Implemented Save Canvas Layout in Plot Plugin

gazebo/gui/plot/PlotCanvas.cc

@@ -13,7 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
-*/
+ */
 
 #include <map>
 #include <tuple>
@@ -268,8 +268,10 @@ unsigned int PlotCanvas::AddVariable(const std::string &_variable,
 
   // add to container and let the signals/slots do the work on adding the
   // a new plot with the curve in the overloaded AddVariable function
-  return this->dataPtr->yVariableContainer->AddVariablePill(_variable,
-      targetId);
+  unsigned int _retVal = this->dataPtr->yVariableContainer->AddVariablePill(
+			_variable, targetId);
+
+  return _retVal;
 }
 
 /////////////////////////////////////////////////
@@ -310,7 +312,6 @@ void PlotCanvas::AddVariable(const unsigned int _id,
     this->dataPtr->plotSplitter->setVisible(true);
   }
 
-
   if (common::URI::Valid(_variable))
   {
     common::URI uri(_variable);
@@ -330,6 +331,32 @@ void PlotCanvas::AddVariable(const unsigned int _id,
   }
 }
 
+/////////////////////////////////////////////////
+void PlotCanvas::AddVariable(const std::string &_variable,
+    IncrementalPlot *plot_in)
+{
+  if (!plot_in)
+    return;
+
+  if (plot_in == this->dataPtr->emptyPlot)
+  {
+    // add new variable to new plot
+    this->AddVariable(_variable);
+  }
+  else
+  {
+    for (const auto &it : this->dataPtr->plotData)
+    {
+      if (plot_in == it.second->plot)
+      {
+        // add to existing plot
+        this->AddVariable(_variable, it.second->id);
+        return;
+      }
+    }
+  }
+}
+
 /////////////////////////////////////////////////
 void PlotCanvas::RemoveVariable(const unsigned int _id,
     const unsigned int _plotId)
@@ -487,6 +514,8 @@ unsigned int PlotCanvas::PlotByVariable(const unsigned int _variableId) const
 /////////////////////////////////////////////////
 void PlotCanvas::OnAddVariable(const std::string &_variable)
 {
+//  gzdbg << "PlotCanvas::OnAddVariable: " << _variable << std::endl;
+
   IncrementalPlot *plot =
       qobject_cast<IncrementalPlot *>(QObject::sender());
 

gazebo/gui/plot/PlotCanvas.hh

@@ -61,6 +61,11 @@ namespace gazebo
       public: unsigned int AddVariable(const std::string &_variable,
           const unsigned int _plotId = EmptyPlot);
 
+      /// \brief Add a new variable to a plot.
+      /// \param[in] _variable Name of the variable.
+      /// \param[in] _plot pointer to the plot to add the variable to.
+      public: void AddVariable(const std::string &_variable, IncrementalPlot *plot);
+
       /// \brief Remove a variable from a plot.
       /// \param[in] _id Unique id of the variable
       /// \param[in] _plotId Unique id of plot to remove the variable from.

gazebo/gui/plot/PlotWindow.cc

@@ -13,9 +13,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
-*/
+ */
 #include <mutex>
+#include <tinyxml2.h>
 
+#include "gazebo/common/Console.hh"
 #include "gazebo/gui/qt.h"
 #include "gazebo/gui/GuiIface.hh"
 #include "gazebo/gui/MainWindow.hh"
@@ -30,6 +32,14 @@
 using namespace gazebo;
 using namespace gui;
 
+using namespace tinyxml2;
+#ifndef XMLCheckResult
+#define XMLCheckResult(a_eResult)	if (a_eResult != XML_SUCCESS) { \
+										printf("Error: %i\n", a_eResult); \
+										return a_eResult; \
+									}
+#endif
+
 namespace gazebo
 {
   namespace gui
@@ -117,9 +127,37 @@ PlotWindow::PlotWindow(QWidget *_parent)
   exportPlotButton->setGraphicsEffect(exportPlotShadow);
   connect(exportPlotButton, SIGNAL(clicked()), this, SLOT(OnExport()));
 
+  // save button
+  QPushButton *saveCanvasButton = new QPushButton("Save");
+  saveCanvasButton->setObjectName("plotSaveCanvas");
+  saveCanvasButton->setDefault(false);
+  saveCanvasButton->setAutoDefault(false);
+  saveCanvasButton->setToolTip("Save canvas");
+  QGraphicsDropShadowEffect *saveCanvasShadow =
+      new QGraphicsDropShadowEffect();
+  saveCanvasShadow->setBlurRadius(8);
+  saveCanvasShadow->setOffset(0, 0);
+  saveCanvasButton->setGraphicsEffect(saveCanvasShadow);
+  connect(saveCanvasButton, SIGNAL(clicked()), this, SLOT(OnSaveCanvas()));
+
+  // load button
+  QPushButton *loadCanvasButton = new QPushButton("Load");
+  loadCanvasButton->setObjectName("plotLoadCanvas");
+  loadCanvasButton->setDefault(false);
+  loadCanvasButton->setAutoDefault(false);
+  loadCanvasButton->setToolTip("Load canvas");
+  QGraphicsDropShadowEffect *loadCanvasShadow =
+      new QGraphicsDropShadowEffect();
+  loadCanvasShadow->setBlurRadius(8);
+  loadCanvasShadow->setOffset(0, 0);
+  loadCanvasButton->setGraphicsEffect(loadCanvasShadow);
+  connect(loadCanvasButton, SIGNAL(clicked()), this, SLOT(OnLoadCanvas()));
+
   QHBoxLayout *addButtonLayout = new QHBoxLayout;
   addButtonLayout->addWidget(exportPlotButton);
   addButtonLayout->addStretch();
+  addButtonLayout->addWidget(saveCanvasButton);
+  addButtonLayout->addWidget(loadCanvasButton);
   addButtonLayout->addWidget(addCanvasButton);
   addButtonLayout->setAlignment(Qt::AlignRight | Qt::AlignBottom);
   addButtonLayout->setContentsMargins(0, 0, 0, 0);
@@ -186,6 +224,137 @@ PlotCanvas *PlotWindow::AddCanvas()
   return canvas;
 }
 
+/////////////////////////////////////////////////
+void PlotWindow::SavePlotLayout() {
+	QString _fileName = "";
+
+	XMLError _XMLError;
+	XMLDocument _plotLayout_XMLDocument;
+	XMLNode *_rootNode = nullptr;
+	XMLElement *_canvas_XMLElement = nullptr;
+	XMLElement *_plot_XMLElement = nullptr;
+	XMLElement *_variable_XMLElement = nullptr;
+
+	PlotCanvas *_canvas = nullptr;
+
+	_fileName = QFileDialog::getSaveFileName(this, tr("Save Plot Layout"), "~",
+			tr("XML File (*.xml)"));
+
+	_rootNode = _plotLayout_XMLDocument.NewElement("PlotLayout");
+	_plotLayout_XMLDocument.InsertFirstChild(_rootNode);
+
+	for (int _canvasIndex = 0;
+			_canvasIndex < this->dataPtr->canvasSplitter->count();
+			++_canvasIndex) {
+		_canvas = qobject_cast<PlotCanvas*>(
+				this->dataPtr->canvasSplitter->widget(_canvasIndex));
+		if (!_canvas) {
+			continue;
+		}
+
+		_canvas_XMLElement = _plotLayout_XMLDocument.NewElement("Canvas");
+		_rootNode->InsertEndChild(_canvas_XMLElement);
+
+		for (const auto &_plot : _canvas->Plots()) {
+			_plot_XMLElement = _plotLayout_XMLDocument.NewElement("Plot");
+			_canvas_XMLElement->InsertEndChild(_plot_XMLElement);
+
+			for (const auto &_curve : _plot->Curves()) {
+				auto _tempCurve = _curve.lock();
+				if (!_tempCurve)
+					continue;
+
+				std::string _label = _tempCurve->Label();
+
+				_variable_XMLElement = _plotLayout_XMLDocument.NewElement(
+						"Variable");
+
+				_variable_XMLElement->SetAttribute("Label", _label.c_str());
+
+				_plot_XMLElement->InsertEndChild(_variable_XMLElement);
+			} // for (const auto &_curve : _plot->Curves()) {}
+		} // for (const auto &_plot : _canvas->Plots()) {
+	} // for (int _canvasIndex = 0; ...
+
+	  // todo: treat XMLError
+	_XMLError = _plotLayout_XMLDocument.SaveFile(_fileName.toLocal8Bit());
+} // void PlotWindow::SavePlotLayout() {
+
+/////////////////////////////////////////////////
+void PlotWindow::LoadPlotLayout() {
+	QString _fileName = "";
+
+	XMLError _XMLError;
+	XMLDocument _plotLayout_XMLDocument;
+	XMLNode *_rootNode = nullptr;
+	XMLElement *_canvas_XMLElement = nullptr;
+	XMLElement *_plot_XMLElement = nullptr;
+	XMLElement *_variable_XMLElement = nullptr;
+
+	PlotCanvas *_canvas = nullptr;
+
+	std::string _label;
+
+	std::vector<IncrementalPlot*> _plotVector;
+	IncrementalPlot *_plot = nullptr;
+	int _size = 0;
+
+	_fileName = QFileDialog::getOpenFileName(this, tr("Load Plot Layout"), "~",
+			tr("XML File (*.xml)"));
+
+	if (_fileName == "") {
+		return;
+	}
+
+	this->Clear();
+
+	_XMLError = _plotLayout_XMLDocument.LoadFile(_fileName.toLocal8Bit());
+
+	_rootNode = _plotLayout_XMLDocument.FirstChild();
+	if (_rootNode == nullptr)
+		return;
+
+	_canvas_XMLElement = _rootNode->FirstChildElement("Canvas");
+	while (_canvas_XMLElement != nullptr) {
+		_canvas = this->AddCanvas();
+
+		if (!_canvas) {
+			return;
+		}
+
+		_plot_XMLElement = _canvas_XMLElement->FirstChildElement("Plot");
+		while (_plot_XMLElement != nullptr) {
+			_variable_XMLElement = _plot_XMLElement->FirstChildElement(
+					"Variable");
+			while (_variable_XMLElement != nullptr) {
+
+				const char *tempChars = _variable_XMLElement->Attribute(
+						"Label");
+				if (tempChars != nullptr) {
+					std::string _label = tempChars;
+
+					_plotVector = _canvas->Plots();
+					_size = _plotVector.size();
+
+					if (_size == 0) {
+						_canvas->AddVariable(_label);
+					} else { // if (_size == 0) {
+						_plot = _plotVector.back();
+						_canvas->AddVariable(_label, _plot);
+					} // } else { // if (_size == 0) {
+				} // if (tempChars != nullptr) {
+
+				_variable_XMLElement = _variable_XMLElement->NextSiblingElement(
+						"Variable");
+			} // while (_variable_XMLElement != nullptr) {
+
+			_plot_XMLElement = _plot_XMLElement->NextSiblingElement("Plot");
+		} // while (_plot_XMLElement != nullptr)
+
+		_canvas_XMLElement = _canvas_XMLElement->NextSiblingElement("Canvas");
+	} // while (_canvas_XMLElement != nullptr)
+} // void PlotWindow::LoadPlotLayout() {
+
 /////////////////////////////////////////////////
 void PlotWindow::RemoveCanvas(PlotCanvas *_canvas)
 {
@@ -221,6 +390,18 @@ void PlotWindow::OnAddCanvas()
   this->AddCanvas();
 }
 
+/////////////////////////////////////////////////
+void PlotWindow::OnSaveCanvas()
+{
+  this->SavePlotLayout();
+}
+
+/////////////////////////////////////////////////
+void PlotWindow::OnLoadCanvas()
+{
+  this->LoadPlotLayout();
+}
+
 /////////////////////////////////////////////////
 void PlotWindow::OnRemoveCanvas()
 {

gazebo/gui/plot/PlotWindow.hh

@@ -47,6 +47,12 @@ namespace gazebo
       /// \brief Add a new canvas.
       public: PlotCanvas *AddCanvas();
 
+      /// \brief Save canvas layout
+      public: void SavePlotLayout();
+
+      /// \brief Load canvas layout
+      public: void LoadPlotLayout();
+
       /// \brief Get a list of all the plots
       /// \return A list of all the plots.
       public: std::list<PlotCanvas *> Plots();
@@ -80,6 +86,12 @@ namespace gazebo
       /// \brief Qt Callback when a new plot canvas should be added.
       private slots: void OnAddCanvas();
 
+      /// \brief Qt Callback when the canvas setup should be saved.
+      private slots: void OnSaveCanvas();
+
+      /// \brief Qt Callback when the canvas setup should be loaded.
+      private slots: void OnLoadCanvas();
+
       /// \brief Qt Callback when a plot canvas should be removed.
       private slots: void OnRemoveCanvas();
 

gazebo/gui/plot/VariablePillContainer.cc

@@ -13,7 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
-*/
+ */
 
 #include <iostream>
 #include <map>