feat: plot nav improvements

farm-ng · Oct 10, 2023 · 4df90cd · 4df90cd
1 parent 89520c0
commit 4df90cd
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Showing 10 changed files with 268 additions and 105 deletions.
diff --git a/rs/plotting/Cargo.toml b/rs/plotting/Cargo.toml
@@ -6,7 +6,8 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [dependencies]
 clap = { version = "4", features = ["derive"] }
-eframe = "0.22"
+eframe = "0.23"
+egui_plot = "0.23"
 prost = "0.12"
 tokio = { version = "1", features = ["full"] }
 tonic = "0.10.2"

diff --git a/rs/plotting/src/actors/grpc_source.rs b/rs/plotting/src/actors/grpc_source.rs
@@ -137,8 +137,10 @@ impl ActorNode for ActiveGrpcSourceNodeImpl {
             .add_service(PlottingWidgetServer::new(server))
             .serve(address.parse().unwrap());
         match server_future.await {
-            Ok(_) =>{}
-            Err(e) =>{panic!("{}", e);}
+            Ok(_) => {}
+            Err(e) => {
+                panic!("{}", e);
+            }
         }
     }
 }

diff --git a/rs/plotting/src/actors/plotter.rs b/rs/plotting/src/actors/plotter.rs
@@ -9,12 +9,9 @@ use hollywood::core::*;
 use hollywood::macros::actor_inputs;
 use tokio::select;
 
-#[derive(Clone, Debug)]
-#[derive(Default)]
+#[derive(Clone, Debug, Default)]
 pub struct PlotterProp {}
 
-
-
 /// Inbound message for the Plotter actor.
 #[derive(Clone, Debug)]
 #[actor_inputs(PlotterInbound, {PlotterProp, PlotterState, NullOutbound})]

diff --git a/rs/plotting/src/bin/plotter_example.rs b/rs/plotting/src/bin/plotter_example.rs
@@ -3,6 +3,7 @@ pub use hollywood::core::*;
 use hollywood::macros::*;
 
 use plotting::actors::plotter::{run_on_main_thread, PlotterActor, PlotterProp, PlotterState};
+use plotting::graphs::common::{Bounds, OrdinateBounds};
 use plotting::graphs::packets::PlottingPacket;
 use plotting::graphs::packets::PlottingPackets;
 
@@ -37,25 +38,34 @@ impl OnMessage for GraphGeneratorMessage {
     ) {
         match &self {
             GraphGeneratorMessage::ClockTick(time_in_seconds) => {
-                let mut packets = vec![];
-                packets.push(PlottingPacket::append_to_curve(
-                    ("graph", "sin"),
-                    plotting::graphs::common::Color::red(),
-                    (*time_in_seconds, time_in_seconds.sin()),
-                    10.0,
-                ));
-                packets.push(PlottingPacket::append_to_vec3_curve(
-                    ("graph2", "sins"),
-                    (
-                        *time_in_seconds,
+                let packets = vec![
+                    PlottingPacket::append_to_curve(
+                        ("trig0", "sin"),
+                        plotting::graphs::common::Color::red(),
+                        (*time_in_seconds, time_in_seconds.sin()),
+                        1000.0,
+                        Bounds {
+                            x_bounds: OrdinateBounds::from_len_and_max(2.0, None),
+                            y_bounds: OrdinateBounds::from_len_and_max(2.0, Some(1.0)),
+                        },
+                    ),
+                    PlottingPacket::append_to_vec3_curve(
+                        ("trig1", "sin/cos/tan"),
                         (
-                            time_in_seconds.cos(),
-                            (2.0 * time_in_seconds).cos(),
-                            (3.0 * time_in_seconds).cos(),
+                            *time_in_seconds,
+                            (
+                                time_in_seconds.sin(),
+                                time_in_seconds.cos(),
+                                time_in_seconds.tan(),
+                            ),
                         ),
+                        1000.0,
+                        Bounds {
+                            x_bounds: OrdinateBounds::from_len_and_max(2.0, None),
+                            y_bounds: OrdinateBounds::from_len_and_max(2.0, Some(1.0)),
+                        },
                     ),
-                    10.0,
-                ));
+                ];
                 outbound.packets.send(packets);
             }
         }

diff --git a/rs/plotting/src/graphs/common.rs b/rs/plotting/src/graphs/common.rs
@@ -44,6 +44,34 @@ impl Color {
     }
 }
 
+#[derive(Clone, Debug, Copy)]
+pub struct RegionF64 {
+    pub min: f64,
+    pub max: f64,
+}
+#[derive(Clone, Debug, Copy)]
+pub struct OrdinateBounds {
+    pub largest: f64,
+    pub len: f64,
+    pub data_driven: bool,
+}
+
+impl OrdinateBounds {
+    pub fn from_len_and_max(len: f64, max: Option<f64>) -> Self {
+        OrdinateBounds {
+            largest: max.unwrap_or_default(),
+            len,
+            data_driven: max.is_none(),
+        }
+    }
+}
+
+#[derive(Clone, Debug, Copy)]
+pub struct Bounds {
+    pub x_bounds: OrdinateBounds,
+    pub y_bounds: OrdinateBounds,
+}
+
 #[derive(Clone, Debug, Default)]
 pub enum LineType {
     #[default]

diff --git a/rs/plotting/src/graphs/packets.rs b/rs/plotting/src/graphs/packets.rs
@@ -1,7 +1,5 @@
-
-
 use super::{
-    common::{Color, LineType, ResetPredicate},
+    common::{Bounds, Color, LineType, ResetPredicate},
     scalar_curve::{NamedScalarCurve, ScalarCurve},
     vec3_curve::{NamedVec3Curve, Vec3Curve},
 };
@@ -20,6 +18,7 @@ impl PlottingPacket {
         color: Color,
         (x, y): (f64, f64),
         history_length: f64,
+        bounds: Bounds,
     ) -> PlottingPacket {
         let curve = NamedScalarCurve {
             plot_name: plot.into(),
@@ -31,6 +30,7 @@ impl PlottingPacket {
                 clear_x_smaller_than: ResetPredicate {
                     clear_x_smaller_than: Some(x - history_length),
                 },
+                bounds,
             },
         };
 
@@ -41,6 +41,7 @@ impl PlottingPacket {
         (plot, graph): (S, S),
         (x, y): (f64, (f64, f64, f64)),
         history_length: f64,
+        bounds: Bounds,
     ) -> PlottingPacket {
         let curve = NamedVec3Curve {
             plot_name: plot.into(),
@@ -52,6 +53,7 @@ impl PlottingPacket {
                 clear_x_smaller_than: ResetPredicate {
                     clear_x_smaller_than: Some(x - history_length),
                 },
+                bounds,
             },
         };
 

diff --git a/rs/plotting/src/graphs/scalar_curve.rs b/rs/plotting/src/graphs/scalar_curve.rs
@@ -1,11 +1,14 @@
 use crate::graphs::common::{Color, LineType, ResetPredicate};
 
-#[derive(Clone, Debug, Default)]
+use super::common::Bounds;
+
+#[derive(Clone, Debug)]
 pub struct ScalarCurve {
     pub data: Vec<(f64, f64)>,
     pub color: Color,
     pub curve_type: LineType,
     pub clear_x_smaller_than: ResetPredicate,
+    pub bounds: Bounds,
 }
 
 impl ScalarCurve {
@@ -14,12 +17,14 @@ impl ScalarCurve {
         color: Color,
         curve_type: LineType,
         f: ResetPredicate,
+        bounds: Bounds,
     ) -> Self {
         ScalarCurve {
             data,
             color,
             curve_type,
             clear_x_smaller_than: f,
+            bounds,
         }
     }
 
@@ -52,7 +57,7 @@ impl ScalarCurve {
     }
 }
 
-#[derive(Clone, Debug, Default)]
+#[derive(Clone, Debug)]
 pub struct NamedScalarCurve {
     pub plot_name: String,
     pub graph_name: String,

diff --git a/rs/plotting/src/graphs/vec3_curve.rs b/rs/plotting/src/graphs/vec3_curve.rs
@@ -1,11 +1,14 @@
 use crate::graphs::common::{Color, LineType, ResetPredicate};
 
-#[derive(Clone, Debug, Default)]
+use super::common::Bounds;
+
+#[derive(Clone, Debug)]
 pub struct Vec3Curve {
     pub data: Vec<(f64, (f64, f64, f64))>,
     pub color: [Color; 3],
     pub curve_type: LineType,
     pub clear_x_smaller_than: ResetPredicate,
+    pub bounds: Bounds,
 }
 
 impl Vec3Curve {
@@ -14,12 +17,14 @@ impl Vec3Curve {
         color: [Color; 3],
         curve_type: LineType,
         f: ResetPredicate,
+        bounds: Bounds,
     ) -> Self {
         Vec3Curve {
             data,
             color,
             curve_type,
             clear_x_smaller_than: f,
+            bounds,
         }
     }
 
@@ -52,7 +57,7 @@ impl Vec3Curve {
     }
 }
 
-#[derive(Clone, Debug, Default)]
+#[derive(Clone, Debug)]
 pub struct NamedVec3Curve {
     pub plot_name: String,
     pub graph_name: String,

diff --git a/rs/plotting/src/grpc/proto.rs b/rs/plotting/src/grpc/proto.rs
@@ -1,6 +1,6 @@
 use std::mem::size_of;
 
-use crate::graphs::common::{LineType, ResetPredicate};
+use crate::graphs::common::{Bounds, LineType, OrdinateBounds, ResetPredicate};
 use crate::graphs::packets::{PlottingPacket, PlottingPackets};
 use crate::graphs::scalar_curve::{NamedScalarCurve, ScalarCurve};
 use crate::graphs::vec3_curve::{NamedVec3Curve, Vec3Curve};
@@ -89,6 +89,18 @@ pub fn from_proto(m: Messages) -> PlottingPackets {
                             clear_x_smaller_than: reset_predicate_from_proto(
                                 proto_curve.reset.unwrap(),
                             ),
+                            bounds: Bounds {
+                                x_bounds: OrdinateBounds {
+                                    largest: 0.0,
+                                    len: 100.0,
+                                    data_driven: true,
+                                },
+                                y_bounds: OrdinateBounds {
+                                    largest: 0.0,
+                                    len: 100.0,
+                                    data_driven: true,
+                                },
+                            },
                         },
                     }));
                 }
@@ -143,6 +155,18 @@ pub fn from_proto(m: Messages) -> PlottingPackets {
                             clear_x_smaller_than: reset_predicate_from_proto(
                                 proto_curve3.reset.unwrap(),
                             ),
+                            bounds: Bounds {
+                                x_bounds: OrdinateBounds {
+                                    largest: 0.0,
+                                    len: 100.0,
+                                    data_driven: true,
+                                },
+                                y_bounds: OrdinateBounds {
+                                    largest: 0.0,
+                                    len: 100.0,
+                                    data_driven: true,
+                                },
+                            },
                         },
                     }));
                 }