Merge pull request #59 from ami-iit/fix/video_slider

Fix how the video and the slider work togheter

robot_log_visualizer/file_reader/signal_provider.py

@@ -198,19 +198,27 @@ def current_time(self):
         return value
 
     def run(self):
-
         while True:
             start = time.time()
             if self.state == PeriodicThreadState.running:
                 self.index_lock.lock()
                 tmp_index = self._index
-                # check if index must be increased
-                if self._current_time > self.timestamps[tmp_index] - self.initial_time:
+                self._current_time += self.period
+                self._current_time = min(
+                    self._current_time, self.timestamps[-1] - self.initial_time
+                )
+
+                # find the index associated to the current time in self.timestamps
+                # this is valid since self.timestamps is sorted and self._current_time is increasing
+                while (
+                    self._current_time > self.timestamps[tmp_index] - self.initial_time
+                ):
                     tmp_index += 1
-                    tmp_index = min(tmp_index, self.timestamps.shape[0] - 1)
+                    if tmp_index > len(self.timestamps):
+                        break
 
                 self._index = tmp_index
-                self._current_time += self.period
+
                 self.index_lock.unlock()
 
                 self.update_index_signal.emit()

robot_log_visualizer/plotter/matplotlib_viewer_canvas.py

@@ -15,7 +15,6 @@ class MatplotlibViewerCanvas(FigureCanvas):
     """
 
     def __init__(self, parent, signal_provider, period):
-
         # create a new figure
         self.fig = Figure(dpi=100)
 
@@ -66,13 +65,11 @@ def quit_animation(self):
             self.vertical_line_anim._stop()
 
     def update_plots(self, paths, legends):
-
         for path, legend in zip(paths, legends):
             path_string = "/".join(path)
             legend_string = "/".join(legend[1:])
 
             if path_string not in self.active_paths.keys():
-
                 data = self.signal_provider.data
                 for key in path[:-1]:
                     data = data[key]
@@ -90,7 +87,6 @@ def update_plots(self, paths, legends):
 
         paths_to_be_canceled = []
         for active_path in self.active_paths.keys():
-
             path = active_path.split("/")
 
             if path not in paths:

robot_log_visualizer/robot_visualizer/meshcat_provider.py

@@ -49,7 +49,7 @@ def load_model(self, considered_joints, model_name):
         def get_model_path_from_envs(env_list):
             return [
                 Path(f) if (env != "AMENT_PREFIX_PATH") else Path(f) / "share"
-                for env in env_list
+                for env in env_list if os.getenv(env) is not None
                 for f in os.getenv(env).split(os.pathsep)
             ]
 
@@ -67,7 +67,6 @@ def check_if_model_exist(folder_path, model):
                 [self.custom_package_dir],
             )
         else:
-
             model_found_in_env_folders = False
             for folder in get_model_path_from_envs(self.env_list):
                 if check_if_model_exist(folder, model_name):

robot_log_visualizer/ui/gui.py

@@ -107,7 +107,6 @@ def build_plot_title_box_dialog():
 
 
 def get_icon(icon_name):
-
     icon = QtGui.QIcon()
     icon.addPixmap(
         QtGui.QPixmap(str(pathlib.Path(__file__).parent / "misc" / icon_name)),
@@ -149,7 +148,7 @@ def __init__(self, signal_provider, meshcat_provider, animation_period):
 
         self.signal_provider = signal_provider
         self.signal_size = len(self.signal_provider)
-        self.signal_provider.register_update_index(self.update_slider)
+        self.signal_provider.register_update_index(self.update_index)
 
         self.meshcat_provider = meshcat_provider
 
@@ -256,10 +255,11 @@ def keyPressEvent(self, event):
                 # for every video item we set the instant
                 for video_item in self.video_items:
                     if video_item.media_loaded:
+                        video_percentage = float(new_index) / float(
+                            self.ui.timeSlider.maximum()
+                        )
                         video_item.media_player.setPosition(
-                            new_index
-                            / self.ui.timeSlider.maximum()
-                            * video_item.media_player.duration()
+                            int(video_percentage * video_item.media_player.duration())
                         )
 
                 # update the time slider
@@ -277,10 +277,11 @@ def keyPressEvent(self, event):
                 # for every video item we set the instant
                 for video_item in self.video_items:
                     if video_item.media_loaded:
+                        video_percentage = float(new_index) / float(
+                            self.ui.timeSlider.maximum()
+                        )
                         video_item.media_player.setPosition(
-                            new_index
-                            / self.ui.timeSlider.maximum()
-                            * video_item.media_player.duration()
+                            int(video_percentage * video_item.media_player.duration())
                         )
 
                 self.ui.timeSlider.setValue(new_index)
@@ -305,10 +306,9 @@ def timeSlider_on_sliderMoved(self):
 
         for video_item in self.video_items:
             if video_item.media_loaded:
+                video_percentage = float(index) / float(self.ui.timeSlider.maximum())
                 video_item.media_player.setPosition(
-                    index
-                    / self.ui.timeSlider.maximum()
-                    * video_item.media_player.duration()
+                    int(video_percentage * video_item.media_player.duration())
                 )
 
         self.signal_provider.update_index(index)
@@ -322,10 +322,9 @@ def timeSlider_on_release(self):
 
         for video_item in self.video_items:
             if video_item.media_loaded:
+                video_percentage = float(index) / float(self.ui.timeSlider.maximum())
                 video_item.media_player.setPosition(
-                    index
-                    / self.ui.timeSlider.maximum()
-                    * video_item.media_player.duration()
+                    int(video_percentage * video_item.media_player.duration())
                 )
 
         self.signal_provider.update_index(index)
@@ -338,12 +337,6 @@ def timeSlider_on_release(self):
     def startButton_on_click(self):
         self.ui.startButton.setEnabled(False)
         self.ui.pauseButton.setEnabled(True)
-
-        ## TODO its better to start the video only if the tab is active. This will improve the peroformances
-        for video_item in self.video_items:
-            if video_item.media_loaded:
-                video_item.media_player.play()
-
         self.signal_provider.state = PeriodicThreadState.running
         # self.meshcat_provider.state = PeriodicThreadState.running
 
@@ -363,7 +356,6 @@ def pauseButton_on_click(self):
         self.logger.write_to_log("Dataset paused.")
 
     def plotTabCloseButton_on_click(self, index):
-
         self.ui.tabPlotWidget.removeTab(index)
         self.plot_items[index].canvas.quit_animation()
         del self.plot_items[index]
@@ -372,7 +364,6 @@ def plotTabCloseButton_on_click(self, index):
             self.ui.tabPlotWidget.setTabsClosable(False)
 
     def plotTabBar_on_doubleClick(self, index):
-
         dlg, plot_title = build_plot_title_box_dialog()
         if dlg.exec() == QDialog.Accepted:
             self.ui.tabPlotWidget.setTabText(index, plot_title.text())
@@ -464,7 +455,6 @@ def textLogTreeWidget_on_click(self):
             self.text_logger.highlight_cell(self.find_text_log_index(path))
 
     def plotTabBar_currentChanged(self, index):
-
         # clear the selection to prepare a new one
         self.ui.variableTreeWidget.clearSelection()
         for active_path_str in self.plot_items[index].canvas.active_paths.keys():
@@ -478,14 +468,24 @@ def plotTabBar_currentChanged(self, index):
             item.setSelected(True)
 
     @pyqtSlot()
-    def update_slider(self):
+    def update_index(self):
         if not self.slider_pressed:
             self.ui.timeSlider.setValue(self.signal_provider.index)
             self.ui.timeLabel.setText(f"{self.signal_provider.current_time:.2f}")
             self.text_logger.highlight_cell(
                 self.find_text_log_index(self.get_text_log_item_path())
             )
 
+            # TODO: this is a hack to update the video player and it should be done only for the activated videos
+            for video_item in self.video_items:
+                if video_item.media_loaded:
+                    video_percentage = float(self.ui.timeSlider.value()) / float(
+                        self.ui.timeSlider.maximum()
+                    )
+                    video_item.media_player.setPosition(
+                        int(video_percentage * video_item.media_player.duration())
+                    )
+
     def closeEvent(self, event):
         # close the window
         self.pyconsole.close()
@@ -609,6 +609,11 @@ def __load_mat_file(self, file_name):
             )
             self.logger.write_to_log("Video '" + video_filename + "' opened.")
 
+        # pause all the videos
+        for video_item in self.video_items:
+            if video_item.media_loaded:
+                video_item.media_player.pause()
+
         self.meshcat_provider.state = PeriodicThreadState.running
 
         self.dataset_loaded = True

robot_log_visualizer/ui/text_logging.py

@@ -15,7 +15,6 @@ def __init__(self, table_widget, background_color="#ffeba8"):
         self.table_widget.clear()
 
     def add_entry(self, text, timestamp, font_color=None):
-
         item = QTableWidgetItem(text)
         if font_color is not None:
             # text = '<font color="' + str(font_color) + '">' + text + "</font>"