diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 82569fa85833ef3eb89476da914b7ba02606864b..73bb1a8f75b1148c43452758f2cad2c742ca4346 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -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><No Profile selected. Using root></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>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 39c7763acd8192772b6a159246b3d0c6f3e83ac7..909f514ba4e3cbc3034d6a8d3b2c9195d0f1e581 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -58,8 +58,6 @@
//configSk
namespace armarx
{
- const skills::SkillID SkillManagerMonitorWidgetController::SelectedSkill::UNK_SKILL_ID =
- skills::SkillID{.providerId = ::std::nullopt, .skillName = skills::SkillID::UNKNOWN};
QPointer<QDialog>
SkillManagerMonitorWidgetController::getConfigDialog(QWidget* parent)
@@ -95,62 +93,6 @@ namespace armarx
// Others
namespace armarx
{
- /*
- void
- SkillManagerMonitorWidgetController::prepareAndRunMenu(const QPoint& pos)
- {
- QMenu* menu = new QMenu();
-
- // Stop skill
- QAction* stopSkillAction = new QAction("Stop execution", this);
- skills::SkillStatus currentStatus =
- skillStatusUpdates.at(selectedSkill.skillExecutionId).status;
- stopSkillAction->setDisabled(currentStatus == skills::SkillStatus::Aborted ||
- currentStatus == skills::SkillStatus::Failed ||
- currentStatus == skills::SkillStatus::Succeeded);
-
- QAction* rerunSkillAction = new QAction("Re-run with similar params", this);
- menu->addAction(stopSkillAction);
- menu->addAction(rerunSkillAction);
- connect(stopSkillAction,
- &QAction::triggered,
- this,
- &SkillManagerMonitorWidgetController::stopSkill);
- connect(rerunSkillAction,
- &QAction::triggered,
- this,
- &SkillManagerMonitorWidgetController::rerunSkillWithSimilarParams);
-
- // Temporarily disable rerun-skill-Action
- rerunSkillAction->setDisabled(true);
-
- // open menu
- menu->popup(widget.treeWidgetSkillExecutions->viewport()->mapToGlobal(pos));
- }
-
- SkillExecutionInfoTreeWidgetItem*
- SkillExecutionInfoTreeWidgetItem::SearchRecursiveForMatch(
- SkillExecutionInfoTreeWidgetItem* haystack,
- const skills::SkillExecutionID& needle)
- {
- if (!haystack)
- {
- return nullptr;
- }
-
- if (needle == haystack->executionId)
- {
- return haystack;
- }
- for (int i = 0; i < haystack->childCount(); ++i)
- {
- auto el = static_cast<SkillExecutionInfoTreeWidgetItem*>(haystack->child(i));
- return SkillExecutionInfoTreeWidgetItem::SearchRecursiveForMatch(el, needle);
- }
- return nullptr;
- }
-*/
-
SkillManagerMonitorWidgetController::SkillManagerMonitorWidgetController()
{
@@ -171,77 +113,11 @@ namespace armarx
widget.updateWidgetLayout,
- widget.skillDescription,
- widget.skillDescription->parentWidget()->layout(),
-
widget.stopAllLayout,
this->mem_wrapper);
connectSignals();
- /*
- this->updateWidget = new PeriodicUpdateWidget(2.0, 60);
- widget.updateWidgetLayout->insertWidget(0, updateWidget);
-
- this->stopAllButton = new QPushButton("Stop all executions");
- widget.stopAllLayout->addWidget(stopAllButton);
-
-
- skillDescriptionWidget = new SkillDescriptionWidget();
- widget.skillDescription->parentWidget()->layout()->replaceWidget(widget.skillDescription,
- skillDescriptionWidget);
- widget.skillDescription = skillDescriptionWidget;
-
-
-
- connect(this->stopAllButton,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::stopAllExecutions);
- connect(widget.treeWidgetSkillExecutions,
- &QTreeWidget::customContextMenuRequested,
- this,
- &SkillManagerMonitorWidgetController::prepareAndRunMenu);
-
- connect(updateWidget,
- &armarx::PeriodicUpdateWidget::update,
- this,
- &SkillManagerMonitorWidgetController::refreshSkillsAndExecutions);
-
- connect(widget.pushButtonCopy,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::copyCurrentConfig);
- connect(widget.pushButtonPaste,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::pasteCurrentConfig);
-
- connect(widget.pushButtonExecuteSkill,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::executeSelectedSkill);
-
- connect(widget.treeWidgetSkills,
- &QTreeWidget::currentItemChanged,
- this,
- &SkillManagerMonitorWidgetController::skillSelectionChanged);
-
- connect(widget.treeWidgetSkillExecutions,
- &QTreeWidget::currentItemChanged,
- this,
- &SkillManagerMonitorWidgetController::skillExecutionSelectionChanged);
-
- connect(widget.pushButtonSearch,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::searchSkills);
- // alternatively run search when pressing enter
- connect(widget.lineEditSearch,
- &QLineEdit::returnPressed,
- this,
- &SkillManagerMonitorWidgetController::searchSkills);
-*/
}
void
@@ -292,567 +168,4 @@ namespace armarx
emit disconnectGui();
}
- /*
- void
- SkillManagerMonitorWidgetController::searchSkills()
- {
- this->currentSkillSearch = widget.lineEditSearch->text();
- }
-
- void
- SkillManagerMonitorWidgetController::refreshSkillsAndExecutions()
- {
- refreshSkills();
- refreshExecutions();
- }
-
- void
- SkillManagerMonitorWidgetController::matchSkillUpdateToSearch(
- std::map<skills::manager::dto::SkillID, skills::manager::dto::SkillDescription>& update)
- {
-
- if (this->currentSkillSearch.isEmpty())
- {
- return;
- }
-
- // TODO: whitespace to wildcard
-
- std::string search = this->currentSkillSearch.toLower().toStdString();
- std::transform(search.begin(), search.end(), search.begin(),
- [](unsigned char c){ return std::tolower(c); });
-
- for (auto it = update.begin(); it != update.end();)
- {
- if (simox::alg::to_lower(skills::SkillID::FromIce(it->first).skillName)
- .find(this->currentSkillSearch.toLower().toStdString()))
- {
- it = update.erase(it);
- }
- else
- {
- ++it;
- }
- }
-
- }
-
- void
- SkillManagerMonitorWidgetController::refreshSkills()
- {
- if (!memory)
- {
- // check if null
- return;
- }
-
-
- // remove non-existing ones
- try
- {
- std::scoped_lock l(updateMutex);
-
- auto managerSkills = memory->getSkillDescriptions();
- this->matchSkillUpdateToSearch(managerSkills);
-
- // completely recreate internal skills map
- skills.clear();
- for (const auto& [sid, desc] : managerSkills)
- {
- auto description = skills::SkillDescription::FromIce(desc);
- auto skillId = skills::SkillID::FromIce(sid);
- auto providerId = skillId.providerId.value_or(
- skills::ProviderID{.providerName = "UNKNOWN PROVIDER NAME"});
-
- ARMARX_CHECK(skillId.isFullySpecified());
-
- auto& providedSkillsMap = skills[providerId]; // create new if not existent
- providedSkillsMap.insert({skillId, description});
- }
-
- // update tree view. Remove non-existing elements
- int i = 0;
- while (i < widget.treeWidgetSkills->topLevelItemCount())
- {
- auto* providerItem = widget.treeWidgetSkills->topLevelItem(i);
- auto providerName = providerItem->text(0).toStdString();
- skills::ProviderID providerId{.providerName = providerName};
-
- if (skills.find(providerId) == skills.end())
- {
- providerItem = nullptr; // reset
- auto remove = widget.treeWidgetSkills->takeTopLevelItem(i);
- delete remove;
- continue;
- }
-
- ++i;
- auto& providedSkills = skills.at(providerId);
-
- int j = 0;
- while (j < providerItem->childCount())
- {
- auto* skillItem = providerItem->child(j);
- auto skillName = skillItem->text(0).toStdString();
-
- skills::SkillID skillId{.providerId =
- skills::ProviderID{.providerName = providerName},
- .skillName = skillName};
-
- if (providedSkills.find(skillId) == providedSkills.end())
- {
- skillItem = nullptr;
- auto remove = providerItem->takeChild(j);
- delete remove;
- continue;
- }
-
- ++j;
- }
- }
-
- // update tree view. Add new elements
- for (const auto& [providerId, providedSkills] : skills)
- {
- QTreeWidgetItem* providerItem = nullptr;
- for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
- {
- auto el = widget.treeWidgetSkills->topLevelItem(i);
- auto providerName = el->text(0).toStdString();
- skills::ProviderID elProviderId{.providerName = providerName};
-
- if (providerId == elProviderId)
- {
- providerItem = el;
- break;
- }
- }
-
- if (!providerItem)
- {
- providerItem = new QTreeWidgetItem(widget.treeWidgetSkills);
- providerItem->setText(0, QString::fromStdString(providerId.providerName));
- }
-
- for (const auto& [skillId, skill] : providedSkills)
- {
- QTreeWidgetItem* skillItem = nullptr;
- for (int i = 0; i < providerItem->childCount(); ++i)
- {
- auto el = providerItem->child(i);
- auto skillName = el->text(0).toStdString();
- skills::SkillID elSkillId{providerId, skillName};
-
- if (skillId == elSkillId)
- {
- skillItem = el;
- break;
- }
- }
-
- if (!skillItem)
- {
- skillItem = new SkillInfoTreeWidgetItem(skill, providerItem);
- skillItem->setText(0, QString::fromStdString(skillId.skillName));
- }
- }
- }
- }
- catch (...)
- {
- // perhaps the manager died during the method?
- }
- }
-
- void
- SkillManagerMonitorWidgetController::refreshExecutions()
- {
- static std::map<skills::SkillStatus, std::string> ExecutionStatus2String = {
- // Main states
- {skills::SkillStatus::Constructing, "Constructing"},
- {skills::SkillStatus::Initializing, "Initializing"},
- {skills::SkillStatus::Preparing, "Preparing"},
- {skills::SkillStatus::Running, "Running"},
-
- // Terminating
- {skills::SkillStatus::Aborted, "Aborted"},
- {skills::SkillStatus::Failed, "Failed"},
- {skills::SkillStatus::Succeeded, "Succeeded"}};
-
- if (!memory)
- {
- // check if null
- return;
- }
-
- try
- {
- std::scoped_lock l(updateMutex);
-
- auto currentManagerStatuses = memory->getSkillExecutionStatuses();
-
- for (const auto& [k, v] : currentManagerStatuses)
- {
- auto executionId = skills::SkillExecutionID::FromIce(k);
- auto statusUpdate = skills::SkillStatusUpdate::FromIce(v);
-
- // update maps
- skillStatusUpdates[executionId] = statusUpdate;
- //skillExecutionParams.insert_or_assign(executionId,
- // statusUpdate.usedParameterization);
-
- SkillExecutionInfoTreeWidgetItem* found = nullptr;
- for (int i = 0; i < widget.treeWidgetSkillExecutions->topLevelItemCount(); ++i)
- {
- auto c = static_cast<SkillExecutionInfoTreeWidgetItem*>(
- widget.treeWidgetSkillExecutions->topLevelItem(i));
-
- found =
- SkillExecutionInfoTreeWidgetItem::SearchRecursiveForMatch(c, executionId);
-
- if (found)
- {
- for (std::pair<skills::SkillStatus, std::string> i : ExecutionStatus2String)
- {
- if (i.first == statusUpdate.status)
- {
- found->setText(3, QString::fromStdString(i.second));
- }
- }
-
- break;
- }
- }
-
- if (!found)
- {
- // TODO: Sort to executor!
- auto item = new SkillExecutionInfoTreeWidgetItem(executionId);
-
- item->setText(0,
- QString::fromStdString(
- executionId.executionStartedTime.toDateTimeString()));
- item->setText(1, QString::fromStdString(executionId.executorName));
- item->setText(2, QString::fromStdString(executionId.skillId.toString()));
- for (std::pair<skills::SkillStatus, std::string> i : ExecutionStatus2String)
- {
- if (i.first == statusUpdate.status)
- {
- item->setText(3, QString::fromStdString(i.second));
- }
- }
-
- widget.treeWidgetSkillExecutions->insertTopLevelItem(0, item);
- }
- }
- }
- catch (...)
- {
- // perhaps the manager died during the method?
- }
- }
-
- void
- SkillManagerMonitorWidgetController::executeSelectedSkill()
- {
- auto data = getConfigAsAron();
- executeSkillWithParams(selectedSkill.skillId, data);
- }
-
- void
- SkillManagerMonitorWidgetController::rerunSkillWithSimilarParams()
- {
- // TODO: disabled until skillparameterization is replaced
- //skills::SkillParameterization selectedExecutionParams =
- //skillExecutionParams.at(selectedSkill.skillExecutionId);
- //executeSkillWithParams(selectedSkill.skillExecutionId.skillId,
- // selectedExecutionParams.parameterization);
-
- executeSelectedSkill();
- }
-
-
- void
- SkillManagerMonitorWidgetController::executeSkillWithParams(skills::SkillID skillId,
- aron::data::DictPtr params)
- {
- std::scoped_lock l(updateMutex);
-
- auto providerId = skillId.providerId;
- if (!providerId.has_value())
- {
- return;
- }
- const auto& skillDescriptions = skills.at(providerId.value());
- if (skillDescriptions.find(skillId) == skillDescriptions.end())
- {
- return;
- }
-
- char hostname[HOST_NAME_MAX];
- gethostname(hostname, HOST_NAME_MAX);
-
- skills::SkillExecutionRequest req{
- .skillId = selectedSkill.skillId,
- .executorName = "Skills.Manager GUI (hostname: " + std::string(hostname) + ")",
- .parameters = params};
-
- ARMARX_CHECK(selectedSkill.skillId.isFullySpecified()); // sanity check
- ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.skillId << ".";
- // Note that we execute the skill in a seperate thread so that the GUI thread does not freeze.
- memory->begin_executeSkill(req.toManagerIce());
- }
-
- void
- SkillManagerMonitorWidgetController::stopAllExecutions()
- {
- QTreeWidget const* tree = widget.treeWidgetSkillExecutions;
-
- int const max_retries = 3;
- int left_retries = max_retries;
- bool retry = false;
-
- do
- {
- retry = false;
-
- for (ssize_t i = 0; i < tree->topLevelItemCount(); ++i)
- {
- SkillExecutionInfoTreeWidgetItem const* item =
- dynamic_cast<SkillExecutionInfoTreeWidgetItem*>(
- widget.treeWidgetSkillExecutions->topLevelItem(i));
-
- if (not item)
- {
- // At this point, dynamic-casting failed and we don't know anything about the
- // type.
- ARMARX_ERROR << "Cannot stop unknown skill.";
- retry = true;
- continue;
- }
-
- try
- {
- ARMARX_INFO << "Aborting skill '" << item->executionId.skillId.skillName
- << "'...";
- memory->abortSkillAsync(item->executionId.toManagerIce());
- }
- catch (Ice::Exception const& e)
- {
- retry = true;
- ARMARX_ERROR << "Unhandeled Ice exception while aborting skill '"
- << item->executionId.skillId.skillName << "'.";
- }
- catch (...)
- {
- retry = true;
- ARMARX_ERROR << "Unhandled error while aborting skill '"
- << item->executionId.skillId.skillName << "'.";
- }
- }
-
- if (retry)
- {
- left_retries -= 1;
-
- if (left_retries > 0)
- {
- ARMARX_WARNING << "There where errors aborting skills. Retrying...";
- }
- else
- {
- ARMARX_ERROR << "Couldn't abort all skills after " << max_retries
- << " tries. Giving up.";
- retry = false;
- }
- }
- } while (retry);
- }
-
- void
- SkillManagerMonitorWidgetController::stopSkill()
- {
- std::scoped_lock l(updateMutex);
-
- if (selectedSkill.skillExecutionId.skillId.fullySpecified())
- {
- ARMARX_INFO << "The user requested to stop a skill, which was not fully specified!";
- return;
- }
-
- const auto& skillDescriptions = skills.at(*selectedSkill.skillId.providerId);
- if (!skillDescriptions.count(selectedSkill.skillId.skillName))
- {
- return;
- }
-
- ARMARX_INFO << "Stopping skill from GUI: " << selectedSkill.skillExecutionId.toString();
-
- memory->abortSkillAsync(selectedSkill.skillExecutionId.toManagerIce());
- }
-
- void
- SkillManagerMonitorWidgetController::skillExecutionSelectionChanged(QTreeWidgetItem* current,
- QTreeWidgetItem*)
- {
- std::scoped_lock l(updateMutex);
- widget.groupBoxSkillExecutions->setEnabled(false);
-
- if (!current)
- {
- // gui has died?
- return;
- }
-
- auto c = static_cast<SkillExecutionInfoTreeWidgetItem*>(current);
- selectedSkill.skillExecutionId = c->executionId;
- widget.groupBoxSkillExecutions->setEnabled(true);
- }
-
- void
- SkillManagerMonitorWidgetController::skillSelectionChanged(QTreeWidgetItem* current,
- QTreeWidgetItem*)
- {
- std::scoped_lock l(updateMutex);
- widget.groupBoxSkillDetails->setEnabled(false);
-
- if (!current)
- {
- // gui has died?
- return;
- }
-
- if (!current->parent())
- {
- // no parent available. Perhaps provider clicked? Reset selected skill.
- selectedSkill.skillId = SelectedSkill::UNK_SKILL_ID;
- return;
- }
-
- auto c = static_cast<SkillInfoTreeWidgetItem*>(current);
- auto skillDescription = c->skillDescription;
-
-
- if (selectedSkill.skillId == skillDescription.skillId)
- {
- // no change
- return;
- }
-
- selectedSkill.skillId = skillDescription.skillId;
-
- // setup groupBox
- widget.groupBoxSkillDetails->setTitle(
- QString::fromStdString(selectedSkill.skillId.toString()));
- widget.groupBoxSkillDetails->setEnabled(true);
-
- // setup table view
- widget.treeWidgetSkillDetails->clear();
- aronTreeWidgetController = nullptr;
- skillsArgumentsTreeWidgetItem = nullptr;
-
- // We assert that the skill exists
- ARMARX_CHECK(skills.count(*selectedSkill.skillId.providerId) > 0);
- ARMARX_CHECK(skills.at(*selectedSkill.skillId.providerId).count(selectedSkill.skillId) > 0);
- auto skillDesc = skills.at(*selectedSkill.skillId.providerId).at(selectedSkill.skillId);
-
- {
- auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Name"),
- QString::fromStdString(skillDesc.skillId.skillName)});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
-
- {
- auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Description"),
- QString::fromStdString(skillDesc.description)});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
-
- {
- auto it = new QTreeWidgetItem(
- widget.treeWidgetSkillDetails,
- {QString::fromStdString("Timeout"),
- QString::fromStdString(std::to_string(skillDesc.timeout.toMilliSeconds())) +
- " ms"});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
-
- // select root profile
- widget.comboBoxProfiles->setCurrentIndex(0);
-
- // remove any profile
- while (widget.comboBoxProfiles->count() > 1)
- {
- widget.comboBoxProfiles->removeItem(1);
- }
-
- // add new profiles for this skill
- // TODO: Where stored?
-
- skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Arguments")});
- auto aron_args = skillDesc.parametersType;
- auto default_args_of_profile = skillDesc.rootProfileDefaults;
-
- aronTreeWidgetController =
- std::make_shared<AronTreeWidgetController>(widget.treeWidgetSkillDetails,
- skillsArgumentsTreeWidgetItem,
- aron_args,
- default_args_of_profile);
-
- // automatically expand args
- skillsArgumentsTreeWidgetItem->setExpanded(true);
- }
-
- aron::data::DictPtr
- SkillManagerMonitorWidgetController::getConfigAsAron() const
- {
- // create argument aron (if there is an accepted type set)
- if (aronTreeWidgetController)
- {
- return aronTreeWidgetController->convertToAron();
- }
- return nullptr;
- }
-
- void
- SkillManagerMonitorWidgetController::copyCurrentConfig()
- {
- auto data = getConfigAsAron();
- if (!data)
- {
- return;
- }
-
- auto json = aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(data);
- QClipboard* clipboard = QApplication::clipboard();
- clipboard->setText(QString::fromStdString(json.dump(2)));
- }
-
- void
- SkillManagerMonitorWidgetController::pasteCurrentConfig()
- {
- QClipboard* clipboard = QApplication::clipboard();
- std::string s = clipboard->text().toStdString();
- nlohmann::json json = nlohmann::json::parse(s);
- auto data =
- aron::data::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(json);
-
- if (!aronTreeWidgetController)
- {
- return;
- }
-
- aronTreeWidgetController->setFromAron(data);
- }
-
- void
- SkillManagerMonitorWidgetController::resetCurrentConfig()
- {
- // TODO
- }
-*/
-
} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 800bd6b22f0742229831be1a48bca6d44fb2b69a..ca80a304b536833542ad35957423e6dbdc029267 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -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;
};