diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
index e0a08a3fe45a4add3e5a20dd42053694c24bb0cf..fcd59af3018b6459bf20d43281cff022439c93f2 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
@@ -86,6 +86,11 @@ namespace armarx
replaceWidget(widget._queryTabWidget, queryTabs, widget.queryGroupBox->layout());
ARMARX_CHECK_NULL(widget._queryTabWidget);
+ instanceTree = new armem::InstanceTreeWidget();
+ instanceTree->setStatusLabel(widget.statusLabel);
+ replaceWidget(widget._instanceTree, instanceTree, widget.instanceGroupBox->layout());
+ ARMARX_CHECK_NULL(widget._instanceTree);
+
connect(this, &This::connected, this, &This::updateMemory);
connect(widget.updateButton, &QPushButton::pressed, this, &This::updateMemory);
@@ -110,8 +115,7 @@ namespace armarx
connect(memoryTree, &armem::MemoryTreeWidget::updated, this, &This::memoryTreeUpdated);
connect(memoryTree, &armem::MemoryTreeWidget::instanceSelected, this, &This::updateInstanceTree);
-
- // connect(this, &This::memoryTreeUpdated, this, &This::updateInstanceTree);
+ connect(instanceTree, &armem::InstanceTreeWidget::updated, this, &This::instanceTreeUpdated);
}
ArMemMemoryViewerWidgetController::~ArMemMemoryViewerWidgetController()
@@ -198,6 +202,14 @@ namespace armarx
}
}
+ void ArMemMemoryViewerWidgetController::updateInstanceTree(const armem::MemoryID& id)
+ {
+ if (memoryData)
+ {
+ instanceTree->update(id, *memoryData);
+ }
+ }
+
void ArMemMemoryViewerWidgetController::updateMemoryTree(armem::Memory& memory)
{
armem::Time start = armem::Time::now();
@@ -212,50 +224,6 @@ namespace armarx
}
- void ArMemMemoryViewerWidgetController::updateInstanceTree(const armem::MemoryID& id)
- {
- if (!memoryData)
- {
- return;
- }
-
- armem::EntityInstance* instance;
- try
- {
- instance = &memoryData->getEntityInstance(id);
- }
- catch (const armem::error::ArMemError& e)
- {
- widget.statusLabel->setText(QString::fromStdString(e.what()));
- return;
- }
-
- QTreeWidgetItem* item = new QTreeWidgetItem();
- item->setText(0, QString::fromStdString(id.str()));
-
- if (!instance->data())
- {
- item->setText(0, "(No data.)");
- }
- else if (!instance->dataNavigator())
- {
- item->setText(0, "(No introspection available.)");
- }
- else
- {
- armem::QTreeWidgetAronDataVisitor visitor(item);
- visitor.applyTo(*instance->dataNavigator());
- }
-
- widget.instanceTree->clear();
- widget.instanceTree->addTopLevelItem(item);
-
- item->setExpanded(true);
-
- emit instanceTreeUpdated();
- }
-
-
const static std::string CONFIG_KEY_MEMORY = "MemoryName";
const static std::string CONFIG_KEY_DEBUG_OBSERVER = "DebugObserverName";
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
index d922212d16b5ea7ffc229dd22dcb2e28a931ea22..36d618adb8979f718747ac89702ad34cf11851fe 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
@@ -34,6 +34,7 @@
#include <RobotAPI/interface/armem/MemoryInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryReader.h>
+#include <RobotAPI/libraries/armem_gui/InstanceTreeWidget.h>
#include <RobotAPI/libraries/armem_gui/MemoryQueryWidget.h>
#include <RobotAPI/libraries/armem_gui/MemoryTreeWidget.h>
@@ -131,6 +132,7 @@ namespace armarx
armem::MemoryTreeWidget* memoryTree;
armem::MemoryQueryWidget* queryTabs;
+ armem::InstanceTreeWidget* instanceTree;
std::string debugObserverName;
diff --git a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
index 506344f84c51cd19e40daf0727bc69f5149e0ef5..591625e957fdd1a8dbbcfd50f89c6d1f405690d7 100644
--- a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
@@ -10,11 +10,13 @@ set(LIBRARIES
)
set(SOURCES
+ InstanceTreeWidget.cpp
MemoryTreeWidget.cpp
MemoryQueryWidget.cpp
QTreeWidgetAronDataVisitor.cpp
)
set(HEADERS
+ InstanceTreeWidget.h
MemoryTreeWidget.h
MemoryQueryWidget.h
TreeWidgetBuilder.h
diff --git a/source/RobotAPI/libraries/armem_gui/InstanceTreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/InstanceTreeWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bbf77359d6ce9bf9a826aaa9e72141b3e6fbf53a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/InstanceTreeWidget.cpp
@@ -0,0 +1,89 @@
+#include "InstanceTreeWidget.h"
+
+#include <QHeaderView>
+#include <QLabel>
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h>
+#include <RobotAPI/libraries/armem_gui/QTreeWidgetAronDataVisitor.h>
+
+
+namespace armarx::armem
+{
+
+ InstanceTreeWidget::InstanceTreeWidget()
+ {
+ initWidget();
+ }
+
+ void InstanceTreeWidget::initWidget()
+ {
+ clear();
+ QStringList columns;
+ columns.insert(int(Columns::KEY), "Key");
+ columns.insert(int(Columns::TYPE), "Type");
+ columns.insert(int(Columns::VALUE), "Value");
+ setColumnCount(columns.size());
+ setHeaderLabels(columns);
+
+ // header()->setMinimumSectionSize(25);
+ // header()->resizeSection(int(Columns::KEY), 250);
+ // header()->setTextElideMode(Qt::TextElideMode::ElideRight);
+ }
+
+ void InstanceTreeWidget::update(const MemoryID& id, const Memory& memory)
+ {
+ const armem::EntityInstance* instance;
+ try
+ {
+ instance = &memory.getEntityInstance(id);
+ }
+ catch (const armem::error::ArMemError& e)
+ {
+ if (statusLabel)
+ {
+ statusLabel->setText(QString::fromStdString(e.what()));
+ }
+ return;
+ };
+ if (instance)
+ {
+ update(*instance);
+ }
+ }
+
+ void InstanceTreeWidget::update(const EntityInstance& instance)
+ {
+ QTreeWidgetItem* item = new QTreeWidgetItem();
+ item->setText(0, QString::fromStdString(instance.id().str()));
+
+ if (!instance.data())
+ {
+ item->setText(0, "(No data.)");
+ }
+ else if (!instance.dataNavigator())
+ {
+ item->setText(0, "(No introspection available.)");
+ }
+ else
+ {
+ armem::QTreeWidgetAronDataVisitor visitor(item);
+ visitor.applyTo(*instance.dataNavigator());
+ }
+
+ clear();
+ addTopLevelItem(item);
+
+ item->setExpanded(true);
+ emit updated();
+ }
+
+ void InstanceTreeWidget::setStatusLabel(QLabel* statusLabel)
+ {
+ this->statusLabel = statusLabel;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem_gui/InstanceTreeWidget.h b/source/RobotAPI/libraries/armem_gui/InstanceTreeWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..adb4de498c008d1eeb5592c01b062fe1966aa740
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/InstanceTreeWidget.h
@@ -0,0 +1,50 @@
+#pragma once
+
+#include <QTreeWidget>
+
+#include <RobotAPI/libraries/armem/memory/Memory.h>
+
+class QLabel;
+
+
+namespace armarx::armem
+{
+
+ class InstanceTreeWidget : public QTreeWidget
+ {
+ Q_OBJECT
+ public:
+
+ InstanceTreeWidget();
+
+ void update(const MemoryID& id, const Memory& memory);
+ void update(const EntityInstance& instance);
+
+ void setStatusLabel(QLabel* statusLabel);
+
+
+ signals:
+
+ void updated();
+ void instanceSelected(const MemoryID& id);
+
+
+ private slots:
+
+
+ private:
+
+ void initWidget();
+
+ QLabel* statusLabel = nullptr;
+
+
+ enum class Columns
+ {
+ KEY = 0,
+ TYPE = 1,
+ VALUE = 2,
+ };
+ };
+
+}