us.ihmc.scs2.sessionVisualizer.jfx.session.mcap.MCAPLogSessionManagerController Maven / Gradle / Ivy
package us.ihmc.scs2.sessionVisualizer.jfx.session.mcap;
import com.jfoenix.controls.JFXTextField;
import com.jfoenix.controls.JFXTrimSlider;
import javafx.beans.property.LongProperty;
import javafx.beans.property.ObjectProperty;
import javafx.beans.property.SimpleLongProperty;
import javafx.beans.property.SimpleObjectProperty;
import javafx.beans.value.ChangeListener;
import javafx.collections.ListChangeListener;
import javafx.event.ActionEvent;
import javafx.fxml.FXML;
import javafx.scene.Node;
import javafx.scene.Scene;
import javafx.scene.control.Button;
import javafx.scene.control.ComboBox;
import javafx.scene.control.Label;
import javafx.scene.control.ProgressIndicator;
import javafx.scene.control.TextField;
import javafx.scene.control.TextFormatter;
import javafx.scene.control.TitledPane;
import javafx.scene.control.ToggleButton;
import javafx.scene.input.MouseEvent;
import javafx.scene.layout.AnchorPane;
import javafx.scene.layout.FlowPane;
import javafx.scene.layout.Pane;
import javafx.stage.FileChooser;
import javafx.stage.FileChooser.ExtensionFilter;
import javafx.stage.Stage;
import javafx.stage.WindowEvent;
import javafx.util.converter.IntegerStringConverter;
import javafx.util.converter.LongStringConverter;
import org.apache.commons.lang3.mutable.MutableBoolean;
import us.ihmc.log.LogTools;
import us.ihmc.messager.TopicListener;
import us.ihmc.messager.javafx.JavaFXMessager;
import us.ihmc.scs2.session.SessionRobotDefinitionListChange;
import us.ihmc.scs2.session.mcap.MCAPLogCropper;
import us.ihmc.scs2.session.mcap.MCAPLogCropper.OutputFormat;
import us.ihmc.scs2.session.mcap.MCAPLogFileReader;
import us.ihmc.scs2.session.mcap.MCAPLogSession;
import us.ihmc.scs2.sessionVisualizer.jfx.SessionVisualizerIOTools;
import us.ihmc.scs2.sessionVisualizer.jfx.SessionVisualizerTopics;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.BackgroundExecutorManager;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.SessionVisualizerToolkit;
import us.ihmc.scs2.sessionVisualizer.jfx.session.SessionControlsController;
import us.ihmc.scs2.sessionVisualizer.jfx.session.log.LogSessionManagerController;
import us.ihmc.scs2.sessionVisualizer.jfx.session.log.LogSessionManagerController.TimeStringBinding;
import us.ihmc.scs2.sessionVisualizer.jfx.tools.JavaFXMissingTools;
import us.ihmc.scs2.sessionVisualizer.jfx.tools.PositiveIntegerValueFilter;
import us.ihmc.scs2.sharedMemory.interfaces.YoBufferPropertiesReadOnly;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.Consumer;
public class MCAPLogSessionManagerController implements SessionControlsController
{
private static final double THUMBNAIL_WIDTH = 200.0;
public static final String LOG_FILE_KEY = "MCAPLogFilePath";
private static final String ROBOT_MODEL_FILE_KEY = "MCAPRobotModelFilePath";
private static final String DEFAULT_MODEL_TEXT_FIELD_TEXT = "Path to model file";
private final ObjectProperty multiVideoViewerObjectProperty = new SimpleObjectProperty<>(this, "multiVideoThumbnailViewer", null);
private final ObjectProperty activeSessionProperty = new SimpleObjectProperty<>(this, "activeSession", null);
private final LongProperty desiredLogDTProperty = new SimpleLongProperty(this, "desiredLogDT", TimeUnit.MILLISECONDS.toNanos(1));
@FXML
private AnchorPane mainPane;
@FXML
private ProgressIndicator loadingSpinner;
@FXML
private Button openSessionButton, endSessionButton;
@FXML
private Label sessionNameLabel, dateLabel, logPathLabel;
@FXML
private Pane cropControlsContainer;
@FXML
private ToggleButton showTrimsButton;
@FXML
private Button startTrimToCurrentButton, endTrimToCurrentButton, resetTrimsButton, cropAndExportButton;
@FXML
private ComboBox outputFormatComboBox; // FIXME
@FXML
private JFXTrimSlider logPositionSlider;
@FXML
private Pane cropProgressMonitorPane; // FIXME
@FXML
private JFXTextField currentModelFilePathTextField;
@FXML
private TextField desiredLogDTTextField;
@FXML
private TextField bufferRecordTickPeriodTextField;
@FXML
private TitledPane thumbnailsTitledPane;
@FXML
private FlowPane videoThumbnailPane;
@FXML
private TitledPane consoleOutputTitledPane;
@FXML
private MCAPConsoleLogOutputPaneController consoleOutputPaneController;
private Stage stage;
private SessionVisualizerTopics topics;
private JavaFXMessager messager;
private BackgroundExecutorManager backgroundExecutorManager;
private File defaultRobotModelFile = null;
@Override
public void initialize(SessionVisualizerToolkit toolkit)
{
stage = new Stage();
topics = toolkit.getTopics();
messager = toolkit.getMessager();
backgroundExecutorManager = toolkit.getBackgroundExecutorManager();
logPositionSlider.setValueFactory(param -> new TimeStringBinding(param.valueProperty(), position ->
{
if (activeSessionProperty.get() == null)
return 0;
MCAPLogFileReader mcapLogFileReader = activeSessionProperty.get().getMCAPLogFileReader();
return mcapLogFileReader.getRelativeTimestampAtIndex(position.intValue());
}));
TextFormatter recordPeriodFormatter = new TextFormatter<>(new IntegerStringConverter(), 0, new PositiveIntegerValueFilter());
bufferRecordTickPeriodTextField.setTextFormatter(recordPeriodFormatter);
messager.bindBidirectional(topics.getBufferRecordTickPeriod(), recordPeriodFormatter.valueProperty(), false);
desiredLogDTTextField.setTextFormatter(new TextFormatter<>(new LongStringConverter(), 1000L, new PositiveIntegerValueFilter()));
MutableBoolean desiredLogDTTextFieldUpdate = new MutableBoolean(false);
desiredLogDTTextField.textProperty().addListener((o, oldValue, newValue) ->
{
if (desiredLogDTTextFieldUpdate.isTrue())
return;
desiredLogDTTextFieldUpdate.setTrue();
try
{
desiredLogDTProperty.set(TimeUnit.MICROSECONDS.toNanos(Long.parseLong(newValue)));
}
catch (NumberFormatException e)
{
desiredLogDTTextField.setText(Long.toString(TimeUnit.NANOSECONDS.toMicros(desiredLogDTProperty.get())));
}
finally
{
desiredLogDTTextFieldUpdate.setFalse();
}
});
desiredLogDTProperty.addListener((o, oldValue, newValue) ->
{
if (desiredLogDTTextFieldUpdate.isTrue())
return;
desiredLogDTTextFieldUpdate.setTrue();
desiredLogDTTextField.setText(Long.toString(TimeUnit.NANOSECONDS.toMicros(newValue.longValue())));
desiredLogDTTextFieldUpdate.setFalse();
});
ChangeListener activeSessionListener = (o, oldValue, newValue) ->
{
if (newValue == null)
{
clearControls();
}
else
{
messager.submitMessage(topics.getStartNewSessionRequest(), newValue);
initializeControls(newValue);
}
};
AtomicBoolean logPositionUpdate = new AtomicBoolean(true);
logPositionSlider.valueProperty().addListener((o, oldValue, newValue) ->
{
MCAPLogSession logSession = activeSessionProperty.get();
if (logSession == null || logPositionUpdate.get())
return;
logSession.submitLogPositionRequest(newValue.intValue());
});
AtomicBoolean sliderFeedbackEnabled = new AtomicBoolean(true);
logPositionSlider.addEventFilter(MouseEvent.MOUSE_PRESSED, e -> sliderFeedbackEnabled.set(false));
logPositionSlider.addEventFilter(MouseEvent.MOUSE_DRAGGED, e -> sliderFeedbackEnabled.set(false));
logPositionSlider.addEventFilter(MouseEvent.MOUSE_RELEASED, e -> sliderFeedbackEnabled.set(true));
Consumer logPositionUpdateListener = properties ->
{
MCAPLogSession logSession = activeSessionProperty.get();
if (sliderFeedbackEnabled.get())
{
int currentLogPosition = logSession.getMCAPLogFileReader().getCurrentIndex();
JavaFXMissingTools.runLater(getClass(), () ->
{
if (logSession == null || logSession.getMCAPLogFileReader() == null)
return;
if (currentLogPosition != logPositionSlider.valueProperty().intValue())
{
logPositionUpdate.set(true);
logPositionSlider.setValue(currentLogPosition);
logPositionUpdate.set(false);
}
});
}
};
activeSessionProperty.addListener((o, oldValue, newValue) ->
{
if (oldValue != null)
oldValue.removeCurrentBufferPropertiesListener(logPositionUpdateListener);
if (newValue != null)
{
newValue.addCurrentBufferPropertiesListener(logPositionUpdateListener);
if (newValue.getInitialRobotModelFile() != null && defaultRobotModelFile == null)
{ // Display the robot model file path if it is available.
currentModelFilePathTextField.setText(newValue.getInitialRobotModelFile().getAbsolutePath());
}
else if (newValue.getInitialRobotModelFile() == null)
{
currentModelFilePathTextField.setText(DEFAULT_MODEL_TEXT_FIELD_TEXT);
}
// Otherwise the text field will be updated when the robot model file is loaded.
}
});
multiVideoViewerObjectProperty.addListener((o, oldValue, newValue) ->
{
if (oldValue != null)
oldValue.stop();
if (newValue != null)
newValue.start();
});
if (toolkit.getSession() instanceof MCAPLogSession mcapLogSession)
{
desiredLogDTProperty.set(mcapLogSession.getDesiredLogDT());
activeSessionProperty.set(mcapLogSession);
initializeControls(mcapLogSession);
}
else
{
clearControls();
}
activeSessionProperty.addListener(activeSessionListener);
thumbnailsTitledPane.expandedProperty().addListener((o, oldValue, newValue) -> JavaFXMissingTools.runLater(getClass(), stage::sizeToScene));
consoleOutputTitledPane.expandedProperty().addListener((o, oldValue, newValue) -> JavaFXMissingTools.runLater(getClass(), stage::sizeToScene));
logPositionSlider.showTrimProperty().bind(showTrimsButton.selectedProperty());
logPositionSlider.showTrimProperty().addListener((o, oldValue, newValue) ->
{
if (newValue)
resetTrims();
});
startTrimToCurrentButton.disableProperty().bind(showTrimsButton.selectedProperty().not());
endTrimToCurrentButton.disableProperty().bind(showTrimsButton.selectedProperty().not());
resetTrimsButton.disableProperty().bind(showTrimsButton.selectedProperty().not());
outputFormatComboBox.disableProperty().bind(showTrimsButton.selectedProperty().not());
cropAndExportButton.disableProperty().bind(showTrimsButton.selectedProperty().not());
cropProgressMonitorPane.getChildren().addListener((ListChangeListener) c ->
{
c.getList().forEach(node -> JavaFXMissingTools.setAnchorConstraints(node, 0.0));
stage.sizeToScene();
});
loadingSpinner.visibleProperty().addListener((o, oldValue, newValue) -> openSessionButton.setDisable(newValue));
openSessionButton.setOnAction(e -> openLogFile());
endSessionButton.setOnAction(e ->
{
MCAPLogSession logSession = activeSessionProperty.get();
if (logSession != null)
logSession.shutdownSession();
activeSessionProperty.set(null);
});
messager.addFXTopicListener(topics.getDisableUserControls(), m ->
{
openSessionButton.setDisable(m);
endSessionButton.setDisable(m);
cropControlsContainer.setDisable(m);
logPositionSlider.setDisable(m);
});
consoleOutputPaneController.initialize(toolkit);
stage.setScene(new Scene(mainPane));
stage.setTitle("MCAP Log session controls");
stage.getIcons().add(SessionVisualizerIOTools.LOG_SESSION_IMAGE);
toolkit.getMainWindow().addEventHandler(WindowEvent.WINDOW_CLOSE_REQUEST, e ->
{
if (!e.isConsumed())
shutdown();
});
}
private void initializeControls(MCAPLogSession session)
{
File logFile = session.getMCAPFile();
MCAPLogFileReader mcapLogFileReader = session.getMCAPLogFileReader();
sessionNameLabel.setText(session.getSessionName());
dateLabel.setText(LogSessionManagerController.parseTimestamp(logFile.getName()));
logPathLabel.setText(logFile.getAbsolutePath());
endSessionButton.setDisable(false);
logPositionSlider.setDisable(false);
logPositionSlider.setValue(0.0);
logPositionSlider.setMin(0.0);
logPositionSlider.setMax(mcapLogFileReader.getNumberOfEntries() - 1);
cropControlsContainer.setDisable(false);
FFMPEGMultiVideoDataReader multiReader = new FFMPEGMultiVideoDataReader(logFile.getParentFile(), backgroundExecutorManager);
multiReader.readVideoFrameNow(mcapLogFileReader.getCurrentRelativeTimestamp());
mcapLogFileReader.getCurrentTimestamp().addListener(v -> multiReader.readVideoFrameInBackground(mcapLogFileReader.getCurrentRelativeTimestamp()));
multiVideoViewerObjectProperty.set(new FFMPEGMultiVideoViewer(stage, videoThumbnailPane, multiReader, THUMBNAIL_WIDTH));
boolean logHasVideos = multiReader.getNumberOfVideos() > 0;
thumbnailsTitledPane.setText(logHasVideos ? "Logged videos" : "No video");
thumbnailsTitledPane.setExpanded(logHasVideos);
thumbnailsTitledPane.setDisable(!logHasVideos);
// TODO add a listener to check if there are console logs, and if not, disable the console output pane.
consoleOutputPaneController.startSession(session);
JavaFXMissingTools.runNFramesLater(5, () -> stage.sizeToScene());
JavaFXMissingTools.runNFramesLater(6, () -> stage.toFront());
}
private void clearControls()
{
sessionNameLabel.setText("N/D");
dateLabel.setText("N/D");
logPathLabel.setText("N/D");
endSessionButton.setDisable(true);
logPositionSlider.setDisable(true);
showTrimsButton.setSelected(false);
cropControlsContainer.setDisable(true);
multiVideoViewerObjectProperty.set(null);
consoleOutputPaneController.stopSession();
}
public void openLogFile()
{
FileChooser fileChooser = new FileChooser();
fileChooser.setInitialDirectory(SessionVisualizerIOTools.getDefaultFilePath(LOG_FILE_KEY));
fileChooser.getExtensionFilters().add(new ExtensionFilter("MCAP Log file", "*.mcap"));
fileChooser.setTitle("Choose MCAP log file");
File result = fileChooser.showOpenDialog(stage);
if (result == null)
return;
unloadSession();
setIsLoading(true);
backgroundExecutorManager.executeInBackground(() ->
{
try
{
LogTools.info("Creating log session.");
MCAPLogSession newSession = new MCAPLogSession(result,
desiredLogDTProperty.get(),
defaultRobotModelFile);
LogTools.info("Created log session.");
JavaFXMissingTools.runLater(getClass(), () -> activeSessionProperty.set(newSession));
SessionVisualizerIOTools.setDefaultFilePath(LOG_FILE_KEY, result);
}
catch (Exception ex)
{
ex.printStackTrace();
setIsLoading(false);
}
});
}
public void setIsLoading(boolean isLoading)
{
loadingSpinner.setVisible(isLoading);
}
@FXML
public void resetTrims()
{
logPositionSlider.setTrimStartValue(0.0);
logPositionSlider.setTrimEndValue(logPositionSlider.getMax());
}
@FXML
public void snapStartTrimToCurrent()
{
logPositionSlider.setTrimStartValue(logPositionSlider.getValue());
}
@FXML
public void snapEndTrimToCurrent()
{
logPositionSlider.setTrimEndValue(logPositionSlider.getValue());
}
@FXML
public void cropAndExport() throws IOException
{
MCAPLogFileReader mcapLogFileReader = activeSessionProperty.get().getMCAPLogFileReader();
MCAPLogCropper cropper = new MCAPLogCropper(mcapLogFileReader.getMCAP());
long startTimestamp = mcapLogFileReader.getTimestampAtIndex((int) logPositionSlider.getTrimStartValue());
long endTimestamp = mcapLogFileReader.getTimestampAtIndex((int) logPositionSlider.getTrimEndValue());
cropper.setStartTimestamp(startTimestamp);
cropper.setEndTimestamp(endTimestamp);
cropper.setOutputFormat(outputFormatComboBox.getValue());
FileChooser fileChooser = new FileChooser();
fileChooser.setInitialDirectory(SessionVisualizerIOTools.getDefaultFilePath(LOG_FILE_KEY));
fileChooser.getExtensionFilters().add(new ExtensionFilter("MCAP Log file", "*.mcap"));
fileChooser.setTitle("Choose MCAP log file");
File result = fileChooser.showSaveDialog(stage);
if (result == null)
return;
backgroundExecutorManager.executeInBackground(() ->
{
setIsLoading(true);
messager.submitMessage(topics.getDisableUserControls(), true);
try (FileOutputStream os = new FileOutputStream(result))
{
cropper.crop(os);
}
catch (IOException e)
{
e.printStackTrace();
}
finally
{
messager.submitMessage(topics.getDisableUserControls(), false);
setIsLoading(false);
}
});
}
@Override
public void notifySessionLoaded()
{
setIsLoading(false);
}
@Override
public void unloadSession()
{
}
@Override
public void shutdown()
{
// TODO Auto-generated method stub
stage.close();
}
@Override
public Stage getStage()
{
return stage;
}
@FXML
public void requestLoadRobotModelFile(ActionEvent actionEvent)
{
File result = SessionVisualizerIOTools.showOpenDialog(stage,
"Choose robot model file",
new ExtensionFilter("Robot model file", "*.urdf", "*.sdf"),
ROBOT_MODEL_FILE_KEY);
if (result == null)
return;
backgroundExecutorManager.executeInBackground(() -> submitRobotDefinitionRequest(result));
}
private void submitRobotDefinitionRequest(File result)
{
MCAPLogSession logSession = activeSessionProperty.get();
if (logSession == null)
{ // Save the file for the next session.
defaultRobotModelFile = result;
currentModelFilePathTextField.setText(result.getAbsolutePath());
return;
}
boolean hasARobot = !logSession.getRobotDefinitions().isEmpty();
SessionRobotDefinitionListChange request;
if (hasARobot)
request = SessionRobotDefinitionListChange.replace(result, logSession.getRobotDefinitions().get(0));
else
request = SessionRobotDefinitionListChange.add(result);
messager.submitMessage(topics.getSessionRobotDefinitionListChangeRequest(), request);
currentModelFilePathTextField.setText("Loading...");
TopicListener listener = new TopicListener()
{
@Override
public void receivedMessageForTopic(SessionRobotDefinitionListChange m)
{
if (m.getAddedRobotDefinition() != null)
{
currentModelFilePathTextField.setText(result.getAbsolutePath());
defaultRobotModelFile = result;
}
else
{
currentModelFilePathTextField.setText("Failed to load.");
defaultRobotModelFile = null;
}
messager.removeFXTopicListener(topics.getSessionRobotDefinitionListChangeState(), this);
}
};
messager.addFXTopicListener(topics.getSessionRobotDefinitionListChangeState(), listener);
}
}
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