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Commit af000825 authored by Mirko Wächter's avatar Mirko Wächter
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working version of statechart viewer in statechart editor

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with 302 additions and 71 deletions
source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.cpp
+ 28
− 10
View file @ af000825
......@@ -134,7 +134,7 @@ namespace armarx
void StatechartEditorController::onConnectComponent()
{
QTimer::singleShot(0, this, SLOT(initWidget()));
stateWatcher = ManagedIceObject::create<StateWatcher>();
stateWatcher = new StateWatcher();
getArmarXManager()->addObject(stateWatcher, "StateWatcher" + IceUtil::generateUUID(), false);
}
......@@ -450,6 +450,7 @@ namespace armarx
executedOpenedGroup = node->getGroup();
editor->getUI()->toolButtonRunState->setIcon(QIcon(":/icons/images/delete.ico"));
editor->getUI()->toolButtonRunState->setToolTip("Stop the Statechart Group");
editor->getUI()->toolButtonWatchStateExecution->setEnabled(false);
editor->getUI()->labelExecutionState->setVisible(true);
alreadyWatchingState = false;
executionStatusTask->start();
......@@ -476,10 +477,24 @@ namespace armarx
}
editor->getUI()->toolButtonRunState->setToolTip("Start the Statechart Group");
editor->getUI()->toolButtonRunState->setIcon(QIcon(":/icons/images/run.svg"));
editor->getUI()->toolButtonWatchStateExecution->setEnabled(true);
if (view)
{
view->getStateInstance()->getStateClass()->clearActiveSubstates();
view->getScene()->clearActiveSubstates();
}
std::function<void(StateItem* state)> unsubscriptionLamba;
unsubscriptionLamba = [&](StateItem * state)
{
stateWatcher->unsubscribeState(state);
for (auto stateInstance : state->getSubstateItems())
{
if (stateInstance)
{
unsubscriptionLamba(stateInstance);
}
}
};
unsubscriptionLamba(view->getScene()->getTopLevelStateItem());
}
}
......@@ -543,7 +558,7 @@ namespace armarx
if (!changeToWaiting)
{
labelText = "Statechart group is running";
if (!alreadyWatchingState)
if (editor->getUI()->toolButtonWatchStateExecution->isChecked() && !alreadyWatchingState)
{
watchState(objName);
}
......@@ -562,6 +577,8 @@ namespace armarx
if (view)
{
std::string globalStateName = "TopLevel->" + view->getStateInstance()->getStateClass()->getStateName().toStdString();
QMap<QString, StateInstanceData> instanceData = view->getScene()->getStateInstanceData();
auto toplevelPathString = view->getScene()->getTopLevelStateItem()->getFullStatePath();
auto asyncResult = statechartHandler->begin_getStatechartInstanceByGlobalIdStr(globalStateName);
while (!asyncResult->isCompleted())
{
......@@ -579,22 +596,23 @@ namespace armarx
}
else
{
ARMARX_INFO << "subscribing;";
std::function<void(StateIceBasePtr iceState, statechartmodel::StatePtr state)> subscriptionLamba;
subscriptionLamba = [&](StateIceBasePtr iceState, statechartmodel::StatePtr state)
std::function<void(StateIceBasePtr iceState, StateItem* state)> subscriptionLamba;
subscriptionLamba = [&](StateIceBasePtr iceState, StateItem * state)
{
stateWatcher->subscribeToState(iceState, state);
size_t i = 0;
for (statechartmodel::StateInstancePtr stateInstance : state->getSubstates())
for (auto stateInstance : state->getSubstateItems())
{
if (stateInstance->getStateClass() && iceState->subStateList.size() > i)
if (stateInstance->getStateInstance()->getStateClass() && iceState->subStateList.size() > i)
{
subscriptionLamba(iceState->subStateList.at(i), stateInstance->getStateClass());
subscriptionLamba(iceState->subStateList.at(i), stateInstance);
}
i++;
}
};
subscriptionLamba(stateptr, view->getStateInstance()->getStateClass());
subscriptionLamba(stateptr, view->getScene()->getTopLevelStateItem());
alreadyWatchingState = true;
}
......
source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.ui
+ 60
− 42
View file @ af000825
......@@ -248,20 +248,45 @@
<property name="bottomMargin">
<number>0</number>
</property>
<item row="0" column="1">
<widget class="QRadioButton" name="radioRun">
<item row="0" column="6">
<widget class="QLabel" name="labelExecutionState">
<property name="text">
<string>run()</string>
<string/>
</property>
</widget>
</item>
<item row="3" column="0" colspan="8">
<widget class="QTextEdit" name="textEditCppCode">
<property name="enabled">
<bool>true</bool>
<item row="0" column="5">
<widget class="QToolButton" name="toolButtonRunState">
<property name="toolTip">
<string>Start/Stop currently opened state</string>
</property>
<property name="readOnly">
<bool>true</bool>
<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="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>
......@@ -279,6 +304,16 @@
</property>
</widget>
</item>
<item row="3" column="0" colspan="10">
<widget class="QTextEdit" name="textEditCppCode">
<property name="enabled">
<bool>true</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QRadioButton" name="radioOnEnter">
<property name="text">
......@@ -286,7 +321,7 @@
</property>
</widget>
</item>
<item row="0" column="7">
<item row="0" column="9">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -299,45 +334,27 @@
</property>
</spacer>
</item>
<item row="0" column="5">
<widget class="QToolButton" name="toolButtonRunState">
<property name="toolTip">
<string>Start/Stop currently opened state</string>
</property>
<item row="0" column="1">
<widget class="QRadioButton" name="radioRun">
<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>
<string>run()</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QToolButton" name="btnOpenCppCode">
<property name="toolTip">
<string>Open Statechart code in text editor</string>
</property>
<item row="0" column="7">
<widget class="QToolButton" name="toolButtonWatchStateExecution">
<property name="text">
<string>Open C++ Code</string>
<string/>
</property>
<property name="icon">
<iconset resource="../resources/StatechartEditor.qrc">
<normaloff>:/icons/cpp.svg</normaloff>:/icons/cpp.svg</iconset>
<iconset resource="../../../libraries/ArmarXGuiBase/armarxicons.qrc">
<normaloff>:/icons/binoculars.svg</normaloff>:/icons/binoculars.svg</iconset>
</property>
</widget>
</item>
<item row="0" column="6">
<widget class="QLabel" name="labelExecutionState">
<property name="text">
<string/>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
......@@ -355,7 +372,7 @@
<x>0</x>
<y>0</y>
<width>1338</width>
<height>27</height>
<height>28</height>
</rect>
</property>
</widget>
......@@ -585,6 +602,7 @@
<resources>
<include location="../../../libraries/ArmarXGuiBase/armarxicons.qrc"/>
<include location="../../../libraries/qtpropertybrowser/src/qtpropertybrowser.qrc"/>
<include location="../../../libraries/qtpropertybrowser/src/qtpropertybrowser.qrc"/>
<include location="../resources/StatechartEditor.qrc"/>
</resources>
<connections>
......
source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateScene.cpp
+ 57
− 1
View file @ af000825
......@@ -70,8 +70,64 @@ namespace armarx
img.save(path);
}
const QMap<QString, StateInstanceData>& StateScene::getStateInstanceData() const
void StateScene::clearActiveSubstates()
{
std::function<void(StateItem*)> clearRecursive;
clearRecursive = [&](StateItem * item)
{
if (!item)
{
return;
}
for (auto substateItem : item->getSubstateItems())
{
clearRecursive(substateItem);
}
item->clearActiveSubstate();
};
if (topLevelStateItem)
{
clearRecursive(topLevelStateItem);
}
}
QMap<QString, StateInstanceData> StateScene::getStateInstanceData() const
{
QMap<QString, StateInstanceData> stateInstanceData;
std::function<QMap<QString, StateInstanceData>(StateItem*)> getChildren;
getChildren = [&](StateItem * stateItem)
{
QMap<QString, StateInstanceData> stateInstanceData;
for (StateItem* substateItem : stateItem->getSubstateItems())
{
auto fullpath = substateItem->getFullStatePath();
StateInstanceData data;
data.active = substateItem->isActive();
data.fullStatePath = fullpath;
data.stateInstance = substateItem->getStateInstance();
stateInstanceData[fullpath] = data;
auto map = getChildren(substateItem);
for (auto& key : map.keys())
{
stateInstanceData[key] = map[key];
}
}
return stateInstanceData;
};
if (topLevelStateItem)
{
stateInstanceData = getChildren(topLevelStateItem);
auto fullpath = topLevelStateItem->getFullStatePath();
StateInstanceData data;
data.active = topLevelStateItem->isActive();
data.fullStatePath = fullpath;
data.stateInstance = topLevelStateItem->getStateInstance();
stateInstanceData[fullpath] = data;
}
return stateInstanceData;
}
......
source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateScene.h
+ 2
− 2
View file @ af000825
......@@ -63,7 +63,7 @@ namespace armarx
const QMap<QString, StateInstanceData>& getStateInstanceData() const;
QMap<QString, StateInstanceData> getStateInstanceData() const;
signals:
void stateContextMenuRequested(statechartmodel::StateInstancePtr state, QPoint mouseScreenPos, QPointF mouseItemPos);
......@@ -71,10 +71,10 @@ namespace armarx
public slots:
void setToplevelState(statechartmodel::StatePtr toplevelStateInstance);
void saveSceneToSVG(QString path = "/tmp/statechart.png", int width = 6000);
void clearActiveSubstates();
private:
statechartmodel::StateInstancePtr toplevelStateInstance;
StateItem* topLevelStateItem;
QMap<QString, StateInstanceData> stateInstanceData;
// QMap<QString, StateItem*> subStates;
// QList<QGraphicsLineItem*> transitions;
......
source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp
+ 77
− 6
View file @ af000825
......@@ -22,7 +22,7 @@
* GNU General Public License
*/
#include "StateWatcher.h"
#include "view/TransitionItem.h"
#include <ArmarXCore/observers/condition/Term.h>
#include <iterator>
......@@ -73,7 +73,7 @@ namespace armarx
void StateWatcher::subscriptionFunction()
{
std::vector<std::pair<StateIceBasePtr, statechartmodel::StatePtr> > tempList;
SubscriptionMap tempList;
{
ScopedLock lock(mapMutex);
tempList.swap(subscriptionQueue);
......@@ -82,12 +82,17 @@ namespace armarx
for (auto& elem : tempList)
{
StateIceBasePtr iceState = elem.first;
statechartmodel::StatePtr state = elem.second;
statechartmodel::StatePtr state = elem.second.first;
StateItem* stateItem = elem.second.second;
StateListenerDataMap::iterator it;
{
ScopedLock lock(mapMutex);
it = stateMap.find(iceState->globalStateIdentifier);
if (it != stateMap.end() && it->second.states.count(state) > 0)
if (it != stateMap.end() && state && it->second.states.count(state) > 0)
{
continue;
}
if (it != stateMap.end() && stateItem && it->second.stateItems.count(stateItem) > 0)
{
continue;
}
......@@ -102,7 +107,14 @@ namespace armarx
data = it->second;
}
data.iceState = iceState;
data.states.insert(state);
if (state)
{
data.states.insert(state);
}
if (stateItem)
{
data.stateItems.insert(stateItem);
}
ScopedLock lock(mapMutex);
stateMap[iceState->globalStateIdentifier] = data;
......@@ -129,8 +141,42 @@ namespace armarx
ARMARX_WARNING << "State NULL: " << iceState->globalStateIdentifier;
return false;
}
StateItem* item = nullptr;
subscriptionQueue.push_back(std::make_pair(iceState, std::make_pair(state, item)));
return true;
}
bool StateWatcher::unsubscribeState(StateItem* state)
{
ScopedLock lock(mapMutex);
for (auto& pair : stateMap)
{
for (auto item : pair.second.stateItems)
{
if (item == state)
{
pair.second.stateItems.erase(state);
return true;
}
}
}
return false;
}
subscriptionQueue.push_back(std::make_pair(iceState, state));
bool StateWatcher::subscribeToState(StateIceBasePtr iceState, StateItem* state)
{
ScopedLock lock(mapMutex);
if (!iceState)
{
ARMARX_WARNING << "Ice State NULL";
return false;
}
if (!state)
{
ARMARX_WARNING << "State NULL: " << iceState->globalStateIdentifier;
return false;
}
subscriptionQueue.push_back(std::make_pair(iceState, std::make_pair(statechartmodel::StatePtr(), state)));
return true;
}
......@@ -304,6 +350,12 @@ namespace armarx
QMetaObject::invokeMethod(state.get(), "setActiveSubstate", Q_ARG(StateInstancePtr, StateInstancePtr()));
}
}
for (auto item : data.stateItems)
{
std::string activeSubstateName = ExtractStateName(event.targetStateIdentifier);
QMetaObject::invokeMethod(item, "setActiveSubstate", Q_ARG(QString, QString::fromStdString(activeSubstateName)));
// QMetaObject::invokeMethod(item->getParentStateItem()->setActiveSubstate(QString::fromStdString(activeSubstateName));
}
}
......@@ -346,6 +398,25 @@ namespace armarx
}
}
}
for (auto item : data.stateItems)
{
QString eventName = QString::fromStdString(event.eventName);
QString sourceStateName = QString::fromStdString(ExtractStateName(event.sourceStateIdentifier));
QString destinationStateName = QString::fromStdString(ExtractStateName(event.targetStateIdentifier));
if (item && !eventName.isEmpty() && !destinationStateName.isEmpty())
{
for (auto t : item->getTransitionItems())
{
statechartmodel::StateCPtr stateclass = item->getStateInstance()->getStateClass();
if ((t->getTransition()->eventName == eventName && t->getTransition()->sourceState->getInstanceName() == sourceStateName)
|| (stateclass && t->getTransition() == stateclass->getStartTransition() && eventName == "InitialTransition"))
{
QMetaObject::invokeMethod(t, "highlightAnimation", Q_ARG(int, 10000));
// t->highlightAnimation(10000);
}
}
}
}
}
}
catch (...)
......
source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h
+ 6
− 1
View file @ af000825
......@@ -27,6 +27,7 @@
#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/interface/observers/ProfilerObserverInterface.h>
#include <ArmarXGui/gui-plugins/StatechartViewerPlugin/view/StateItem.h>
namespace armarx
{
......@@ -41,6 +42,7 @@ namespace armarx
{
StateIceBasePtr iceState;
std::set<statechartmodel::StatePtr> states;
std::set<StateItem*> stateItems;
std::map<std::string, ::armarx::StateParameterMap> parameters;
......@@ -49,7 +51,9 @@ namespace armarx
typedef std::map<std::string, StateListenerData> StateListenerDataMap;
StateWatcher();
bool subscribeToState(StateIceBasePtr iceState, StateItem* state);
bool subscribeToState(StateIceBasePtr iceState, statechartmodel::StatePtr state);
bool unsubscribeState(StateItem* state);
VariantPtr getStateParameter(statechartmodel::StatePtr state, const std::string paramMapType) const;
StateParameterMap getStateParameterMap(statechartmodel::StatePtr state, const std::string paramMapType) const;
......@@ -69,7 +73,8 @@ namespace armarx
mutable armarx::Mutex mapMutex;
ConditionHandlerInterfacePrx conditionHandler;
ProfilerObserverInterfacePrx profilerObserver;
std::vector<std::pair<StateIceBasePtr, statechartmodel::StatePtr> > subscriptionQueue;
typedef std::vector<std::pair<StateIceBasePtr, std::pair<statechartmodel::StatePtr, StateItem*>> > SubscriptionMap;
SubscriptionMap subscriptionQueue;
PeriodicTask<StateWatcher>::pointer_type subscriptionTask;
......
source/ArmarXGui/gui-plugins/StatechartViewerPlugin/view/StateItem.cpp
+ 62
− 9
View file @ af000825
......@@ -335,11 +335,11 @@ namespace armarx
{
break;
}
// ARMARX_DEBUG << "Removing transition " << transition->eventName;
// ARMARX_DEBUG << "Removing transition " << transition->eventName;
TransitionItem* t = it.value();
QObject::disconnect(t);
transitions.remove(transition);
// t->prepareGeometryChange();
// t->prepareGeometryChange();
delete t;
}
......@@ -548,8 +548,8 @@ namespace armarx
void StateItem::setRimColor()
{
if (state
&& state->isActive())
if ((state
&& state->isActive()) || active)
{
setRimPen(QPen(Qt::red, 10));
}
......@@ -583,13 +583,13 @@ namespace armarx
auto curScene = scene();
if (curScene)
{
for (auto & t : transitions)
for (auto& t : transitions)
{
// t->prepareGeometryChange();
curScene->removeItem(t);
}
}
for (auto & s : subStates)
for (auto& s : subStates)
{
s->prepareGeometryChange();
s->removeChildren();
......@@ -630,16 +630,35 @@ namespace armarx
void StateItem::setMaxShownSubstateLevel(int value)
{
maxShownSubstateLevel = value;
for (auto & substate : subStates)
for (auto& substate : subStates)
{
substate->setMaxShownSubstateLevel(value);
}
for (auto & item : childItems())
for (auto& item : childItems())
{
item->update();
}
}
void StateItem::setActiveSubstate(const QString& substateName)
{
auto substates = getSubstateItems();
for (auto substate : substates)
{
bool active = (substate->getInstanceName() == substateName);
substate->setActiveState(active);
}
}
void StateItem::clearActiveSubstate()
{
auto substates = getSubstateItems();
for (auto substate : substates)
{
substate->setActiveState(false);
}
}
QString StateItem::getFullStatePath() const
{
QString path = instanceName;
......@@ -647,11 +666,45 @@ namespace armarx
while (parent)
{
path = parent->getInstanceName() + "/" + path;
parent = qgraphicsitem_cast<StateItem*>(parentItem());
parent = qgraphicsitem_cast<StateItem*>(parent->parentItem());
}
return path;
}
StateItem* StateItem::getParentStateItem() const
{
StateItem* parent = qgraphicsitem_cast<StateItem*>(parentItem());
return parent;
}
QVector<StateItem*> StateItem::getSubstateItems() const
{
QVector<StateItem*> result;
for (QGraphicsItem* item : this->childItems())
{
StateItem* state = dynamic_cast<StateItem*>(item);
if (state)
{
result.push_back(state);
}
}
return result;
}
QVector<TransitionItem*> StateItem::getTransitionItems() const
{
QVector<TransitionItem*> result;
for (QGraphicsItem* item : this->childItems())
{
TransitionItem* transition = dynamic_cast<TransitionItem*>(item);
if (transition)
{
result.push_back(transition);
}
}
return result;
}
QString StateItem::getInstanceName() const
{
return instanceName;
......
source/ArmarXGui/gui-plugins/StatechartViewerPlugin/view/StateItem.h
+ 10
− 0
View file @ af000825
......@@ -53,7 +53,9 @@ namespace armarx
}
class StateItem;
class TransitionItem;
class StateItem :
public RoundRectItem,
public MorphingItem
......@@ -79,7 +81,13 @@ namespace armarx
bool hasDescendant(statechartmodel::StatePtr state) const;
int getMaxShownSubstateLevel() const;
void setMaxShownSubstateLevel(int value);
void clearActiveSubstate();
StateItem* getParentStateItem() const;
QString getFullStatePath() const;
QVector<StateItem*> getSubstateItems() const;
QVector<TransitionItem*> getTransitionItems() const;
signals:
void stateItemResized(QSizeF newSize);
void stateItemMoved(QPointF newPosition);
......@@ -98,6 +106,8 @@ namespace armarx
void adjustSize();
void setInstanceName(const QString& value);
void setActiveState(bool active);
void setActiveSubstate(const QString& substateName);
protected:
void setup(QGraphicsItem* parent);
......
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