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Commit 2c51ea3c authored by Peter Albrecht's avatar Peter Albrecht
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Removed replaced legacy code

parent 967570c3
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1 merge request!406Refactor skill memory GUI
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source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+ 2
− 172
View file @ 2c51ea3c
......@@ -97,44 +97,7 @@
<property name="title">
<string>Manager</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="5" column="0" colspan="3">
<widget class="QTreeWidget" name="treeWidgetSkills">
<column>
<property name="text">
<string>Skill</string>
</property>
</column>
<column>
<property name="text">
<string>HasInputType</string>
</property>
</column>
<column>
<property name="text">
<string>HasOutputType</string>
</property>
</column>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="pushButtonSearch">
<property name="text">
<string>Search</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLineEdit" name="lineEditSearch">
<property name="text">
<string/>
</property>
<property name="placeholderText">
<string>Search...</string>
</property>
</widget>
</item>
</layout>
<layout class="QGridLayout" name="gridLayout"/>
</widget>
<widget class="QGroupBox" name="groupBoxSkillDetails">
<property name="enabled">
......@@ -149,140 +112,7 @@
<property name="title">
<string>Skill Details</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QSplitter" name="splitter_2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="childrenCollapsible">
<bool>false</bool>
</property>
<widget class="QWidget" name="groupBoxSkillDetailsTop" native="true">
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<layout class="QGridLayout" name="gridLayout_5">
<item row="0" column="0">
<widget class="QPushButton" name="pushButtonPaste">
<property name="text">
<string>Set args from clipboard</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QPushButton" name="pushButtonReset">
<property name="text">
<string>Reset args to profile</string>
</property>
</widget>
</item>
<item row="1" column="0" colspan="4">
<widget class="QComboBox" name="comboBoxProfiles">
<item>
<property name="text">
<string>&lt;No Profile selected. Using root&gt;</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButtonCopy">
<property name="text">
<string>Copy args to clipboard</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QWidget" name="skillDescription" native="true"/>
</item>
</layout>
</widget>
<widget class="QWidget" name="groupBoxSkillDetailsBottom" native="true">
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QTreeWidget" name="treeWidgetSkillDetails">
<property name="contextMenuPolicy">
<enum>Qt::CustomContextMenu</enum>
</property>
<property name="editTriggers">
<set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
</property>
<column>
<property name="text">
<string>Key</string>
</property>
</column>
<column>
<property name="text">
<string>Value</string>
</property>
</column>
<column>
<property name="text">
<string>Type</string>
</property>
</column>
<column>
<property name="text">
<string>defaultValue (hidden in GUI)</string>
</property>
</column>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButtonExecuteSkill">
<property name="text">
<string>Request Execution</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
<layout class="QVBoxLayout" name="verticalLayout"/>
</widget>
</widget>
</widget>
......
source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+ 1
− 126
View file @ 2c51ea3c
......@@ -33,7 +33,6 @@
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
#include "RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.h"
#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
......@@ -44,56 +43,8 @@
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
#include <RobotAPI/libraries/skills_gui/SkillMemoryGui.h>
#include "aronTreeWidget/AronTreeWidgetController.h"
namespace armarx
{
class SkillDescriptionWidget;
class SkillInfoTreeWidgetItem : public QTreeWidgetItem
{
public:
SkillInfoTreeWidgetItem(const skills::SkillDescription& desc, QTreeWidgetItem* parent) :
QTreeWidgetItem(parent), skillDescription(desc)
{
}
SkillInfoTreeWidgetItem(const skills::SkillDescription& desc, QTreeWidget* parent) :
QTreeWidgetItem(parent), skillDescription(desc)
{
}
skills::SkillDescription skillDescription;
};
class SkillExecutionInfoTreeWidgetItem : public QTreeWidgetItem
{
//Q_OBJECT
public:
SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id,
QTreeWidgetItem* parent) :
QTreeWidgetItem(parent), executionId(id)
{
}
// After constructing an item, it must be manually inserted into the tree!
SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id) : executionId(id)
{
}
// When using this constructor, the new item will be appended to the bottom of the tree!
SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id, QTreeWidget* parent) :
QTreeWidgetItem(parent), executionId(id)
{
}
static SkillExecutionInfoTreeWidgetItem*
SearchRecursiveForMatch(SkillExecutionInfoTreeWidgetItem* el,
const skills::SkillExecutionID& needle);
skills::SkillExecutionID executionId;
};
class ARMARXCOMPONENT_IMPORT_EXPORT SkillManagerMonitorWidgetController :
public armarx::ArmarXComponentWidgetControllerTemplate<SkillManagerMonitorWidgetController>
{
......@@ -128,93 +79,17 @@ namespace armarx
void disconnectGui();
void connectGui(std::string observerName);
private slots:
/*
void skillSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
void skillExecutionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
void stopAllExecutions();
void stopSkill(); // TODO: rename
void executeSelectedSkill();
void refreshSkills();
void refreshExecutions();
void refreshSkillsAndExecutions();
void copyCurrentConfig();
void pasteCurrentConfig();
void resetCurrentConfig();
void prepareAndRunMenu(const QPoint& pos);
void rerunSkillWithSimilarParams();
void searchSkills();
*/
private:
aron::data::DictPtr getConfigAsAron() const;
private:
/**
* Widget Form
*/
armarx::skills::manager::dti::SkillManagerInterfacePrx memory;
Ui::SkillManagerMonitorWidget widget;
std::unique_ptr<armarx::skills::gui::SkillMemoryGUI> viewer = nullptr;
QPointer<SimpleConfigDialog> dialog;
QString currentSkillSearch;
std::string observerName = "SkillManager";
skills::manager::dti::SkillManagerInterfacePrx memory = nullptr;
std::shared_ptr<skills::gui::SkillManagerWrapper> mem_wrapper = nullptr;
// Data taken from observer (snapshot of it)
mutable std::mutex updateMutex;
std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>> skills =
{};
std::map<skills::SkillExecutionID, skills::SkillStatusUpdate> skillStatusUpdates = {};
// store copies (!) of skill descriptions
//std::map<skills::SkillExecutionID, skills::SkillParameterization> skillExecutionParams = {};
// User Input
struct SelectedSkill
{
static const skills::SkillID UNK_SKILL_ID;
skills::SkillID skillId;
skills::SkillExecutionID skillExecutionId;
// make default constructable
SelectedSkill() :
skillId(UNK_SKILL_ID),
skillExecutionId{.skillId = UNK_SKILL_ID,
.executorName = skills::SkillExecutionID::UNKNOWN,
.executionStartedTime = armarx::core::time::DateTime::Invalid()}
{
}
}
selectedSkill;
/*
void executeSkillWithParams(skills::SkillID skillId, aron::data::DictPtr params);
void matchSkillUpdateToSearch(std::map<skills::manager::dto::SkillID,
skills::manager::dto::SkillDescription>& update);
*/
void connectSignals();
PeriodicUpdateWidget* updateWidget =
nullptr; // TODO: this should not be held by the controller!
QPushButton* stopAllButton = nullptr; // also this. Oh well...
// Helper to get the treeWidgetItem easily
QTreeWidgetItem* skillsArgumentsTreeWidgetItem = nullptr;
AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;
SkillDescriptionWidget* skillDescriptionWidget = nullptr;
// connected flag
std::atomic_bool connected = false;
};
......
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