Merge pull request #11 from Yang-Wu-Altran/master

Add new functionality: send out osi::sensordata to network while playing playback files

Author: jdsika

include/appconfig.h

@@ -24,13 +24,17 @@ class AppConfig
         QString  ch1LoadFile_;
         DataType ch1PlaybackDataType_;
         int      ch1DeltaDelay_;
+        bool     ch1EnableSendOut_;
+        QString  ch1SendOutPortNum_;
 
         QString  ch2IPAddress_;
         QString  ch2PortNum_;
         DataType ch2DataType_;
         QString  ch2LoadFile_;
         DataType ch2PlaybackDataType_;
         int      ch2DeltaDelay_;
+        bool     ch2EnableSendOut_;
+        QString  ch2SendOutPortNum_;
 
         bool combineChannel_;
         bool showGrid_;

include/mainwindow.h

@@ -97,6 +97,9 @@ class MainWindow : public QMainWindow
         void LoadFileEdited2(const QString& text);
         void LoadFileBrowse2();
 
+        void EnableSendToNetwork();
+        void EnableSendToNetwork2();
+
         void PlayPauseButtonClicked();
         void PlayPauseButtonClicked2();
 

include/osireader.h

@@ -11,6 +11,8 @@
 #include <osi_version.pb.h>
 #include <osi_sensordata.pb.h>
 
+#include <zmq.hpp>
+
 #include <fstream>
 #include <iostream>
 #include <unistd.h>
@@ -27,7 +29,13 @@ class OsiReader: public QObject, public IMessageSource
     Q_OBJECT
 
     public:
-        OsiReader(int* deltaDelay);
+        OsiReader(int* deltaDelay,
+                  const bool& enableSendOut,
+                  const std::string& zmqPubPortNum);
+
+        QString SetupConnection(bool enable);
+
+        void SetSendOutPortNum(const std::string& port) { zmqPubPortNumber_ = port; }
 
         signals:
             void Connected(DataType dataType);
@@ -52,6 +60,8 @@ class OsiReader: public QObject, public IMessageSource
 
         void SendMessageLoop();
 
+        void ZMQSendOutMessage(const osi::SensorData& sd);
+
 
 
         bool isRunning_;
@@ -69,6 +79,11 @@ class OsiReader: public QObject, public IMessageSource
 
         const int* const deltaDelay_;
 
+        const bool&     enableSendOut_;
+        std::string     zmqPubPortNumber_;
+        zmq::context_t  zmqContext_;
+        zmq::socket_t   zmqPublisher_;
+
         // read from input file: data type is always SensorData
         DataType defaultDatatype_ = DataType::Groundtruth;
         const QString defaultHeaderPrifix_ = "Header_";

src/appconfig.cpp

@@ -13,13 +13,17 @@ AppConfig::AppConfig(QString fileName)
     , ch1LoadFile_("")
     , ch1PlaybackDataType_(DataType::Groundtruth)
     , ch1DeltaDelay_(0)
+    , ch1EnableSendOut_(false)
+    , ch1SendOutPortNum_("5564")
 
     , ch2IPAddress_("")
     , ch2PortNum_("")
     , ch2DataType_(DataType::Groundtruth)
     , ch2LoadFile_("")
     , ch2PlaybackDataType_(DataType::Groundtruth)
     , ch2DeltaDelay_(0)
+    , ch2EnableSendOut_(false)
+    , ch2SendOutPortNum_("5564")
 
     , combineChannel_(false)
     , showGrid_(true)
@@ -58,16 +62,20 @@ AppConfig::Load()
     ch1DataType_   = (DataType)root.elementsByTagName("CH1DataType").at(0).toElement().text().toInt();
     ch1LoadFile_   = root.elementsByTagName("CH1LoadFile").at(0).toElement().text();
     ch1PlaybackDataType_ = (DataType)root.elementsByTagName("CH1PlaybackDataType").at(0).toElement().text().toInt();
-    ch1DeltaDelay_ = root.elementsByTagName("CH1DeltaDelay").at(0).toElement().text().toInt();
+    ch1DeltaDelay_       = root.elementsByTagName("CH1DeltaDelay").at(0).toElement().text().toInt();
+    ch1EnableSendOut_    = root.elementsByTagName("CH1EnableSendOut").at(0).toElement().text() == "1" ? true : false;
+    ch1SendOutPortNum_   = root.elementsByTagName("CH1SendOutPortNumber").at(0).toElement().text();
 
     ch2IPAddress_  = root.elementsByTagName("CH2IpAddress").at(0).toElement().text();
     ch2PortNum_    = root.elementsByTagName("CH2PortNumber").at(0).toElement().text();
     ch2DataType_   = (DataType)root.elementsByTagName("CH2DataType").at(0).toElement().text().toInt();
     ch2LoadFile_   = root.elementsByTagName("CH2LoadFile").at(0).toElement().text();
     ch2PlaybackDataType_ = (DataType)root.elementsByTagName("CH2PlaybackDataType").at(0).toElement().text().toInt();
-    ch2DeltaDelay_ = root.elementsByTagName("CH2DeltaDelay").at(0).toElement().text().toInt();
+    ch2DeltaDelay_       = root.elementsByTagName("CH2DeltaDelay").at(0).toElement().text().toInt();
+    ch2EnableSendOut_    = root.elementsByTagName("CH2EnableSendOut").at(0).toElement().text() == "1" ? true : false;
+    ch2SendOutPortNum_   = root.elementsByTagName("CH2SendOutPortNumber").at(0).toElement().text();
 
-    combineChannel_ = root.elementsByTagName("CombineChannel").at(0).toElement().text() == "1" ? true : false;
+    combineChannel_    = root.elementsByTagName("CombineChannel").at(0).toElement().text() == "1" ? true : false;
     showGrid_          = root.elementsByTagName("ShowGrid").at(0).toElement().text() == "1" ? true : false;
     showObjectDetails_ = root.elementsByTagName("ShowObjectDetails").at(0).toElement().text() == "1" ? true : false;
     lockCamera_        = root.elementsByTagName("LockCamera").at(0).toElement().text() == "1" ? true : false;
@@ -109,13 +117,17 @@ AppConfig::Save()
     writer.writeTextElement("CH1LoadFile", ch1LoadFile_);
     writer.writeTextElement("CH1PlaybackDataType", QString::number(static_cast<int>(ch1PlaybackDataType_)));
     writer.writeTextElement("CH1DeltaDelay", QString::number(static_cast<int>(ch1DeltaDelay_)));
+    writer.writeTextElement("CH1EnableSendOut", QString::number(ch1EnableSendOut_));
+    writer.writeTextElement("CH1SendOutPortNumber", ch1SendOutPortNum_);
 
     writer.writeTextElement("CH2IpAddress", ch2IPAddress_);
     writer.writeTextElement("CH2PortNumber", ch2PortNum_);
     writer.writeTextElement("CH2DataType", QString::number(static_cast<int>(ch2DataType_)));
     writer.writeTextElement("CH2LoadFile", ch2LoadFile_);
     writer.writeTextElement("CH2PlaybackDataType", QString::number(static_cast<int>(ch2PlaybackDataType_)));
     writer.writeTextElement("CH2DeltaDelay", QString::number(static_cast<int>(ch2DeltaDelay_)));
+    writer.writeTextElement("CH2EnableSendOut", QString::number(ch2EnableSendOut_));
+    writer.writeTextElement("CH2SendOutPortNumber", ch2SendOutPortNum_);
 
     writer.writeTextElement("CombineChannel", QString::number(combineChannel_));
     writer.writeTextElement("ShowGrid", QString::number(showGrid_));

src/mainwindow.cpp

@@ -47,12 +47,12 @@ MainWindow::MainWindow(QWidget *parent)
 
     , glWidget_(nullptr)
     , receiver_(new TCPReceiver())
-    , reader_(new OsiReader(&config_.ch1DeltaDelay_))
+    , reader_(new OsiReader(&config_.ch1DeltaDelay_, config_.ch1EnableSendOut_, config_.ch1SendOutPortNum_.toStdString()))
     , osiparser_(new OsiParser(config_.osiMsgSaveThreshold_))
 
     , glWidget2_(nullptr)
     , receiver2_(new TCPReceiver())
-    , reader2_(new OsiReader(&config_.ch2DeltaDelay_))
+    , reader2_(new OsiReader(&config_.ch2DeltaDelay_, config_.ch2EnableSendOut_, config_.ch2SendOutPortNum_.toStdString()))
     , osiparser2_(new OsiParser(config_.osiMsgSaveThreshold_))
 
     , colorWidgets_()
@@ -199,6 +199,18 @@ MainWindow::LoadFileBrowse2()
     }
 }
 
+void
+MainWindow::EnableSendToNetwork()
+{
+    ui_->sendOutPortNum->setEnabled(ui_->enableSendToNetwork->checkState() == Qt::Checked);
+}
+
+void
+MainWindow::EnableSendToNetwork2()
+{
+    ui_->sendOutPortNum_2->setEnabled(ui_->enableSendToNetwork_2->checkState() == Qt::Checked);
+}
+
 void
 MainWindow::UpdateCombineChannelMenu()
 {
@@ -432,11 +444,15 @@ MainWindow::ConnectSignalsToSlots()
     connect(ui_->rbPlayback_2,   &QRadioButton::clicked, this, &MainWindow::RBPlayback2);
 
     // load/save playback file
-    connect(ui_->loadFile,        &QLineEdit::textEdited, this, &MainWindow::LoadFileEdited);
+    connect(ui_->loadFile,         &QLineEdit::textEdited, this, &MainWindow::LoadFileEdited);
     connect(ui_->loadFileBrowse,   &QPushButton::clicked, this, &MainWindow::LoadFileBrowse);
-    connect(ui_->loadFile_2,      &QLineEdit::textEdited, this, &MainWindow::LoadFileEdited2);
+    connect(ui_->loadFile_2,       &QLineEdit::textEdited, this, &MainWindow::LoadFileEdited2);
     connect(ui_->loadFileBrowse_2, &QPushButton::clicked, this, &MainWindow::LoadFileBrowse2);
 
+    // enable sent out
+    connect(ui_->enableSendToNetwork, &QCheckBox::clicked, this, &MainWindow::EnableSendToNetwork);
+    connect(ui_->enableSendToNetwork_2, &QCheckBox::clicked, this, &MainWindow::EnableSendToNetwork2);
+
     // Play/Pause
     connect(ui_->playPauseButton,   &QToolButton::clicked, this, &MainWindow::PlayPauseButtonClicked);
     connect(ui_->playPauseButton_2, &QToolButton::clicked, this, &MainWindow::PlayPauseButtonClicked2);
@@ -617,6 +633,8 @@ MainWindow::EnablePlaybackGroup1(bool enable)
     ui_->loadFileBrowse->setEnabled(enable);
     ui_->playbackDataType->setEnabled(enable);
     ui_->deltaDelay->setEnabled(enable);
+    ui_->enableSendToNetwork->setEnabled(enable);
+    ui_->sendOutPortNum->setEnabled(enable && ui_->enableSendToNetwork->checkState() == Qt::Checked);
 }
 
 void
@@ -626,6 +644,8 @@ MainWindow::EnablePlaybackGroup2(bool enable)
     ui_->loadFileBrowse_2->setEnabled(enable);
     ui_->playbackDataType_2->setEnabled(enable);
     ui_->deltaDelay_2->setEnabled(enable);
+    ui_->enableSendToNetwork_2->setEnabled(enable);
+    ui_->sendOutPortNum_2->setEnabled(enable && ui_->enableSendToNetwork_2->checkState() == Qt::Checked);
 }
 
 void
@@ -756,6 +776,7 @@ bool
 MainWindow::UpdateConfigure()
 {
     bool hasChange (false);
+    bool saveChange (false);
 
     if(config_.ch1IPAddress_ != ui_->ipAddress->text())
     {
@@ -789,10 +810,24 @@ MainWindow::UpdateConfigure()
 
     if(config_.ch1DeltaDelay_ != ui_->deltaDelay->text().toInt())
     {
+        saveChange = true;
         config_.ch1DeltaDelay_ = ui_->deltaDelay->text().toInt();
-        config_.Save();
     }
-    else if(hasChange)
+
+    if(config_.ch1EnableSendOut_ != (ui_->enableSendToNetwork->checkState() == Qt::Checked))
+    {
+        saveChange = true;
+        config_.ch1EnableSendOut_ = (ui_->enableSendToNetwork->checkState() == Qt::Checked);
+    }
+
+    if(config_.ch1SendOutPortNum_ != ui_->sendOutPortNum->text())
+    {
+        saveChange = true;
+        config_.ch1SendOutPortNum_ = ui_->sendOutPortNum->text();
+        reader_->SetSendOutPortNum(config_.ch1SendOutPortNum_.toStdString());
+    }
+
+    if(hasChange || saveChange)
         config_.Save();
 
     return hasChange;
@@ -802,6 +837,7 @@ bool
 MainWindow::UpdateConfigure2()
 {
     bool hasChange (false);
+    bool saveChange (false);
 
     if(config_.ch2IPAddress_ != ui_->ipAddress_2->text())
     {
@@ -835,10 +871,24 @@ MainWindow::UpdateConfigure2()
 
     if(config_.ch2DeltaDelay_ != ui_->deltaDelay_2->text().toInt())
     {
+        saveChange = true;
         config_.ch2DeltaDelay_ = ui_->deltaDelay_2->text().toInt();
-        config_.Save();
     }
-    else if(hasChange)
+
+    if(config_.ch2EnableSendOut_ != (ui_->enableSendToNetwork_2->checkState() == Qt::Checked))
+    {
+        saveChange = true;
+        config_.ch2EnableSendOut_ = (ui_->enableSendToNetwork_2->checkState() == Qt::Checked);
+    }
+
+    if(config_.ch2SendOutPortNum_ != ui_->sendOutPortNum_2->text())
+    {
+        saveChange = true;
+        config_.ch2SendOutPortNum_ = ui_->sendOutPortNum_2->text();
+        reader2_->SetSendOutPortNum(config_.ch2SendOutPortNum_.toStdString());
+    }
+
+    if(hasChange || saveChange)
         config_.Save();
 
     return hasChange;
@@ -855,13 +905,25 @@ MainWindow::InitLoadConfigure()
         ui_->loadFile->setText(config_.ch1LoadFile_);
         ui_->playbackDataType->setCurrentIndex( static_cast<int>(config_.ch1PlaybackDataType_) );
         ui_->deltaDelay->setText(QString::number(config_.ch1DeltaDelay_));
+        if(config_.ch1EnableSendOut_)
+            ui_->enableSendToNetwork->setCheckState(Qt::Checked);
+        else
+            ui_->enableSendToNetwork->setCheckState(Qt::Unchecked);
+        ui_->sendOutPortNum->setText(config_.ch1SendOutPortNum_);
+        reader_->SetSendOutPortNum(config_.ch1SendOutPortNum_.toStdString());
 
         ui_->ipAddress_2->setText(config_.ch2IPAddress_);
         ui_->portNumber_2->setText(config_.ch2PortNum_);
         ui_->dataType_2->setCurrentIndex( static_cast<int>(config_.ch2DataType_) );
         ui_->loadFile_2->setText(config_.ch2LoadFile_);
         ui_->playbackDataType_2->setCurrentIndex( static_cast<int>(config_.ch2PlaybackDataType_) );
         ui_->deltaDelay_2->setText(QString::number(config_.ch2DeltaDelay_));
+        if(config_.ch2EnableSendOut_)
+            ui_->enableSendToNetwork_2->setCheckState(Qt::Checked);
+        else
+            ui_->enableSendToNetwork_2->setCheckState(Qt::Unchecked);
+        ui_->sendOutPortNum_2->setText(config_.ch2SendOutPortNum_);
+        reader2_->SetSendOutPortNum(config_.ch2SendOutPortNum_.toStdString());
 
         ui_->actionCombiCh->setChecked(config_.combineChannel_);
         ui_->actionShowGrid->setChecked(config_.showGrid_);
@@ -1122,17 +1184,32 @@ MainWindow::Play()
 void
 MainWindow::TogglePause()
 {
+    QString errMsg;
+
     if(isConnected_)
     {
         receiver_->isPaused_ = isPlaying_;
     }
 
     if(isPlayed_)
     {
-        reader_->isPaused_ = isPlaying_;
+        if(isPlaying_)
+        {
+            reader_->isPaused_ = true;
+            reader_->SetupConnection(false);
+        }
+        else
+        {
+            errMsg = reader_->SetupConnection(true);
+            if(errMsg.isEmpty())
+                reader_->isPaused_ = false;
+            else
+                ShowErrorMessage(errMsg);
+        }
     }
 
-    isPlaying_ = !isPlaying_;
+    if(errMsg.isEmpty())
+        isPlaying_ = !isPlaying_;
 }
 
 void
@@ -1167,17 +1244,31 @@ MainWindow::Play2()
 void
 MainWindow::TogglePause2()
 {
+    QString errMsg;
+
     if(isConnected2_)
     {
         receiver2_->isPaused_ = isPlaying2_;
     }
-
-    if(isPlayed2_)
+    else if(isPlayed2_)
     {
-        reader2_->isPaused_ = isPlaying2_;
+        if(isPlaying2_)
+        {
+            reader2_->isPaused_ = true;
+            reader2_->SetupConnection(false);
+        }
+        else
+        {
+            errMsg = reader2_->SetupConnection(true);
+            if(errMsg.isEmpty())
+                reader2_->isPaused_ = false;
+            else
+                ShowErrorMessage(errMsg);
+        }
     }
 
-    isPlaying2_ = !isPlaying2_;
+    if(errMsg.isEmpty())
+        isPlaying2_ = !isPlaying2_;
 }
 
 void
@@ -1269,7 +1360,8 @@ MainWindow::Disconnected2(const QString& message)
     UpdateCombineChannelMenu();
 }
 
-QString MainWindow::GetStringFromMilliSecond(int milliSec)
+QString
+MainWindow::GetStringFromMilliSecond(int milliSec)
 {
     QString varString;