277 {
278  // round qreal to max 2 numbers after the dot
279  //x = (qreal(int(100*x)))/100;
280  //y = (qreal(int(100*y)))/100;
281 
282  StatItem * item = _statBox->findChild<StatItem *>(statFullName);
283  if(item)
284  {
285  item->setCacheOn(cacheOn);
286  if(y.size() == 1 && x.size() == 1)
287  {
288  item->addValue(x[0], y[0]);
289  }
290  else if(y.size() == 1 && x.size() == 0)
291  {
292  item->addValue(y[0]);
293  }
294  else
295  {
296  item->setValues(x, y);
297  }
298  }
299  else
300  {
301  // statFullName format : "Grp/Name/unit"
302  QStringList list = statFullName.split('/');
303  QString grp;
304  QString name;
305  QString unit;
306  if(list.size() >= 3)
307  {
308  grp = list.at(0);
309  name = list.at(1);
310  unit = list.at(2);
311  for(int i=3; i<list.size(); ++i)
312  {
313  unit += "/" + list.at(i);
314  }
315  }
316  else if(list.size() == 2)
317  {
318  grp = list.at(0);
319  name = list.at(1);
320  }
321  else if(list.size() == 1)
322  {
323  name = list.at(0);
324  }
325  else
326  {
327  ULOGGER_WARN("A statistic has no name");
328  return;
329  }
330 
331  if(grp.isEmpty())
332  {
333  grp = tr("Global");
334  }
335 
336  int index = -1;
337  for(int i=0; i<_statBox->count(); ++i)
338  {
339  if(_statBox->itemText(i).compare(grp) == 0)
340  {
341  index = i;
342  break;
343  }
344  }
345 
346  if(index<0)
347  {
348  QWidget * newWidget = new QWidget(_statBox);
349  index = _statBox->addItem(newWidget, grp);
350  QVBoxLayout * layout = new QVBoxLayout(newWidget);
351  newWidget->setLayout(layout);
352  QGridLayout * grid = new QGridLayout();
353  grid->setVerticalSpacing(2);
354  grid->setColumnStretch(0, 1);
355  layout->addLayout(grid);
356  layout->addStretch();
357  }
358 
359  QVBoxLayout * layout = qobject_cast<QVBoxLayout *>(_statBox->widget(index)->layout());
360  if(!layout)
361  {
362  ULOGGER_ERROR("Layout is null ?!?");
363  return;
364  }
365  QGridLayout * grid = qobject_cast<QGridLayout *>(layout->itemAt(0)->layout());
366  if(!grid)
367  {
368  ULOGGER_ERROR("Layout is null ?!?");
369  return;
370  }
371 
372  item = new StatItem(name, cacheOn, x, y, unit, _plotMenu, grid, _statBox->widget(index));
373  item->setObjectName(statFullName);
374 
375  //layout->insertWidget(layout->count()-1, item);
376  connect(item, SIGNAL(plotRequested(const StatItem *, const QString &)), this, SLOT(plot(const StatItem *, const QString &)));
377  connect(this, SIGNAL(menuChanged(const QMenu *)), item, SLOT(updateMenu(const QMenu *)));
378  }
379 }
380 
381 void StatsToolBox::plot(const StatItem * stat, const QString & plotName)
382 {
383  QWidget * fig = _figures.value(plotName, (QWidget*)0);
384  UPlot * plot = 0;
385  if(fig)
386  {
387  plot = fig->findChild<UPlot *>(plotName);
388  }
389  if(plot)
390  {
391  // if not already in the plot
392  if(!plot->contains(stat->objectName()))
393  {
394  UPlotCurve * curve = new UPlotCurve(stat->objectName(), plot);
395  curve->setPen(plot->getRandomPenColored());
396  connect(stat, SIGNAL(valueAdded(qreal)), curve, SLOT(addValue(qreal)));
397  connect(stat, SIGNAL(valueAdded(qreal, qreal)), curve, SLOT(addValue(qreal, qreal)));
398  connect(stat, SIGNAL(valuesChanged(const std::vector<qreal> &, const std::vector<qreal> &)), curve, SLOT(setData(const std::vector<qreal> &, const std::vector<qreal> &)));
399  if(stat->value().compare("*") == 0)
400  {
401  plot->setMaxVisibleItems(0);
402  }
403  if(!stat->yValues().empty())
404  {
405  if(stat->xValues().size() == stat->yValues().size())
406  {
407  curve->setData(stat->xValues(),stat->yValues());
408  }
409  else
410  {
411  curve->setData(stat->yValues());
412  }
413  }
414  if(!plot->addCurve(curve))
415  {
416  ULOGGER_WARN("Already added to the figure");
417  }
418  Q_EMIT figuresSetupChanged();
419  }
420  else
421  {
422  ULOGGER_WARN("Already added to the figure");
423  }
424  plot->activateWindow();
425  }
426  else
427  {
428  //Create a new plot
429  QString id = tr("Figure 0");
430  if(_plotMenu->actions().size())
431  {
432  id = _plotMenu->actions().last()->text();
433  }
434  id.replace(tr("Figure "), "");
435  QString newPlotName = QString(tr("Figure %1")).arg(id.toInt()+1);
436  //Dock
437  QDialog * figure = new QDialog(0, Qt::Window);
438  _figures.insert(newPlotName, figure);
439  QHBoxLayout * hLayout = new QHBoxLayout(figure);
440  hLayout->setContentsMargins(0,0,0,0);
441  figure->setWindowTitle(newPlotName);
442  figure->setAttribute(Qt::WA_DeleteOnClose, true);
443  connect(figure, SIGNAL(destroyed(QObject*)), this, SLOT(figureDeleted(QObject*)));
444  //Plot
445  UPlot * newPlot = new UPlot(figure);
446  newPlot->setWorkingDirectory(_workingDirectory);
447  newPlot->setMaxVisibleItems(_newFigureMaxItems);
448  newPlot->setObjectName(newPlotName);
449  hLayout->addWidget(newPlot);
450  _plotMenu->addAction(newPlotName);
451  figure->setSizeGripEnabled(true);
452 
453  //Add a new curve linked to the statBox
454  UPlotCurve * curve = new UPlotCurve(stat->objectName(), newPlot);
455  curve->setPen(newPlot->getRandomPenColored());
456  connect(stat, SIGNAL(valueAdded(qreal)), curve, SLOT(addValue(qreal)));
457  connect(stat, SIGNAL(valueAdded(qreal, qreal)), curve, SLOT(addValue(qreal, qreal)));
458  connect(stat, SIGNAL(valuesChanged(const std::vector<qreal> &, const std::vector<qreal> &)), curve, SLOT(setData(const std::vector<qreal> &, const std::vector<qreal> &)));
459  if(stat->value().compare("*") == 0)
460  {
461  newPlot->setMaxVisibleItems(0);
462  }
463 
464  if(!stat->yValues().empty())
465  {
466  if(stat->xValues().size() == stat->yValues().size())
467  {
468  curve->setData(stat->xValues(),stat->yValues());
469  }
470  else
471  {
472  curve->setData(stat->yValues());
473  }
474  }
475 
476  if(!newPlot->addCurve(curve))
477  {
478  ULOGGER_ERROR("Not supposed to be here !?!");
479  delete curve;
480  }
481  figure->show();
482  Q_EMIT figuresSetupChanged();
483 
484  Q_EMIT menuChanged(_plotMenu);
485  }
486 }
487 
488 void StatsToolBox::figureDeleted(QObject * obj)
489 {
490  if(obj)
491  {
492  QWidget * plot = qobject_cast<QWidget*>(obj);
493  if(plot)
494  {
495  _figures.remove(plot->windowTitle());
496  QList<QAction*> actions = _plotMenu->actions();
497  for(int i=0; i<actions.size(); ++i)
498  {
499  if(actions.at(i)->text().compare(plot->windowTitle()) == 0)
500  {
501  _plotMenu->removeAction(actions.at(i));
502  delete actions[i];
503  Q_EMIT menuChanged(_plotMenu);
504  break;
505  }
506  }
507  Q_EMIT figuresSetupChanged();
508  }
509  else
510  {
511  UERROR("");
512  }
513  }
514  else
515  {
516  UERROR("");
517  }
518 }
519 
520 void StatsToolBox::clear()
521 {
522  for (QMap<QString, QWidget*>::iterator i = _figures.begin(); i != _figures.end(); ++i)
523  {
524  QList<UPlot *> plots = i.value()->findChildren<UPlot *>();
525  if (plots.size() == 1)
526  {
527  QStringList names = plots[0]->curveNames();
528  plots[0]->clearData();
529  }
530  else
531  {
532  UERROR("");
533  }
534  }
535  QList<StatItem*> items = _statBox->currentWidget()->findChildren<StatItem*>();
536  for (int i = 0; i<items.size(); ++i)
537  {
538  items[i]->clearCache();
539  }
540 }
541 
542 void StatsToolBox::contextMenuEvent(QContextMenuEvent * event)
543 {
544  QMenu topMenu(this);
545  QMenu * menu = topMenu.addMenu(tr("Add all statistics from tab \"%1\" to...").arg(_statBox->itemText(_statBox->currentIndex())));
546  QList<QAction* > actions = _plotMenu->actions();
547  menu->addActions(actions);
548  QAction * aClearFigures = topMenu.addAction(tr("Clear all figures"));
549  QAction * action = topMenu.exec(event->globalPos());
550  QString plotName;
551  if(action)
552  {
553  if(action == aClearFigures)
554  {
555  this->clear();
556  }
557  else
558  {
559  for(int i=0; i<actions.size(); ++i)
560  {
561  if(actions.at(i) == action)
562  {
563  plotName = actions.at(i)->text();
564  break;
565  }
566  }
567  }
568  }
569 
570  if(!plotName.isEmpty())
571  {
572  QList<StatItem*> items = _statBox->currentWidget()->findChildren<StatItem*>();
573  for(int i=0; i<items.size(); ++i)
574  {
575  this->plot(items.at(i), plotName);
576  if(plotName.compare(tr("<New figure>")) == 0)
577  {
578  plotName = _plotMenu->actions().last()->text();
579  }
580  }
581  }
582 }
583 
584 void StatsToolBox::getFiguresSetup(QList<int> & curvesPerFigure, QStringList & curveNames)
585 {
586  curvesPerFigure.clear();
587  curveNames.clear();
588  for(QMap<QString, QWidget*>::iterator i=_figures.begin(); i!=_figures.end(); ++i)
589  {
590  QList<UPlot *> plots = i.value()->findChildren<UPlot *>();
591  if(plots.size() == 1)
592  {
593  QStringList names = plots[0]->curveNames();
594  curvesPerFigure.append(names.size());
595  curveNames.append(names);
596  }
597  else
598  {
599  UERROR("");
600  }
601  }
602 }
603 void StatsToolBox::addCurve(const QString & name, bool newFigure, bool cacheOn)
604 {
605  StatItem * item = _statBox->findChild<StatItem *>(name);
606  if(!item)
607  {
608  this->updateStat(name, cacheOn);
609  item = _statBox->findChild<StatItem *>(name);
610  }
611 
612  if(item)
613  {
614  if(newFigure)
615  {
616  this->plot(item, "");
617  }
618  else
619  {
620  this->plot(item, _plotMenu->actions().last()->text());
621  }
622  }
623  else
624  {
625  ULOGGER_ERROR("Not supposed to be here...");
626  }
627 }
628 
629 void StatsToolBox::setWorkingDirectory(const QString & workingDirectory)
630 {
631  if(QDir(workingDirectory).exists())
632  {
633  _workingDirectory = workingDirectory;
634  for(QMap<QString, QWidget*>::iterator i=_figures.begin(); i!=_figures.end(); ++i)
635  {
636  QList<UPlot *> plots = i.value()->findChildren<UPlot *>();
637  if(plots.size() == 1)
638  {
639  plots[0]->setWorkingDirectory(_workingDirectory);
640  }
641  else
642  {
643  UERROR("");
644  }
645  }
646  }
647  else
648  {
649  UWARN("The directory \"%s\" doesn't exist, using \"%s\" instead...",
650  workingDirectory.toStdString().c_str(),
651  _workingDirectory.toStdString().c_str());
652  }
653 }
654 
655 }
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StatItem(const QString &name, bool cacheOn, const std::vector< qreal > &x, const std::vector< qreal > &y, const QString &unit=QString(), const QMenu *menu=0, QGridLayout *grid=0, QWidget *parent=0)
Definition: StatsToolBox.cpp:47
UERROR
#define UERROR(...)
rtabmap::StatItem::setCacheOn
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Definition: StatsToolBox.cpp:177
rtabmap::StatItem::_button
QToolButton * _button
Definition: StatsToolBox.h:76
rtabmap::StatItem::xValues
std::vector< qreal > xValues() const
Definition: StatsToolBox.h:55
ULOGGER_WARN
#define ULOGGER_WARN(...)
Definition: ULogger.h:55
ULogger.h
ULogger class and convenient macros.
UWARN
#define UWARN(...)
UPlot::setMaxVisibleItems
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Definition: UPlot.cpp:3131
rtabmap::StatsToolBox::figureDeleted
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Definition: StatsToolBox.cpp:488
rtabmap::StatItem::_y
std::vector< qreal > _y
Definition: StatsToolBox.h:84
rtabmap::StatItem::value
QString value() const
Definition: StatsToolBox.cpp:132
ULOGGER_ERROR
#define ULOGGER_ERROR(...)
Definition: ULogger.h:56
rtabmap::StatItem::valueAdded
void valueAdded(qreal)
UPlot::setWorkingDirectory
void setWorkingDirectory(const QString &workingDirectory)
Definition: UPlot.cpp:2894

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:06