diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.cpp
index b8c2237b61294daefd0d73df112be629ba877c67..1b2987142535772f604d2c6d70470e9c585bc856 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.cpp
@@ -1081,27 +1081,31 @@ void StateTreeController::onOpenGroup(QString groupFile)
loadAndAddGroup(groupFile);
}
-void StateTreeController::executeGroup(StatechartGroupPtr group, QString startState)
+
+
+void StateTreeController::stopGroupExecution(StatechartGroupPtr group)
{
- if (processes.find(group->getGroupPath()) == processes.end())
- {
- processes[group->getGroupPath()] = new QProcess(this);
- }
- else
+ if (processes.find(group->getGroupPath()) != processes.end())
{
processes[group->getGroupPath()]->kill();
processes[group->getGroupPath()]->waitForFinished(500);
}
+}
+void StateTreeController::executeGroup(StatechartGroupPtr group, QString startState)
+{
+ stopGroupExecution(group);
+
+ if (processes.find(group->getGroupPath()) == processes.end())
+ {
+ processes[group->getGroupPath()] = new QProcess(this);
+ }
QProcess* p = processes[group->getGroupPath()];
connect(p, SIGNAL(finished(int)), this, SLOT(onStatechartFinished(int)));
CMakePackageFinder core("ArmarXCore");
QStringList args;
- // args << QString::fromStdString(core.getBinaryDir()) + "/XMLRemoteStateOffererRun";
- // args << "--Ice.Default.Locator=\\\"IceGrid/Locator:tcp -p 4061 -h localhost\\\"" << "--Ice.ThreadPool.Client.SizeMax=20";
- // args << "--Ice.ThreadPool.Server.SizeMax=20" << "--Ice.PrintStackTraces=1";
if (!startState.isEmpty())
{
args << "--ArmarX.XMLStateComponent.StatesToEnter=" + startState;
@@ -1131,6 +1135,26 @@ void StateTreeController::executeGroup(StatechartGroupPtr group, QString startSt
connect(p, SIGNAL(readyReadStandardError()), this, SLOT(processErrorsReady()));
}
+void StateTreeController::executeGroupWithDependencies(StatechartGroupPtr group, QString startState)
+{
+ auto deps = GroupCloner(stateTreeModel, packageTool).getGroupDependencies(group, false);
+ executeGroup(group, startState);
+ for (StatechartGroupPtr dep : deps)
+ {
+ executeGroup(dep);
+ }
+}
+
+void StateTreeController::stopGroupExecutionWithDependencies(StatechartGroupPtr group)
+{
+ auto deps = GroupCloner(stateTreeModel, packageTool).getGroupDependencies(group, false);
+ stopGroupExecution(group);
+ for (StatechartGroupPtr dep : deps)
+ {
+ stopGroupExecution(dep);
+ }
+}
+
void StateTreeController::onExecuteGroup()
{
StateTreeNodePtr node = getSelectedNode();
@@ -1151,7 +1175,7 @@ void StateTreeController::onExecuteGroup()
}
}
bool ok;
- auto startState = QInputDialog::getItem(0, "State", "Select the state to start or none", states, 0, false, &ok);
+ QString startState = QInputDialog::getItem(0, "State", "Select the state to start or none", states, 0, false, &ok);
if (!ok)
{
return;
@@ -1160,13 +1184,8 @@ void StateTreeController::onExecuteGroup()
{
startState = "";
}
-
- auto deps = GroupCloner(stateTreeModel, packageTool).getGroupDependencies(node->getGroup(), false);
- executeGroup(node->getGroup(), startState);
- for (StatechartGroupPtr dep : deps)
- {
- executeGroup(dep);
- }
+ StatechartGroupPtr group = node->getGroup();
+ executeGroupWithDependencies(group, startState);
// p->start(QString::fromStdString(core.getBinaryDir()) + "/startApplication.sh", args);
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.h
index a202249d3e04f2af13b1dcd8755f351bb5096c4a..800e689d1618fe29087903ef605fc1b571fb108e 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.h
@@ -138,6 +138,11 @@ namespace armarx
void executeGroup(StatechartGroupPtr group, QString startState = "");
+ void stopGroupExecution(StatechartGroupPtr group);
+
+ void executeGroupWithDependencies(StatechartGroupPtr group, QString startState);
+
+ void stopGroupExecutionWithDependencies(StatechartGroupPtr group);
public:
void openStateCPP(StateTreeNodePtr node);
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.cpp
index 65d2fe70be1b5c74545eb8cf0cf297a1399a4c48..26609d90905f34d4f049f089e40ea6c8450564a6 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.cpp
@@ -404,6 +404,45 @@ namespace armarx
editor->getStateTabWidget()->clear();
}
+ void StatechartEditorController::executeOpenedState(bool)
+ {
+ StatechartView* view = editor->getUI()->stateTabWidget->currentStateview();
+ if (!executedOpenedGroup)
+ {
+ if (view)
+ {
+ auto node = treeController->getNodeByState(view->getStateInstance()->getStateClass());
+ if (node)
+ {
+ if (node->isPublic())
+ {
+ treeController->executeGroupWithDependencies(node->getGroup(), view->getStateInstance()->getStateClass()->getStateName());
+ executedOpenedGroup = node->getGroup();
+ editor->getUI()->toolButtonRunState->setIcon(QIcon(":/icons/images/delete.ico"));
+ }
+ else
+ {
+ QMessageBox::warning(editor, "Execution not possible", "You can only execute public state. Right-click on the state in the tree view on the left and select 'Public State'.");
+ }
+ }
+ }
+ else
+ {
+ QMessageBox::warning(editor, "Execution not possible", "You need to open a state before executing it with this button.");
+ }
+ }
+ else
+ {
+ if (executedOpenedGroup)
+ {
+ treeController->stopGroupExecutionWithDependencies(executedOpenedGroup);
+ executedOpenedGroup.reset();
+ }
+ editor->getUI()->toolButtonRunState->setIcon(QIcon(":/icons/images/run.svg"));
+ }
+
+ }
+
QPointer<QWidget> StatechartEditorController::getWidget()
{
if (!editor)
@@ -463,6 +502,8 @@ namespace armarx
connect(editor->getUI()->actionNew_Statechart_Group, SIGNAL(triggered()), this, SLOT(showNewStatechartGroupDialog()));
connect(editor->getUI()->actionOpenStatechartGroup, SIGNAL(triggered()), treeController.get(), SLOT(onOpenGroup()));
connect(editor->getUI()->actionSettings, SIGNAL(triggered()), this, SLOT(showStatechartEditorSettingsDialog()));
+ connect(editor->getUI()->toolButtonRunState, SIGNAL(clicked(bool)), this, SLOT(executeOpenedState(bool)));
+
connect(treeController.get(), SIGNAL(closeAllTabsRequested()), this, SLOT(closeAllTabs()));
// setup plugin specific shortcuts
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.h
index d7015a758541f018b1b0e5279750e76d7ff038b4..428aa3816ecbe3e8fa25fbfaf841fa2415296f7e 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.h
@@ -156,6 +156,7 @@ namespace armarx
void showOnExitFunction();
void openSelectedState();
void closeAllTabs();
+ void executeOpenedState(bool);
public:
// inherited from Component
void onInitComponent();
@@ -194,7 +195,7 @@ namespace armarx
VariantInfoPtr variantInfo;
StatechartProfilesPtr profiles;
QPointer<StatechartEditorConfigDialog> dialog;
-
+ StatechartGroupPtr executedOpenedGroup;
// ArmarXWidgetController interface
public:
QPointer<QDialog> getConfigDialog(QWidget* parent);
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.ui b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.ui
index 4b68e8c0b4ed1ab639a725da73648ace273d2770..2db4e45b6d6648c2912729fe477c3a1b40718e26 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.ui
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.ui
@@ -252,7 +252,7 @@
</property>
</widget>
</item>
- <item row="3" column="0" colspan="6">
+ <item row="3" column="0" colspan="7">
<widget class="QTextEdit" name="textEditCppCode">
<property name="enabled">
<bool>true</bool>
@@ -283,7 +283,7 @@
</property>
</widget>
</item>
- <item row="0" column="5">
+ <item row="0" column="6">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -296,11 +296,39 @@
</property>
</spacer>
</item>
+ <item row="0" column="5">
+ <widget class="QToolButton" name="toolButtonRunState">
+ <property name="toolTip">
+ <string>Start/Stop currently opened state</string>
+ </property>
+ <property name="text">
+ <string>Run State</string>
+ </property>
+ <property name="icon">
+ <iconset resource="../resources/StatechartEditor.qrc">
+ <normaloff>:/icons/images/run.svg</normaloff>
+ <normalon>:/icons/images/run.svg</normalon>:/icons/images/run.svg</iconset>
+ </property>
+ <property name="checkable">
+ <bool>false</bool>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
<item row="0" column="4">
- <widget class="QPushButton" name="btnOpenCppCode">
+ <widget class="QToolButton" name="btnOpenCppCode">
+ <property name="toolTip">
+ <string>Open Statechart code in text editor</string>
+ </property>
<property name="text">
<string>Open C++ Code</string>
</property>
+ <property name="icon">
+ <iconset resource="../resources/StatechartEditor.qrc">
+ <normaloff>:/icons/cpp.svg</normaloff>:/icons/cpp.svg</iconset>
+ </property>
</widget>
</item>
</layout>
@@ -317,7 +345,7 @@
<x>0</x>
<y>0</y>
<width>1338</width>
- <height>33</height>
+ <height>25</height>
</rect>
</property>
</widget>
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.cpp
index f0e2e49d2dd43ff5fc93e410606592af22b4d241..993aa9cb8e65813a3a6c1243ad7b5bce3bd9cffb 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.cpp
@@ -41,8 +41,12 @@
#include <ArmarXCore/core/ArmarXManager.h>
#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXGui/gui-plugins/StatechartViewerPlugin/model/stateinstance/DynamicRemoteState.h>
+#include <ArmarXGui/gui-plugins/StatechartViewerPlugin/model/stateinstance/RemoteState.h>
#include <IceUtil/UUID.h>
+#include <queue>
+#include <QMenu>
#include <QToolBar>
namespace armarx
@@ -51,6 +55,8 @@ namespace armarx
StatechartViewerController::StatechartViewerController() :
updateTimer(new QTimer)
{
+ setlocale(LC_ALL, "C");
+
ui = new Ui::StatechartViewer();
connect(this, SIGNAL(componentConnected()), this, SLOT(connectToIce()));
connect(this, SIGNAL(remoteProxyChanged()), this, SLOT(updateStatechart()));
@@ -283,6 +289,8 @@ namespace armarx
view->getLayoutController().enableLayouting();
updateStatechart();
+ connectToStateTab(ui->tabWidget->currentIndex());
+
}
void StatechartViewerController::addNewStateView()
@@ -341,10 +349,6 @@ namespace armarx
}
}
-
-
-
-
QPointer<QWidget> StatechartViewerController::getCustomTitlebarWidget(QWidget* parent)
{
if (customToolbar)
@@ -370,4 +374,90 @@ namespace armarx
return qobject_cast<QToolBar*>(customToolbar);
}
+ void StatechartViewerController::connectToStateTab(int index)
+ {
+ ARMARX_INFO << "Trying to connect to " << index;
+ if (index != -1 && ui->tabWidget->currentStateview() && ui->tabWidget->currentStateview()->getScene())
+ {
+ connect(ui->tabWidget->currentStateview()->getScene(), SIGNAL(transitionContextMenuRequested(statechartmodel::TransitionCPtr, statechartmodel::StatePtr, QPoint, QPointF)),
+ this, SLOT(showTransitionContextMenu(statechartmodel::TransitionCPtr, statechartmodel::StatePtr, QPoint, QPointF)), Qt::UniqueConnection);
+ }
+ }
+
+ void StatechartViewerController::showTransitionContextMenu(statechartmodel::TransitionCPtr transition, statechartmodel::StatePtr state, QPoint mouseScreenPos, QPointF mouseItemPos)
+ {
+ ARMARX_DEBUG_S << "pos: " << mouseItemPos;
+ QMenu menu;
+ QAction* triggerTransition = menu.addAction("Trigger Transition " + transition->eventName);
+ if (transition->sourceState != state->getActiveSubstate())
+ {
+ triggerTransition->setEnabled(false);
+ }
+
+
+ QAction* result = menu.exec(mouseScreenPos);
+
+
+
+
+ if (result == triggerTransition)
+ {
+ ScopedRecursiveLock lock(mutex);
+
+ for (RemoteStateData & data : converters)
+ {
+ std::set<std::string> proxyNames;
+ std::string globalId;
+ auto states = data.converter->getCompleteStateMap();
+ for (auto & statepair : states)
+ {
+ proxyNames.insert(data.proxyName.toStdString());
+ if (state == statepair.second.first->getStateClass())
+ {
+ globalId = statepair.first;
+ ARMARX_INFO << "Found state " << statepair.first;
+
+
+ }
+ StateIceBasePtr iceState = statepair.second.second;
+ RemoteStateIceBasePtr remoteState = RemoteStateIceBasePtr::dynamicCast(iceState);
+ if (remoteState)
+ {
+ proxyNames.insert(remoteState->proxyName);
+ }
+ }
+ if (!globalId.empty())
+ {
+ ARMARX_IMPORTANT << VAROUT(Ice::StringSeq(proxyNames.begin(), proxyNames.end()));
+ for (auto proxyName : proxyNames)
+ {
+ RemoteStateOffererInterfacePrx proxy = getProxy<RemoteStateOffererInterfacePrx>(proxyName, false, "", false);
+ try
+ {
+ if (proxy)
+ {
+ if (proxy->isHostOfStateByGlobalIdStr(globalId))
+ {
+ ARMARX_INFO << proxyName << " is the one";
+ proxy->begin_issueEventWithGlobalIdStr(globalId, new Event(transition->sourceState->getInstanceName().toStdString(), transition->eventName.toStdString()));
+ ARMARX_INFO << "Sending event " << transition->eventName << " to " << transition->sourceState->getInstanceName();
+
+ }
+ }
+ else
+ {
+ ARMARX_INFO << proxyName << " is NULL";
+ }
+ }
+ catch (...)
+ {
+ getArmarXManager()->getIceManager()->removeProxyFromCache(proxy);
+ }
+ }
+ }
+ }
+ }
+
+ }
+
}
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.h b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.h
index 9be64366e2f0c538251c23f2f78bb1b19ac7b657..4fe72d032906667ee4ea68c43a96fd0b67aa31b1 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.h
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.h
@@ -84,6 +84,8 @@ namespace armarx
void updateStatechart();
public slots:
+ void connectToStateTab(int index);
+ void showTransitionContextMenu(statechartmodel::TransitionCPtr transition, statechartmodel::StatePtr state, QPoint mouseScreenPos, QPointF mouseItemPos);
signals:
void componentConnected();
void remoteProxyChanged();