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Corrected breaks when plotting array data #50

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merged 3 commits into from
Jan 13, 2023
Merged

Corrected breaks when plotting array data #50

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2861bdb
Removed utilization of DynamicData_ptr
dwbertol Dec 3, 2022
5bd8e8e
Using loaned values despite of coping memory.
dwbertol Dec 4, 2022
3cb6fb0
Fixed some points related to code review from pull request #50
dwbertol Jan 4, 2023
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6 changes: 5 additions & 1 deletion plugins/datastreamer_plugin/fastdds/ReaderHandler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ ReaderHandler::ReaderHandler(
, type_(type)
, listener_(listener)
, stop_(false)
, mtx_data_available_()
{
// Create data so it is not required to create it each time and avoid reallocation if possible
data_ = eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(type_);
Expand Down Expand Up @@ -108,6 +109,8 @@ void ReaderHandler::stop()
void ReaderHandler::on_data_available(
eprosima::fastdds::dds::DataReader* reader)
{
std::lock_guard<std::mutex> lock(mtx_data_available_);
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eprosima::fastdds::dds::SampleInfo info;
eprosima::fastrtps::types::ReturnCode_t read_ret =
eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK;
Expand All @@ -116,7 +119,7 @@ void ReaderHandler::on_data_available(
while (!stop_ && read_ret == eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
{
// Read next data
read_ret = reader->take_next_sample(data_.get(), &info);
read_ret = reader->take_next_sample(data_, &info);

// If data has been read
if (read_ret == eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK &&
Expand All @@ -130,6 +133,7 @@ void ReaderHandler::on_data_available(
numeric_data_info_,
data_,
numeric_data_);

utils::get_introspection_string_data(
string_data_info_,
data_,
Expand Down
5 changes: 4 additions & 1 deletion plugins/datastreamer_plugin/fastdds/ReaderHandler.hpp
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Expand Up @@ -23,6 +23,7 @@
#define _EPROSIMA_PLOTJUGGLERFASTDDSPLUGIN_PLUGINS_DATASTREAMERPLUGIN_FASTDDS_READERHANDLER_HPP_

#include <atomic>
#include <mutex>

#include <fastdds/dds/topic/Topic.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
Expand Down Expand Up @@ -128,7 +129,7 @@ struct ReaderHandler : public eprosima::fastdds::dds::DataReaderListener
eprosima::fastrtps::types::DynamicType_ptr type_;

//! Data Type element
eprosima::fastrtps::types::DynamicData_ptr data_;
eprosima::fastrtps::types::DynamicData* data_;
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std::atomic<bool> stop_;

Expand All @@ -138,6 +139,8 @@ struct ReaderHandler : public eprosima::fastdds::dds::DataReaderListener
utils::TypeIntrospectionNumericStruct numeric_data_;
utils::TypeIntrospectionStringStruct string_data_;

std::mutex mtx_data_available_;

};

} /* namespace fastdds */
Expand Down
33 changes: 18 additions & 15 deletions plugins/datastreamer_plugin/utils/dynamic_types_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,11 +58,11 @@ void get_introspection_type_names(
const std::vector<TypeKind>& current_kinds_tree /* = {} */,
const std::string& separator /* = "/" */)
{
DEBUG("Getting types for type member " << base_type_name);

// Get type kind and store it as kind tree
TypeKind kind = type->get_kind();

DEBUG("Getting types for type member " << base_type_name << " of kind " + std::to_string(kind));

switch (kind)
{
case fastrtps::types::TK_BOOLEAN:
Expand Down Expand Up @@ -92,8 +92,7 @@ void get_introspection_type_names(

case fastrtps::types::TK_ARRAY:
{
DynamicType_ptr internal_type =
array_internal_kind(type);
DynamicType_ptr internal_type = array_internal_kind(type);
unsigned int this_array_size = array_size(type);

// Allow this array depending on data type configuration
Expand Down Expand Up @@ -180,7 +179,7 @@ void get_introspection_type_names(

void get_introspection_numeric_data(
const TypeIntrospectionCollection& numeric_type_names,
const DynamicData_ptr& data,
DynamicData* data,
TypeIntrospectionNumericStruct& numeric_data_result)
{
DEBUG("Getting numeric data");
Expand All @@ -206,7 +205,7 @@ void get_introspection_numeric_data(
std::get<TypeKind>(member_type_info);

// Get Data parent that has the member we are looking for
const auto& parent_data = get_parent_data_of_member(
auto parent_data = get_parent_data_of_member(
data,
members,
kinds);
Expand All @@ -220,7 +219,7 @@ void get_introspection_numeric_data(

void get_introspection_string_data(
const TypeIntrospectionCollection& string_type_names,
const eprosima::fastrtps::types::DynamicData_ptr& data,
DynamicData* data,
TypeIntrospectionStringStruct& string_data_result)
{
DEBUG("Getting string data");
Expand All @@ -246,7 +245,7 @@ void get_introspection_string_data(
std::get<TypeKind>(member_type_info);

// Get Data parent that has the member we are looking for
const auto& parent_data = get_parent_data_of_member(
auto parent_data = get_parent_data_of_member(
data,
members,
kinds);
Expand All @@ -258,13 +257,15 @@ void get_introspection_string_data(
}
}

DynamicData_ptr get_parent_data_of_member(
const DynamicData_ptr& data,
DynamicData* get_parent_data_of_member(
DynamicData* data,
const std::vector<MemberId>& members_tree,
const std::vector<TypeKind>& kind_tree,
unsigned int array_indexes /* = 0 */)
{

DEBUG("Getting parent data of type " << std::to_string(kind_tree[array_indexes]));

if (array_indexes == members_tree.size() - 1)
{
// One-to-last value, so this one is the value to take, as it is the parent of the data
Expand All @@ -282,10 +283,12 @@ DynamicData_ptr get_parent_data_of_member(
{
// Access to the data inside the structure
DynamicData* child_data;
data->get_complex_value(&child_data, member_id);
// data->get_complex_value(&child_data, member_id);
child_data = data->loan_value(member_id);
data->return_loaned_value(child_data);
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return get_parent_data_of_member(
DynamicData_ptr(child_data),
child_data,
members_tree,
kind_tree,
array_indexes + 1);
Expand All @@ -306,11 +309,11 @@ DynamicData_ptr get_parent_data_of_member(
}

double get_numeric_type_from_data(
const DynamicData_ptr& data,
DynamicData* data,
const MemberId& member,
const TypeKind& kind)
{
DEBUG("Getting numeric data of kind " << kind << " in member " << member);
DEBUG("Getting numeric data of kind " << std::to_string(kind) << " in member " << member);
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switch (kind)
{
Expand Down Expand Up @@ -354,7 +357,7 @@ double get_numeric_type_from_data(
}

std::string get_string_type_from_data(
const DynamicData_ptr& data,
DynamicData* data,
const MemberId& member,
const TypeKind& kind)
{
Expand Down
16 changes: 8 additions & 8 deletions plugins/datastreamer_plugin/utils/dynamic_types_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ std::vector<std::string> get_introspection_type_names(
* If \c type is a basic type, it adds its label, that is \c base_type_name to the
* \c TypeIntrospectionCollection that it belongs, depending if it is numeric or text kind.
* Along with the label, it is added the vector of parents as member Ids and kinds.
* Those are useful to allow to acces this specific field from a \c DynamicData_ptr .
* Those are useful to allow to acces this specific field from a \c DynamicData* .
*
* If \c type is not a basic type (array or struct) this function is called for each value
* updating \c base_type_name for each recursive call.
Expand Down Expand Up @@ -110,15 +110,15 @@ void get_introspection_type_names(
*/
void get_introspection_numeric_data(
const TypeIntrospectionCollection& numeric_type_names,
const DynamicData_ptr& data,
DynamicData* data,
TypeIntrospectionNumericStruct& numeric_data_result);

/**
* @brief TODO
*/
void get_introspection_string_data(
const TypeIntrospectionCollection& string_type_names,
const DynamicData_ptr& data,
DynamicData* data,
TypeIntrospectionStringStruct& string_data_result);

/**
Expand All @@ -132,10 +132,10 @@ void get_introspection_string_data(
* @param members_tree [in]
* @param kind [in]
* @param array_indexes [in]
* @return DynamicData_ptr
* @return DynamicData*
*/
DynamicData_ptr get_parent_data_of_member(
const DynamicData_ptr& data,
DynamicData* get_parent_data_of_member(
DynamicData* data,
const std::vector<MemberId>& members,
const std::vector<TypeKind>& kinds,
unsigned int array_index = 0);
Expand All @@ -149,7 +149,7 @@ DynamicData_ptr get_parent_data_of_member(
* @return numeric data of the member casted to double
*/
double get_numeric_type_from_data(
const DynamicData_ptr& data,
DynamicData* data,
const MemberId& member,
const TypeKind& kind);

Expand All @@ -162,7 +162,7 @@ double get_numeric_type_from_data(
* @return string data of the member casted to string
*/
std::string get_string_type_from_data(
const DynamicData_ptr& data,
DynamicData* data,
const MemberId& member,
const TypeKind& kind);

Expand Down