style: refactor codes

common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp

@@ -19,13 +19,12 @@
 #include <ctime>
 #include <filesystem>
 #include <iostream>
-#include <string>
 
-void setFormatDate(QLineEdit * line, double time)
+void setFormatDate(QLabel * line, double time)
 {
   char buffer[128];
   time_t seconds = static_cast<time_t>(time);
-  strftime(buffer, sizeof(buffer), "%Y-%m-%d-%H", localtime(&seconds));
+  strftime(buffer, sizeof(buffer), "%Y-%m-%d-%H-%m-%S", localtime(&seconds));
   line->setText(QString(buffer));
 }
 
@@ -37,13 +36,12 @@ AutowareScreenCapturePanel::AutowareScreenCapturePanel(QWidget * parent)
   // screen capture
   auto * cap_layout = new QHBoxLayout;
   {
-    ros_time_label_ = new QLineEdit;
-    ros_time_label_->setReadOnly(true);
+    ros_time_label_ = new QLabel;
     screen_capture_button_ptr_ = new QPushButton("Capture Screen Shot");
     connect(screen_capture_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickScreenCapture()));
     cap_layout->addWidget(screen_capture_button_ptr_);
-    cap_layout->addWidget(new QLabel("ROS Time:"));
     cap_layout->addWidget(ros_time_label_);
+    cap_layout->addWidget(new QLabel(" [Key] "));
   }
 
   // video capture
@@ -55,7 +53,7 @@ AutowareScreenCapturePanel::AutowareScreenCapturePanel(QWidget * parent)
     capture_hz_->setRange(1, 2);
     capture_hz_->setValue(1);
     capture_hz_->setSingleStep(1);
-    connect(capture_hz_, SIGNAL(valueChanged(int)), this, SLOT(onRateChanged()));
+    connect(capture_hz_, SIGNAL(valueChanged(int)), this, SLOT(onRateChanged(int)));
     // video cap layout
     video_cap_layout->addWidget(capture_to_mp4_button_ptr_);
     video_cap_layout->addWidget(capture_hz_);
@@ -70,7 +68,7 @@ AutowareScreenCapturePanel::AutowareScreenCapturePanel(QWidget * parent)
   }
   QTimer * timer = new QTimer(this);
   connect(timer, &QTimer::timeout, this, &AutowareScreenCapturePanel::update);
-  timer->start(30);
+  timer->start(1000);
   capture_timer_ = new QTimer(this);
   connect(capture_timer_, &QTimer::timeout, this, &AutowareScreenCapturePanel::onTimer);
   state_ = State::WAITING_FOR_CAPTURE;
@@ -81,15 +79,8 @@ void AutowareScreenCapturePanel::onInitialize()
   rviz_ros_node_ = getDisplayContext()->getRosNodeAbstraction();
 }
 
-void AutowareScreenCapturePanel::onRateChanged()
-{
-  // convert rate from Hz to milliseconds
-  const auto period = std::chrono::milliseconds(static_cast<int64_t>(1e3 / capture_hz_->value()));
-}
-
 void AutowareScreenCapturePanel::onClickScreenCapture()
 {
-  if (skip_capture_) return;
   const std::string time_text = ros_time_label_->text().toStdString();
   getDisplayContext()->getViewManager()->getRenderPanel()->getRenderWindow()->captureScreenShot(
     time_text + ".png");
@@ -103,38 +94,39 @@ void AutowareScreenCapturePanel::onClickVideoCapture()
   const int clock = static_cast<int>(1e3 / capture_hz_->value());
   switch (state_) {
     case State::WAITING_FOR_CAPTURE:
-      skip_capture_ = false;
-      counter_ = 0;
-      std::filesystem::create_directory(ros_time_label_->text().toStdString());
+      // initialize setting
+      {
+        counter_ = 0;
+        root_folder_ = ros_time_label_->text().toStdString();
+        std::filesystem::create_directory(root_folder_);
+      }
       capture_to_mp4_button_ptr_->setText("capturing rviz screen");
       capture_to_mp4_button_ptr_->setStyleSheet("background-color: #FF0000;");
       capture_timer_->start(clock);
       state_ = State::CAPTURING;
       break;
-    case State::CAPTURING:
-      skip_capture_ = true;
-      state_ = State::WRITING;
+    case State::CAPTURING: {
       capture_timer_->stop();
+    }
       capture_to_mp4_button_ptr_->setText("writing to video");
       capture_to_mp4_button_ptr_->setStyleSheet("background-color: #FFFF00;");
       convertToVideo();
+      state_ = State::FINALIZED;
       break;
-    case State::WRITING:
-      skip_capture_ = true;
+    case State::FINALIZED:
       capture_to_mp4_button_ptr_->setText("waiting for capture");
       capture_to_mp4_button_ptr_->setStyleSheet("background-color: #00FF00;");
+      state_ = State::WAITING_FOR_CAPTURE;
       break;
   }
   return;
 }
 
 void AutowareScreenCapturePanel::onTimer()
 {
-  if (skip_capture_) return;
-  const std::string time_text = ros_time_label_->text().toStdString();
   std::stringstream count_text;
-  count_text << std::setw(4) << std::setfill('0') << counter_;
-  const std::string file = time_text + "/" + count_text.str() + ".png";
+  count_text << std::setw(6) << std::setfill('0') << counter_;
+  const std::string file = root_folder_ + "/" + count_text.str() + ".png";
   std::cerr << "file" << file << std::endl;
   getDisplayContext()->getViewManager()->getRenderPanel()->getRenderWindow()->captureScreenShot(
     file);

common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp

@@ -32,6 +32,7 @@
 #include <rviz_rendering/render_window.hpp>
 
 #include <memory>
+#include <string>
 
 class QLineEdit;
 
@@ -50,17 +51,16 @@ public Q_SLOTS:
   void onClickScreenCapture();
   void onClickCaptureToVideo();
   void onClickVideoCapture();
-  void onRateChanged();
+  // void onRateChanged(){};
 
 private:
-  QLineEdit * ros_time_label_;
+  QLabel * ros_time_label_;
   QPushButton * screen_capture_button_ptr_;
   QPushButton * capture_to_mp4_button_ptr_;
   QSpinBox * capture_hz_;
   QTimer * capture_timer_;
-  enum class State { WAITING_FOR_CAPTURE, CAPTURING, WRITING };
+  enum class State { WAITING_FOR_CAPTURE, CAPTURING, FINALIZED };
   State state_;
-  bool skip_capture_ = {true};
   std::string root_folder_;
   size_t counter_;