Working on axis autoscale

include/rqt_plot_qtcharts/verticalaxis.h

@@ -38,14 +38,22 @@ class VerticalAxis : public QValueAxis
     qreal rangeMax() const;
     void setRangeMax(const qreal &rangeMax);
 
+    void seriesPointAdded(const qreal y);
+
+    bool getInstantApplyAutoScale() const;
+    void setInstantApplyAutoScale(bool instantApplyAutoScale);
+
+    void applyAutoScale();
+
 private:
     QString m_name, m_label;
     bool m_autoScale = false;
+    bool m_instantApplyAutoScale = true;
     Qt::Alignment m_align;
     QString m_uid;
 
     qreal m_rangeMin = 0, m_rangeMax = 100.0;
-
+    qreal m_seriesMin, m_seriesMax;
 signals:
     void alignChanged(Qt::Alignment align);
 };

src/rqt_plot_qtcharts/dialogaxisproperties.cpp

@@ -24,9 +24,7 @@ void DialogAxisProperties::showEvent(QShowEvent *event)
 
 void DialogAxisProperties::on_checkBoxAutoScale_toggled(bool checked)
 {
-    ui->doubleSpinBoxRangeMin->setEnabled(!checked);
-    ui->doubleSpinBoxRangeMax->setEnabled(!checked);
-
+    m_axis->setAutoScale(checked);
     if (checked) {
         // TODO set the current min max of the axis to the spinBoxes
     }
@@ -48,6 +46,7 @@ void DialogAxisProperties::setAxis(VerticalAxis *axis)
     ui->doubleSpinBoxRangeMin->setValue(m_axis->rangeMin());
     ui->doubleSpinBoxRangeMax->setValue(m_axis->rangeMax());
     ui->checkBoxAxisLabelVisible->setChecked(m_axis->isVisible());
+    ui->checkBoxAutoScale->setChecked(m_axis->autoScale());
 
     if (m_axis->align() == Qt::AlignRight) {
         ui->comboBoxAlignment->setCurrentIndex(1);

src/rqt_plot_qtcharts/dialogplotseriesproperties.cpp

@@ -32,7 +32,10 @@ void DialogPlotSeriesProperties::setSeries(PlotLineSeries *series)
     m_color = m_series->color();
     ui->toolButtonSelectColor->setStyleSheet(QString("background-color: %1")
                                              .arg(m_color.name()));
-    ui->comboBoxYAxis->setCurrentIndex(VerticalAxesManager::instance()->axes().indexOf(series->verticalAxis()));
+    int index = VerticalAxesManager::instance()->axes().indexOf(series->verticalAxis());
+    if (index == -1)
+        index = 0;
+    ui->comboBoxYAxis->setCurrentIndex(index);
 }
 
 void DialogPlotSeriesProperties::updateAxesComboBox()

src/rqt_plot_qtcharts/plotlineseries.cpp

@@ -8,7 +8,7 @@ QT_CHARTS_USE_NAMESPACE
 PlotLineSeries::PlotLineSeries(QObject *parent) :
     QLineSeries(parent)
 {
-
+    setUseOpenGL(true);
 }
 
 QString PlotLineSeries::dataSource() const
@@ -62,10 +62,17 @@ void PlotLineSeries::dataReceived(qreal y)
 {
     append(m_xIndex, y);
     m_xIndex++;
+
+    if (m_verticalAxis)
+        m_verticalAxis->seriesPointAdded(y);
 }
 
 void PlotLineSeries::clear()
 {
     m_xIndex = 0;
     QLineSeries::clear();
+    append(QPointF(0,0));
+
+    if (m_verticalAxis)
+        m_verticalAxis->resetRange();
 }

src/rqt_plot_qtcharts/rqt_plot_qtcharts_widget.cpp

@@ -71,7 +71,7 @@ void PlotQtChartsWidget::restoreAxes(const qt_gui_cpp::Settings &instance_settin
         axis->setRangeMin(instance_settings.value(QString("axes/%1/min").arg(index), 0).toDouble());
         axis->setRangeMax(instance_settings.value(QString("axes/%1/max").arg(index), 100).toDouble());
         axis->setAutoScale(instance_settings.value(QString("axes/%1/autoScale").arg(index), true).toBool());
-        axis->setUid(instance_settings.value(QString("axes/%1/uid").arg(index), true).toString());
+        axis->setUid(instance_settings.value(QString("axes/%1/uid").arg(index), "").toString());
         VerticalAxesManager::instance()->addAxis(axis);
     }
 
@@ -101,6 +101,7 @@ void PlotQtChartsWidget::saveAxes(qt_gui_cpp::Settings &instance_settings) const
                                    axis->autoScale());
         instance_settings.setValue(QString("axes/%1/align").arg(index),
                                    static_cast<int>(axis->align()));
+        instance_settings.setValue(QString("axes/%1/uid").arg(index), axis->getUid());
         index++;
     }
 }
@@ -230,6 +231,12 @@ void PlotQtChartsWidget::seriesAdded(PlotLineSeries *newSeries)
         ui->toolButtonRemoveTopic->setEnabled(ui->toolButtonRemoveTopic->actions().count());
         delete topicRemoveAction;
     });
+
+    ui->zoomableChartWidget->chart()->addSeries(newSeries);
+    ui->zoomableChartWidget->chart()->setAxisX(m_axisX, newSeries);
+    if (newSeries->verticalAxis())
+        ui->zoomableChartWidget->chart()->setAxisY(newSeries->verticalAxis(), newSeries);
+    ui->zoomableChartWidget->connectLegendMarkerEvents();
 }
 
 void PlotQtChartsWidget::seriesRemoved(PlotLineSeries *series)
@@ -244,7 +251,10 @@ void PlotQtChartsWidget::seriesRemoved(PlotLineSeries *series)
 
 void PlotQtChartsWidget::axisAdded(VerticalAxis *axis)
 {
+    axis->setTitleText(axis->name());
+    axis->setTitleVisible(true);
     ui->zoomableChartWidget->chart()->addAxis(axis, axis->align());
+    axis->resetRange();
 }
 
 void PlotQtChartsWidget::axisRemoved(VerticalAxis *axis)
@@ -272,6 +282,12 @@ void PlotQtChartsWidget::debugCallback(const rescube_msgs::PIDDebug::ConstPtr &d
             series->dataReceived(dbg.get()->outputPID);
         if (series->dataSource() == "/tiva_arm/PIDoutput/outputAfterScale")
             series->dataReceived(dbg.get()->outputAfterScale);
+        if (series->dataSource() == "/tiva_arm/PIDoutput/integrator")
+            series->dataReceived(dbg.get()->integrator);
+    }
+
+    for (VerticalAxis *axis : VerticalAxesManager::instance()->axes()) {
+
     }
 }
 

src/rqt_plot_qtcharts/verticalaxis.cpp

@@ -7,6 +7,8 @@ VerticalAxis::VerticalAxis(QObject *parent) :
     // enable this lovely feature if we have
     this->setLabelsEditable(true);
 #endif
+    m_seriesMin =  std::numeric_limits<qreal>::max();
+    m_seriesMax =  std::numeric_limits<qreal>::min();
 }
 
 QString VerticalAxis::label() const
@@ -36,7 +38,13 @@ bool VerticalAxis::autoScale() const
 
 void VerticalAxis::setAutoScale(bool value)
 {
-    m_autoScale = value;
+    if (m_autoScale != value) {
+        m_autoScale = value;
+        if (m_autoScale)
+            applyAutoScale();
+        else
+            setRange(m_rangeMin, m_rangeMax);
+    }
 }
 
 Qt::Alignment VerticalAxis::align() const
@@ -64,6 +72,8 @@ void VerticalAxis::setUid(const QString &value)
 
 void VerticalAxis::resetRange()
 {
+    m_seriesMin = m_rangeMin;
+    m_seriesMax = m_rangeMax;
     setRange(m_rangeMin, m_rangeMax);
 }
 
@@ -86,3 +96,33 @@ void VerticalAxis::setRangeMax(const qreal &rangeMax)
 {
     m_rangeMax = rangeMax;
 }
+
+void VerticalAxis::applyAutoScale()
+{
+    setRange(m_seriesMin, m_seriesMax);
+}
+
+void VerticalAxis::seriesPointAdded(const qreal y)
+{
+    if (y < m_seriesMin) {
+        m_seriesMin = y;
+        if (m_autoScale)
+            applyAutoScale();
+    }
+
+    if (y > m_seriesMax) {
+        m_seriesMax = y;
+        if (m_autoScale)
+            applyAutoScale();
+    }
+}
+
+bool VerticalAxis::getInstantApplyAutoScale() const
+{
+    return m_instantApplyAutoScale;
+}
+
+void VerticalAxis::setInstantApplyAutoScale(bool instantApplyAutoScale)
+{
+    m_instantApplyAutoScale = instantApplyAutoScale;
+}

src/rqt_plot_qtcharts/zoomablechartwidget.cpp

@@ -88,6 +88,7 @@ QChart *ZoomableChartWidget::chart() const
     return m_chart;
 }
 
+// FIXME sublclass QChart emit a signal when series is added
 void ZoomableChartWidget::connectLegendMarkerEvents()
 {
     // Connect all markers to handler