diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui
index 83f77d3ae4886eaced3509fa4c1af1c62a21d80f..de8496435fea6ea6fb7dca4bce1833fffa0ee632 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>400</width>
- <height>300</height>
+ <width>522</width>
+ <height>378</height>
</rect>
</property>
<property name="windowTitle">
@@ -15,46 +15,120 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
- <widget class="QGroupBox" name="objectsGroupBox">
- <property name="title">
- <string>Objects</string>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QPushButton" name="updateButton">
+ <property name="text">
+ <string>Update</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="autoUpdateCheckBox">
+ <property name="text">
+ <string>Auto Update</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QTabWidget" name="tabWidget">
+ <property name="currentIndex">
+ <number>1</number>
</property>
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QPushButton" name="updateObjectsButton">
- <property name="text">
- <string>Update</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="autoUpdateCheckBox">
- <property name="text">
- <string>Auto Update</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QTableWidget" name="objectsTable"/>
- </item>
- </layout>
+ <widget class="QWidget" name="tabObjects">
+ <attribute name="title">
+ <string>Objects</string>
+ </attribute>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QTableWidget" name="objectsTable"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tabRequest">
+ <attribute name="title">
+ <string>Request</string>
+ </attribute>
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QTableWidget" name="requestTable"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_4">
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Timeout:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="requestTimeoutSpinBox">
+ <property name="suffix">
+ <string> s</string>
+ </property>
+ <property name="maximum">
+ <double>999.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.250000000000000</double>
+ </property>
+ <property name="value">
+ <double>5.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="requestInfiniteCheckBox">
+ <property name="text">
+ <string>Infinite</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="requestButton">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Request
+Selected
+Objects</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
</layout>
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
index 9c97a261eec0c4aadb303ac8e2f61607202bbf75..e4373f379e851fbf053fa798be629db19510ec9a 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
@@ -41,9 +41,19 @@ namespace armarx
widget.objectsTable->setColumnCount(header.size());
widget.objectsTable->setHorizontalHeaderLabels(header);
+
+ header = QStringList{"Dataset", "ClassName", "Type", "Provider", "Request"};
+ widget.requestTable->setColumnCount(header.size());
+ widget.requestTable->setHorizontalHeaderLabels(header);
+
+
using This = ObjectPoseGuiWidgetController;
- connect(widget.updateObjectsButton, &QPushButton::clicked, this, &This::updateObjects);
+ connect(widget.updateButton, &QPushButton::pressed, this, &This::updateTab);
+ connect(widget.tabWidget, &QTabWidget::currentChanged, this, &This::updateTab);
+
+ connect(widget.requestButton, &QPushButton::pressed, this, &This::requestSelectedObjects);
+
// QTimer* timer = new QTimer(this,);
}
@@ -66,7 +76,7 @@ namespace armarx
QString ObjectPoseGuiWidgetController::GetWidgetName()
{
- return "ObjectPoseGui";
+ return "VisionX.ObjectPoseGui";
}
static const std::string CONFIG_KEY_OBJECT_POSE_OBSERVER = "ObjectPoseObserver";
@@ -105,19 +115,40 @@ namespace armarx
}
}
- void ObjectPoseGuiWidgetController::updateObjects()
+ void ObjectPoseGuiWidgetController::onDisconnectComponent()
+ {
+ objectPoseObserver = nullptr;
+ }
+
+ void ObjectPoseGuiWidgetController::updateTab()
+ {
+ if (widget.tabWidget->currentWidget() == widget.tabObjects)
+ {
+ updateObjectsTab();
+ }
+ else if (widget.tabWidget->currentWidget() == widget.tabRequest)
+ {
+ updateRequestTab();
+ }
+ }
+
+ void ObjectPoseGuiWidgetController::updateObjectsTab()
{
if (!objectPoseObserver)
{
+ ARMARX_WARNING << "No object pose observer.";
return;
}
- ARMARX_INFO << "Get object poses...";
+ IceUtil::Time start = IceUtil::Time::now();
+ ARMARX_INFO << "Getting object poses...";
// const objpose::ObjectPoseSeq objectPoses = objpose::fromIce(objectPoseObserver->getObjectPoses());
const objpose::data::ObjectPoseSeq objectPoses = objectPoseObserver->getObjectPoses();
- ARMARX_INFO << "Got " << objectPoses.size() << " object poses.";
+ ARMARX_INFO << "Got " << objectPoses.size() << " object poses. "
+ << "(Took " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms.)";
+ start = IceUtil::Time::now();
widget.objectsTable->setRowCount(int(objectPoses.size()));
for (int i = 0; i < int(objectPoses.size()); ++i)
@@ -135,7 +166,80 @@ namespace armarx
i, col++, new QTableWidgetItem(pose.providerName.c_str()));
widget.objectsTable->setItem(
i, col++, new QTableWidgetItem(objpose::ObjectTypeEnumNames.to_name(pose.objectType).c_str()));
+ }
+ ARMARX_INFO << "Gui update took " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms.";
+ }
+
+ void ObjectPoseGuiWidgetController::updateRequestTab()
+ {
+ if (!objectPoseObserver)
+ {
+ ARMARX_WARNING << "No object pose observer.";
+ return;
+ }
+
+ IceUtil::Time start = IceUtil::Time::now();
+ objpose::ProviderInfoMap availableProvidersInfo = objectPoseObserver->getAvailableProvidersInfo();
+ ARMARX_INFO << "Got infos of " << availableProvidersInfo.size() << " object poses. "
+ << "(Took " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms.)";
+
+ start = IceUtil::Time::now();
+ int row = 0;
+ for (const auto& [providerName, info] : availableProvidersInfo)
+ {
+ for (const auto& id : info.supportedObjects)
+ {
+ int col = 0;
+
+ // header = QStringList{"Dataset", "ClassName", "Type", "Provider", "Request"};
+ /*
+ if (row < widget.requestTable->rowCount())
+ {
+ widget.requestTable->item(row, col++)->setText(id.dataset.c_str());
+ widget.requestTable->item(row, col++)->setText(id.className.c_str());
+ widget.requestTable->item(row, col++)->setText(objpose::ObjectTypeEnumNames.to_name(info.objectType).c_str());
+ widget.requestTable->item(row, col++)->setText(providerName.c_str());
+ widget.requestTable->item(row, col++)->setText(id.dataset.c_str());
+ QCheckBox* requestCheckBox = new QCheckBox();
+ widget.requestTable->setCellWidget(row, col++, requestCheckBox);
+ }
+ else
+ */
+ widget.requestTable->setItem(
+ row, col++, new QTableWidgetItem(id.dataset.c_str()));
+ widget.requestTable->setItem(
+ row, col++, new QTableWidgetItem(id.className.c_str()));
+ widget.requestTable->setItem(
+ row, col++, new QTableWidgetItem(objpose::ObjectTypeEnumNames.to_name(info.objectType).c_str()));
+ widget.requestTable->setItem(
+ row, col++, new QTableWidgetItem(providerName.c_str()));
+ QCheckBox* requestCheckBox = new QCheckBox();
+ widget.requestTable->setCellWidget(row, col++, requestCheckBox);
+
+ ++row;
+ }
+ }
+
+ ARMARX_INFO << "Gui update took " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms.";
+ }
+
+ void ObjectPoseGuiWidgetController::requestSelectedObjects()
+ {
+ objpose::RequestObjectsInput requests;
+
+ QTableWidget* table = widget.requestTable;
+ for (int row = 0; row < table->rowCount(); ++row)
+ {
+ QCheckBox* selected = dynamic_cast<QCheckBox*>(table->cellWidget(row, table->columnCount() - 1));
+ ARMARX_CHECK_NOT_NULL(selected);
+ if (selected->isChecked())
+ {
+ objpose::ObjectID id;
+ id.dataset = table->item(row, 0)->text().toStdString();
+ id.className = table->item(row, 1)->text().toStdString();
+ requests.objectIDs.emplace_back(id);
+ }
}
}
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.h b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.h
index d9b716d7cc4186cbbff58858aaf25088726fa283..26767131953cdd7f756951fdf011597d7716426b 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.h
@@ -53,7 +53,7 @@ namespace armarx
* Detailed description
*/
class ARMARXCOMPONENT_IMPORT_EXPORT
- ObjectPoseGuiWidgetController:
+ ObjectPoseGuiWidgetController :
public armarx::ArmarXComponentWidgetControllerTemplate < ObjectPoseGuiWidgetController >
{
Q_OBJECT
@@ -85,11 +85,19 @@ namespace armarx
/// @see armarx::Component::onConnectComponent()
void onConnectComponent() override;
+ /// @see armarx::Component::onConnectComponent()
+ void onDisconnectComponent() override;
+
public slots:
/* QT slot declarations */
- void updateObjects();
+ /// Update the currently opened tab.
+ void updateTab();
+ void updateObjectsTab();
+ void updateRequestTab();
+
+ void requestSelectedObjects();
signals:
@@ -102,7 +110,6 @@ namespace armarx
QPointer<SimpleConfigDialog> configDialog;
-
std::string objectPoseObserverName;
armarx::objpose::ObjectPoseObserverInterfacePrx objectPoseObserver;