Add real-time capability to visualizer (part 1) #100

xela-95 · 2025-07-29T12:55:15Z

This pull request refactors the signal provider integration in the application to support both offline and real-time data sources.

Key updates:

the signal provider has been made a base class with two childs: MatfileSignalProvider and RealtimeSignalProvider;
the signal provider is set at runtime instead at startup;
real time features have been introduced and adapted for the new PyQtGraph plotting backend
- Note: right now the logger port for real time streaming is hardcoded to /yarp-robot-logger/rt_logging, coherently with the configuration of https://github.com/ami-iit/bipedal-locomotion-framework/blob/a967abf35f24030f61493b3ff2d88a7754fd4fe7/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml#L19-L23 . This could be set by the user from the preferences panel in the future.
in real time mode, only the needed signals are actually ingested and buffered, instead of ingesting every data streamed by the logger;
- Note: a mechanism to remove signals from being buffered is still missing;
The environment variable list for locating robot models is expanded to include GZ_SIM_RESOURCE_PATH used in the new gazebo sim;
Fix on regex string matching for model files

Notes

Other PRs related to the real-time feature will follow this one, which is still limited in its functionality. For example, right now is not possible to plot signals that have been logged after the real-time mode has been enabled.

Superseding PR #80

- use raw string for regex to not incur in escaping errors - add type annotations for providers - update use of meshcat_provider.model_path

…ring for regex

…alProvider

xela-95 · 2025-09-12T14:37:06Z

I think this is now ready for review :)

robot_log_visualizer/ui/autogenerated/about.py

GiulioRomualdi

Some minor comments :)

robot_log_visualizer/rt_selector.xml

GiulioRomualdi · 2025-09-16T07:59:49Z

Moreover, there are some conflicts. Could you try to fix them? Thanks a lot!

xela-95 · 2025-09-16T10:04:56Z

Review comments addressed :)

robot_log_visualizer/signal_provider/realtime_signal_provider.py

robot_log_visualizer/signal_provider/signal_provider.py

GiulioRomualdi

Just minor change I can apply

GiulioRomualdi · 2025-09-18T08:09:46Z

PR finally merged!! Thanks a lot @xela-95 @nicktrem for the effort!! This is a huge step for everyone!

traversaro · 2025-09-18T10:33:02Z

Great, thanks a lot @GiulioRomualdi @xela-95 @nicktrem @Giulero @HosameldinMohamed !

fyi @DanielePucci

nicktrem added 30 commits December 26, 2023 16:13

Added the basics of the connect button in the menu

b46676b

Added dummy data to test formatting and gui representation

6f1ec87

Added a real-time logger button to the GUI

cfd0ede

Added another test data set

f20c655

initial test of reading form YARP port passed

5b700c5

Added more plot support for real-time data

f8153d4

Fixed small bug in plotting regarding mutiple plots at the same time

a716e59

Fixed race condition with graphs and bug with plot indexes

ff33dc2

Removed the need to pre-inform the logger about the data coming in

2de1dcd

Fixed race condition bug

6a3840d

Removed hard-coded value for the length of incoming data

aa331dd

Can now stream all data (except mesh data) in real-time

3b86123

Cleaned up the code a bit

886a45b

Added mesh support, cleaned up the code a bit

a1a0799

Cleaned up the code, removed hard-coded values

e412bf4

Cleaned up the code some more

e19c626

Added sliding window feature and icon for connection

835a17f

Fixed bug with real time logging window

0bf0525

removed hardcoded value for fixed plot window

872b364

Moved intialization values outside of the conneciton loop

36c9f3b

Fixed blocking when connection closed, changed the YARP port name

031c401

Added label to rt connection option in GUI

de5a54a

Merge branch 'main' into YARP-port-client

be3d77f

Removed Trailing Whitespace

be1a667

Removed whitespace

82eb5e5

Removed Whitespace

83dbebc

Fixed issues with merge

b117936

Fixed freeze when connection stops

228e84f

Initial test complete of receiving RT data from Vector Collection Server

4cd3a85

Got joint data streaming over the vector collection network

6d13f85

xela-95 added 7 commits September 10, 2025 17:27

Update RobotViewerMainWindow

3867f3d

- use raw string for regex to not incur in escaping errors - add type annotations for providers - update use of meshcat_provider.model_path

Refactor env_list to include new gazebo env variable and use raw st…

ada3b82

…ring for regex

Fix selection logic in RobotViewerMainWindow

99614ef

Enhance real-time signal handling and robot state buffering

cc10065

Add override method to retrieve latest data from path in RealtimeSign…

dc79e96

…alProvider

Add error message for missing model in MeshcatProvider

8cd3edf

Update docstrings in realtime_signal_provider

0948672

xela-95 marked this pull request as ready for review September 12, 2025 14:36

xela-95 requested a review from GiulioRomualdi as a code owner September 12, 2025 14:36

Giulero assigned xela-95 Sep 12, 2025

GiulioRomualdi reviewed Sep 16, 2025

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GiulioRomualdi requested changes Sep 16, 2025

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xela-95 added 3 commits September 16, 2025 11:30

Remove rt_selector.xml

ec70ce6

Restore files in ui/autogenerated to main version

7c4f927

Merge branch 'main' into rtCapabilitiesP1Visualizer

c11c1a5

xela-95 requested a review from GiulioRomualdi September 16, 2025 10:04

xela-95 changed the title ~~Rt capabilities p1 visualizer~~ Add real-time capability to visualizer (part 1) Sep 17, 2025

GiulioRomualdi reviewed Sep 18, 2025

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robot_log_visualizer/signal_provider/realtime_signal_provider.py Outdated Show resolved Hide resolved

GiulioRomualdi reviewed Sep 18, 2025

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robot_log_visualizer/signal_provider/signal_provider.py Outdated Show resolved Hide resolved

GiulioRomualdi reviewed Sep 18, 2025

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GiulioRomualdi added 2 commits September 18, 2025 10:07

Update robot_log_visualizer/signal_provider/signal_provider.py

fe843d1

Update robot_log_visualizer/signal_provider/realtime_signal_provider.py

30f1921

GiulioRomualdi merged commit 0224f7c into ami-iit:main Sep 18, 2025
3 checks passed

xela-95 deleted the rtCapabilitiesP1Visualizer branch September 18, 2025 08:14

xela-95 mentioned this pull request Oct 3, 2025

Handle new exogenous signals after the logger started in real-time mode ami-iit/bipedal-locomotion-framework#1007

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Key updates:

Notes

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