Merge branch 'main' of github.com:facontidavide/PlotJuggler into main

.gitignore

@@ -68,3 +68,4 @@ _deps
 
 # Clangd
 .cache
+/snap/*

CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package plotjuggler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.8.6 (2024-01-09)
+------------------
+* fix issue `#906 <https://github.com/facontidavide/PlotJuggler/issues/906>`_: support nanoseconds timestamp in csv
+* fix issue `#904 <https://github.com/facontidavide/PlotJuggler/issues/904>`_: wring ROS odometry parsing
+* add moving variance
+* Contributors: Davide Faconti
+
 3.8.5 (2024-01-03)
 ------------------
 * fix issue `#901 <https://github.com/facontidavide/PlotJuggler/issues/901>`_

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2)
 
-PROJECT(plotjuggler LANGUAGES C CXX VERSION 3.8.5)
+PROJECT(plotjuggler LANGUAGES C CXX VERSION 3.8.6)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

README.md

@@ -114,22 +114,20 @@ Refer to the instructions in that repository if you want to compile PJ and its R
 
 This massive file will install a version of PlotJuggler that can work with both ROS1 and ROS2. 
 
-[![Get it from the Snap Store](https://snapcraft.io/static/images/badges/en/snap-store-black.svg)](https://snapcraft.io/plotjuggler)
+![Get it from the Snap Store](https://snapcraft.io/static/images/badges/en/snap-store-black.svg)
+
+To install it in Ubuntu 22.04, with ROS2 support, run:
 
 ```
 sudo snap install plotjuggler
 ```
 
-When launching you have two options available:
+If you are still use ROS1 (Ubuntu 20.04), install instead:
 
-- `plotjuggler.ros` to load the ROS1 plugins.
-- `plotjuggler.ros2` to load the ROS2 plugins.
+```
+sudo snap install plotjuggler-ros
+```
 
-In addition, the command `plotjuggler` is an alias to `plotjuggler.ros`.
-If you'd prefer to alias `plotjuggler.ros2` instead,
-you can do so with the command `sudo snap set plotjuggler ros-plugin-version=2`.
-Revert it simply replacing `2` with `1`.
-Note that this also affect the desktop launcher.
 
 ## Compile from source
 

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>plotjuggler</name>
-    <version>3.8.5</version>
+    <version>3.8.6</version>
     <description>PlotJuggler: juggle with data</description>
 
     <maintainer email="[email protected]">Davide Faconti</maintainer>

plotjuggler_app/plotwidget.cpp

@@ -674,6 +674,10 @@ QDomElement PlotWidget::xmlSaveState(QDomDocument& doc) const
   {
     plot_el.setAttribute("style", "Steps");
   }
+  else if (curveStyle() == PlotWidgetBase::STEPSINV)
+  {
+    plot_el.setAttribute("style", "StepsInv");
+  }
 
   for (auto& it : curveList())
   {
@@ -877,6 +881,10 @@ bool PlotWidget::xmlLoadState(QDomElement& plot_widget, bool autozoom)
     {
       changeCurvesStyle(PlotWidgetBase::STEPS);
     }
+    else if (style == "StepsInv")
+    {
+      changeCurvesStyle(PlotWidgetBase::STEPSINV);
+    }
   }
 
   QString bg_data = plot_widget.attribute("background_data");

plotjuggler_app/plotwidget_editor.cpp

@@ -68,6 +68,10 @@ PlotwidgetEditor::PlotwidgetEditor(PlotWidget* plotwidget, QWidget* parent)
   {
     ui->radioSteps->setChecked(true);
   }
+  else if (_plotwidget->curveStyle() == PlotWidgetBase::STEPSINV)
+  {
+    ui->radioSteps->setChecked(true);
+  }
   else
   {
     ui->radioBoth->setChecked(true);
@@ -320,6 +324,14 @@ void PlotwidgetEditor::on_radioSteps_toggled(bool checked)
   }
 }
 
+void PlotwidgetEditor::on_radioStepsInv_toggled(bool checked)
+{
+  if (checked)
+  {
+    _plotwidget->changeCurvesStyle(PlotWidgetBase::STEPSINV);
+  }
+}
+
 void PlotwidgetEditor::on_checkBoxMax_toggled(bool checked)
 {
   ui->lineLimitMax->setEnabled(checked);

plotjuggler_app/plotwidget_editor.h

@@ -86,6 +86,8 @@ private slots:
 
   void on_radioSteps_toggled(bool checked);
 
+  void on_radioStepsInv_toggled(bool checked);
+
 private:
   Ui::PlotWidgetEditor* ui;
 

plotjuggler_app/plotwidget_editor.ui

@@ -344,7 +344,14 @@
              <item>
              <widget class="QRadioButton" name="radioSteps">
               <property name="text">
-               <string>Steps</string>
+               <string>Steps (pre)</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QRadioButton" name="radioStepsInv">
+              <property name="text">
+               <string>Step (post)</string>
               </property>
              </widget>
             </item>

plotjuggler_base/include/PlotJuggler/plotwidget_base.h

@@ -33,7 +33,8 @@ class PlotWidgetBase : public QWidget
     DOTS,
     LINES_AND_DOTS,
     STICKS,
-    STEPS
+    STEPS,
+    STEPSINV
   };
 
   struct CurveInfo

plotjuggler_base/include/PlotJuggler/reactive_function.h

@@ -29,6 +29,8 @@ struct TimeseriesRef
 
   unsigned size() const;
 
+  void clear() const;
+
   PJ::PlotData* _plot_data = nullptr;
 };
 

plotjuggler_base/src/plotwidget_base.cpp

@@ -723,6 +723,11 @@ void PlotWidgetBase::setStyle(QwtPlotCurve* curve, CurveStyle style)
       break;
     case STEPS:
       curve->setStyle(QwtPlotCurve::Steps);
+      curve->setCurveAttribute(QwtPlotCurve::Inverted, false);
+      break;
+      case STEPSINV:
+      curve->setStyle(QwtPlotCurve::Steps);
+      curve->setCurveAttribute(QwtPlotCurve::Inverted, true);
       break;
   }
 }

plotjuggler_base/src/reactive_function.cpp

@@ -114,6 +114,7 @@ void ReactiveLuaFunction::prepareLua()
   _timeseries_ref["at"] = &TimeseriesRef::at;
   _timeseries_ref["set"] = &TimeseriesRef::set;
   _timeseries_ref["atTime"] = &TimeseriesRef::atTime;
+  _timeseries_ref["clear"] = &TimeseriesRef::clear;
 
   //---------------------------------------
   _created_timeseries = _lua_engine.new_usertype<CreatedSeriesTime>("Timeseries");
@@ -194,6 +195,11 @@ unsigned TimeseriesRef::size() const
   return _plot_data->size();
 }
 
+void TimeseriesRef::clear() const
+{
+  _plot_data->clear();
+}
+
 CreatedSeriesBase::CreatedSeriesBase(PlotDataMapRef* data_map, const std::string& name,
                                      bool timeseries)
 {

plotjuggler_plugins/DataLoadCSV/dataload_csv.cpp

@@ -508,9 +508,51 @@ bool DataLoadCSV::readDataFromFile(FileLoadInfo* info, PlotDataMapRef& plot_data
   bool parse_date_format = _ui->checkBoxDateFormat->isChecked();
   QString format_string = _ui->lineEditDateFormat->text();
 
+  auto ParseTimestamp = [&](QString str, bool& is_number) {
+      QString str_trimmed = str.trimmed();
+      double val = 0.0;
+      is_number = false;
+      // Support the case where the timestamp is in nanoseconds / microseconds
+      uint64_t ts = str_trimmed.toULong(&is_number);
+      uint64_t first_ts = 1400000000; //May 13, 2014
+      uint64_t last_ts  = 2000000000; // May 18, 2033
+      if(is_number)
+      {
+        if(ts > first_ts*1e9 && ts < last_ts*1e9) {
+          // convert from nanoseconds to seconds
+          val = double(ts) * 1e-9;
+        }
+        else if(ts > first_ts*1e6 && ts < last_ts*1e6) {
+          // convert from nanoseconds to seconds
+          val = double(ts) * 1e-6;
+        }
+      }
+      // Try a double value (seconds)
+      if (!is_number) {
+        val = str_trimmed.toDouble(&is_number);
+      }
+
+      // handle numbers with comma instead of point as decimal separator
+      if (!is_number)
+      {
+          static QLocale locale_with_comma(QLocale::German);
+          val = locale_with_comma.toDouble(str_trimmed, &is_number);
+      }
+      if (!is_number && parse_date_format && !format_string.isEmpty())
+      {
+          QDateTime ts = QDateTime::fromString(str_trimmed, format_string);
+          is_number = ts.isValid();
+          if (is_number)
+          {
+              val = ts.toMSecsSinceEpoch() / 1000.0;
+          }
+      }
+      return val;
+  };
+
   auto ParseNumber = [&](QString str, bool& is_number) {
     QString str_trimmed = str.trimmed();
-    double val = str_trimmed.toDouble(&is_number);
+    double val = val = str_trimmed.toDouble(&is_number);
     // handle numbers with comma instead of point as decimal separator
     if (!is_number)
     {
@@ -589,13 +631,13 @@ bool DataLoadCSV::readDataFromFile(FileLoadInfo* info, PlotDataMapRef& plot_data
       return false;
     }
 
-    double t = linecount;
+    double timestamp = linecount;
 
     if (time_index >= 0)
     {
       bool is_number = false;
       t_str = string_items[time_index];
-      t = ParseNumber(t_str, is_number);
+      timestamp = ParseTimestamp(t_str, is_number);
       time_header_str = header_string_items[time_index];
 
       if (!is_number)
@@ -627,7 +669,7 @@ bool DataLoadCSV::readDataFromFile(FileLoadInfo* info, PlotDataMapRef& plot_data
         return false;
       }
 
-      if (prev_time > t && !sortRequired)
+      if (prev_time > timestamp && !sortRequired)
       {
         QMessageBox msgBox;
         QString timeName;
@@ -671,7 +713,7 @@ bool DataLoadCSV::readDataFromFile(FileLoadInfo* info, PlotDataMapRef& plot_data
         }
       }
 
-      prev_time = t;
+      prev_time = timestamp;
       prev_t_str = t_str;
     }
 
@@ -682,11 +724,11 @@ bool DataLoadCSV::readDataFromFile(FileLoadInfo* info, PlotDataMapRef& plot_data
       double y = ParseNumber(str, is_number);
       if (is_number)
       {
-        plots_vector[i]->pushBack({ t, y });
+        plots_vector[i]->pushBack({ timestamp, y });
       }
       else
       {
-        string_vector[i]->pushBack({ t, str.toStdString() });
+        string_vector[i]->pushBack({ timestamp, str.toStdString() });
       }
     }
 

plotjuggler_plugins/ParserROS/ros_parser.cpp

@@ -203,7 +203,7 @@ void ParserROS::parseQuaternion(const std::string& prefix, double& timestamp)
   getSeries(prefix + "/x").pushBack({ timestamp, quat.x });
   getSeries(prefix + "/y").pushBack({ timestamp, quat.y });
   getSeries(prefix + "/z").pushBack({ timestamp, quat.z });
-  getSeries(prefix + "/z").pushBack({ timestamp, quat.w });
+  getSeries(prefix + "/w").pushBack({ timestamp, quat.w });
 
   auto rpy = Msg::QuaternionToRPY(quat);
   getSeries(prefix + "/roll").pushBack({ timestamp, rpy.roll });

snap_core20/snapcraft.yaml

@@ -1,4 +1,4 @@
-name: plotjuggler
+name: plotjuggler-ros
 adopt-info: plotjuggler # parse metadata from the plotjuggler part
 summary: The timeseries visualization tool that you deserve
 description: |
@@ -8,7 +8,7 @@ description: |
   The snap comes with only ROS 2 plugins.
   You can launch it with
 
-    $ plotjuggler
+    $ plotjuggler-ros
 
 issues: https://github.com/facontidavide/plotjuggler/issues
 source-code: https://github.com/facontidavide/plotjuggler
@@ -28,7 +28,7 @@ package-repositories:
     url: http://packages.ros.org/ros/ubuntu
 
 apps:
-  plotjuggler:
+  plotjuggler-ros:
     command: usr/bin/launcher-plotjuggler-ros
     plugs: [network, network-bind, home, removable-media]
     extensions: [kde-neon]
@@ -87,6 +87,8 @@ parts:
       - python3-vcstool
       - ros-noetic-ros-environment
       - ros-noetic-catkin
+    stage-packages:
+      - libpsm-infinipath1
     override-pull: |
       if [ ! -d plotjuggler-ros-plugins ]; then
 

snap_core22/local/launcher-plotjuggler-ros2

@@ -1,5 +1,7 @@
 #!/bin/bash
 
+export LD_LIBRARY_PATH=$SNAP/opt/ros/humble/lib:$SNAP/opt/ros/snap/lib:$SNAP/usr/local/lib:$LD_LIBRARY_PATH
+
 # Paths to ROS 2 plugins
 export PLUGIN_FOLDERS=$SNAP/opt/ros/snap/lib/plotjuggler_ros
 export AMENT_PREFIX_PATH=$SNAP/opt/ros/humble

snap_core22/snapcraft.yaml

@@ -6,7 +6,7 @@ description: |
   using an intuitive "drag and drop" interface.
 
   The snap comes with only ROS 2 plugins.
-  You can launch it with
+  You can launch it with:
 
     $ plotjuggler