Added zcm streaming support

CMakeLists.txt

@@ -281,6 +281,8 @@ add_subdirectory( plotjuggler_plugins/ParserProtobuf )
 add_subdirectory( plotjuggler_plugins/ParserROS )
 add_subdirectory( plotjuggler_plugins/ParserDataTamer )
 
+add_subdirectory( plotjuggler_plugins/PluginsZcm )
+
 # Install targets
 
 install(

plotjuggler_plugins/PluginsZcm/CMakeLists.txt

@@ -0,0 +1,56 @@
+if(BUILDING_WITH_VCPKG)
+    message(STATUS "Finding Zcm with vcpkg")
+    set(Zcm_LIBRARIES libzcm)
+elseif(BUILDING_WITH_CONAN)
+    message(STATUS "Finding Zcm with conan")
+    set(Zcm_LIBRARIES libzcm)
+else()
+    message(STATUS "Finding Zcm without package managers")
+    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/")
+endif()
+
+find_package(Zcm QUIET)
+
+if(Zcm_FOUND)
+
+    message(STATUS "[Zcm] found")
+
+    include_directories( ${Zcm_INCLUDE_DIR})
+
+    add_definitions(${QT_DEFINITIONS})
+    add_definitions(-DQT_PLUGIN)
+
+    # Streaming plugin
+    QT5_WRAP_UI(STREAM_UI datastream_zcm.ui config_zcm.ui )
+    add_library(DataStreamZcm SHARED
+        datastream_zcm.h
+        datastream_zcm.cpp
+        config_zcm.h
+        config_zcm.cpp
+        ${STREAM_UI})
+
+    # log loading plugin
+    target_link_libraries(DataStreamZcm
+        ${Qt5Widgets_LIBRARIES}
+        plotjuggler_base
+        ${Zcm_LIBRARIES} )
+
+    QT5_WRAP_UI(LOAD_UI dataload_zcm.ui config_zcm.ui)
+    add_library(DataLoadZcm SHARED
+        dataload_zcm.h
+        dataload_zcm.cpp
+        config_zcm.h
+        config_zcm.cpp
+        ${LOAD_UI})
+
+    target_link_libraries(DataLoadZcm
+        ${Qt5Widgets_LIBRARIES}
+        plotjuggler_base
+        ${Zcm_LIBRARIES} )
+
+    install(TARGETS DataStreamZcm DataLoadZcm
+        DESTINATION ${PJ_PLUGIN_INSTALL_DIRECTORY}  )
+else()
+    message("[Zcm] not found. Skipping plugin DataStreamZcma and DataLoadZcm.")
+endif()
+

plotjuggler_plugins/PluginsZcm/cmake/FindZcm.cmake

@@ -0,0 +1,21 @@
+# - Try to find Zcm
+# Once done this will define
+# Zcm_FOUND - System has Zcm
+# Zcm_INCLUDE_DIRS - The Zcm include directories
+# Zcm_LIBRARIES - The libraries needed to use Zcm
+# Zcm_DEFINITIONS - Compiler switches required for using Zcm
+
+find_path ( Zcm_INCLUDE_DIR zcm/zcm-cpp.hpp PATHS $ENV{PJ_ZCM_INSTALL_DIR}/include )
+find_path ( Zcm_INCLUDE_DIR zcm/zcm-cpp.hpp )
+find_library ( Zcm_LIBRARY NAMES zcm PATHS $ENV{PJ_ZCM_INSTALL_DIR}/lib )
+find_library ( Zcm_LIBRARY NAMES zcm )
+find_library ( ZcmToolsUtil_LIBRARY NAMES zcm_tools_util PATHS $ENV{PJ_ZCM_INSTALL_DIR}/lib )
+find_library ( ZcmToolsUtil_LIBRARY NAMES zcm_tools_util )
+
+set ( Zcm_LIBRARIES ${Zcm_LIBRARY} ${ZcmToolsUtil_LIBRARY} )
+set ( Zcm_INCLUDE_DIRS ${Zcm_INCLUDE_DIR} )
+
+include ( FindPackageHandleStandardArgs )
+# handle the QUIETLY and REQUIRED arguments and set Zcm_FOUND to TRUE
+# if all listed variables are TRUE
+find_package_handle_standard_args ( Zcm DEFAULT_MSG Zcm_LIBRARY Zcm_INCLUDE_DIR )

plotjuggler_plugins/PluginsZcm/config_zcm.cpp

@@ -0,0 +1,93 @@
+#include "config_zcm.h"
+#include "ui_config_zcm.h"
+
+#include <QFileDialog>
+#include <QMessageBox>
+#include <QSettings>
+#include <QFileInfo>
+
+
+ConfigZCM::ConfigZCM(QString prefix, QWidget *parent)
+    : QWidget(parent)
+    , ui(new Ui::ConfigZCM)
+    , _prefix(prefix)
+{
+    ui->setupUi(this);
+
+    QSettings settings;
+    auto libs = settings.value(_prefix + "::manual_libs", {}).toStringList();
+    for (auto const &lib : libs) {
+        ui->listWidgetLibs->addItem(lib);
+    }
+
+    bool is_manual = settings.value(_prefix + "::is_manual", false).toBool();
+    ui->radioManualLibrary->setChecked(is_manual);
+}
+
+ConfigZCM::~ConfigZCM()
+{
+    QSettings settings;
+
+    QStringList libs;
+    for (int row = 0; row < ui->listWidgetLibs->count(); row++) {
+        libs << ui->listWidgetLibs->item(row)->text();
+    }
+    settings.setValue(_prefix + "::manual_libs", libs);
+    settings.setValue(_prefix + "::is_manual", ui->radioManualLibrary->isChecked());
+    delete ui;
+}
+
+QString ConfigZCM::getLibraries() const
+{
+    if (ui->radioEnvironmentLibrary->isChecked()) {
+        return getenv("PJ_ZCMTYPES_LIB_PATH");
+    } else {
+        QStringList libs;
+        for (int row = 0; row < ui->listWidgetLibs->count(); row++) {
+            libs << ui->listWidgetLibs->item(row)->text();
+        }
+        return libs.join(":");
+    }
+}
+
+void ConfigZCM::on_radioEnvironmentLibrary_toggled(bool checked)
+{
+    if (checked) {
+        ui->radioManualLibrary->setChecked(false);
+    }
+}
+
+void ConfigZCM::on_radioManualLibrary_toggled(bool checked)
+{
+    if (checked) {
+        ui->radioEnvironmentLibrary->setChecked(false);
+    }
+    ui->manualWidget->setEnabled(checked);
+}
+
+void ConfigZCM::on_pushButtonAdd_clicked()
+{
+    QSettings settings;
+    auto dir = settings.value(_prefix + "::load_dir", QDir::currentPath()).toString();
+    auto files = QFileDialog::getOpenFileNames(this, "Zcm libraries", dir, "*.so *.dll");
+    for (auto filename : files) {
+        if (ui->listWidgetLibs->findItems(filename, Qt::MatchExactly).empty()) {
+            ui->listWidgetLibs->addItem(filename);
+        }
+    }
+    ui->listWidgetLibs->sortItems();
+    if(!files.empty()){
+        settings.setValue(_prefix + "::load_dir",
+                          QFileInfo(files.front()).dir().absolutePath());
+    }
+}
+
+void ConfigZCM::on_pushButtonRemove_clicked()
+{
+    auto items = ui->listWidgetLibs->selectedItems();
+    for(auto item: items) {
+        ui->listWidgetLibs->removeItemWidget(item);
+        delete item;
+    }
+}
+

plotjuggler_plugins/PluginsZcm/config_zcm.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <QWidget>
+
+namespace Ui {
+class ConfigZCM;
+}
+
+class ConfigZCM : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ConfigZCM(QString prefix, QWidget *parent = nullptr);
+    ~ConfigZCM();
+
+    QString getLibraries() const;
+
+private slots:
+    void on_radioEnvironmentLibrary_toggled(bool checked);
+
+    void on_radioManualLibrary_toggled(bool checked);
+
+    void on_pushButtonAdd_clicked();
+
+    void on_pushButtonRemove_clicked();
+
+private:
+    Ui::ConfigZCM *ui;
+    QString _prefix;
+};
+

plotjuggler_plugins/PluginsZcm/config_zcm.ui

@@ -0,0 +1,159 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ConfigZCM</class>
+ <widget class="QWidget" name="ConfigZCM">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>553</width>
+    <height>264</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,0,1">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:700;&quot;&gt;Zcm types library:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QRadioButton" name="radioEnvironmentLibrary">
+     <property name="toolTip">
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Read values from an environment variable &lt;span style=&quot; font-weight:700;&quot;&gt;PJ_ZCMTYPES_LIB_PATH&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+     <property name="text">
+      <string>Use PJ_ZCMTYPES_LIB_PATH</string>
+     </property>
+     <property name="checked">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QRadioButton" name="radioManualLibrary">
+     <property name="toolTip">
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Use the libraries in the list below&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+     <property name="text">
+      <string>Select manually</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QWidget" name="manualWidget" native="true">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QListWidget" name="listWidgetLibs">
+          <property name="editTriggers">
+           <set>QAbstractItemView::NoEditTriggers</set>
+          </property>
+          <property name="selectionMode">
+           <enum>QAbstractItemView::ExtendedSelection</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_3">
+          <item>
+           <widget class="QPushButton" name="pushButtonAdd">
+            <property name="minimumSize">
+             <size>
+              <width>22</width>
+              <height>22</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>22</width>
+              <height>22</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Add Libraries&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+            <property name="text">
+             <string>+</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="pushButtonRemove">
+            <property name="minimumSize">
+             <size>
+              <width>22</width>
+              <height>22</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>22</width>
+              <height>22</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Remove selected libraries&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+            <property name="text">
+             <string>-</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="verticalSpacer">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>40</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>