change: new button to reload lost params

source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp

@@ -245,24 +245,24 @@ namespace armarx::skills::gui
     
     std::vector<Parameters> SkillManagerWrapper::getParameterHistoryForSkill(const skills::SkillID& sid) 
     {
-        if (not this->skillParameterHistory.contains(sid))
+        if (not this->skillParameterExecutionHistory.contains(sid))
         {
             return {};
         }
-        return this->skillParameterHistory[sid];
+        return this->skillParameterExecutionHistory[sid];
     }
     
     void SkillManagerWrapper::addParametersToHistory(const skills::SkillID& sid, const Parameters& params) 
     {
-        if (not this->skillParameterHistory.contains(sid))
+        if (not this->skillParameterExecutionHistory.contains(sid))
         {
             // no history exists for this skill. Assign new
-            this->skillParameterHistory.insert({sid, {params}});
+            this->skillParameterExecutionHistory.insert({sid, {params}});
         }
         else
         {
             // history already exists. Append to list
-            this->skillParameterHistory[sid].emplace_back(params);
+            this->skillParameterExecutionHistory[sid].emplace_back(params);
         }
     }
     
@@ -426,9 +426,6 @@ namespace armarx::skills::gui
 
         ARMARX_CHECK(skillId.isFullySpecified()); // sanity check
 
-        this->addParametersToHistory(skillId, params);
-        ARMARX_INFO << "Saved skill parameters to history...";
-
         ARMARX_IMPORTANT << "Executing skill from GUI: " << skillId << ".";
 
         try

source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h

@@ -132,7 +132,8 @@ namespace armarx::skills::gui
         std::string currentSkillSearch = "";
 
         // Store a list of all execution parameters for each skill 
-        SkillParameterMap skillParameterHistory;
+        SkillParameterMap skillParameterExecutionHistory;
+        SkillParameterMap lostParameterHistory;
 
         Snapshot snapshot;
 

source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.cpp

@@ -3,6 +3,7 @@
 #include <QHBoxLayout>
 #include <QLabel>
 #include <QVBoxLayout>
+#include <qboxlayout.h>
 
 namespace armarx::skills::gui
 {
@@ -24,14 +25,19 @@ namespace armarx::skills::gui
         resetArgsToProfile = new QPushButton();
         //profileSelector = new QComboBox();
         historySelector = new QPushButton();
+        changesSelector = new QPushButton();
 
         // layouting
         QVBoxLayout* mainLayout = new QVBoxLayout();
         QHBoxLayout* topLayout = new QHBoxLayout();
+        QHBoxLayout* bottomLayout = new QHBoxLayout();
 
         mainLayout->addLayout(topLayout);
         //mainLayout->addWidget(profileSelector);
-        mainLayout->addWidget(historySelector);
+        mainLayout->addLayout(bottomLayout);
+        bottomLayout->addWidget(historySelector);
+        bottomLayout->addWidget(changesSelector);
+        
 
         topLayout->addWidget(setArgsFromClipboard);
         topLayout->addWidget(copyArgsToClipboard);
@@ -52,13 +58,13 @@ namespace armarx::skills::gui
         //profileSelector->setDisabled(true);
         //profileSelector->setToolTip(QString::fromStdString(PROFILE_NOT_IMPLEMENTED));
         historySelector->setText(QString::fromStdString(HIST_BUTTON_TEXT));
-        historySelector->setDisabled(true);
+        changesSelector->setText(QString::fromStdString(CNGS_BUTTON_TEXT));
     }
     
-    void ProfileMenuWidget::updateHistorySelector(skills::SkillID shownSkill) 
+    void ProfileMenuWidget::updateChangesSelector(skills::SkillID shownSkill) 
     {
         auto params = memory->getLatestParametersForSkill(shownSkill);
-        historySelector->setDisabled(not params.has_value());
+        changesSelector->setDisabled(not params.has_value());
     }
 
 

source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h

@@ -22,6 +22,7 @@ namespace armarx::skills::gui
         static const constexpr char* PROFILE_NOT_IMPLEMENTED =
             "Profiles other than the root profile are currently not supported.";
         static const constexpr char* HIST_BUTTON_TEXT = "Load Parameters from Last Execution";
+        static const constexpr char* CNGS_BUTTON_TEXT = "Reload lost Parameters";
 
         // contents are public, as this class is just a convenience wrapper
         QPushButton* setArgsFromClipboard = nullptr;
@@ -30,6 +31,7 @@ namespace armarx::skills::gui
         QPushButton* resetArgsToProfile = nullptr;
         QComboBox* profileSelector = nullptr;
         QPushButton* historySelector = nullptr;
+        QPushButton* changesSelector = nullptr;
 
         ProfileMenuWidget(std::shared_ptr<SkillManagerWrapper> _memory, QWidget* parent = nullptr) :
             QWidget(parent), MemoryCommunicatorBase(_memory)
@@ -39,7 +41,7 @@ namespace armarx::skills::gui
 
     public slots:
     
-        void updateHistorySelector(const skills::SkillID shownSkill);
+        void updateChangesSelector(const skills::SkillID shownSkill);
 
     private:
         void setupUi();

source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp

@@ -81,9 +81,6 @@ namespace armarx::skills::gui
         if (skillId.has_value())
         {
             memory->startExecutionWithParams(skillId.value(), data);
-
-            // update the history selector, since it definitely has an entry now.
-            emit executed(skillId.value());
         }
     }
 
@@ -165,18 +162,14 @@ namespace armarx::skills::gui
                 &QPushButton::clicked,
                 skillDetailsTreeWidget,
                 &SkillDetailsTreeWidget::resetCurrentConfig);
-        connect(profileMenuWidget->historySelector,
+        connect(profileMenuWidget->changesSelector,
                 &QPushButton::pressed,
                 skillDetailsTreeWidget,
                 &SkillDetailsTreeWidget::reloadLastParameters);
         connect(skillDetailsTreeWidget,
                 &SkillDetailsTreeWidget::updated,
                 profileMenuWidget,
-                &ProfileMenuWidget::updateHistorySelector);
-        connect(this,
-                &SkillDetailGroupBox::executed,
-                profileMenuWidget,
-                &ProfileMenuWidget::updateHistorySelector);
+                &ProfileMenuWidget::updateChangesSelector);
     }
 
 

source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp

@@ -187,7 +187,7 @@ namespace armarx::skills::gui
         bool modified = *defaults.get() != *params.get();
         if (modified)
         {
-            ARMARX_INFO << "The parameters have been modified. Asking the user to save.";
+            ARMARX_DEBUG << "The parameters have been modified.";
         }
         return modified;
     }
@@ -311,11 +311,13 @@ namespace armarx::skills::gui
     void
     SkillDetailsTreeWidget::resetWidget()
     {
-        if (askUserToSaveParameters && checkIfParametersAreModified())
+        if (checkIfParametersAreModified())
         {
-            if (showWidgetResetConfirmation_ && not askUserToConfirmWidgetReset())
+            if (shownSkill.has_value())
             {
-                return;
+                ARMARX_IMPORTANT << "A skill parametrization has been lost in the GUI. It can now be reloaded.";
+                memory->addParametersToHistory(shownSkill->skillId, aronTreeWidgetController->convertToAron());
+                emit updated(shownSkill->skillId);
             }
         }
         this->clear();

source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h

@@ -52,7 +52,6 @@ namespace armarx::skills::gui
         // The size, which we assume the last column to be.
         // If the last column has too little space, increase this value.
         const int typeWidth = 200;
-        const bool askUserToSaveParameters = false;
 
         AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;
         void setupUi();