LivePlotController.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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/>.
 */
 
#pragma once
 
#include <map>
#include <memory>
#include <mutex>
#include <set>
#include <string>
#include <vector>
 
#include <QObject>
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/armem/client/util/MemoryToDebugObserver.h>
#include <RobotAPI/libraries/armem_gui/model/MemoryViewerModel.h>
 
class QThread;
class QTimer;
 
namespace armarx
{
    class DebugObserverHelper;
}
 
namespace armarx::armem::gui::controller
{
    class LivePlotWorker;
 
    /**
     * @brief Streams selected memory values to the DebugObserver for live plotting.
     *
     * Holds the (thread-safe) set of currently plotted values and runs a background worker that
     * periodically reads them from the memory and pushes them to the DebugObserver (reusing
     * \ref armarx::armem::client::util::MemoryToDebugObserver). Plotted values are highlighted in
     * the views (via \ref valuesChanged) and all created channels are removed when this controller
     * is destroyed (i.e. when the MemoryViewer GUI is closed).
     */
    class LivePlotController : public QObject, public armarx::Logging
    {
        Q_OBJECT
        using This = LivePlotController;
 
    public:
        using MemoryValueID = armem::client::util::MemoryValueID;
 
        LivePlotController(std::shared_ptr<armem::gui::model::MemoryViewerModel> model);
        ~LivePlotController() override;
 
        // Called from the GUI thread (views).
        bool hasDebugObserver() const;
        bool isPlotted(const MemoryValueID& id) const;
        bool allPlotted(const std::vector<MemoryValueID>& ids) const;
        void setPlotted(const std::vector<MemoryValueID>& ids, bool enable);
 
        // Called from the worker thread.
        std::vector<MemoryValueID> valuesSnapshot() const;
 
        // Lifecycle (called by MemoryViewer).
        void onConnect();
        void onDisconnect();
 
    signals:
        void valuesChanged();
 
        void startWorkerSignal();
        void stopWorkerSignal();
 
    private:
        void startWorker();
        void removeAllChannels();
 
        std::shared_ptr<armem::gui::model::MemoryViewerModel> _model;
 
        mutable std::mutex _valuesMutex;
        std::vector<MemoryValueID> _values;
        std::set<std::string> _usedChannels;
 
        QThread* _workerThread = nullptr;
        LivePlotWorker* _worker = nullptr;
    };
 
    /**
     * @brief Background worker that does the (blocking) memory queries and DebugObserver calls.
     *
     * Lives in its own thread; all DebugObserver mutations for the live plot go through this
     * worker so that pushing and removing values are serialized (no zombie datafields).
     */
    class LivePlotWorker : public QObject, public armarx::Logging
    {
        Q_OBJECT
        using This = LivePlotWorker;
 
    public:
        LivePlotWorker(std::shared_ptr<armem::gui::model::MemoryViewerModel> model,
                       LivePlotController* controller);
 
    public slots:
        void init();
        void cleanup();
 
        void onConnect();
        void onDisconnect();
 
    private slots:
        void onPoll();
 
    private:
        // Remove datafields that were sent last time but not in this poll (e.g. deactivated values).
        void removeStaleDatafields(const std::map<std::string, std::set<std::string>>& current);
 
        std::shared_ptr<armem::gui::model::MemoryViewerModel> _model;
        LivePlotController* _controller;
 
        QTimer* _timer = nullptr;
        std::unique_ptr<armarx::DebugObserverHelper> _debugObserverHelper;
        std::unique_ptr<armem::client::util::MemoryToDebugObserver> _memoryToDebugObserver;
 
        std::map<std::string, std::set<std::string>> _lastPushed;
    };
 
} // namespace armarx::armem::gui::controller