diff --git a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
index b92bcbfbce86f7bc65bee7a9f186c73d14d0c9b5..92d6c7efdd3afbe72cc54f2bbbb529431ce76653 100644
--- a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
@@ -54,6 +54,9 @@ set(SOURCES
query_widgets/SnapshotForm.cpp
query_widgets/SnapshotSelectorWidget.cpp
+ prediction_widget/PredictionWidget.cpp
+ prediction_widget/TimestampInput.cpp
+
commit_widget/CommitWidget.cpp
)
set(HEADERS
@@ -98,6 +101,9 @@ set(HEADERS
query_widgets/SnapshotForm.h
query_widgets/SnapshotSelectorWidget.h
+ prediction_widget/PredictionWidget.h
+ prediction_widget/TimestampInput.h
+
commit_widget/CommitWidget.h
)
diff --git a/source/RobotAPI/libraries/armem_gui/gui_utils.cpp b/source/RobotAPI/libraries/armem_gui/gui_utils.cpp
index 29be82baa3cd7501350353fb7b567e2fac456d35..337ebc87d7506f9b4688e3ae3eabed5f4c63d389 100644
--- a/source/RobotAPI/libraries/armem_gui/gui_utils.cpp
+++ b/source/RobotAPI/libraries/armem_gui/gui_utils.cpp
@@ -86,3 +86,14 @@ QSplitter* armarx::gui::useSplitter(QLayout* layout)
return splitter;
}
+
+armarx::gui::LeadingZeroSpinBox::LeadingZeroSpinBox(int numDigits, int base) :
+ numDigits(numDigits), base(base)
+{
+}
+
+QString
+armarx::gui::LeadingZeroSpinBox::textFromValue(int value) const
+{
+ return QString("%1").arg(value, numDigits, base, QChar('0'));
+}
diff --git a/source/RobotAPI/libraries/armem_gui/gui_utils.h b/source/RobotAPI/libraries/armem_gui/gui_utils.h
index 7979a2f2e8af127023c6c9dee3da719b23546310..1b7b810ad31455a5a1957dce3fb0a56eba21bfe5 100644
--- a/source/RobotAPI/libraries/armem_gui/gui_utils.h
+++ b/source/RobotAPI/libraries/armem_gui/gui_utils.h
@@ -2,6 +2,7 @@
#include <QLayout>
#include <QLayoutItem>
+#include <QSpinBox>
#include <QWidget>
class QLayout;
@@ -56,4 +57,18 @@ namespace armarx::gui
*/
QSplitter* useSplitter(QLayout* layout);
+ // Source: https://stackoverflow.com/a/26538572
+ class LeadingZeroSpinBox : public QSpinBox
+ {
+ using QSpinBox::QSpinBox;
+
+ public:
+ LeadingZeroSpinBox(int numDigits, int base);
+
+ QString textFromValue(int value) const override;
+
+ private:
+ int numDigits;
+ int base;
+ };
}
diff --git a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
index 8796557cdcfa2d8f337166cb6181bab6f92111c5..416a988e9848ee8c09a4715050510834f9c099aa 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
@@ -47,6 +47,12 @@ namespace armarx::armem::gui::memory
_memoryTabWidget->addTab(_snapshotSelectorWidget, QString("Snapshot Selection"));
}
+ {
+ _predictionWidget = new armem::gui::PredictionWidget();
+ _predictionWidget->setSizePolicy(QSizePolicy::Policy::Expanding, QSizePolicy::Policy::Maximum);
+
+ _memoryTabWidget->addTab(_predictionWidget, QString("Prediction"));
+ }
{
_commitWidget = new armem::gui::CommitWidget();
_commitWidget->setSizePolicy(QSizePolicy::Policy::Expanding, QSizePolicy::Policy::Maximum);
diff --git a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
index 10cf3d5972cc607cfb89fb9b2b0e1962027c9a75..f5233af9c4e2c92c7bcf4bdb45e0496c1bafb4a4 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
+++ b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
@@ -4,6 +4,7 @@
#include <RobotAPI/libraries/armem_gui/memory/TreeWidget.h>
#include <RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h>
+#include <RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.h>
#include <RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h>
@@ -49,6 +50,7 @@ namespace armarx::armem::gui::memory
QGroupBox* _memoryTabGroup;
QueryWidget* _queryWidget;
SnapshotSelectorWidget* _snapshotSelectorWidget;
+ PredictionWidget* _predictionWidget;
CommitWidget* _commitWidget;
};
diff --git a/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.cpp b/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fe8df6467e7ca277389449bca1a6459035863cfe
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.cpp
@@ -0,0 +1,90 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * 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 RobotAPI::armem::gui
+ * @author phesch ( ulila at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "PredictionWidget.h"
+
+#include <QComboBox>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
+#include <QPushButton>
+#include <QSpinBox>
+#include <QVBoxLayout>
+
+namespace armarx::armem::gui
+{
+ PredictionWidget::PredictionWidget() :
+ memoryEntity(new QLineEdit()),
+ timestampInputSelector(new QComboBox()),
+ timestampLayout(new QHBoxLayout()),
+ instanceSpinner(new QSpinBox()),
+ predictionEngineSelector(new QComboBox()),
+ predictButton(new QPushButton("Copy prediction to clipboard"))
+ {
+ auto* vlayout = new QVBoxLayout();
+ // memoryEntity->editingFinished()
+ auto* hlayout = new QHBoxLayout();
+ hlayout->addWidget(memoryEntity);
+ hlayout->addWidget(new QLabel("Entity ID"));
+ vlayout->addLayout(hlayout);
+
+ timestampInputSelector->addItems({"Absolute", "Relative to latest", "Relative to now"});
+ timestampLayout->addWidget(timestampInputSelector);
+ vlayout->addLayout(timestampLayout);
+
+ //hlayout = new QHBoxLayout();
+ //instanceSpinner->setRange(0, std::numeric_limits<int>::max());
+ //hlayout->addWidget(instanceSpinner);
+ //hlayout->addWidget(new QLabel("Instance"));
+ //vlayout->addLayout(hlayout);
+
+ hlayout = new QHBoxLayout();
+ hlayout->addWidget(predictionEngineSelector);
+ hlayout->addWidget(new QLabel("Prediction engine"));
+ vlayout->addLayout(hlayout);
+
+ vlayout->addWidget(predictButton);
+
+ addTimestampInputMethod("Absolute", new AbsoluteTimestampInput());
+ addTimestampInputMethod("Relative to latest", new RelativeToLatestTimestampInput());
+ addTimestampInputMethod("Relative to now", new RelativeToNowTimestampInput());
+
+ setLayout(vlayout);
+
+ showTimestampInputMethod("Absolute");
+ }
+
+ void
+ PredictionWidget::addTimestampInputMethod(const QString& key, TimestampInput* input)
+ {
+ timestampInputs.emplace(key, input);
+ timestampLayout->addWidget(input);
+ }
+
+ void PredictionWidget::showTimestampInputMethod(const QString& key) // NOLINT
+ {
+ for (const auto& [inputKey, input] : timestampInputs)
+ {
+ input->setVisible(key == inputKey);
+ }
+ }
+} // namespace armarx::armem::gui
diff --git a/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.h b/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..5f2cdbd1c53d11e59c280d72a05652d1cc370e08
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.h
@@ -0,0 +1,63 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * 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 RobotAPI::armem::gui
+ * @author phesch ( ulila at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <map>
+
+#include <QWidget>
+
+#include "TimestampInput.h"
+
+class QComboBox;
+class QHBoxLayout;
+class QLineEdit;
+class QPushButton;
+class QSpinBox;
+
+namespace armarx::armem::gui
+{
+ class PredictionWidget : public QWidget
+ {
+ Q_OBJECT // NOLINT
+
+ public:
+ PredictionWidget();
+
+ private:
+ QLineEdit* memoryEntity;
+
+ QComboBox* timestampInputSelector;
+ QHBoxLayout* timestampLayout;
+ QSpinBox* instanceSpinner;
+ QComboBox* predictionEngineSelector;
+ QPushButton* predictButton;
+
+ std::map<QString, TimestampInput*> timestampInputs;
+
+ void addTimestampInputMethod(const QString& key, TimestampInput* input);
+
+ private slots: // NOLINT
+ void showTimestampInputMethod(const QString& key);
+
+ };
+} // namespace armarx::armem::gui
diff --git a/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.cpp b/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c87f909af04ea0e44d0d7c51c7c85739695a429f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.cpp
@@ -0,0 +1,58 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * 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 RobotAPI::armem::gui
+ * @author phesch ( ulila at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "TimestampInput.h"
+
+#include <QDateTimeEdit>
+#include <QHBoxLayout>
+
+#include <RobotAPI/libraries/armem_gui/gui_utils.h>
+
+namespace armarx::armem::gui
+{
+ AbsoluteTimestampInput::AbsoluteTimestampInput() :
+ dateTime(new QDateTimeEdit(QDateTime::currentDateTime())),
+ microseconds(new armarx::gui::LeadingZeroSpinBox(6, 10))
+ {
+ dateTime->setDisplayFormat("yyyy-MM-dd HH:mm:ss");
+ microseconds->setRange(0, 1000 * 1000 - 1);
+ microseconds->setSingleStep(1);
+ // This cast is safe because 999 * 1000 < MAX_INT.
+ microseconds->setValue(
+ static_cast<int>((QDateTime::currentMSecsSinceEpoch() % 1000) * 1000));
+
+ auto* hlayout = new QHBoxLayout();
+ hlayout->addWidget(dateTime);
+ hlayout->addWidget(microseconds);
+ setLayout(hlayout);
+ }
+
+ RelativeTimestampInput::RelativeTimestampInput() :
+ seconds(new QDoubleSpinBox())
+ {
+ auto* hlayout = new QHBoxLayout();
+ seconds->setSingleStep(0.1);
+ seconds->setDecimals(6);
+ seconds->setValue(0);
+ setLayout(hlayout);
+ }
+} // namespace armarx::armem::gui
diff --git a/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.h b/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.h
new file mode 100644
index 0000000000000000000000000000000000000000..3f094bdb2de5ffd6557f077a481db650ee1f00b6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.h
@@ -0,0 +1,71 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * 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 RobotAPI::armem::gui
+ * @author phesch ( ulila at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <QWidget>
+
+class QDateTimeEdit;
+class QDoubleSpinBox;
+namespace armarx::gui
+{
+ class LeadingZeroSpinBox;
+}
+
+namespace armarx::armem::gui
+{
+ class TimestampInput : public QWidget
+ {
+ Q_OBJECT // NOLINT
+ };
+
+ class AbsoluteTimestampInput : public TimestampInput
+ {
+ Q_OBJECT // NOLINT
+
+ public : AbsoluteTimestampInput();
+
+ private:
+ QDateTimeEdit* dateTime;
+ armarx::gui::LeadingZeroSpinBox* microseconds;
+ };
+
+ class RelativeTimestampInput : public TimestampInput
+ {
+ Q_OBJECT // NOLINT
+
+ public : RelativeTimestampInput();
+
+ private:
+ QDoubleSpinBox* seconds;
+ };
+
+ class RelativeToLatestTimestampInput : public RelativeTimestampInput
+ {
+ Q_OBJECT // NOLINT
+ };
+
+ class RelativeToNowTimestampInput : public RelativeTimestampInput
+ {
+ Q_OBJECT // NOLINT
+ };
+} // namespace armarx::armem::gui
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
index e6ed6aaaf3d6860c2960dbb83215b5791b8b53de..8a9ff01c6b00a1863305e893bab631288d047b0f 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
@@ -15,6 +15,7 @@
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem_gui/gui_utils.h>
namespace armarx::armem::gui
@@ -42,21 +43,6 @@ namespace armarx::armem::gui
}
- // Source: https://stackoverflow.com/a/26538572
- class LeadingZeroSpinBox : public QSpinBox
- {
- using QSpinBox::QSpinBox;
-
- int numDigits = 6;
- int base = 10;
-
- virtual QString textFromValue(int value) const;
- };
- QString LeadingZeroSpinBox::textFromValue(int value) const
- {
- return QString("%1").arg(value, numDigits, base, QChar('0'));
- }
-
SnapshotFormSingle::SnapshotFormSingle()
{
@@ -68,7 +54,7 @@ namespace armarx::armem::gui
dateTime->setDisabled(true);
setDateTimeDisplayFormat(dateTime);
- microseconds = new LeadingZeroSpinBox();
+ microseconds = new armarx::gui::LeadingZeroSpinBox(6, 10);
microseconds->setDisabled(true);
microseconds->setMinimum(0);
microseconds->setMaximum(1000 * 1000 - 1);