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Add PlotMode Delay which enables the visualization of the latency #5

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Add PlotMode Delay which enables the visualization of the latency #5

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1 change: 1 addition & 0 deletions include/rviz_2d_plot_plugin/plot_2d_config.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ enum class XAxisMode
enum class PlotMode
{
TimeSeries,
Delay,
XY,
};

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34 changes: 25 additions & 9 deletions src/plot_2d_controller.cpp
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Expand Up @@ -454,16 +454,32 @@ bool Plot2DController::appendSerializedMessage(
x_value = x_result.value.value();
}

const double transformed_value =
result.value.value() * config_.series[i].value_scale + config_.series[i].value_offset;
series.status = PlotControllerStatus::Ok;
series.message.clear();
series.samples.append(sample_time, x_value, transformed_value);
if (!xy_mode || config_.time.xy_history_mode == XYHistoryMode::RollingTimeWindow) {
series.samples.pruneToWindow(sample_time, config_.time.window_seconds);
const bool delay_mode = config_.plot_mode == PlotMode::Delay;
if (delay_mode)
{
const double transformed_value = receive_time - x_value;
series.status = PlotControllerStatus::Ok;
series.message.clear();
series.samples.append(sample_time, x_value, transformed_value);
if (!xy_mode || config_.time.xy_history_mode == XYHistoryMode::RollingTimeWindow) {
series.samples.pruneToWindow(sample_time, config_.time.window_seconds);
}
series.latest_value = transformed_value;
appended = true;
}
else
{
const double transformed_value =
result.value.value() * config_.series[i].value_scale + config_.series[i].value_offset;
series.status = PlotControllerStatus::Ok;
series.message.clear();
series.samples.append(sample_time, x_value, transformed_value);
if (!xy_mode || config_.time.xy_history_mode == XYHistoryMode::RollingTimeWindow) {
series.samples.pruneToWindow(sample_time, config_.time.window_seconds);
}
series.latest_value = transformed_value;
appended = true;
}
series.latest_value = transformed_value;
appended = true;
}

updateAggregateStatus();
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6 changes: 6 additions & 0 deletions src/plot_2d_display_options.cpp
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Expand Up @@ -212,6 +212,8 @@ std::string plotModeName(const PlotMode mode)
switch (mode) {
case PlotMode::TimeSeries:
return "Time Series";
case PlotMode::Delay:
return "Delay";
case PlotMode::XY:
return "XY";
}
Expand All @@ -223,6 +225,9 @@ PlotMode plotModeFromName(const std::string & name)
if (name == "XY") {
return PlotMode::XY;
}
if (name == "Delay") {
return PlotMode::Delay;
}
return PlotMode::TimeSeries;
}

Expand All @@ -232,6 +237,7 @@ void addPlotModeOptions(rviz_common::properties::EnumProperty * property)
return;
}
property->addOptionStd(plotModeName(PlotMode::TimeSeries));
property->addOptionStd(plotModeName(PlotMode::Delay));
property->addOptionStd(plotModeName(PlotMode::XY));
}

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