From 0c52ffca4eeff40f985b84a774a88b6e33ea562f Mon Sep 17 00:00:00 2001
From: Peter Albrecht <usnlf@student.kit.edu>
Date: Fri, 14 Feb 2025 14:58:37 +0100
Subject: [PATCH] fix: execution parameters not loading
---
.../skill_details/SkillDetailsGroupBox.cpp | 4 ++
.../skill_details/SkillDetailsTreeWidget.cpp | 44 +++++++++++++++++++
.../skill_details/SkillDetailsTreeWidget.h | 1 +
3 files changed, 49 insertions(+)
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
index 7120093d5..b77ac6bd7 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
@@ -170,6 +170,10 @@ namespace armarx::skills::gui
&SkillDetailsTreeWidget::updated,
profileMenuWidget,
&ProfileMenuWidget::updateChangesSelector);
+ connect(profileMenuWidget->historySelector,
+ &QPushButton::pressed,
+ skillDetailsTreeWidget,
+ &SkillDetailsTreeWidget::reloadLastExecutionParameters);
}
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
index 988a70e30..96434f8ea 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
@@ -15,6 +15,7 @@
#include <ArmarXCore/core/logging/Logging.h>
+#include "RobotAPI/libraries/skills/core/SkillExecutionID.h"
#include "RobotAPI/libraries/skills/core/SkillID.h"
#include "RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.h"
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
@@ -230,6 +231,49 @@ namespace armarx::skills::gui
ARMARX_INFO << "Reloaded parameters from the last execution";
aronTreeWidgetController->setFromAron(params.value());
}
+
+ void SkillDetailsTreeWidget::reloadLastExecutionParameters()
+ {
+ auto executions = memory->getExecutions();
+ if (executions.empty() || not shownSkill.has_value())
+ {
+ return;
+ }
+
+
+ // find the most recent execution with a matching skill id
+
+ std::optional<armarx::skills::SkillStatusUpdate> found = std::nullopt;
+ for (auto& execution : executions)
+ {
+ if (execution.first.skillId == shownSkill->skillId)
+ {
+ if (not found.has_value())
+ {
+ found = execution.second;
+ }
+ else
+ {
+ if (found->executionId.executionStartedTime < execution.first.executionStartedTime)
+ {
+ // in this case, we found a more recent execution.
+ found = execution.second;
+ }
+ }
+ }
+ }
+
+ if (not found.has_value())
+ {
+ // we didn't find an entry for the execution id
+ ARMARX_INFO<< "No execution for the skill " << shownSkill->skillId.toString() << " has been found in the memory. The parametrization cannot be reloaded.";
+ return;
+ }
+ auto params = found->parameters;
+
+ ARMARX_INFO << "Reloading parameters of skill " << found->executionId.skillId;
+ this->aronTreeWidgetController->setFromAron(params);
+ }
aron::data::DictPtr
SkillDetailsTreeWidget::getConfigAsAron()
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h
index 92308c098..819a61663 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h
@@ -38,6 +38,7 @@ namespace armarx::skills::gui
void updateGui(SkillManagerWrapper::Snapshot update);
void resizeContents();
void reloadLastParameters();
+ void reloadLastExecutionParameters();
private:
struct ShownSkill
--
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