[Rock-dev] Port plotting in orogen

[Alexander Duda]

On Wed, 2011-06-08 at 15:37 +0200, Sylvain Joyeux wrote:
> On 06/08/2011 03:19 PM, Ruun wrote:
> > Hi everyone,
> >
> > i need to analyse some port data provided by an orogen module over the
> > time.
> >
> > Does the rock toolchain provides a component, that can be connected to
> > a port and starts a gui e.g. via vizkit in order to collect the data and
> > visualize
> > them in a plotting widget? (So i can see the current curves for the current
> > collected samples).
> >
> > That would be a great help.
> The standard way to do this in rock is to NOT use a component, but 
> simply a ruby script that uses vizkit. It works pretty well.
> 
> vizkit already has a plotting widget that can be used to that effect 
> (I'm sorry, I don't know the details of its usage ;-))

I am currently working on a documentation which will be placed on
rock-robotics.org the next week.

Here is a small ruby example how it is used:

require 'vizkit'
include Orocos

class Plot

  def initialize(task)
    @task = task

    # create a new qt plot widget
    @widget = Vizkit.default_loader.PlotWidget 

    # connect method display with the output port
    @task.my_port.connect_to(self.method(:display),:type
=> :buffer, :size => 100)

    @pen = Qt::Pen.new
    @pen.setColor(Qt::Color.new(255,0,0))

  end

  #updates the plot
  def display(sample,_)
      @widget.clearAll()
      @widget.registerCurve(2, at pen,"pos",1)

      values = sample.rays.to_a
      array_x = 0.upto(values.size()-1).to_a.map{|v|v.to_f}
      @widget.addPoints(array_x,values,1) # plot column

      values= [0.0,values.max]
      array_x = [sample.max_ray_pos.to_f,sample.max_ray_pos.to_f]
      @widget.addPoints(array_x,values,2)
  end

  def show
      @widget.show
  end
end

Orocos.initialize
Orocos.run 'deployment' do
    task = Orocos::TaskContext.get 'my_task'
    plot = Plot.new(task)
    plot.show

    task.start 
   
    # start qt event loop
    Vizkit.exec
end


-- 
Dipl.-Ing. Alexander Duda 
Unterwasserrobotik

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 178-456620
Fax:   +49 (0)421 178-454150
E-Mail: alexander.duda at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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