UPlot.h

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/*
*  utilite is a cross-platform library with
*  useful utilities for fast and small developing.
*  Copyright (C) 2010  Mathieu Labbe
*
*  utilite is free library: you can redistribute it and/or modify
*  it under the terms of the GNU Lesser General Public License as published by
*  the Free Software Foundation, either version 3 of the License, or
*  (at your option) any later version.
*
*  utilite 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 Lesser General Public License for more details.
*
*  You should have received a copy of the GNU Lesser General Public License
*  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
 
#ifndef UPLOT_H_
#define UPLOT_H_
 
#include "rtabmap/gui/rtabmap_gui_export.h" // DLL export/import defines
 
#include <QFrame>
#include <QtCore/QList>
#include <QtCore/QMap>
#include <QtGui/QPen>
#include <QtGui/QBrush>
#include <QGraphicsEllipseItem>
#include <QtCore/QMutex>
#include <QLabel>
#include <QPushButton>
#include <QtCore/QTime>
#include <QtCore/QElapsedTimer>
 
class QGraphicsView;
class QGraphicsScene;
class QGraphicsItem;
class QFormLayout;
class QScrollArea;
 
class RTABMAP_GUI_EXPORT UPlotItem : public QGraphicsEllipseItem
{
public:
        UPlotItem(qreal dataX, qreal dataY, qreal width=2);
        UPlotItem(const QPointF & data, qreal width=2);
        virtual ~UPlotItem();
 
public:
        void setNextItem(UPlotItem * nextItem);
        void setPreviousItem(UPlotItem * previousItem);
        void setData(const QPointF & data);
 
        UPlotItem * nextItem() const {return _nextItem;}
        UPlotItem * previousItem() const {return _previousItem;};
        const QPointF & data() const {return _data;}
 
protected:
        virtual void hoverEnterEvent(QGraphicsSceneHoverEvent * event);
        virtual void hoverLeaveEvent(QGraphicsSceneHoverEvent * event);
        virtual void focusInEvent(QFocusEvent * event);
        virtual void focusOutEvent(QFocusEvent * event);
        virtual void keyReleaseEvent(QKeyEvent * keyEvent);
 
        virtual void showDescription(bool shown);
private:
        void init(qreal dataX, qreal dataY);
 
private:
        QPointF _data;
        UPlotItem * _previousItem;
        UPlotItem * _nextItem;
        QGraphicsTextItem * _text;
        QGraphicsRectItem * _textBackground;
};
 
class UPlot;
 
class RTABMAP_GUI_EXPORT UPlotCurve : public QObject
{
        Q_OBJECT
 
public:
        UPlotCurve(const QString & name, QObject * parent = 0);
        UPlotCurve(const QString & name, const QVector<UPlotItem *> data, QObject * parent = 0);
        UPlotCurve(const QString & name, const QVector<qreal> & x, const QVector<qreal> & y, QObject * parent = 0);
        virtual ~UPlotCurve();
 
        const QPen & pen() const {return _pen;}
        const QBrush & brush() const {return _brush;}
 
        void setPen(const QPen & pen);
        void setBrush(const QBrush & brush);
 
        void setItemsColor(const QColor & color);
        QColor itemsColor() const  {return _itemsColor;}
 
        QString name() const {return _name;}
        int itemsSize() const;
        QPointF getItemData(int index);
        bool isVisible() const {return _visible;}
        void setData(QVector<UPlotItem*> & data); // take the ownership
        void getData(QVector<qreal> & x, QVector<qreal> & y) const; // only call in Qt MainThread
        void getData(QMap<qreal,qreal> & data) const; // only call in Qt MainThread
        void draw(QPainter * painter, const QRect & limits);
 
public Q_SLOTS:
        virtual void clear();
    void setVisible(bool visible);
    void setXIncrement(qreal increment);
    void setXStart(qreal val);
        void addValue(UPlotItem * data); // take the ownership
        void addValue(qreal y);
        void addValue(qreal x, qreal y);
        void addValue(const QString & y);
        void addValues(QVector<UPlotItem *> & data); // take the ownership
        void addValues(const QVector<qreal> & xs, const QVector<qreal> & ys);
        void addValues(const QVector<qreal> & ys);
        void addValues(const QVector<int> & ys); // for convenience
        void addValues(const std::vector<qreal> & ys); // for convenience
        void addValues(const std::vector<int> & ys); // for convenience
 
        void setData(const QVector<qreal> & x, const QVector<qreal> & y);
        void setData(const std::vector<qreal> & x, const std::vector<qreal> & y);
        void setData(const QVector<qreal> & y);
        void setData(const std::vector<qreal> & y);
 
Q_SIGNALS:
        void dataChanged(const UPlotCurve *);
 
protected:
        friend class UPlot;
        void attach(UPlot * plot);
        void detach(UPlot * plot);
        void updateMinMax();
        const QVector<qreal> & getMinMax() const {return _minMax;}
        int removeItem(int index);
        void _addValue(UPlotItem * data);;
        virtual bool isMinMaxValid() const {return _minMax.size();}
        virtual void update(qreal scaleX, qreal scaleY, qreal offsetX, qreal offsetY, qreal xDir, qreal yDir, int maxItemsKept);
        QList<QGraphicsItem *> _items;
        UPlot * _plot;
 
private:
        void removeItem(UPlotItem * item);
 
private:
        QString _name;
        QPen _pen;
        QBrush _brush;
        qreal _xIncrement;
        qreal _xStart;
        bool _visible;
        bool _valuesShown;
        QVector<qreal> _minMax; // minX, maxX, minY, maxY
        QGraphicsRectItem * _rootItem;
        QColor _itemsColor;
};
 
 
class RTABMAP_GUI_EXPORT UPlotCurveThreshold : public UPlotCurve
{
        Q_OBJECT
 
public:
        UPlotCurveThreshold(const QString & name, qreal thesholdValue, Qt::Orientation orientation = Qt::Horizontal, QObject * parent = 0);
        virtual ~UPlotCurveThreshold();
        qreal getThreshold() const {return _threshold;}
 
public Q_SLOTS:
        void setThreshold(qreal threshold);
        void setOrientation(Qt::Orientation orientation);
 
protected:
        friend class UPlot;
        virtual void update(qreal scaleX, qreal scaleY, qreal offsetX, qreal offsetY, qreal xDir, qreal yDir, int maxItemsKept);
        virtual bool isMinMaxValid() const {return false;}
 
private:
        Qt::Orientation _orientation;
        qreal _threshold;
};
 
class RTABMAP_GUI_EXPORT UPlotAxis : public QWidget
{
public:
        UPlotAxis(Qt::Orientation orientation = Qt::Horizontal, qreal min=0, qreal max=1, QWidget * parent = 0);
        virtual ~UPlotAxis();
 
public:
        void setAxis(qreal & min, qreal & max);
        int border() const {return _border;}
        int step() const {return _step;}
        int count() const {return _count;}
        void setReversed(bool reversed); // Vertical :bottom->up, horizontal :right->left
 
protected:
        virtual void paintEvent(QPaintEvent * event);
 
private:
        Qt::Orientation _orientation;
        qreal _min;
        qreal _max;
        int _count;
        int _step;
        bool _reversed;
        int _gradMaxDigits;
        int _border;
};
 
 
class RTABMAP_GUI_EXPORT UPlotLegendItem : public QPushButton
{
        Q_OBJECT
 
public:
        UPlotLegendItem(UPlotCurve * curve, QWidget * parent = 0);
        virtual ~UPlotLegendItem();
        const UPlotCurve * curve() const {return _curve;}
        QPixmap createSymbol(const QPen & pen, const QBrush & brush);
        void showStdDevMeanMax(bool shown);
 
Q_SIGNALS:
        void legendItemRemoved(const UPlotCurve *);
        void moveUpRequest(UPlotLegendItem *);
        void moveDownRequest(UPlotLegendItem *);
 
private Q_SLOTS:
        void updateStdDevMeanMax();
 
protected:
        virtual void contextMenuEvent(QContextMenuEvent * event);
 
private:
        UPlotCurve * _curve;
        QMenu * _menu;
        QAction * _aChangeText;
        QAction * _aResetText;
        QAction * _aChangeColor;
        QAction * _aCopyToClipboard;
        QAction * _aShowStdDevMeanMax;
        QAction * _aRemoveCurve;
        QAction * _aMoveUp;
        QAction * _aMoveDown;
};
 
class RTABMAP_GUI_EXPORT UPlotLegend : public QWidget
{
        Q_OBJECT
 
public:
        UPlotLegend(QWidget * parent = 0);
        virtual ~UPlotLegend();
 
        void setFlat(bool on);
        bool isFlat() const {return _flat;}
        void addItem(UPlotCurve * curve);
        bool remove(const UPlotCurve * curve);
        QString getAllCurveDataAsText() const;
 
private Q_SLOTS:
        void removeLegendItem(const UPlotCurve * curve);
        void moveUp(UPlotLegendItem * item);
        void moveDown(UPlotLegendItem * item);
 
Q_SIGNALS:
        void legendItemRemoved(const UPlotCurve * curve);
        void legendItemToggled(const UPlotCurve * curve, bool toggled);
        void legendItemMoved(const UPlotCurve * curve, int);
 
protected:
        virtual void contextMenuEvent(QContextMenuEvent * event);
 
private Q_SLOTS:
        void redirectToggled(bool);
 
private:
        bool _flat;
        QMenu * _menu;
        QAction * _aUseFlatButtons;
        QAction * _aCopyAllCurvesToClipboard;
        QAction * _aShowAllStdDevMeanMax;
        QLayout * _contentLayout;
        QScrollArea * _scrollArea;
};
 
 
class RTABMAP_GUI_EXPORT UOrientableLabel : public QLabel
{
        Q_OBJECT
 
public:
        UOrientableLabel(const QString & text, Qt::Orientation orientation = Qt::Horizontal, QWidget * parent = 0);
        virtual ~UOrientableLabel();
        Qt::Orientation orientation() const {return _orientation;}
        void setOrientation(Qt::Orientation orientation);
        QSize sizeHint() const;
        QSize minimumSizeHint() const;
protected:
    virtual void paintEvent(QPaintEvent* event);
private:
    Qt::Orientation _orientation;
};
 
class RTABMAP_GUI_EXPORT UPlot : public QWidget
{
        Q_OBJECT
 
public:
        UPlot(QWidget * parent = 0);
        virtual ~UPlot();
 
        UPlotCurve * addCurve(const QString & curveName, const QColor & color = QColor());
        bool addCurve(UPlotCurve * curve, bool ownershipTransferred = true);
        QStringList curveNames() const;
        bool contains(const QString & curveName) const;
        bool isThreshold(const QString & curveName) const;
        double getThresholdValue(const QString & curveName) const;
        void removeCurves();
        QString getAllCurveDataAsText() const;
        UPlotCurveThreshold * addThreshold(const QString & name, qreal value, Qt::Orientation orientation = Qt::Horizontal);
        QString title() const {return this->objectName();}
        QPen getRandomPenColored();
        void showLegend(bool shown);
        void showGrid(bool shown);
        void showRefreshRate(bool shown);
        void trackMouse(bool tracking);
        void keepAllData(bool kept);
        void showXAxis(bool shown) {_horizontalAxis->setVisible(shown);}
        void showYAxis(bool shown) {_verticalAxis->setVisible(shown);}
        void setVariableXAxis() {_fixedAxis[0] = false;}
        void setVariableYAxis() {_fixedAxis[1] = false;}
        void setFixedXAxis(qreal x1, qreal x2);
        void setFixedYAxis(qreal y1, qreal y2);
        void setMaxVisibleItems(int maxVisibleItems);
        void setTitle(const QString & text);
        void setXLabel(const QString & text);
        void setYLabel(const QString & text, Qt::Orientation orientation = Qt::Vertical);
        void setWorkingDirectory(const QString & workingDirectory);
        void setGraphicsView(bool on);
        void setBackgroundColor(const QColor & color);
        QRectF sceneRect() const;
 
public Q_SLOTS:
        void removeCurve(const UPlotCurve * curve);
        void showCurve(const UPlotCurve * curve, bool shown);
        void updateAxis(); //reset axis and recompute it with all curves minMax
        void clearData();
 
        void frameData(bool xAxis = true, bool yAxis = false);
 
private Q_SLOTS:
        void captureScreen();
        void updateAxis(const UPlotCurve * curve);
        void moveCurve(const UPlotCurve *, int index);
 
protected:
        virtual void contextMenuEvent(QContextMenuEvent * event);
        virtual void paintEvent(QPaintEvent * event);
        virtual void resizeEvent(QResizeEvent * event);
        virtual void mousePressEvent(QMouseEvent * event);
        virtual void mouseMoveEvent(QMouseEvent * event);
        virtual void mouseReleaseEvent(QMouseEvent * event);
        virtual void mouseDoubleClickEvent(QMouseEvent * event);
 
private:
        friend class UPlotCurve;
        void addItem(QGraphicsItem * item);
 
private:
        void replot(QPainter * painter);
        bool updateAxis(qreal x, qreal y);
        bool updateAxis(qreal x1, qreal x2, qreal y1, qreal y2);
        void setupUi();
        void createActions();
        void createMenus();
        void selectScreenCaptureFormat();
        bool mousePosToValue(const QPoint & pos, qreal & x, qreal & y);
 
private:
        UPlotLegend * _legend;
        QGraphicsView * _view;
        QGraphicsItem * _sceneRoot;
        QWidget * _graphicsViewHolder;
        qreal _axisMaximums[4]; // {x1->x2, y1->y2}
        bool _axisMaximumsSet[4]; // {x1->x2, y1->y2}
        bool _fixedAxis[2];
        UPlotAxis * _verticalAxis;
        UPlotAxis * _horizontalAxis;
        int _penStyleCount;
        int _maxVisibleItems;
        QList<QGraphicsLineItem *> hGridLines;
        QList<QGraphicsLineItem *> vGridLines;
        QList<UPlotCurve*> _curves;
        QLabel * _title;
        QLabel * _xLabel;
        UOrientableLabel * _yLabel;
        QLabel * _refreshRate;
        QString _workingDirectory;
        QElapsedTimer _refreshIntervalTime;
        int _lowestRefreshRate;
        QElapsedTimer _refreshStartTime;
        QString _autoScreenCaptureFormat;
        QPoint _mousePressedPos;
        QPoint _mouseCurrentPos;
        QColor _bgColor;
 
        QMenu * _menu;
        QAction * _aShowLegend;
        QAction * _aShowGrid;
        QAction * _aKeepAllData;
        QAction * _aLimit0;
        QAction * _aLimit10;
        QAction * _aLimit50;
        QAction * _aLimit100;
        QAction * _aLimit500;
        QAction * _aLimit1000;
        QAction * _aLimitCustom;
        QAction * _aAddVerticalLine;
        QAction * _aAddHorizontalLine;
        QAction * _aChangeTitle;
        QAction * _aChangeXLabel;
        QAction * _aChangeYLabel;
        QAction * _aChangeBackgroundColor;
        QAction * _aYLabelVertical;
        QAction * _aShowRefreshRate;
        QAction * _aMouseTracking;
        QAction * _aSaveFigure;
        QAction * _aAutoScreenCapture;
        QAction * _aClearData;
        QAction * _aGraphicsView;
};
 
#endif /* UPLOT_H_ */