feat: plot nav improvements

cpp/farm_ng/core/plotting/remote_plot_example.cpp

@@ -29,13 +29,19 @@ int main(int argc, char* argv[]) {
   pool->start(8);
 
   plotting::Vec3Curve trig_graph;
+  trig_graph.bounds = {
+      .x_bounds = {.len = 5.0 * M_PI},
+      .y_bounds = {.height = 2.0, .offset = 0.0}};
   trig_graph.path = "trig/ {sin,cos,tan}";
   trig_graph.color = {
       sophus::Color::neonRed(),
       sophus::Color::neonGreen(),
       sophus::Color::neonBlue()};
 
   plotting::Curve sawtooth;
+  sawtooth.bounds = {
+      .x_bounds = {.len = 5.0 * M_PI},
+      .y_bounds = {.height = 2.0, .offset = 0.0}};
   sawtooth.path = "trig1/sawtooth";
   sawtooth.color = sophus::Color::blue();
 
@@ -44,14 +50,8 @@ int main(int argc, char* argv[]) {
 
   double x = 0.0;
 
-  auto x_range0 =
-      plotting::XRange{.range = {-2.0 * M_PI, 0.0}, .path = "trig0"};
-  auto x_range1 =
-      plotting::XRange{.range = {-2.0 * M_PI, 0.0}, .path = "trig1"};
-
   std::vector<plotting::Message> messages;
-  messages.push_back(plotting::YRange{.range = {-1.0, 1.0}, .path = "trig0"});
-  messages.push_back(plotting::YRange{.range = {-1.0, 1.0}, .path = "trig1"});
+
   plotting->inMessages().send(messages);
   int counter = 0;
   while (true) {
@@ -74,9 +74,6 @@ int main(int argc, char* argv[]) {
     messages.push_back(trig_graph);
     messages.push_back(sawtooth);
 
-    x_range0.range = {x - 2.0 * M_PI, x};
-    x_range1.range = {x - 2.0 * M_PI, x};
-
     ++counter;
 
     if (counter >= 10) {
@@ -88,8 +85,6 @@ int main(int argc, char* argv[]) {
       messages.push_back(timestamps);
     }
 
-    messages.push_back(x_range0);
-    messages.push_back(x_range1);
     plotting->inMessages().send(messages);
 
     x += 0.01;

cpp/farm_ng/core/plotting/types.h

@@ -46,11 +46,24 @@ struct CurveResetPredicate {
   std::optional<double> clear_x_smaller_than = std::nullopt;
 };
 
+FARM_STRUCT(
+    XCoordinateBounds,
+    ((std::optional<double>, max_x, {std::nullopt}), (double, len, {100.0})));
+
+FARM_STRUCT(
+    YCoordinateBounds,
+    ((std::optional<double>, height, {std::nullopt}), (double, offset, {0.0})));
+
+FARM_STRUCT(
+    Bounds,
+    ((XCoordinateBounds, x_bounds, {}), (YCoordinateBounds, y_bounds, {})));
+
 // Append to an existing curve in a given plot (or add new one if it does not
 // exist already), with path being "plot_name/curve_name".
 FARM_STRUCT(
     Curve,
-    ((sophus::Color, color, {}),
+    ((Bounds, bounds, {}),
+     (sophus::Color, color, {}),
      (LineType, line_type, {LineType::line_strip}),
      (std::filesystem::path, path, {}),
      (CurveResetPredicate, reset, {}),
@@ -74,7 +87,8 @@ ColorArray3 constexpr kDefaultConfColorArray3 = {
 // for each curve, and the remaining components are the y coordinates.
 FARM_STRUCT(
     Vec3Curve,
-    ((ColorArray3, color, {kDefaultColorArray3}),
+    ((Bounds, bounds, {}),
+     (ColorArray3, color, {kDefaultColorArray3}),
      (LineType, line_type, {LineType::line_strip}),
      (std::filesystem::path, path, {}),
      (CurveResetPredicate, reset, {}),
@@ -87,7 +101,8 @@ using Vec7d = Eigen::Matrix<double, 7, 1>;
 // standard deviation).
 FARM_STRUCT(
     Vec3CurveWithConfInterval,
-    ((ColorArray3, color, {kDefaultColorArray3}),
+    ((Bounds, bounds, {}),
+     (ColorArray3, color, {kDefaultColorArray3}),
      (ColorArray3, conf_color, {kDefaultConfColorArray3}),
      (LineType, line_type, {LineType::line_strip}),
      (std::filesystem::path, path, {}),
@@ -133,26 +148,13 @@ struct ColoredRect {
 
 FARM_STRUCT(
     RectPlot,
-    ((std::filesystem::path, path, {}),
+    ((Bounds, bounds, {}),
      (std::deque<ColoredRect>, colored_rects, {}),
+     (std::filesystem::path, path, {}),
      (CurveResetPredicate, reset, {})));
 
-FARM_STRUCT(
-    XRange,
-    ((sophus::RegionF64, range, {sophus::RegionF64::empty()}),
-     (std::filesystem::path, path, {})));
-FARM_STRUCT(
-    YRange,
-    ((sophus::RegionF64, range, {sophus::RegionF64::empty()}),
-     (std::filesystem::path, path, {})));
-
-using Message = std::variant<
-    RectPlot,
-    Curve,
-    Vec3Curve,
-    Vec3CurveWithConfInterval,
-    XRange,
-    YRange>;
+using Message =
+    std::variant<RectPlot, Curve, Vec3Curve, Vec3CurveWithConfInterval>;
 
 }  // namespace plotting
 

cpp/farm_ng/core/proto_conv/plotting/conv.cpp

@@ -151,17 +151,17 @@ FARM_CONV_IMPL_REPEATED(
 FARM_PROTO_CONV_IMPL(
     plotting::RectPlot,
     core::plotting::proto::RectPlot,
-    (path, colored_rects, reset));
+    (bounds, colored_rects, path, reset));
 
 FARM_PROTO_CONV_IMPL(
     plotting::Curve,
     core::plotting::proto::Curve,
-    (color, line_type, path, reset, x_y_pairs));
+    (bounds, color, line_type, path, reset, x_y_pairs));
 
 FARM_PROTO_CONV_IMPL_FN(
     plotting::Vec3Curve,
     core::plotting::proto::Vec3Curve,
-    ((color, SKIP), line_type, path, reset, x_vec_pairs),
+    (bounds, (color, SKIP), line_type, path, reset, x_vec_pairs),
     [](plotting::Vec3Curve&& s, core::plotting::proto::Vec3Curve const& proto)
         -> Expected<plotting::Vec3Curve> {
       if (proto.color_size() != 3) {
@@ -183,7 +183,8 @@ FARM_PROTO_CONV_IMPL_FN(
 FARM_PROTO_CONV_IMPL_FN(
     plotting::Vec3CurveWithConfInterval,
     core::plotting::proto::Vec3CurveWithConfInterval,
-    ((color, SKIP),
+    (bounds,
+     (color, SKIP),
      (conf_color, SKIP),
      line_type,
      path,
@@ -219,10 +220,17 @@ FARM_PROTO_CONV_IMPL_FN(
     });
 
 FARM_PROTO_CONV_IMPL(
-    plotting::XRange, core::plotting::proto::XRange, (range, path));
+    plotting::XCoordinateBounds,
+    core::plotting::proto::XCoordinateBounds,
+    (max_x, len));
 
 FARM_PROTO_CONV_IMPL(
-    plotting::YRange, core::plotting::proto::YRange, (range, path));
+    plotting::YCoordinateBounds,
+    core::plotting::proto::YCoordinateBounds,
+    (height, offset));
+
+FARM_PROTO_CONV_IMPL(
+    plotting::Bounds, core::plotting::proto::Bounds, (x_bounds, y_bounds));
 
 template <>
 auto fromProt<core::plotting::proto::Message>(
@@ -249,16 +257,6 @@ auto fromProt<core::plotting::proto::Message>(
     msg = m;
     return msg;
   }
-  if (proto.has_x_range()) {
-    FARM_TRY(auto, m, fromProt(proto.x_range()));
-    msg = m;
-    return msg;
-  }
-  if (proto.has_y_range()) {
-    FARM_TRY(auto, m, fromProt(proto.y_range()));
-    msg = m;
-    return msg;
-  }
   return msg;
 }
 
@@ -275,9 +273,7 @@ auto toProt<plotting::Message>(plotting::Message const& v)
       },
       [&](plotting::Vec3CurveWithConfInterval const& v) {
         *proto.mutable_vec3_conf_curve() = toProt(v);
-      },
-      [&](plotting::XRange const& v) { *proto.mutable_x_range() = toProt(v); },
-      [&](plotting::YRange const& v) { *proto.mutable_y_range() = toProt(v); });
+      });
   return proto;
 }
 

cpp/farm_ng/core/proto_conv/plotting/conv.h

@@ -45,8 +45,12 @@ FARM_PROTO_CONV_TRAIT(plotting::Vec3Curve, core::plotting::proto::Vec3Curve);
 FARM_PROTO_CONV_TRAIT(
     plotting::Vec3CurveWithConfInterval,
     core::plotting::proto::Vec3CurveWithConfInterval);
-FARM_PROTO_CONV_TRAIT(plotting::XRange, core::plotting::proto::XRange);
-FARM_PROTO_CONV_TRAIT(plotting::YRange, core::plotting::proto::YRange);
+
+FARM_PROTO_CONV_TRAIT(
+    plotting::XCoordinateBounds, core::plotting::proto::XCoordinateBounds);
+FARM_PROTO_CONV_TRAIT(
+    plotting::YCoordinateBounds, core::plotting::proto::YCoordinateBounds);
+FARM_PROTO_CONV_TRAIT(plotting::Bounds, core::plotting::proto::Bounds);
 FARM_PROTO_CONV_TRAIT(plotting::Message, core::plotting::proto::Message);
 FARM_PROTO_CONV_TRAIT(
     std::vector<plotting::Message>, core::plotting::proto::Messages);

protos/farm_ng/core/plotting/plotting.proto

@@ -46,31 +46,50 @@ message XVecConvTupleF64 {
   int64 num_tuples = 2;
 }
 
+message XCoordinateBounds {
+  core.proto.OptionalG0Double max_x = 1;
+  double len = 2;
+}
+
+
+message YCoordinateBounds {
+  core.proto.OptionalG0Double height = 1;
+  double offset = 2;
+}
+
+message Bounds {
+  XCoordinateBounds x_bounds = 1;
+  YCoordinateBounds y_bounds = 2;
+}
+
 message LineType { string variant_name = 1; }
 
 message Curve {
-  core.proto.Color color = 1;
-  LineType line_type = 2;
-  core.proto.FileSystemPath path = 3;
-  CurveResetPredicate reset = 4;
-  XyPairsF64 x_y_pairs = 5;
+  Bounds bounds = 1;
+  core.proto.Color color = 2;
+  LineType line_type = 3;
+  core.proto.FileSystemPath path = 4;
+  CurveResetPredicate reset = 5;
+  XyPairsF64 x_y_pairs = 6;
 };
 
 message Vec3Curve {
-  repeated core.proto.Color color = 1;
-  LineType line_type = 2;
-  core.proto.FileSystemPath path = 3;
-  CurveResetPredicate reset = 4;
-  XVecTupleF64 x_vec_pairs = 5;
-};
-
-message Vec3CurveWithConfInterval {
-  repeated core.proto.Color color = 1;
-  repeated core.proto.Color conf_color = 2;
+  Bounds bounds = 1;
+  repeated core.proto.Color color = 2;
   LineType line_type = 3;
   core.proto.FileSystemPath path = 4;
   CurveResetPredicate reset = 5;
-  XVecConvTupleF64 x_vec_conf_tuples = 6;
+  XVecTupleF64 x_vec_pairs = 6;
+};
+
+message Vec3CurveWithConfInterval {
+  Bounds bounds = 1;
+  repeated core.proto.Color color = 2;
+  repeated core.proto.Color conf_color = 3;
+  LineType line_type = 4;
+  core.proto.FileSystemPath path = 5;
+  CurveResetPredicate reset = 6;
+  XVecConvTupleF64 x_vec_conf_tuples = 7;
 };
 
 message ColoredRect {
@@ -81,19 +100,10 @@ message ColoredRect {
 message RepeatedG0ColoredRect { repeated ColoredRect value = 1; }
 
 message RectPlot {
-  core.proto.FileSystemPath path = 1;
+  Bounds bounds = 1;
   RepeatedG0ColoredRect colored_rects = 2;
-  CurveResetPredicate reset = 3;
-}
-
-message XRange {
-  core.proto.FileSystemPath path = 1;
-  core.proto.RegionF64 range = 2;
-}
-
-message YRange {
-  core.proto.FileSystemPath path = 1;
-  core.proto.RegionF64 range = 2;
+  core.proto.FileSystemPath path = 3;
+  CurveResetPredicate reset = 4;
 }
 
 message Message {
@@ -102,8 +112,6 @@ message Message {
     Vec3Curve vec3_curve = 2;
     Vec3CurveWithConfInterval vec3_conf_curve = 3;
     RectPlot rects = 4;
-    XRange x_range = 5;
-    YRange y_range = 6;
   }
 }
 

rs/plotting/Cargo.toml

@@ -6,7 +6,8 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [dependencies]
 clap = { version = "4", features = ["derive"] }
-eframe = "0.22"
+eframe = "0.23"
+egui_plot = "0.23"
 prost = "0.12"
 tokio = { version = "1", features = ["full"] }
 tonic = "0.10.2"

rs/plotting/src/actors/grpc_source.rs

@@ -137,8 +137,10 @@ impl ActorNode for ActiveGrpcSourceNodeImpl {
             .add_service(PlottingWidgetServer::new(server))
             .serve(address.parse().unwrap());
         match server_future.await {
-            Ok(_) =>{}
-            Err(e) =>{panic!("{}", e);}
+            Ok(_) => {}
+            Err(e) => {
+                panic!("{}", e);
+            }
         }
     }
 }

rs/plotting/src/actors/plotter.rs

@@ -9,12 +9,9 @@ use hollywood::core::*;
 use hollywood::macros::actor_inputs;
 use tokio::select;
 
-#[derive(Clone, Debug)]
-#[derive(Default)]
+#[derive(Clone, Debug, Default)]
 pub struct PlotterProp {}
 
-
-
 /// Inbound message for the Plotter actor.
 #[derive(Clone, Debug)]
 #[actor_inputs(PlotterInbound, {PlotterProp, PlotterState, NullOutbound})]