transmit and display computation in rviz

This commit is contained in:
Jafar Abdi 2020-02-06 14:40:00 +01:00 committed by Robert Haschke
parent aa11b66824
commit fa9b177575
8 changed files with 22 additions and 9 deletions

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@ -198,6 +198,7 @@ void Introspection::fillStageStatistics(const Stage& stage, moveit_task_construc
for (const auto& solution : stage.failures())
s.failed.push_back(solutionId(*solution));
s.total_compute_time = stage.getTotalComputeTime();
s.num_failed = stage.numFailures();
}

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@ -10,3 +10,5 @@ uint32[] solved
uint32[] failed
# number of failed solutions (if failed is empty)
uint32 num_failed
# total computation time in seconds
float64 total_compute_time

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@ -254,6 +254,8 @@ QVariant RemoteTaskModel::data(const QModelIndex& index, int role) const {
return n->solutions_->numSuccessful();
case 2:
return n->solutions_->numFailed();
case 3:
return n->solutions_->totalComputeTime();
}
break;
case Qt::ForegroundRole:
@ -353,7 +355,7 @@ void RemoteTaskModel::processStageStatistics(const moveit_task_constructor_msgs:
continue;
}
Node* n = it->second;
n->solutions_->processSolutionIDs(s.solved, s.failed, s.num_failed);
n->solutions_->processSolutionIDs(s.solved, s.failed, s.num_failed, s.total_compute_time);
// emit notify about model changes when node was already visited
if (n->node_flags_ & WAS_VISITED) {
@ -622,7 +624,8 @@ void RemoteSolutionModel::sortInternal() {
// process solution ids received in stage statistics
void RemoteSolutionModel::processSolutionIDs(const std::vector<uint32_t>& successful,
const std::vector<uint32_t>& failed, size_t num_failed) {
const std::vector<uint32_t>& failed, size_t num_failed,
double total_compute_time) {
// append new items to the end of data_
processSolutionIDs(successful, true);
processSolutionIDs(failed, false);
@ -636,6 +639,7 @@ void RemoteSolutionModel::processSolutionIDs(const std::vector<uint32_t>& succes
// but it may report the overall number of failures
num_failed_data_ = failed.size(); // needed to compute number of successes
num_failed_ = std::max(num_failed, num_failed_data_);
total_compute_time_ = total_compute_time;
sortInternal();
}

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@ -118,6 +118,7 @@ class RemoteSolutionModel : public QAbstractTableModel
DataList data_;
size_t num_failed_data_ = 0; // number of failed solutions in data_
size_t num_failed_ = 0; // number of reported failures
double total_compute_time_ = 0.0;
// solutions ordered (by default according to cost)
int sort_column_ = -1;
@ -134,6 +135,7 @@ public:
uint numSuccessful() const { return data_.size() - num_failed_data_; }
uint numFailed() const { return num_failed_; }
double totalComputeTime() const { return total_compute_time_; }
int rowCount(const QModelIndex& parent = QModelIndex()) const override;
int columnCount(const QModelIndex& parent = QModelIndex()) const override;
@ -143,6 +145,6 @@ public:
void setSolutionData(uint32_t id, float cost, const QString& comment);
void processSolutionIDs(const std::vector<uint32_t>& successful, const std::vector<uint32_t>& failed,
size_t num_failed);
size_t num_failed, double total_compute_time);
};
}

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@ -65,6 +65,8 @@ QVariant TaskListModel::horizontalHeader(int column, int role) {
return tr(u8"");
case 2:
return tr(u8"");
case 3:
return tr("time");
}
break;
@ -87,6 +89,8 @@ QVariant TaskListModel::horizontalHeader(int column, int role) {
case 2:
return tr("failed solution attempts");
case 3:
return tr("total computation time [s]");
case 4:
return tr("pending");
}
break;

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@ -89,7 +89,7 @@ public:
QObject* parent = nullptr)
: QAbstractItemModel(parent), scene_(scene), display_context_(display_context) {}
int columnCount(const QModelIndex& parent = QModelIndex()) const override { return 3; }
int columnCount(const QModelIndex& parent = QModelIndex()) const override { return 4; }
QVariant headerData(int section, Qt::Orientation orientation, int role) const override;
QVariant data(const QModelIndex& index, int role) const override;
@ -150,7 +150,7 @@ public:
void setSolutionClient(ros::ServiceClient* client);
void setActiveTaskModel(BaseTaskModel* model) { active_task_model_ = model; }
int columnCount(const QModelIndex& parent = QModelIndex()) const override { return 3; }
int columnCount(const QModelIndex& parent = QModelIndex()) const override { return 4; }
static QVariant horizontalHeader(int column, int role);
QVariant headerData(int section, Qt::Orientation orientation, int role) const override;
QVariant data(const QModelIndex& index, int role) const override;

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@ -25,7 +25,7 @@ protected:
}
void processAndValidate(RemoteSolutionModel& model, const std::vector<uint32_t>& success_ids,
const std::vector<uint32_t>& failure_ids) {
model.processSolutionIDs(success_ids, failure_ids, failure_ids.size());
model.processSolutionIDs(success_ids, failure_ids, failure_ids.size(), 0.0);
std::vector<uint32_t> cost_ordered_ids(success_ids.begin(), success_ids.end());
std::vector<uint32_t> sorted_failure_ids(failure_ids.begin(), failure_ids.end());

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@ -78,7 +78,7 @@ protected:
void validate(QAbstractItemModel& model, const std::initializer_list<const char*>& expected) {
// validate root index
ASSERT_EQ(model.rowCount(), static_cast<int>(expected.size()));
EXPECT_EQ(model.columnCount(), 3);
EXPECT_EQ(model.columnCount(), 4);
EXPECT_EQ(model.parent(QModelIndex()), QModelIndex());
// validate first-level items
@ -97,7 +97,7 @@ protected:
// validate children
ASSERT_EQ(model.rowCount(idx), children);
EXPECT_EQ(model.columnCount(idx), 3);
EXPECT_EQ(model.columnCount(idx), 4);
EXPECT_EQ(model.rowCount(model.index(row, 1)), 0);
// validate second-level items
@ -110,7 +110,7 @@ protected:
EXPECT_EQ(model.data(childIdx).toString().toStdString(), std::to_string(child));
EXPECT_EQ(model.rowCount(childIdx), 0);
EXPECT_EQ(model.columnCount(childIdx), 3);
EXPECT_EQ(model.columnCount(childIdx), 4);
}
}
}