Some comments and fixes

facontidavide · May 24, 2023 · 6ceab8d · 6ceab8d
1 parent 344cc3b
commit 6ceab8d
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Showing 5 changed files with 71 additions and 22 deletions.
diff --git a/plotjuggler_base/include/PlotJuggler/util/string_util.hpp b/plotjuggler_base/include/PlotJuggler/util/string_util.hpp
@@ -0,0 +1,35 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef STRING_UTIL_HPP
+#define STRING_UTIL_HPP
+
+#include <string>
+#include <vector>
+#include <sstream>
+
+namespace PJ
+{
+
+std::vector<std::string> split(const std::string& str, char delimiter)
+{
+  std::vector<std::string> ret;
+
+  std::stringstream ss {str};
+  std::string tok;
+
+  while (getline(ss, tok, delimiter)) ret.push_back(std::move(tok));
+
+  auto len = str.size();
+  if (len > 0 && str[len-1] == delimiter) ret.push_back("");
+
+  return ret;
+}
+
+} // namespace PJ
+
+#endif // STRING_UTIL_HPP
+
diff --git a/plotjuggler_plugins/DataLoadZcm/dataload_zcm.cpp b/plotjuggler_plugins/DataLoadZcm/dataload_zcm.cpp
@@ -12,6 +12,8 @@
 #include <QWidget>
 #include <QFileDialog>
 
+#include "PlotJuggler/util/string_util.hpp"
+
 #include <iostream>
 
 #include <zcm/zcm-cpp.hpp>
@@ -48,17 +50,25 @@ DataLoadZcm::DataLoadZcm()
               _ui->lineEditFolder->setText(filename);
             }
           });
-  // When the "Default" button is pushed, load from getenv("ZCMTYPES_PATH")
+  // When the "Default" button is pushed, load from getenv("PJ_ZCMTYPES_LIB_PATH")
   connect(_ui->buttonDefaultFolder, &QPushButton::clicked, this,
           [this](){
-            QString folder = getenv("ZCMTYPES_PATH");
+            QString folder = getenv("PJ_ZCMTYPES_LIB_PATH");
             if(folder.isEmpty()){
-              QMessageBox::warning(nullptr, "Error", "Environment variable ZCMTYPES_PATH not set");
+              QMessageBox::warning(nullptr, "Error", "Environment variable PJ_ZCMTYPES_LIB_PATH not set");
             }
             else {
-              _ui->lineEditFolder->setText(getenv("ZCMTYPES_PATH"));
+              _ui->lineEditFolder->setText(getenv("PJ_ZCMTYPES_LIB_PATH"));
             }
           });
+
+  _extensions.emplace_back("zcmlog");
+  const char* envExtensionsStr = getenv("PJ_ZCM_EXTENSIONS");
+  if (envExtensionsStr) {
+    auto envExtensions = PJ::split(envExtensionsStr, ':');
+    for (auto& e : envExtensions) _extensionsStr.push_back(e);
+    for (auto& e : _extensionsStr) _extensions.push_back(e.c_str());
+  }
 }
 
 DataLoadZcm::~DataLoadZcm()
@@ -72,8 +82,7 @@ const char* DataLoadZcm::name() const
 
 const vector<const char*>& DataLoadZcm::compatibleFileExtensions() const
 {
-  static vector<const char*> extensions = { "zcmlog" };
-  return extensions;
+  return _extensions;
 }
 
 static int processInputLog(const string& logpath,
@@ -143,7 +152,7 @@ bool DataLoadZcm::launchDialog(const string& filepath, unordered_set<string>& ch
   QSettings settings;
   _dialog->restoreGeometry(settings.value("DataLoadZcm.geometry").toByteArray());
 
-  auto type_path = settings.value("DataLoadZcm.folder", getenv("ZCMTYPES_PATH")).toString();
+  auto type_path = settings.value("DataLoadZcm.folder", getenv("PJ_ZCMTYPES_LIB_PATH")).toString();
   _ui->lineEditFolder->setText(type_path);
 
   channels.clear();

diff --git a/plotjuggler_plugins/DataLoadZcm/dataload_zcm.h b/plotjuggler_plugins/DataLoadZcm/dataload_zcm.h
@@ -39,5 +39,8 @@ class DataLoadZcm : public PJ::DataLoader
   QDialog* _dialog;
   Ui::DialogZcm* _ui;
 
+  std::vector<std::string> _extensionsStr;
+  std::vector<const char*> _extensions;
+
   bool launchDialog(const std::string& filepath, std::unordered_set<std::string>& channels);
 };
diff --git a/plotjuggler_plugins/DataStreamZcm/datastream_zcm.cpp b/plotjuggler_plugins/DataStreamZcm/datastream_zcm.cpp
@@ -47,22 +47,22 @@ DataStreamZcm::DataStreamZcm(): _subs(nullptr), _running(false)
   connect(_ui->buttonSelectFolder, &QPushButton::clicked, this,
           [this](){
               QString filename = QFileDialog::getOpenFileName(
-                  nullptr, tr("Select ZCM Type File"),
+                  nullptr, tr("Select ZCM Type Library File"),
                   {}, "*.so");
               // if valid, update lineEditFolder
               if(!filename.isEmpty()) {
                   _ui->lineEditFolder->setText(filename);
               }
           });
-  // When the "Default" button is pushed, load from getenv("ZCMTYPES_PATH")
+  // When the "Default" button is pushed, load from getenv("PJ_ZCMTYPES_LIB_PATH")
   connect(_ui->buttonDefaultFolder, &QPushButton::clicked, this,
           [this](){
-            QString folder = getenv("ZCMTYPES_PATH");
+            QString folder = getenv("PJ_ZCMTYPES_LIB_PATH");
             if(folder.isEmpty()){
-              QMessageBox::warning(nullptr, "Error", "Environment variable ZCMTYPES_PATH not set");
+              QMessageBox::warning(nullptr, "Error", "Environment variable PJ_ZCMTYPES_LIB_PATH not set");
             }
             else {
-              _ui->lineEditFolder->setText(getenv("ZCMTYPES_PATH"));
+              _ui->lineEditFolder->setText(getenv("PJ_ZCMTYPES_LIB_PATH"));
             }
           });
 }
@@ -83,16 +83,15 @@ bool DataStreamZcm::start(QStringList*)
     return false;
   }
 
-  // Initialize zmc here, only once if everything goes well
+  // RRR (Bendes): Can we make this configurable via a transport string?
+  //               "ipc" is just 1 option
+  // Initialize zcm here, only once if everything goes well
   if(!_zcm) {
     _zcm.reset(new zcm::ZCM("ipc"));
 
     if (!_zcm->good()) {
       QMessageBox::warning(nullptr, "Error", "Failed to create zcm::ZCM()");
       _zcm.reset();
-      _subs = nullptr;
-      // QUESTION: to we need to call first "delete _subs" ?
-      // Who have the ownership of that pointer?
       return false;
     }
   }
@@ -103,7 +102,7 @@ bool DataStreamZcm::start(QStringList*)
   // Initialize the lineEdits in the ui with the previous value;
   QSettings settings;
   auto const prev_folder = settings.value("DataStreamZcm::folder",
-                                          getenv("ZCMTYPES_PATH")).toString();
+                                          getenv("PJ_ZCMTYPES_LIB_PATH")).toString();
   _ui->lineEditFolder->setText(prev_folder);
   auto const subscribe_text = settings.value("DataStreamZcm::subscribe", ".*").toString();
   _ui->lineEditSubscribe->setText(subscribe_text);
@@ -136,10 +135,10 @@ bool DataStreamZcm::start(QStringList*)
   if(_subscribe_string != _ui->lineEditSubscribe->text() || !_subs)
   {
     _subscribe_string = _ui->lineEditSubscribe->text();
+    if (_subs) _zcm->unsubscribe(_subs);
     _subs =_zcm->subscribe(_subscribe_string.toStdString(), &DataStreamZcm::handler, this);
-    if (!_zcm->good()) {
-      QMessageBox::warning(nullptr, "Error", "Failed to create zcm::TypeDb()");
-      // QUESTION: is there any cleanup that need to be done here?
+    if (!_subs) {
+      QMessageBox::warning(nullptr, "Error", "Failed to subscribe");
       return false;
     }
   }
@@ -155,6 +154,7 @@ void DataStreamZcm::shutdown()
     return;
   }
   _zcm->stop();
+  _zcm.reset(nullptr);
   _running = false;
 }
 
@@ -165,6 +165,7 @@ bool DataStreamZcm::isRunning() const
 
 bool DataStreamZcm::xmlSaveState(QDomDocument& doc, QDomElement& parent_element) const
 {
+  // RRR (Bendes): Probably also transport string here
   QDomElement elem = doc.createElement("config");
   elem.setAttribute("folder", _types_folder);
   elem.setAttribute("subscribe", _subscribe_string);
@@ -177,6 +178,7 @@ bool DataStreamZcm::xmlLoadState(const QDomElement& parent_element)
   QDomElement elem = parent_element.firstChildElement("config");
   if (!elem.isNull())
   {
+    // RRR (Bendes): Probably also transport string here
     _types_folder = elem.attribute("folder");
     _subscribe_string = elem.attribute("subscribe");
     QSettings settings;

diff --git a/plotjuggler_plugins/DataStreamZcm/datastream_zcm.ui b/plotjuggler_plugins/DataStreamZcm/datastream_zcm.ui
@@ -11,15 +11,15 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>DialogZmc</string>
+   <string>DialogZcm</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">
      <item>
       <widget class="QLabel" name="label">
        <property name="text">
-        <string>Zmc types library: </string>
+        <string>Zcm types library: </string>
        </property>
       </widget>
      </item>