diff --git a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
index fc814c041b943c66c9486f45d074f5fed4ff764e..e0c518a468b90a948fe79b4babade9ccc797434b 100644
--- a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
@@ -7,6 +7,7 @@ armarx_set_target("Library: ${LIB_NAME}")
set(LIBRARIES
ArmarXCore
ArmarXCoreInterfaces
+ ArmarXGuiBase
RobotAPISkillsCore
RobotAPISkillsManager
RobotAPIInterfaces
@@ -61,7 +62,6 @@ set(SOURCES
skill_details/ProfileMenuWidget.cpp
skill_details/SkillDetailsTreeWidget.cpp
- PeriodicUpdateWidget.cpp
SkillMemoryGui.cpp
gui_utils.cpp
StatusLabel.cpp
@@ -104,7 +104,6 @@ set(HEADERS
skill_details/ProfileMenuWidget.h
skill_details/SkillDetailsTreeWidget.h
- PeriodicUpdateWidget.h
SkillMemoryGui.h
gui_utils.h
StatusLabel.h
diff --git a/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.cpp b/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.cpp
deleted file mode 100644
index b2274864b4b9b14630202a7005767cbc614fe9b1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.cpp
+++ /dev/null
@@ -1,141 +0,0 @@
-#include "PeriodicUpdateWidget.h"
-
-#include <cmath>
-
-#include <QCheckBox>
-#include <QDoubleSpinBox>
-#include <QHBoxLayout>
-#include <QPushButton>
-#include <QTimer>
-
-namespace armarx::skills::gui
-{
- PeriodicUpdateWidget::PeriodicUpdateWidget(double frequency, double maxFrequency)
- {
- setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Minimum);
-
- QLayout* vlayout = new QVBoxLayout();
- QLayout* hlayout = new QHBoxLayout();
- this->setLayout(vlayout);
-
- const int margin = 0;
- hlayout->setContentsMargins(margin, margin, margin, margin);
-
- _updateButton = new QPushButton("Update", this);
- _autoCheckBox = new QCheckBox("Auto Update", this);
- _frequencySpinBox = new QDoubleSpinBox(this);
- _frequencySpinBox->setValue(frequency);
- _frequencySpinBox->setMinimum(0);
- _frequencySpinBox->setMaximum(maxFrequency);
- _frequencySpinBox->setSingleStep(0.5);
- _frequencySpinBox->setSuffix(" Hz");
-
- hlayout->addWidget(_updateButton);
- hlayout->addWidget(_autoCheckBox);
- hlayout->addWidget(_frequencySpinBox);
-
- vlayout->addItem(hlayout);
-
-
- _timer = new QTimer(this);
- _updateTimerFrequency();
- _frequencySpinBox->setEnabled(_autoCheckBox->isChecked());
-
-
- // Private connections.
- connect(_autoCheckBox, &QCheckBox::toggled, this, &This::_toggleAutoUpdates);
- connect(_frequencySpinBox,
- &QDoubleSpinBox::editingFinished,
- this,
- &This::_updateTimerFrequency);
-
- // Public connections.
- connect(_updateButton, &QPushButton::pressed, this, &This::updateSingle);
- connect(_timer, &QTimer::timeout, this, &This::updatePeriodic);
-
- connect(this, &This::updateSingle, this, &This::update);
- connect(this, &This::updatePeriodic, this, &This::update);
-
- // See `startTimerIfEnabled` for the signal reasoning.
- // qOverload is required because `QTimer::start()` is overloaded.
- connect(this, &This::startTimerSignal, _timer, qOverload<>(&QTimer::start));
- connect(this, &This::stopTimerSignal, _timer, &QTimer::stop);
- }
-
- QPushButton*
- PeriodicUpdateWidget::updateButton()
- {
- return _updateButton;
- }
-
- int
- PeriodicUpdateWidget::getUpdateIntervalMs() const
- {
- return static_cast<int>(std::round(1000 / _frequencySpinBox->value()));
- }
-
- void
- PeriodicUpdateWidget::startTimerIfEnabled()
- {
- /* A QTimer can only be started and stopped within its own thread (the thread for which
- * it has the greatest affinity). Since this method can be called from any thread, we
- * need to take a detour through these signals, which can be emitted from any thread and
- * will always be caught in this object's (and thus the timer's) native thread.
- */
- if (_autoCheckBox->isChecked())
- {
- emit startTimerSignal();
- }
- else
- {
- emit stopTimerSignal();
- }
- }
-
- void
- PeriodicUpdateWidget::stopTimer()
- {
- // See `startTimerIfEnabled` for the signal reasoning.
- emit stopTimerSignal();
- }
-
- void
- PeriodicUpdateWidget::_updateTimerFrequency()
- {
- _timer->setInterval(getUpdateIntervalMs());
- }
-
- void
- PeriodicUpdateWidget::_toggleAutoUpdates(bool enabled)
- {
- // This method is already a slot, so it doesn't need to use the timer signals.
- _frequencySpinBox->setEnabled(enabled);
- if (enabled)
- {
- _timer->start();
- }
- else
- {
- _timer->stop();
- }
- }
-
- QCheckBox*
- PeriodicUpdateWidget::autoCheckBox()
- {
- return _autoCheckBox;
- }
-
- QDoubleSpinBox*
- PeriodicUpdateWidget::frequencySpinBox()
- {
- return _frequencySpinBox;
- }
-
- QTimer*
- PeriodicUpdateWidget::timer()
- {
- return _timer;
- }
-
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.h b/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.h
deleted file mode 100644
index e53f1a415d6452208fdbce0ff62628957054c451..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#pragma once
-
-#include <QWidget>
-
-
-class QCheckBox;
-class QDoubleSpinBox;
-class QPushButton;
-class QTimer;
-
-namespace armarx::skills::gui
-{
-
- class PeriodicUpdateWidget : public QWidget
- {
- Q_OBJECT
- using This = PeriodicUpdateWidget;
-
- public:
- PeriodicUpdateWidget(double frequency = 2.0, double maxFrequency = 60);
-
-
- QTimer* timer();
-
- QCheckBox* autoCheckBox();
- QDoubleSpinBox* frequencySpinBox();
- QPushButton* updateButton();
-
- bool isAutoEnabled() const;
- double getUpdateFrequency() const;
- int getUpdateIntervalMs() const;
-
- void startTimerIfEnabled();
- void stopTimer();
-
-
- public slots:
-
- signals:
-
- void update();
-
- void updateSingle();
- void updatePeriodic();
-
- private slots:
-
- void _updateTimerFrequency();
- void _toggleAutoUpdates(bool enabled);
-
- signals:
-
- void startTimerSignal();
- void stopTimerSignal();
-
- private:
- QPushButton* _updateButton;
- QCheckBox* _autoCheckBox;
- QDoubleSpinBox* _frequencySpinBox;
-
- QPushButton* _collapseAllButton;
-
- QTimer* _timer;
- };
-
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
index e8962eb867180240b691a49df3c1262ac3fd109f..64361f811ef2251ad679fad0c2efa1395a5aa563 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
@@ -9,9 +9,10 @@
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/PeriodicUpdateWidget.h>
+
#include "RobotAPI/libraries/skills_gui/StatusLabel.h"
-#include "./PeriodicUpdateWidget.h"
#include "./aron_tree_widget/widgets/SkillDescriptionWidget.h"
#include "./executions/SkillExecutionTreeWidget.h"
#include "./memory/SkillManagerWrapper.h"