diff --git a/data/ArmarXGui/GuiDefaultConfigs/Statecharts.armarxgui b/data/ArmarXGui/GuiDefaultConfigs/Statecharts.armarxgui
index 69de95b384e7463e6c0cb6f4d4c75c31f3d63fc4..d0c7d986d99845e8188471a9ee1edb847aef3cf5 100644
--- a/data/ArmarXGui/GuiDefaultConfigs/Statecharts.armarxgui
+++ b/data/ArmarXGui/GuiDefaultConfigs/Statecharts.armarxgui
@@ -1,7 +1,7 @@
[General]
ConfigTitle="Statechart Programming"
ConfigDescription="GUI layout for programming statecharts"
-IconPath=":statechart-editor/states.svg"
+IconPath="Statecharts.StatechartEditor.png"
MainWindowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\x18\0\0\0\x34\0\0\af\0\0\x4y\0\0\0\"\0\0\0U\0\0\a\\\0\0\x4o\0\0\0\0\0\0)
DockWidgetsState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x1\0\0\0\x1\0\0\a;\0\0\x3\xc2\xfc\x2\0\0\0\x2\xfc\0\0\0\x43\0\0\x3\xc2\0\0\0\0\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfc\0\0\0\0\0\0\x3\x32\0\0\0\0\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfc\0\0\0\x43\0\0\x2%\0\0\0\0\0\xff\xff\xff\xfa\0\0\0\0\x2\0\0\0\x2\xfb\0\0\0$\0\x44\0o\0\x63\0k\0M\0\x65\0t\0\x61\0.\0L\0o\0g\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\xfb\0\0\0(\0\x44\0o\0\x63\0k\0K\0i\0n\0\x65\0m\0\x61\0t\0i\0\x63\0U\0n\0i\0t\0G\0U\0I\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\xfb\0\0\0&\0\x44\0o\0\x63\0k\0P\0l\0\x61\0t\0\x66\0o\0r\0m\0U\0n\0i\0t\0G\0U\0I\x1\0\0\x2n\0\0\x1\x97\0\0\0\0\0\0\0\0\xfc\0\0\x3\x38\0\0\x4\x3\0\0\0\0\0\xff\xff\xff\xfa\0\0\0\0\x2\0\0\0\x2\xfb\0\0\0\x16\0\x44\0o\0\x63\0k\0R\0o\0\x62\0o\0t\0I\0K\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\xfb\0\0\0\x36\0\x44\0o\0\x63\0k\0V\0i\0s\0u\0\x61\0l\0i\0z\0\x61\0t\0i\0o\0n\0.\0\x33\0\x44\0 \0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\x43\0\0\x3[\0\0\0\0\0\0\0\0\xfc\0\0\0\x43\0\0\x3\xc2\0\0\0\x8c\x1\0\0\x1d\xfa\0\0\0\0\x2\0\0\0\x4\xfb\0\0\0(\0\x44\0o\0\x63\0k\0S\0t\0\x61\0t\0\x65\0\x63\0h\0\x61\0r\0t\0\x45\0\x64\0i\0t\0o\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\x62\0\xff\xff\xff\xfb\0\0\0(\0\x44\0o\0\x63\0k\0S\0t\0\x61\0t\0\x65\0\x63\0h\0\x61\0r\0t\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0n\0\xff\xff\xff\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0L\0o\0g\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0n\0\xff\xff\xff\xfb\0\0\0\x34\0\x44\0o\0\x63\0k\0O\0\x62\0s\0\x65\0r\0v\0\x65\0r\0s\0.\0O\0\x62\0s\0\x65\0r\0v\0\x65\0r\0V\0i\0\x65\0w\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\x62\0\xff\xff\xff\0\0\0\0\0\0\x3\xc2\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
WidgetCustomNames=LogViewer, Observers.ObserverView, StatechartEditor, StatechartViewer
diff --git a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
index a62d6d90ef1ee987b144ca6725c49818ca51b3ed..7bcb6bf27ccd8ed8cd5d6486bfe194843a0f4385 100644
--- a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
+++ b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
@@ -105,18 +105,21 @@ using namespace armarx;
ArmarXMainWindow::ArmarXMainWindow(const armarx::ManagedIceObjectRegistryInterfacePtr& registry, const std::vector<string>& packages, const QString& configToLoad) :
QMainWindow(NULL),
+ pluginCache(ArmarXManagerPtr::dynamicCast(registry)),
defaultPackageNames(packages),
mainSettings(QSettings::UserScope, ARMARX_ORGANIZATION, ARMARX_GUI_APPLICATION_NAME)
{
+ mainWidgets = QStringList() << "Meta.LogViewer" << "Statecharts.StatechartEditor" << "Meta.SystemStateMonitor" << "Meta.ScenarioManager" << "MemoryX.WorkingMemoryGui";
+
splashscreenPrefix = "v" + QString::fromStdString(Application::GetVersion()) + " - ";
QPixmap pm(QString("://icons/ArmarX-Splashscreen.png"));
splashSceen = new QSplashScreen(pm);
- splashSceen->show();
+ // splashSceen->show();
ui = new ::Ui::ArmarXMainWindow();
mutex3d.reset(new boost::recursive_mutex);
ArmarXWidgetInfoPtr viewerWidgetInfo(new ArmarXWidgetInfo(ArmarXWidgetController::createInstance<Viewer3DWidget>, Viewer3DWidget().getWidgetIcon(), QIcon()));
- availableWidgets[ARMARX_VIEWER_NAME] = viewerWidgetInfo;
+ pluginCache.cacheWidget(ARMARX_VIEWER_NAME, viewerWidgetInfo);
guiWindowBaseName = ARMARX_GUI_APPLICATION_NAME;
setWindowTitle(guiWindowBaseName);
@@ -149,7 +152,8 @@ ArmarXMainWindow::ArmarXMainWindow(const armarx::ManagedIceObjectRegistryInterfa
pluginDirs.insert(getLibraryPathFromPackage(packageName.c_str()));
}
loadPlugins(pluginDirs, false);
- instantiatePlugins();
+ pluginCache.preloadAsync(getFavoriteWidgets());
+ // instantiatePlugins();
updateRecentlyOpenedFileList();
@@ -159,13 +163,18 @@ ArmarXMainWindow::ArmarXMainWindow(const armarx::ManagedIceObjectRegistryInterfa
connectionStatusTimer->start(300);
//changeLayout(2);
QStringList recentlyFiles = mainSettings.value("RecentlyFiles").toStringList();
- splashSceen->finish(this);
+ // splashSceen->finish(this);
+
guiUseCaseSelector = new GuiUseCaseSelector(this, mainSettings.value("DoNotShowUseCaseDialog").toBool(), this);
- if (!mainSettings.value("DoNotShowUseCaseDialog").toBool() && guiUseCaseSelector->exec() == QDialog::Accepted)
+ if (!configToLoad.isEmpty())
+ {
+ loadGuiConfig(configToLoad);
+ }
+ else if (!mainSettings.value("DoNotShowUseCaseDialog").toBool() && guiUseCaseSelector->exec() == QDialog::Accepted)
{
QString path = guiUseCaseSelector->getSelectedConfigFilePath();
ARMARX_INFO << VAROUT(path);
@@ -174,10 +183,6 @@ ArmarXMainWindow::ArmarXMainWindow(const armarx::ManagedIceObjectRegistryInterfa
loadGuiConfig(path, false);
}
}
- else if (!configToLoad.isEmpty())
- {
- loadGuiConfig(configToLoad);
- }
else if (recentlyFiles.size() > 0 && mainSettings.value(CONFIG_LOAD_LAST_CONFIG).toBool())
{
//set to false in case a plugin crashes the gui
@@ -280,6 +285,14 @@ void ArmarXMainWindow::loadPlugins(const QStringList& fileNames)
guiFiles.push_back(fileName);
}
+ for (int i = 0; i < guiFiles.size(); i++)
+ {
+ QString fileName = guiFiles.at(i);
+ pluginCache.cachePlugin(fileName);
+ }
+ updateAvailableWidgetList();
+ return;
+
omp_lock_t writelock;
omp_init_lock(&writelock);
@@ -323,6 +336,42 @@ QString ArmarXMainWindow::getLibraryPathFromPackage(const QString& packageName)
return dir;
}
+QStringList ArmarXMainWindow::getFavoriteWidgets()
+{
+ auto widgetUsageHistory = mainSettings.value("WidgetUsageHistory").toList();
+ std::map<QString, int> widgetUsage;
+ for (auto & widgetName : widgetUsageHistory)
+ {
+ if (widgetUsage.count(widgetName.toString()) == 0)
+ {
+ widgetUsage[widgetName.toString()] = 1;
+ }
+ else
+ {
+ widgetUsage[widgetName.toString()] += 1;
+ }
+ }
+ std::multimap<int, QString> ranking;
+ for (auto it = widgetUsage.begin(); it != widgetUsage.end(); it++)
+ {
+ ranking.insert(std::make_pair(it->second, it->first));
+ }
+ int i = 0;
+ int favCount = mainSettings.value("FavoriteWidgetCount", 6).toInt();
+ QStringList favoriteWidgetNames;
+ mainSettings.setValue("FavoriteWidgetCount", favCount);
+ for (auto it = ranking.rbegin(); it != ranking.rend() && i < favCount ; it++)
+ {
+ auto& widgetName = it->second;
+ if (!mainWidgets.contains(widgetName))
+ {
+ favoriteWidgetNames << widgetName;
+ i++;
+ }
+ }
+ return favoriteWidgetNames;
+}
+
void ArmarXMainWindow::loadPluginsFromPackage(const QString& packageName)
{
QSet<QString> pluginDirs;
@@ -491,7 +540,7 @@ void ArmarXMainWindow::instantiatePlugin(QPluginLoader& loader)
statusBar()->showMessage(QString::fromStdString(str.str()), 10000);
splashSceen->showMessage(splashscreenPrefix + QString::fromStdString(str.str()), Qt::AlignJustify | Qt::AlignBottom);
ARMARX_INFO << str.str();
- availableWidgets.insert(newWidgets.begin(), newWidgets.end());
+ // availableWidgets.insert(newWidgets.begin(), newWidgets.end());
updateAvailableWidgetList();
ArmarXManagerPtr manager = ArmarXManagerPtr::dynamicCast(registry);
@@ -510,27 +559,27 @@ void ArmarXMainWindow::instantiatePlugin(QPluginLoader& loader)
bool ArmarXMainWindow::existsWidget(const QString& widgetName)
{
- WidgetCreatorMap::iterator it = availableWidgets.find(widgetName);
-
- return (it != availableWidgets.end());
+ auto list = pluginCache.getAvailableWidgetNames();
+ return list.contains(widgetName);
}
void ArmarXMainWindow::loadPlugin(QString filePath)
{
QFileInfo pathInfo(filePath);
QString fileName(pathInfo.fileName());
+ pluginCache.cachePlugin(filePath);
ARMARX_INFO << "Plugin Path: " << pathInfo.absoluteFilePath().toStdString() << armarx::flush;
- if (!loadedPluginFilepaths.contains(pathInfo.absoluteFilePath()))
- {
- QPluginLoader loader(filePath);
- // ARMARX_INFO << "loader created" << armarx::flush;
- instantiatePlugin(loader);
- }
- else
- {
- ARMARX_INFO << "Plugin already loaded" << armarx::flush;
- }
+ // if (!loadedPluginFilepaths.contains(pathInfo.absoluteFilePath()))
+ // {
+ // QPluginLoader loader(filePath);
+ // // ARMARX_INFO << "loader created" << armarx::flush;
+ // instantiatePlugin(loader);
+ // }
+ // else
+ // {
+ // ARMARX_INFO << "Plugin already loaded" << armarx::flush;
+ // }
}
@@ -864,9 +913,9 @@ ArmarXWidgetControllerPtr ArmarXMainWindow::createArmarXWidget(QString widgetNam
return NULL;
}
- WidgetCreatorMap::iterator it = availableWidgets.find(widgetName);
+ auto creator = pluginCache.getWidgetCreator(widgetName);
- if (it == availableWidgets.end())
+ if (!creator)
{
ArmarXWidgetController::showMessageBox("Could not find widget with Name: " + widgetName);
return NULL;
@@ -878,7 +927,7 @@ ArmarXWidgetControllerPtr ArmarXMainWindow::createArmarXWidget(QString widgetNam
widgetUsage.pop_front();
}
mainSettings.setValue("WidgetUsageHistory", widgetUsage);
- ArmarXWidgetControllerPtr w = it->second->createInstance();
+ ArmarXWidgetControllerPtr w = creator->createInstance();
w->setMainWindow(this);
w->setInstanceName(customInstanceName);
w->setTipDialog(tipDialog);
@@ -1171,26 +1220,46 @@ void ArmarXMainWindow::updateAvailableWidgetList()
ui->toolBar->clear();
- QStringList mainWidgets = QStringList() << "Meta.LogViewer" << "Statecharts.StatechartEditor" << "Meta.SystemStateMonitor" << "Meta.ScenarioManager" << "MemoryX.WorkingMemoryGui";
+
QMap<QString, QAction*> actionList;
- for (std::pair<QString, ArmarXWidgetInfoPtr> pair : availableWidgets)
+ for (std::pair<QString, ArmarXWidgetInfoPtr> pair : pluginCache.getAvailableWidgets())
{
- if (!pair.second)
- {
- continue;
- }
+
QString fullWidgetName = pair.first;
QString widgetName = pair.first;
widgetName = widgetName.remove(0, widgetName.lastIndexOf(".") + 1);
widgetNameList << pair.first;
- QIcon widgetIcon = pair.second->getIcon();
- QIcon categoryIcon = pair.second->getCategoryIcon();
+ QIcon categoryIcon;
+ if (pair.second)
+ {
+ categoryIcon = pair.second->getCategoryIcon();
+ }
+ else
+ {
+ if (QFile::exists(PluginCache::GetCategoryIconPath(pair.first)))
+ {
+ categoryIcon = QIcon(PluginCache::GetCategoryIconPath(pair.first));
+ }
+ }
auto menu = getCategoryMenu(pair.first.toStdString(), ui->menuAdd_Widget, categoryIcon);
AddArmarXWidgetAction* action = new AddArmarXWidgetAction(widgetName, menu, this);
+ QIcon widgetIcon;
+ if (pair.second)
+ {
+ widgetIcon = pair.second->getIcon();
+ }
+ else
+ {
+ if (QFile::exists(PluginCache::GetIconPath(pair.first)))
+ {
+ widgetIcon = QIcon(PluginCache::GetIconPath(pair.first));
+ }
+ }
action->setIcon(widgetIcon);
action->setIconVisibleInMenu(true);
+
action->setData(pair.first);
menu->addAction(action);
@@ -1217,44 +1286,24 @@ void ArmarXMainWindow::updateAvailableWidgetList()
ui->toolBar->addSeparator();
ui->toolBar->addWidget(searchField);
- auto widgetUsageHistory = mainSettings.value("WidgetUsageHistory").toList();
- if (widgetUsageHistory.size() > 0)
+ auto favoriteWidgetNames = getFavoriteWidgets();
+
+ if (favoriteWidgetNames.size() > 0)
{
ui->toolBar->addSeparator();
auto label = new QLabel("Favorites:");
label->setToolTip("The favorites are generated from the usage frequency over the last X widget creations.");
ui->toolBar->addWidget(label);
}
- std::map<QString, int> widgetUsage;
- for (auto & widgetName : widgetUsageHistory)
- {
- if (widgetUsage.count(widgetName.toString()) == 0)
- {
- widgetUsage[widgetName.toString()] = 1;
- }
- else
- {
- widgetUsage[widgetName.toString()] += 1;
- }
- }
- std::multimap<int, QString> ranking;
- for (auto it = widgetUsage.begin(); it != widgetUsage.end(); it++)
- {
- ranking.insert(std::make_pair(it->second, it->first));
- }
- int i = 0;
- int favCount = mainSettings.value("FavoriteWidgetCount", 6).toInt();
- mainSettings.setValue("FavoriteWidgetCount", favCount);
- for (auto it = ranking.rbegin(); it != ranking.rend() && i < favCount ; it++)
+
+
+ for (auto widgetName : favoriteWidgetNames)
{
- auto& widgetName = it->second;
- if (actionList.contains(widgetName) && !mainWidgets.contains(widgetName))
+ if (actionList.contains(widgetName))
{
- ui->toolBar->addAction(actionList[it->second]);
- i++;
+ ui->toolBar->addAction(actionList[widgetName]);
}
}
-
}
void ArmarXMainWindow::updateOpenWidgetList()
diff --git a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
index 402bd113ec96cb63fc62543fc39ebe01a041c190..dfbf71038ecce9c7b5c837c9edbfcc90eebf4980 100644
--- a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
+++ b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
@@ -25,6 +25,7 @@
#define ARMARXMAINWINDOW_H
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h>
// Qt
#include <QMainWindow>
@@ -116,6 +117,8 @@ namespace armarx
bool existsWidget(const QString& widgetName);
QString getLibraryPathFromPackage(const QString& packageName);
+ QStringList getFavoriteWidgets();
+
public slots:
void loadPluginsFromPackage(const QString& packageName);
void loadGuiConfig(QString configFilepath = "", bool showAsOpenGuiConfig = true);
@@ -183,6 +186,7 @@ namespace armarx
void instantiatePlugins();
+ PluginCache pluginCache;
QDir pluginsDir;
QStringList loadedPackages;
std::vector<QPluginLoader*> pluginsToLoad;
@@ -196,7 +200,7 @@ namespace armarx
QStringList loadedPluginFilepaths;
QList<QWidget*> widgetsList;
- WidgetCreatorMap availableWidgets;
+ // WidgetCreatorMap availableWidgets;
QMap<QString, SoNode*> viewer3DMap;
@@ -223,6 +227,7 @@ namespace armarx
QSplashScreen* splashSceen;
QString splashscreenPrefix;
GuiUseCaseSelector* guiUseCaseSelector;
+ QStringList mainWidgets;
boost::shared_ptr<boost::recursive_mutex> mutex3d;
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/UseCaseSelectorItem.cpp b/source/ArmarXGui/applications/ArmarXGui/Widgets/UseCaseSelectorItem.cpp
index c804b290ac2e266c0b39139e8f138ef95196649e..0724ec7598b603f64bb72b3b40088c93ab627fe0 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/UseCaseSelectorItem.cpp
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/UseCaseSelectorItem.cpp
@@ -25,10 +25,12 @@
#include <ArmarXGui/applications/ArmarXGui/ui_UseCaseSelectorItem.h>
#include <boost/filesystem/path.hpp>
#include <ArmarXCore/core/logging/Logging.h>
+#include <QFile>
+#include <ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h>
namespace armarx
{
- UseCaseSelectorItem::UseCaseSelectorItem(const QString& title, const QString& description, const QString& configFilePath, const QString& packageName, const QString& iconPath, QWidget* parent) :
+ UseCaseSelectorItem::UseCaseSelectorItem(const QString& title, const QString& description, const QString& configFilePath, const QString& packageName, QString iconPath, QWidget* parent) :
QWidget(parent),
ui(new Ui::UseCaseSelectorItem),
configFilePath(configFilePath)
@@ -40,16 +42,29 @@ namespace armarx
boost::filesystem::path p(configFilePath.toStdString());
p.filename().stem();
ui->filenameLabel->setText(QString(p.filename().string().c_str()) + " in " + packageName + " ");
+ QString finalPath = iconPath;
if (!iconPath.isEmpty())
{
- QPixmap pixmap(iconPath);
- if (!pixmap.isNull())
+ if (!QFile::exists(iconPath))
{
- ui->iconLabel->setPixmap(pixmap.scaled(pixmapSize, pixmapSize, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+ auto copy = iconPath;
+ finalPath = PluginCache::GetIconCachePath() + "resources/" + copy.remove(0, 1);
}
- else
+ if (!QFile::exists(finalPath))
{
- ARMARX_INFO_S << "Cannot find image: " << iconPath.toStdString();
+ finalPath = PluginCache::GetIconCachePath() + iconPath;
+ }
+ if (QFile::exists(finalPath))
+ {
+ QPixmap pixmap(finalPath);
+ if (!pixmap.isNull())
+ {
+ ui->iconLabel->setPixmap(pixmap.scaled(pixmapSize, pixmapSize, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+ }
+ else
+ {
+ ARMARX_INFO_S << "Cannot find image: " << iconPath.toStdString();
+ }
}
}
}
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/UseCaseSelectorItem.h b/source/ArmarXGui/applications/ArmarXGui/Widgets/UseCaseSelectorItem.h
index 0beea8fa16d1fa239f91dd28e6bb3b29fbc5fde5..82bd69cbbad9e71eeb9fbbfe5e471820c22673a7 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/UseCaseSelectorItem.h
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/UseCaseSelectorItem.h
@@ -39,7 +39,7 @@ namespace armarx
Q_OBJECT
public:
- explicit UseCaseSelectorItem(const QString& title, const QString& description, const QString& configFilePath, const QString& packageName, const QString& iconPath, QWidget* parent = 0);
+ explicit UseCaseSelectorItem(const QString& title, const QString& description, const QString& configFilePath, const QString& packageName, QString iconPath, QWidget* parent = 0);
~UseCaseSelectorItem();
QString getConfigFilePath() const;
bool isHighlighted() const;
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/controller/SettingsController.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/controller/SettingsController.cpp
index 1cf7c22437ff40621f64d1422b210bb005b296f3..610e6bbe2c2d6ca90304a5c706bea43d8a0ddb48 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/controller/SettingsController.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/controller/SettingsController.cpp
@@ -30,6 +30,7 @@
#include <ArmarXCore/util/ScenarioManagerCommon/parser/PidManager.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <QStringList>
+#include <QMessageBox>
#include <QList>
#include <QVariant>
#include <QSettings>
@@ -126,6 +127,18 @@ void SettingsController::showPackageAdderView()
void SettingsController::addPackage(std::string name)
{
+ for (auto package : *packages)
+ {
+ if (package->getName().compare(name) == 0)
+ {
+ QMessageBox box;
+ QString message(QString::fromStdString("Package " + name + " is already open"));
+ box.setText(message);
+ box.exec();
+ return;
+ }
+ }
+
QSettings settings("KIT", "ScenarioManager");
QStringList packages = settings.value("packages").toStringList();
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/detailedapplicationview.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/detailedapplicationview.cpp
index 9988584f8031384665d0ae61d96139e128fec219..41b4db891be660db76b2bcea20f50b2c69915123 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/detailedapplicationview.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/detailedapplicationview.cpp
@@ -522,9 +522,13 @@ void DetailedApplicationView::itemChanged(QtProperty* property, const QVariant&
else if (property->propertyName().compare("Instance Name") && properties->getProperty(property->propertyName().toStdString()).compare(value.toString().toStdString()))
{
lastAppInstance->modifyProperty(property->propertyName().toStdString(), property->valueText().toStdString());
- lastAppInstance->setDefaultPropertyEnabled(property->propertyName().toStdString(), true);
- variantManager->setAttribute(property, QLatin1String("enabled"), true);
-
+ if (value.toString().compare("<set value!>")
+ && value.toString().compare("::NOT_DEFINED::")
+ && value.toString().compare("::_NOT_SET_::"))
+ {
+ lastAppInstance->setDefaultPropertyEnabled(property->propertyName().toStdString(), true);
+ variantManager->setAttribute(property, QLatin1String("enabled"), true);
+ }
updateTimer.start(UPDATE_TIMER_INTERVAL);
}
//showApplicationInstance(lastAppInstance);
@@ -572,8 +576,8 @@ void DetailedApplicationView::itemAttributeChanged(QtProperty* property, const Q
if (definition.isRequired())
{
- properties->getProperties()->setProperty(property->propertyName().toStdString(), "");
- internalManager->setValue(property, "");
+ properties->getProperties()->setProperty(property->propertyName().toStdString(), "::_NOT_SET_::");
+ internalManager->setValue(property, "::_NOT_SET_::");
}
else
{
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/scenarioitem.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/scenarioitem.cpp
index a4204bcf8b2ddd6b9d20d44e133ff95525a2edb5..765cf926faf76873542fbe0ad54b4c0f3c54dc40 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/scenarioitem.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/scenarioitem.cpp
@@ -75,27 +75,48 @@ void ScenarioItem::update()
if (scenario.get() != nullptr)
{
m_itemData[0] = scenario->getName().c_str();
- std::string status = scenario->getStatus();
- if (status.compare("Running") == 0)
- {
- m_itemData[4] = "Running";
- }
- else if (status.compare("Stopped") == 0)
- {
- m_itemData[4] = "Stopped";
- }
- else if (status.compare("") == 0)
- {
- m_itemData[4] = "Unknown";
- }
- else
- {
- m_itemData[4] = "Mixed";
- }
+ m_itemData[4] = QString::fromStdString(scenario->getStatus());
}
else if (!packageName.empty() && applications->size() > 0)
{
m_itemData[0] = QString::fromStdString(packageName);
+
+ std::string status = "";
+ for (auto app : *applications)
+ {
+ if (status.compare("") == 0 && app->getStatus().compare("Running") == 0)
+ {
+ status = "Running";
+ }
+ else if (status.compare("") == 0 && app->getStatus().compare("Stopped") == 0)
+ {
+ status = "Stopped";
+ }
+ else if (status.compare("Running") == 0 && app->getStatus().compare("Running") == 0)
+ {
+ status = "Running";
+ }
+ else if (status.compare("Stopped") == 0 && app->getStatus().compare("Stopped") == 0)
+ {
+ status = "Stopped";
+ }
+ else if (status.compare("Running") == 0 && app->getStatus().compare("Stopped") == 0)
+ {
+ status = "Mixed";
+ break;
+ }
+ else if (status.compare("Stopped") == 0 && app->getStatus().compare("Running") == 0)
+ {
+ status = "Mixed";
+ break;
+ }
+ else
+ {
+ status = "Mixed";
+ break;
+ }
+ }
+ m_itemData[4] = QString::fromStdString(status);
}
else
{
@@ -125,7 +146,6 @@ void ScenarioItem::update()
{
m_itemData[4] = "Unknown";
}
-
}
}
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/io/XmlReader.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/io/XmlReader.cpp
index da5fc414517b1e2d44f2bf068cb48b1ccd5acac8..a7f26e8403b4ec6aa583f5932147eacc1e086bb0 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/io/XmlReader.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/io/XmlReader.cpp
@@ -20,6 +20,7 @@
* GNU General Public License
*/
+#include <ArmarXCore/core/ArmarXManager.h>
#include <ArmarXCore/observers/exceptions/user/UnknownTypeException.h>
#include <ArmarXCore/util/json/JSONObject.h>
#include "../../StatechartViewerPlugin/model/stateinstance/RegularState.h"
@@ -34,8 +35,9 @@ using namespace armarx::exceptions::local;
using namespace armarx::statechartio;
using namespace armarx::statechartmodel;
-XmlReader::XmlReader(Ice::CommunicatorPtr iceCommunicator) :
- iceCommunicator(iceCommunicator) {}
+XmlReader::XmlReader(Ice::CommunicatorPtr iceCommunicator, VariantInfoPtr info) :
+ iceCommunicator(iceCommunicator),
+ info(info) {}
void XmlReader::parseXml(const QString& xmlString)
{
@@ -200,13 +202,36 @@ armarx::statechartmodel::StateParameterMap XmlReader::readParameterList(rapidxml
if (!stateParameter->getDefaultValueJson().isEmpty())
{
- try
+ std::function<bool(std::string, std::string)> loadVar;
+ loadVar = [&](std::string curType, std::string prevType)
{
- JSONObjectPtr jsonObject = new JSONObject(iceCommunicator);
- jsonObject->fromString(stateParameter->getDefaultValueJson().toUtf8().data());
+ if (curType == prevType)
+ {
+ return false;
+ }
+ try
+ {
+
+ JSONObjectPtr jsonObject = new JSONObject(iceCommunicator);
+ jsonObject->fromString(stateParameter->getDefaultValueJson().toUtf8().data());
+
+ stateParameter->profileDefaultValues[QString::fromUtf8(StatechartProfiles::GetRootName().c_str())] =
+ {VariantContainerBasePtr::dynamicCast(jsonObject->deserializeIceObject()), stateParameter->getDefaultValueJson()};
+
+ }
+ catch (Ice::NoObjectFactoryException& e)
+ {
+ ARMARX_INFO_S << "Variant missing - trying to load variant " << e.type << " now";
+ info->loadLibraryOfVariant(e.type);
+ ArmarXManager::RegisterKnownObjectFactoriesWithIce(iceCommunicator);
+ return loadVar(e.type, curType);
+ }
+ return true;
+ };
- stateParameter->profileDefaultValues[QString::fromUtf8(StatechartProfiles::GetRootName().c_str())] =
- {VariantContainerBasePtr::dynamicCast(jsonObject->deserializeIceObject()), stateParameter->getDefaultValueJson()};
+ try
+ {
+ loadVar("", "-");
}
catch (exceptions::user::UnknownTypeException& e)
{
@@ -234,13 +259,34 @@ armarx::statechartmodel::StateParameterMap XmlReader::readParameterList(rapidxml
QString valueJson = readAttribute(defaultValueCurNode, "value", true);
VariantContainerBasePtr valueVariant;
+ std::function<bool(std::string, std::string)> loadVar;
+ loadVar = [&](std::string curType, std::string prevType)
+ {
+ if (curType == prevType)
+ {
+ return false;
+ }
+ try
+ {
+
+ JSONObjectPtr jsonObject = new JSONObject(iceCommunicator);
+ jsonObject->fromString(valueJson.toUtf8().data());
+
+ valueVariant = VariantContainerBasePtr::dynamicCast(jsonObject->deserializeIceObject());
+ }
+ catch (Ice::NoObjectFactoryException& e)
+ {
+ ARMARX_INFO_S << "Variant missing - trying to load variant " << e.type << " now";
+ info->loadLibraryOfVariant(e.type);
+ ArmarXManager::RegisterKnownObjectFactoriesWithIce(iceCommunicator);
+ return loadVar(e.type, curType);
+ }
+ return true;
+ };
try
{
- JSONObjectPtr jsonObject = new JSONObject(iceCommunicator);
- jsonObject->fromString(valueJson.toUtf8().data());
-
- valueVariant = VariantContainerBasePtr::dynamicCast(jsonObject->deserializeIceObject());
+ loadVar("", "-");
}
catch (exceptions::user::UnknownTypeException& e)
{
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/io/XmlReader.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/io/XmlReader.h
index 314f572aff8081e22579a12f78378ed8e403010d..ce38e0884e9fd2d741e7af758d675c99edc99773 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/io/XmlReader.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/io/XmlReader.h
@@ -28,6 +28,7 @@
#include <ArmarXCore/core/IceManager.h>
#include <ArmarXCore/core/exceptions/Exception.h>
#include <ArmarXCore/core/rapidxml/rapidxml.hpp>
+#include <ArmarXCore/observers/variant/VariantInfo.h>
namespace armarx
@@ -45,7 +46,7 @@ namespace armarx
* Creates a new XmlReader. The ICE communicator is required for deserialization of parameter default values from JSON.
* @param iceCommunicator Ice communicator.
*/
- XmlReader(Ice::CommunicatorPtr iceCommunicator);
+ XmlReader(Ice::CommunicatorPtr iceCommunicator, VariantInfoPtr info);
/**
* Parses the given XML document and builds a State object (that can be retrieved using getRootState()).
@@ -77,6 +78,7 @@ namespace armarx
QString readAttribute(rapidxml::xml_node<>* node, const QString& attributeName, bool required = true) const;
Ice::CommunicatorPtr iceCommunicator;
+ VariantInfoPtr info;
armarx::statechartmodel::StatePtr loadedState;
bool hasSubstateByInstanceName(const QString& name) const;
};
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.cpp
index e5c83ce3c826fee44b491887cf4f462a1527fb54..91fa0bfc62429ed69dd49126527c3cb675c90d77 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.cpp
@@ -15,9 +15,9 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
- * @package
- * @author
- * @date
+ * @package
+ * @author
+ * @date
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -123,7 +123,7 @@ void StateTreeModel::loadNode(StateTreeNodePtr node, boost::filesystem::path par
try
{
QString xml = GuiStatechartGroupXmlReader::ReadFileContents(QString::fromUtf8(nodePath.string().c_str()));
- boost::shared_ptr<XmlReader> reader(new XmlReader(iceCommunicator));
+ boost::shared_ptr<XmlReader> reader(new XmlReader(iceCommunicator, variantInfo));
reader->parseXml(xml);
statechartmodel::StatePtr state = reader->getLoadedState();
state->setEditable(node->getGroup()->getWriteAccess() == StatechartGroup::eWritable);
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/test/XmlReaderTest.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/test/XmlReaderTest.cpp
index 211796ccc10babaef584d92dc1429fd14032fdf7..8b246c6fa2c85e36e91c72bc147e46b6e736d00f 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/test/XmlReaderTest.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/test/XmlReaderTest.cpp
@@ -52,7 +52,7 @@ BOOST_AUTO_TEST_CASE(testParseXml)
QString xmlInput = armarx::RapidXmlReader::ReadFileContents("ArmarXGui/Teststate.xml").c_str();
- XmlReader xmlReader(ic);
+ XmlReader xmlReader(ic, armarx::VariantInfoPtr());
xmlReader.parseXml(xmlInput);
StatePtr state = xmlReader.getLoadedState();
@@ -234,10 +234,10 @@ BOOST_AUTO_TEST_CASE(testAddReferences)
"</Substates></State>";
QString subStateXml = "<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"RootStateName\" uuid=\"CF3662A8-9234-46BD-82C1-856344108823\" width=\"123\" height=\"456\"/>";
- XmlReader xmlReaderRootState(ic);
+ XmlReader xmlReaderRootState(ic, armarx::VariantInfoPtr());
xmlReaderRootState.parseXml(rootStateXml);
- XmlReader xmlReaderSubState(ic);
+ XmlReader xmlReaderSubState(ic, armarx::VariantInfoPtr());
xmlReaderSubState.parseXml(subStateXml);
StatePtr rootState = xmlReaderRootState.getLoadedState();
@@ -268,52 +268,52 @@ BOOST_AUTO_TEST_CASE(testInvalidXml) // Of course, we cannot test all possible
armarx::ArmarXManager::RegisterKnownObjectFactoriesWithIce(ic);
// Completely malformed
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("This is not XML!"), XmlReaderException);
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("This is not XML!"), XmlReaderException);
// Wrong version number
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"0.1\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\"/>"), XmlReaderException);
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"0.1\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\"/>"), XmlReaderException);
// Missing attribute (here: name)
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\"/>"), XmlReaderException);
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\"/>"), XmlReaderException);
// Invalid value for parameter default
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<InputParameters><Parameter name=\"ParameterName\" type=\"string\" default=\"no JSON\" optional=\"no\"/></InputParameters>"
"</State>"), XmlReaderException);
// Invalid value for optional attribute of parameter
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<InputParameters><Parameter name=\"ParameterName\" type=\"string\" optional=\"maybe\"/></InputParameters>"
"</State>"), XmlReaderException);
// Duplicate parameter name
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<InputParameters><Parameter name=\"ParameterName\" type=\"string\" optional=\"yes\"/><Parameter name=\"ParameterName\" type=\"string\" optional=\"no\"/></InputParameters>"
"</State>"), XmlReaderException);
// Invalid substate type
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<Substates><BogusState name=\"SubstateName\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/></Substates>"
"</State>"), XmlReaderException);
// Duplicate substate name
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<Substates><EndState name=\"SubstateName\" event=\"foo\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/><EndState name=\"SubstateName\" event=\"bar\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/></Substates>"
"</State>"), XmlReaderException);
// Duplicate event name
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<Events><Event name=\"EventName\"/><Event name=\"EventName\"/></Events>"
"</State>"), XmlReaderException);
// Invalid start state name
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<Substates><LocalState name=\"LocalSubstateName\" refuuid=\"CF3662A8-9234-46BD-82C1-856344108823\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/></Substates>"
"<StartState substateName=\"NotExistingSubstateName\"/>"
"</State>"), XmlReaderException);
// Invalid from state name for transition
- XmlReader xmlReaderForInvalidFromState(ic);
+ XmlReader xmlReaderForInvalidFromState(ic, armarx::VariantInfoPtr());
xmlReaderForInvalidFromState.parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<Substates><LocalState name=\"LocalSubstateName\" refuuid=\"CF3662A8-9234-46BD-82C1-856344108823\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/><RemoteState name=\"RemoteSubstateName\" refuuid=\"148C7D1D-1DB4-4A67-893F-D22D36A88823\" proxyName=\"RemoteSubstateProxyName\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/></Substates>"
"<Transitions><Transition from=\"NotExistingSubstateName\" to=\"RemoteSubstateName\" eventName=\"Transition1EventName\"/></Transitions>"
@@ -321,13 +321,13 @@ BOOST_AUTO_TEST_CASE(testInvalidXml) // Of course, we cannot test all possible
BOOST_CHECK_EQUAL(xmlReaderForInvalidFromState.getLoadedState()->getTransitions().size(), 0);
// Invalid to state name for transition
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<Substates><LocalState name=\"LocalSubstateName\" refuuid=\"CF3662A8-9234-46BD-82C1-856344108823\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/><RemoteState name=\"RemoteSubstateName\" refuuid=\"148C7D1D-1DB4-4A67-893F-D22D36A88823\" proxyName=\"RemoteSubstateProxyName\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/></Substates>"
"<Transitions><Transition from=\"LocalSubstateName\" to=\"NotExistingSubstateName\" eventName=\"Transition1EventName\"/></Transitions>"
"</State>"), XmlReaderException);
// Invalid sourceType name for parameter mapping
- BOOST_CHECK_THROW(XmlReader(ic).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
+ BOOST_CHECK_THROW(XmlReader(ic, armarx::VariantInfoPtr()).parseXml("<?xml version=\"1.0\" encoding=\"utf-8\"?><State version=\"1.0\" name=\"Name\" uuid=\"09F54A1A-3A29-4560-B20C-299069288823\" width=\"0\" height=\"0\">"
"<Substates><LocalState name=\"LocalSubstateName\" refuuid=\"CF3662A8-9234-46BD-82C1-856344108823\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/><RemoteState name=\"RemoteSubstateName\" refuuid=\"148C7D1D-1DB4-4A67-893F-D22D36A88823\" proxyName=\"RemoteSubstateProxyName\" left=\"0\" top=\"0\" boundingSquareSize=\"0\"/></Substates>"
"<Transitions><Transition from=\"LocalSubstateName\" to=\"RemoteSubstateName\" eventName=\"Transition1EventName\"><ParameterMappings><ParameterMapping sourceType=\"invalidSourceType\" from=\"Transition1ParameterMappingSourceKey\" to=\"Transition1ParameterMappingDestinationKey\"/></ParameterMappings></Transition></Transitions>"
"</State>"), XmlReaderException);
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp
index 1a6fd83e579abe105753a87527ddc3313b8ada61..2d3283bd25885d278f544aef87663ab6edd91d34 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp
@@ -289,7 +289,7 @@ namespace armarx
}
else
{
- ARMARX_WARNING << "could not find state " << activeSubstateName;
+ ARMARX_INFO << "could not find state " << activeSubstateName;
}
}
else
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/LayoutController.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/LayoutController.cpp
index 0ddf2faeb1adbefaf87514a75284928686744ed3..15f882c28621a67ce411d498b4fb05e2ad10d957 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/LayoutController.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/LayoutController.cpp
@@ -15,9 +15,9 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
- * @package
- * @author
- * @date
+ * @package
+ * @author
+ * @date
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -36,6 +36,7 @@ armarx::LayoutController::LayoutController(armarx::statechartmodel::StatePtr top
idCounter(0),
layoutingDisabled(!startEnabled)
{
+ qRegisterMetaType<size_t>("size_t");
timer.setInterval(100);
connect(&timer, SIGNAL(timeout()), this, SLOT(startNextLayouting()), Qt::QueuedConnection);
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/CMakeLists.txt b/source/ArmarXGui/libraries/ArmarXGuiBase/CMakeLists.txt
index 7ee147a75de93c98bf9d5b050770e7a3e2cdae32..15bd2d4dad22736c3a8157e26a50bf015f343d6e 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/CMakeLists.txt
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/CMakeLists.txt
@@ -26,6 +26,7 @@ set(LIBS ArmarXCoreJsonObject
set(LIB_FILES ArmarXWidgetController.cpp
ArmarXComponentWidgetController.cpp
+ PluginCache.cpp
widgets/CoinViewer.cpp
widgets/editorfileopener.cpp
widgets/IceProxyFinder.cpp
@@ -43,6 +44,7 @@ set(LIB_FILES ArmarXWidgetController.cpp
set(LIB_HEADERS ArmarXGuiInterface.h
ArmarXGuiPlugin.h
ArmarXWidgetController.h
+ PluginCache.h
widgets/CoinViewer.h
ArmarXComponentWidgetController.h
widgets/editorfileopener.h
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.cpp b/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..57f673dc5680ea14392374da3f10da6f94e132f5
--- /dev/null
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.cpp
@@ -0,0 +1,351 @@
+#include "PluginCache.h"
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiInterface.h>
+
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/ArmarXManager.h>
+
+#include <QDateTime>
+#include <QDirIterator>
+#include <QFile>
+#include <QResource>
+#include <QCryptographicHash>
+
+namespace armarx
+{
+
+ PluginCache::PluginCache(ArmarXManagerPtr manager) :
+ cachePath(GetIconCachePath()),
+ manager(manager)
+ {
+ QDir dir(cachePath);
+ if (!dir.exists())
+ {
+ dir.mkpath(".");
+ }
+
+ QSettings s(settingsOrganization, settingsApplicationName);
+ auto map = s.value("widgets").toMap();
+ for (QString key : map.keys())
+ {
+ QStringList w = map[key].toString().split(":");
+ QStringList keyparts = key.split(":");
+ if (w.size() == 3)
+ {
+ pluginData[key].pluginPath = keyparts[0];
+ pluginData[key].lastModified = QDateTime::fromMSecsSinceEpoch(w[0].toLongLong());
+ pluginData[key].hash = w[1].toAscii();
+ ARMARX_INFO_S << "Widget: " << w[2];
+ pluginData[key].widgets[w[2]] = ArmarXWidgetInfoPtr();
+ }
+ }
+ }
+
+ PluginCache::~PluginCache()
+ {
+ shutdown = true;
+ if (preloadFuture.valid())
+ {
+ preloadFuture.wait();
+ }
+ }
+
+ bool PluginCache::cachePlugin(const QString& pluginPath)
+ {
+ if (pluginPath.isEmpty())
+ {
+ return false;
+ }
+ bool found = false;
+ QFileInfo info(pluginPath) ;
+ ScopedRecursiveLock lock(cacheMutex);
+ for (auto & elem : pluginData)
+ {
+ // ARMARX_INFO_S << info.lastModified().toString() << elem.pluginPath;
+ if (elem.pluginPath == pluginPath)
+ {
+ if (info.lastModified() == elem.lastModified)
+ {
+ ARMARX_DEBUG_S << "Same timestamp";
+ found = true;
+ }
+ else if (getHash(pluginPath) == elem.hash)
+ {
+ ARMARX_DEBUG_S << "Same hash";
+ found = true;
+ }
+ else
+ {
+ ARMARX_VERBOSE_S << "Plugin filestamp is different - loading plugin again.";
+ }
+ break;
+ }
+ }
+ if (!found)
+ {
+ writeToCache(pluginPath);
+ return false;
+ }
+ ARMARX_INFO_S << "Found plugin " << pluginPath << " in cache";
+ return true;
+ }
+
+ bool PluginCache::cacheWidget(QString widgetName, ArmarXWidgetInfoPtr widgetCreator)
+ {
+ ScopedRecursiveLock lock(cacheMutex);
+ pluginData[""].widgets[widgetName] = widgetCreator;
+ return true;
+ }
+
+ ArmarXWidgetInfoPtr PluginCache::getWidgetCreator(const QString& widgetName)
+ {
+ ScopedRecursiveLock lock(cacheMutex);
+ for (const PluginData & data : pluginData)
+ {
+ WidgetCreatorMap::const_iterator it = data.widgets.find(widgetName);
+ if (it != data.widgets.end())
+ {
+ if (it->second)
+ {
+ return it->second;
+ }
+ }
+ }
+ PluginData data = loadFromCache(widgetName);
+ pluginData[data.pluginPath] = data;
+ WidgetCreatorMap::const_iterator it = data.widgets.find(widgetName);
+ if (it != data.widgets.end())
+ {
+ return it->second;
+ }
+ return ArmarXWidgetInfoPtr();
+ }
+
+ QStringList PluginCache::getAvailableWidgetNames() const
+ {
+ ScopedRecursiveLock lock(cacheMutex);
+ QStringList result;
+ for (const PluginData & data : pluginData)
+ {
+ for (const auto & elem : data.widgets)
+ {
+ result << elem.first;
+ }
+ }
+ return result;
+
+ }
+
+ WidgetCreatorMap PluginCache::getAvailableWidgets() const
+ {
+ ScopedRecursiveLock lock(cacheMutex);
+ WidgetCreatorMap result;
+ for (const PluginData & data : pluginData)
+ {
+ result.insert(data.widgets.begin(), data.widgets.end());
+ }
+ return result;
+ }
+
+ void PluginCache::copyResourcesToCache()
+ {
+ QDirIterator it(":", QDirIterator::Subdirectories);
+ while (it.hasNext())
+ {
+ QString path = it.next().remove(0, 1);
+ auto newPath = cachePath + "/resources/" + path;
+ QDir dir(newPath);
+ if (!dir.exists())
+ {
+ dir.mkpath(".");
+ }
+ if (!path.isEmpty() && !QFile::exists(newPath))
+ {
+ QFile::copy(it.next(), newPath);
+ }
+ }
+ }
+
+ QString PluginCache::GetIconCachePath()
+ {
+ return QString(armarx::ArmarXDataPath::GetCachePath().c_str()) + "/icons/";
+ }
+
+ QString PluginCache::GetIconPath(const QString& widgetName)
+ {
+ return GetIconCachePath() + widgetName + ".png";
+ }
+
+ QString PluginCache::GetCategoryIconPath(const QString& widgetName)
+ {
+ return GetIconCachePath() + widgetName + "-category.png";
+ }
+
+ void PluginCache::preloadAsync(QStringList widgetNames, int delayMS)
+ {
+ widgetNames.removeDuplicates();
+ auto preload = [this](QStringList widgetNames, int delayMS)
+ {
+ usleep(delayMS * 1000);
+ for (QString widgetName : widgetNames)
+ {
+ {
+ ScopedRecursiveLock lock(cacheMutex);
+ QString pluginPath;
+ for (PluginData & data : pluginData)
+ {
+ for (auto & elem : data.widgets)
+ {
+ if (shutdown)
+ {
+ return;
+ }
+ if (widgetName == elem.first)
+ {
+ pluginPath = data.pluginPath;
+ if (!data.pluginLoader && !pluginPath.isEmpty())
+ {
+ auto pluginLoader = QSharedPointer<QPluginLoader>(new QPluginLoader(pluginPath));
+ ARMARX_INFO_S << "Loading plugin " << pluginPath;
+ pluginLoader->load();
+ // data.pluginLoader->load();
+ break;
+ }
+ }
+ }
+ }
+ }
+ usleep(1000); // give others chance to get mutex
+ }
+ };
+ preloadFuture = std::async(std::launch::async, preload, widgetNames, delayMS);
+ }
+
+ void PluginCache::clearCacheFile()
+ {
+ QSettings s(settingsOrganization, settingsApplicationName);
+ s.clear();
+ }
+
+ QByteArray PluginCache::getHash(const QString& pluginPath)
+ {
+ QFile file(pluginPath);
+ QByteArray hashData;
+ if (file.open(QIODevice::ReadOnly))
+ {
+ QByteArray fileData = file.readAll();
+ hashData = QCryptographicHash::hash(fileData, QCryptographicHash::Md5);
+ }
+ return hashData.toHex();
+ }
+
+ void PluginCache::writeToCache(const QString& pluginPath)
+ {
+ auto start = IceUtil::Time::now();
+ QByteArray hashData = getHash(pluginPath);
+ ARMARX_DEBUG_S << "Hashing took " << (IceUtil::Time::now() - start).toMicroSecondsDouble();
+ QSharedPointer<QPluginLoader> loader(new QPluginLoader(pluginPath));
+ auto widgets = loadPlugin(loader);
+ QSettings s(settingsOrganization, settingsApplicationName);
+ ARMARX_INFO_S << "Writing plugin " << pluginPath << " to cache";
+ QMap<QString, QVariant> widgetMap = s.value("widgets").toMap();
+ QDateTime time = QFileInfo(pluginPath).lastModified();
+ for (auto & elem : widgets)
+ {
+ ARMARX_INFO_S << pluginPath << ": " << (QString::number(time.toMSecsSinceEpoch()) + ":" + hashData + ":" + elem.first);
+ widgetMap[pluginPath + ":" + elem.first] = QString::number(time.toMSecsSinceEpoch()) + ":" + hashData + ":" + elem.first;
+ }
+
+ s.setValue("widgets", widgetMap);
+
+ copyResourcesToCache();
+ ScopedRecursiveLock lock(cacheMutex);
+ pluginData[pluginPath] = {loader, pluginPath, hashData, time, widgets};
+
+ }
+
+ PluginData PluginCache::loadFromCache(const QString& widgetName)
+ {
+ ARMARX_INFO_S << "Loading widget " << widgetName << " from cache ";
+ QSettings s(settingsOrganization, settingsApplicationName);
+ QString pluginPath;
+ QSharedPointer<QPluginLoader> loader;
+ WidgetCreatorMap widgets;
+ QDateTime time;
+ QByteArray hash;
+ auto map = s.value("widgets").toMap();
+ for (auto key : map.keys())
+ {
+ QStringList w = map[key].toString().split(":");
+ QStringList keyparts = key.split(":");
+ if (w.size() == 3)
+ {
+ if (w[2] == widgetName)
+ {
+ pluginPath = keyparts[0];
+ if (QFile::exists(pluginPath))
+ {
+ hash = w[1].toAscii();
+ loader = QSharedPointer<QPluginLoader>(new QPluginLoader(pluginPath));
+ widgets = loadPlugin(loader);
+ time = QDateTime::fromMSecsSinceEpoch(w[0].toLongLong());
+ break;
+ }
+ else
+ {
+ ARMARX_INFO_S << pluginPath << " does not exist";
+ }
+
+ }
+ }
+
+ }
+ if (!loader)
+ {
+ ARMARX_WARNING_S << "Could not find " << widgetName << " in cache";
+ }
+ if (manager)
+ {
+ manager->registerKnownObjectFactoriesWithIce();
+ }
+ return PluginData {loader, pluginPath, hash, time, widgets};
+ }
+
+ WidgetCreatorMap PluginCache::loadPlugin(QSharedPointer<QPluginLoader> loader)
+ {
+ WidgetCreatorMap result;
+ ARMARX_INFO_S << "Loading plugin " << loader->fileName();
+ loader->load();
+ QObject* plugin = loader->instance();
+ if (plugin)
+ {
+ ArmarXGuiInterface* newPlugin = qobject_cast<ArmarXGuiInterface*>(plugin);
+ if (newPlugin)
+ {
+ //ARMARX_INFO << "cast successful" << armarx::flush;
+ WidgetCreatorMap newWidgets = newPlugin->getProvidedWidgets();
+ for (auto elem : newWidgets)
+ {
+ ArmarXWidgetInfoPtr info = elem.second;
+ QIcon icon = info->getIcon();
+ if (!icon.isNull())
+ {
+ icon.pixmap(64).save(GetIconPath(elem.first));
+ }
+ icon = info->getCategoryIcon();
+ if (!icon.isNull())
+ {
+ icon.pixmap(64).save(GetCategoryIconPath(elem.first));
+ }
+ }
+ result.insert(newWidgets.begin(), newWidgets.end());
+ }
+ }
+ else
+ {
+ ARMARX_WARNING_S << "Instantiating plugin failed: " << loader->fileName();
+ }
+ return result;
+ }
+
+} // namespace armarx
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h b/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h
new file mode 100644
index 0000000000000000000000000000000000000000..864ee7b0faa311b956d3408f3b5d5387ab5aedc8
--- /dev/null
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h
@@ -0,0 +1,68 @@
+#ifndef _ARMARX_PLUGINCACHE_H
+#define _ARMARX_PLUGINCACHE_H
+
+#include <boost/shared_ptr.hpp>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.h>
+#include <QDateTime>
+#include <QPluginLoader>
+#include <QSet>
+#include <future>
+
+
+class QProgressDialog;
+
+class ArmarXWidgetInfo;
+typedef boost::shared_ptr<ArmarXWidgetInfo> ArmarXWidgetInfoPtr;
+
+typedef armarx::ArmarXWidgetControllerPtr(*WidgetCreatorFunction)();
+typedef std::map<QString, ArmarXWidgetInfoPtr > WidgetCreatorMap;
+
+namespace armarx
+{
+
+ struct PluginData
+ {
+ QSharedPointer<QPluginLoader> pluginLoader;
+ QString pluginPath;
+ QByteArray hash;
+ QDateTime lastModified;
+ WidgetCreatorMap widgets;
+ };
+
+ class PluginCache
+ {
+ public:
+ PluginCache(ArmarXManagerPtr manager);
+ ~PluginCache();
+ bool cachePlugin(const QString& pluginPath);
+ bool cacheWidget(QString widgetName, ArmarXWidgetInfoPtr widgetCreator);
+ ArmarXWidgetInfoPtr getWidgetCreator(const QString& widgetName);
+ QStringList getAvailableWidgetNames() const;
+ WidgetCreatorMap getAvailableWidgets() const;
+ const QString settingsOrganization = "KIT";
+ const QString settingsApplicationName = "PluginCache";
+ void copyResourcesToCache();
+ static QString GetIconCachePath();
+ static QString GetIconPath(const QString& widgetName);
+ static QString GetCategoryIconPath(const QString& widgetName);
+ void preloadAsync(QStringList widgetNames, int delayMS = 1000);
+ void clearCacheFile();
+ QByteArray getHash(const QString& pluginPath);
+
+ protected:
+ void writeToCache(const QString& pluginPath);
+ PluginData loadFromCache(const QString& pluginPath);
+ WidgetCreatorMap loadPlugin(QSharedPointer<QPluginLoader> loader);
+ const QString cachePath;
+ QMap<QString, PluginData> pluginData;
+ ArmarXManagerPtr manager;
+ mutable RecursiveMutex cacheMutex;
+ std::future<void> preloadFuture;
+ bool shutdown = false;
+
+ };
+ typedef boost::shared_ptr<PluginCache> PluginCachePtr;
+
+} // namespace armarx
+
+#endif // ARMARX_PLUGINCACHE_H