Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add sequences support [17050] #53

Closed
wants to merge 1 commit into from
Closed

Add sequences support [17050] #53

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
54 changes: 37 additions & 17 deletions plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -97,23 +97,7 @@ bool FastDdsDataStreamer::start(
}

// Get all series from topics and create them
// NUMERIC
std::vector<types::DatumLabel> numeric_series = fastdds_handler_.numeric_data_series_names();
for (const auto& series : numeric_series)
{
// Create a series
DEBUG("Creating numeric series: " << series);
dataMap().addNumeric(series);
}

// STRING
std::vector<types::DatumLabel> string_series = fastdds_handler_.string_data_series_names();
for (const auto& series : string_series)
{
// Create a series
DEBUG("Creating string series: " << series);
dataMap().addStringSeries(series);
}
create_series_();

running_ = true;
return true;
Expand Down Expand Up @@ -161,6 +145,20 @@ bool FastDdsDataStreamer::xmlLoadState(
// FASTDDS LISTENER METHODS
////////////////////////////////////////////////////

void FastDdsDataStreamer::on_data_available()
{
DEBUG("FastDdsDataStreamer on_data_available");

// Locking DataStream
std::lock_guard<std::mutex> lock(mutex());

// Clear data created from previous sample
dataMap().clear();

// Create series from new received sample
create_series_();
}

void FastDdsDataStreamer::on_double_data_read(
const std::vector<std::pair<std::string, double>>& data_per_topic_value,
double timestamp)
Expand Down Expand Up @@ -255,6 +253,28 @@ void FastDdsDataStreamer::connect_to_domain_(
select_topics_dialog_.connect_to_domain(domain_id);
}

void FastDdsDataStreamer::create_series_()
{
// Get all series from topics and create them
// NUMERIC
std::vector<types::DatumLabel> numeric_series = fastdds_handler_.numeric_data_series_names();
for (const auto& series : numeric_series)
{
// Create a series
DEBUG("Creating numeric series: " << series);
dataMap().addNumeric(series);
}

// STRING
std::vector<types::DatumLabel> string_series = fastdds_handler_.string_data_series_names();
for (const auto& series : string_series)
{
// Create a series
DEBUG("Creating string series: " << series);
dataMap().addStringSeries(series);
}
}

} /* namespace datastreamer */
} /* namespace plotjuggler */
} /* namespace eprosima */
4 changes: 4 additions & 0 deletions plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ class FastDdsDataStreamer :
// FASTDDS LISTENER METHODS
////////////////////////////////////////////////////

virtual void on_data_available() override;

virtual void on_double_data_read(
const std::vector<types::NumericDatum>& data_per_topic_value,
double timestamp) override;
Expand Down Expand Up @@ -132,6 +134,8 @@ class FastDdsDataStreamer :
void connect_to_domain_(
unsigned int domain_id);

void create_series_();


////////////////////////////////////////////////////
// INTERNAL VALUES
Expand Down
5 changes: 5 additions & 0 deletions plugins/datastreamer_plugin/fastdds/FastDdsListener.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,11 @@ class FastDdsListener
{
public:

virtual void on_data_available()
{
DEBUG("Calling on_data_available");
}

virtual void on_double_data_read(
const std::vector<types::NumericDatum>& numeric_data,
double timestamp)
Expand Down
113 changes: 78 additions & 35 deletions plugins/datastreamer_plugin/fastdds/ReaderHandler.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,36 +48,18 @@ ReaderHandler::ReaderHandler(
, type_(type)
, listener_(listener)
, stop_(false)
, data_type_configuration_(data_type_configuration)
{
// Create data so it is not required to create it each time and avoid reallocation if possible
data_ = eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(type_);

// Create the static structures to store the data introspection information AND the data itself
utils::get_introspection_type_names(
topic_name(),
type_,
data_type_configuration,
numeric_data_info_,
string_data_info_);
// Determine whether the data tree will be recreated for every received sample
static_type_ = utils::is_type_static(type);

// Create the data structures so they are not copied in the future
for (const auto& info : numeric_data_info_)
if (static_type_)
{
numeric_data_.push_back({ std::get<0>(info), 0});
}
for (const auto& info : string_data_info_)
{
string_data_.push_back({ std::get<0>(info), "-"});
}

DEBUG("Reader created in topic: " << topic_name() << " with types: ");
for (const auto& info : numeric_data_info_)
{
DEBUG("\tNumeric: " << std::get<0>(info));
}
for (const auto& info : string_data_info_)
{
DEBUG("\tString: " << std::get<0>(info));
// Create the static structures to store the data introspection information AND the data itself
create_data_structures_();
}

// Set this object as this reader's listener
Expand All @@ -89,7 +71,7 @@ ReaderHandler::~ReaderHandler()
// Stop the reader
stop();

// Delete created data
// Delete created data
eprosima::fastrtps::types::DynamicDataFactory::get_instance()->delete_data(data_);
}

Expand All @@ -115,6 +97,13 @@ void ReaderHandler::on_data_available(
eprosima::fastrtps::types::ReturnCode_t read_ret =
eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK;

// Non-fixed size types require data to be recreated (e.g. to avoid having sequence members from previous samples)
if (!static_type_)
{
eprosima::fastrtps::types::DynamicDataFactory::get_instance()->delete_data(data_);
data_ = eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(type_);
}

// Read Data from reader while there is data available and not should stop
while (!stop_ && read_ret == eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
{
Expand All @@ -125,6 +114,23 @@ void ReaderHandler::on_data_available(
if (read_ret == eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK &&
info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
{
if (!static_type_)
{
// Reset stored data info
numeric_data_info_.clear();
string_data_info_.clear();

// Reset stored data
numeric_data_.clear();
string_data_.clear();

// Recreate the structures to store the data introspection information AND the data itself
create_data_structures_(data_);

// Update previous data view according to new received data structure
listener_->on_data_available();
}

// Get timestamp
double timestamp = utils::get_timestamp_seconds_numeric_value(info.reception_timestamp);

Expand Down Expand Up @@ -172,6 +178,53 @@ const std::string& ReaderHandler::type_name() const
return topic_->get_type_name();
}

std::vector<std::string> ReaderHandler::numeric_data_series_names() const
{
return utils::get_introspection_type_names(numeric_data_info_);
}

std::vector<std::string> ReaderHandler::string_data_series_names() const
{
return utils::get_introspection_type_names(string_data_info_);
}

////////////////////////////////////////////////////
// AUXILIAR METHODS
////////////////////////////////////////////////////

void ReaderHandler::create_data_structures_(
eprosima::fastrtps::types::DynamicData* data /* = nullptr */)
{
// Create the structures to store the data introspection information AND the data itself
utils::get_introspection_type_names(
topic_name(),
type_,
data_type_configuration_,
numeric_data_info_,
string_data_info_,
data);

// Create the data structures
for (const auto& info : numeric_data_info_)
{
numeric_data_.push_back({ std::get<0>(info), 0});
}
for (const auto& info : string_data_info_)
{
string_data_.push_back({ std::get<0>(info), "-"});
}

DEBUG("Completed type introspection created in topic: " << topic_name() << " with types: ");
for (const auto& info : numeric_data_info_)
{
DEBUG("\tNumeric: " << std::get<0>(info));
}
for (const auto& info : string_data_info_)
{
DEBUG("\tString: " << std::get<0>(info));
}
}

////////////////////////////////////////////////////
// AUXILIAR STATIC METHODS
////////////////////////////////////////////////////
Expand All @@ -187,16 +240,6 @@ eprosima::fastdds::dds::StatusMask ReaderHandler::default_listener_mask_()
return mask;
}

std::vector<std::string> ReaderHandler::numeric_data_series_names() const
{
return utils::get_introspection_type_names(numeric_data_info_);
}

std::vector<std::string> ReaderHandler::string_data_series_names() const
{
return utils::get_introspection_type_names(string_data_info_);
}

} /* namespace fastdds */
} /* namespace plotjuggler */
} /* namespace eprosima */
13 changes: 13 additions & 0 deletions plugins/datastreamer_plugin/fastdds/ReaderHandler.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,14 @@ struct ReaderHandler : public eprosima::fastdds::dds::DataReaderListener
std::vector<types::DatumLabel> string_data_series_names() const;


////////////////////////////////////////////////////
// AUXILIAR METHODS
////////////////////////////////////////////////////

void create_data_structures_(
eprosima::fastrtps::types::DynamicData* data = nullptr);


////////////////////////////////////////////////////
// AUXILIAR STATIC METHODS
////////////////////////////////////////////////////
Expand Down Expand Up @@ -127,6 +135,9 @@ struct ReaderHandler : public eprosima::fastdds::dds::DataReaderListener
//! Type Informantion
eprosima::fastrtps::types::DynamicType_ptr type_;

//! Whether it is composed of variable sized types (e.g. sequences)
bool static_type_;

//! Data Type element
eprosima::fastrtps::types::DynamicData* data_;

Expand All @@ -137,6 +148,8 @@ struct ReaderHandler : public eprosima::fastdds::dds::DataReaderListener

utils::TypeIntrospectionNumericStruct numeric_data_;
utils::TypeIntrospectionStringStruct string_data_;

DataTypeConfiguration data_type_configuration_;
};

} /* namespace fastdds */
Expand Down
Loading