Class: Roby::GUI::PlanRebuilderWidget

Inherits:
Qt::Widget
  • Object
show all
Defined in:
lib/roby/gui/plan_rebuilder_widget.rb

Overview

This widget displays information about the event history in a list, allowing to switch between the “important events” in this history

Defined Under Namespace

Modules: ContextMenuHandler Classes: Snapshot

Constant Summary collapse

DEFAULT_REMOTE_POLL_PERIOD = 
0.05

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(parent, plan_rebuilder) ⇒ PlanRebuilderWidget

Returns a new instance of PlanRebuilderWidget.



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 59

def initialize(parent, plan_rebuilder)
    super(parent)
    @list = Qt::ListWidget.new(self)
    @list.extend ContextMenuHandler
    @layout = Qt::VBoxLayout.new(self)

    @layout.add_widget(@btn_create_display)
    @history = {}
    @logfile = nil # set by #open
    @plan_rebuilder = plan_rebuilder
    @current_plan = DRoby::RebuiltPlan.new
    @layout.add_widget(list)

    Qt::Object.connect(list, SIGNAL("currentItemChanged(QListWidgetItem*,QListWidgetItem*)"),
                       self, SLOT("currentItemChanged(QListWidgetItem*,QListWidgetItem*)"))
end

Instance Attribute Details

#current_plan ⇒ Object (readonly)

The current plan managed by the widget



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 20

def current_plan
  @current_plan
end

#history ⇒ Object (readonly)

The history, as a mapping from the cycle index to a (time, snapshot, list_item) triple



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 16

def history
  @history
end

#last_cycle ⇒ Integer (readonly)

The last processed cycle

Returns:

  • (Integer) 


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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 26

def last_cycle
  @last_cycle
end

#list ⇒ Object (readonly)

The list used to display all the cycles in the history



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 13

def list
  @list
end

#logfile ⇒ DRoby::Logfile::Reader (readonly)

The underlying log file

Returns:



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 23

def logfile
  @logfile
end

#plan_rebuilder ⇒ Object (readonly)

The PlanRebuilder object we use to process the log data



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 18

def plan_rebuilder
  @plan_rebuilder
end

Class Method Details

.analyze(plan_rebuilder, logfile, until_cycle: nil) ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 216

def self.analyze(plan_rebuilder, logfile, until_cycle: nil)
    start_time, end_time = logfile.index.range

    start = Time.now
    puts "log file is #{(end_time - start_time).ceil}s long"
    dialog = Qt::ProgressDialog.new("Analyzing log file", "Quit", 0, (end_time - start_time))
    dialog.setWindowModality(Qt::WindowModal)
    dialog.show

    while !logfile.eof? && (!until_cycle || !plan_rebuilder.cycle_index || plan_rebuilder.cycle_index < until_cycle)
        data = logfile.load_one_cycle
        plan_rebuilder.process_one_cycle(data)
        if block_given?
            needs_snapshot =
                plan_rebuilder.has_structure_updates? ||
                plan_rebuilder.has_event_propagation_updates?
            yield(needs_snapshot, data)
        end
        plan_rebuilder.clear_integrated
        dialog.setValue(plan_rebuilder.cycle_start_time - start_time)
        if dialog.wasCanceled
            Kernel.raise Interrupt
        end
    end
    dialog.dispose
    puts format("analyzed log file in %.2fs", Time.now - start)
end

Instance Method Details

#add_missing_cycles(count) ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 121

def add_missing_cycles(count)
    item = Qt::ListWidgetItem.new(list)
    item.setBackground(Qt::Brush.new(Qt::Color.fromHsv(33, 111, 255)))
    item.flags = Qt::NoItemFlags
    # NOTE: 'item' gets registered on the list by its constructor
    item.text = "[#{count} cycles missing]" # rubocop:disable Lint/UselessSetterCall
end

#analyze(until_cycle: nil) ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 244

def analyze(until_cycle: nil)
    PlanRebuilderWidget.analyze(plan_rebuilder, logfile, until_cycle: until_cycle) do
        push_cycle
    end
end

#append_to_history ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 131

def append_to_history
    snapshot = Snapshot.new plan_rebuilder.stats.dup,
                            DRoby::RebuiltPlan.new
    snapshot.plan.merge(plan_rebuilder.plan)
    if @last_snapshot
        snapshot.plan.dedupe(@last_snapshot.plan)
    end
    @last_snapshot = snapshot

    cycle = snapshot.stats[:cycle_index]
    time = Time.at(*snapshot.stats[:start]) + snapshot.stats[:actual_start]

    item = Qt::ListWidgetItem.new(list)
    item.text = "@#{cycle} - #{Roby.format_time(time)}"
    item.setData(Qt::UserRole, Qt::Variant.new(cycle))
    history[cycle] = [time, snapshot, item]
    emit addedSnapshot(cycle)
end

#apply(snapshot) ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 158

def apply(snapshot)
    @display_time = Time.at(*snapshot.stats[:start]) + snapshot.stats[:end]
    @current_plan.clear
    @current_plan.merge(snapshot.plan)
    emit appliedSnapshot(Qt::DateTime.new(@display_time))
end

#connect(client, options = {}) ⇒ Object

Displays the data incoming from client

client is assumed to be a DRoby::Logfile::Client instance

update_period is, in seconds, the period at which the display will check whether there is new data on the port.



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 283

def connect(client, options = {})
    options = Kernel.validate_options options,
                                      port: DRoby::Logfile::Server::DEFAULT_PORT,
                                      update_period: DEFAULT_REMOTE_POLL_PERIOD

    if client.respond_to?(:to_str)
        self.window_title = "roby-display: #{client}"
        emit sourceChanged

        begin
            hostname = client
            client = DRoby::Logfile::Client.new(client, options[:port])
        rescue Exception => e
            connection_failed(e, client, options)
            return false
        end
    end

    @client = client
    client.add_listener do |data|
        plan_rebuilder.clear_integrated
        plan_rebuilder.process_one_cycle(data)
        time = push_cycle
        emit liveUpdate(Qt::DateTime.new(time))

        cycle = plan_rebuilder.cycle_index
        time = plan_rebuilder.cycle_start_time
        emit info("@#{cycle} - #{time.strftime('%H:%M:%S.%3N')}")
    end
    @connection_pull = timer = Qt::Timer.new(self)
    timer.connect(SIGNAL("timeout()")) do
        begin
            client.read_and_process_pending(max: 0.1)
        rescue Exception => e
            disconnect
            emit warn("Disconnected: #{e.message}")
            puts e.message
            puts "  #{e.backtrace.join("\n  ")}"
            connect(hostname, options) if hostname
        end
    end
    timer.start(Integer(options[:update_period] * 1000))
    true
end

#connection_failed(e, client, options) ⇒ Object

Called when the connection to the log server failed, either because it has been closed or because creating the connection failed



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 253

def connection_failed(e, client, options)
    @connection_error = e
    emit warn("connection failed: #{e.message}")
    if @reconnection_timer
        return
    end

    @reconnection_timer = Qt::Timer.new(self)
    @connect_client = client.dup
    @connect_options = options.dup
    @reconnection_timer.connect(SIGNAL("timeout()")) do
        puts "trying to reconnect to #{@connect_client} #{@connect_options}"
        if connect(@connect_client, @connect_options)
            emit info("Connected")
            @reconnection_timer.stop
            @reconnection_timer.dispose
            @reconnection_timer = nil
        end
    end
    @reconnection_timer.start(1000)
end

#current_time ⇒ Object

The end time of the last received cycle



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 345

def current_time
    plan_rebuilder.current_time
end

#currentItemChanged(new_item, previous_item) ⇒ Object 



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

def currentItemChanged(new_item, previous_item)
    data = new_item.data(Qt::UserRole).toInt
    apply(history[data][1])
end

#cycle_start_time ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 335

def cycle_start_time
    plan_rebuilder.cycle_start_time
end

#disconnect ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 328

def disconnect
    @client.disconnect
    @connection_pull.stop
    @connection_pull.dispose
    @connection_pull = nil
end

#display_time ⇒ Object

The time of the currently selected snapshot



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 350

def display_time
    @display_time || start_time
end

#job_placeholder_of(task, cycle) ⇒ Object

Returns the job information for the given task in the given cycle



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 112

def job_placeholder_of(task, cycle)
    if task.kind_of?(Roby::Interface::Job)
        _, snapshot, * = history[cycle]
        task
            .enum_parent_objects(snapshot.relations[Roby::TaskStructure::PlannedBy])
            .first
    end
end

#open(filename, index_path: nil) ⇒ Object

Opens filename and reads the data from there



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 204

def open(filename, index_path: nil)
    @logfile = DRoby::Logfile::Reader.open(filename, index_path: index_path)
    self.window_title = "roby-display: #{filename}"
    emit sourceChanged
    analyze
    unless history.empty?
        apply(history[history.keys.min][1])
    end
end

#push_cycle(snapshot: true) ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 183

def push_cycle(snapshot: true)
    cycle = plan_rebuilder.stats[:cycle_index]
    if last_cycle && (cycle != last_cycle + 1)
        add_missing_cycles(cycle - last_cycle - 1)
    end
    needs_snapshot =
        plan_rebuilder.has_structure_updates? ||
        plan_rebuilder.has_event_propagation_updates?
    if snapshot && needs_snapshot
        append_to_history
    end
    @last_cycle = cycle
    Time.at(*plan_rebuilder.stats[:start]) + plan_rebuilder.stats[:actual_start]
end

#redraw(time = plan_rebuilder.current_time) ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 199

def redraw(time = plan_rebuilder.current_time)
    emit appliedSnapshot(Qt::DateTime.new(time))
end

#seek(time) ⇒ Object 



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 165

def seek(time)
    # Convert from QDateTime to allow seek() to be a slot
    if time.kind_of?(Qt::DateTime)
        time = Time.at(Float(time.toMSecsSinceEpoch) / 1000)
    end

    result = nil
    history.each_value do |cycle_time, snapshot, item|
        if (cycle_time < time) && (!result || result[0] < cycle_time)
            result = [cycle_time, snapshot]
        end
    end
    if result
        apply(result[1])
    end
end

#start_time ⇒ Object

The start time of the first received cycle



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 340

def start_time
    plan_rebuilder.start_time
end

#tasks_info ⇒ (Set<Roby::Task>,Hash<Roby::Task,Roby::Task>)

Info about all tasks known within the stored history

Returns:

  • ((Set<Roby::Task>,Hash<Roby::Task,Roby::Task>)) —

    returns the set of all tasks stored in the history, as well as a mapping from job placeholder tasks to the corresponding job task



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 81

def tasks_info
    all_tasks = Set.new
    all_job_info = {}
    history.each_key do |cycle_index|
        tasks, job_info = tasks_info_of_snapshot(cycle_index)
        all_tasks.merge(tasks)
        all_job_info.merge!(job_info)
    end
    [all_tasks, all_job_info]
end

#tasks_info_of_snapshot(cycle) ⇒ Set<Roby::Task>

Returns the set of tasks that are present in the given snapshot

Returns:



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# File 'lib/roby/gui/plan_rebuilder_widget.rb', line 95

def tasks_info_of_snapshot(cycle)
    _, snapshot, * = history[cycle]
    tasks = snapshot.plan.tasks.to_set
    job_info = {}
    tasks.each do |t|
        if t.kind_of?(Roby::Interface::Job)
            planned_by_graph = snapshot.plan.task_relation_graph_for(Roby::TaskStructure::PlannedBy)
            placeholder_task = planned_by_graph.enum_for(:each_out_neighbour, t).first
            if placeholder_task
                job_info[placeholder_task] = t
            end
        end
    end
    [tasks, job_info]
end