diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
index 4d74cf11e2b5c208a30eb553c986a9636dabd562..ac0cfaa2420a1dd2d11d01b77a4fb38c02a62fc6 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
@@ -105,22 +105,25 @@ namespace armarx::skills::gui
&PeriodicUpdateWidget::startTimerIfEnabled);
connect(this, &SkillMemoryGUI::connectGui, skillGroupBox, &SkillGroupBox::connectGui);
- // update cascade
- connect(this, &SkillMemoryGUI::updateGui, skillGroupBox, &SkillGroupBox::updateGui);
+ // timer
+ connect(this->updateWidget,
+ &PeriodicUpdateWidget::update,
+ this->memory.get(),
+ &SkillManagerWrapper::updateFromMemory);
+
+ // updates
+ connect(this->memory.get(),
+ &SkillManagerWrapper::updateAvailable,
+ this,
+ &SkillMemoryGUI::updateGui);
+
+ connect(this, &SkillMemoryGUI::updateGui, this->skillGroupBox, &SkillGroupBox::updateGui);
- // we don't want to update the skill details periodically, update can be triggered manually
- /*
- connect(
- this, &SkillMemoryGUI::updateGui, skillDetailGroupBox, &SkillDetailGroupBox::updateGui);
- */
connect(this,
&SkillMemoryGUI::updateGui,
- skillExecutionTreeWidget,
- &SkillExecutionTreeWidget::updateExecutions);
+ this->skillExecutionTreeWidget,
+ &SkillExecutionTreeWidget::updateGui);
- // timer -> update
- connect(
- this->updateWidget, &PeriodicUpdateWidget::update, this, &SkillMemoryGUI::updateGui);
// stop all
connect(stopAllButton,
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
index 648f7cee806866a36363559267f68c537f203c1c..09c26b287bc62ebd08ff3ee58366285bfc419860 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
@@ -52,10 +52,7 @@ namespace armarx::skills::gui
*/
void connectGui(std::string observerName);
- /**
- * @brief Notify widgets to update themselves
- */
- void updateGui();
+ void updateGui(SkillManagerWrapper::Snapshot update);
private:
void setupUi();
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
index 2699e41f2eb5dcd9e30c053a9c69e429b0496be4..780c2bb728874f9865d7147ee2a17be55e925527 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -140,13 +140,14 @@ namespace armarx::skills::gui
}
void
- SkillExecutionTreeWidget::updateExecutions()
+ SkillExecutionTreeWidget::updateGui(SkillManagerWrapper::Snapshot update)
{
- auto currentManagerStatuses = memory->getExecutions();
- if (currentManagerStatuses.empty())
+ if (update.statuses.empty())
+ {
return;
+ }
- for (const auto& [k, v] : currentManagerStatuses)
+ for (const auto& [k, v] : update.statuses)
{
skills::SkillExecutionID executionId = k;
skills::SkillStatusUpdate statusUpdate = v;
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
index 795045302b4b47655e196e4cea566d53140f90d6..09fbdae081ed61aed705a278cbc903c053f30a80 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
@@ -9,6 +9,7 @@
namespace armarx::skills::gui
{
+ using StatusMap = std::map<skills::SkillExecutionID, skills::SkillStatusUpdate>;
class SkillExecutionTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
{
@@ -38,7 +39,7 @@ namespace armarx::skills::gui
public slots:
void disconnectGui();
- void updateExecutions();
+ void updateGui(SkillManagerWrapper::Snapshot update);
private slots:
void executionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index 25119c9a1c5957970765ca6fe63cdb506d34f4c0..5e88884733237797998522e242bfd88c6ab7ce74 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -221,8 +221,7 @@ namespace armarx::skills::gui
snapshot.skills = fetchSkillsFromMemory();
// notify registered widgets of update
- emit skillUpdate(snapshot.skills);
- emit statusUpdate(snapshot.statuses);
+ emit updateAvailable(this->snapshot);
}
const std::optional<ProviderID>
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
index f6f797c8e76a4e7b97e1040df4126b5cd69a8c54..a3352ad1c7f5a79c77d9fa0b0430377b831133c6 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
@@ -67,10 +67,20 @@ namespace armarx::skills::gui
*/
StatusMap getExecutions();
+ struct Snapshot
+ {
+ StatusMap statuses;
+ SkillMap skills;
+
+ // default constructor (construct empty)
+ Snapshot() : statuses({}), skills({})
+ {
+ }
+ };
+
signals:
void connectionUpdate(std::string const& message, std::string const& error);
- void skillUpdate(SkillMap update);
- void statusUpdate(StatusMap update);
+ void updateAvailable(Snapshot update);
public slots:
/**
@@ -101,17 +111,6 @@ namespace armarx::skills::gui
armarx::skills::manager::dti::SkillManagerInterfacePrx memory;
std::string currentSkillSearch = "";
- struct Snapshot
- {
- StatusMap statuses;
- SkillMap skills;
-
- // default constructor (construct empty)
- Snapshot() : statuses({}), skills({})
- {
- }
- };
-
Snapshot snapshot;
/**
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
index f777490cfba0c7d45b83f601ec69ea2d91903728..1723870bc6fb5a0c32c24efad41d17c9baf0fb58 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
@@ -32,14 +32,9 @@ namespace armarx::skills::gui
signals:
void disconnectGui();
- /**
- * @brief Notify widgets to update themselves
- */
- void updateGui();
-
public slots:
/**
- * @brief Update subwidgets of an updated skill selection.
+ * @brief Notify subwidgets of an updated skill selection.
* @param skillId
*/
void updateSkillDetails(skills::SkillID& skillId);
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
index 91fb11c021677e96890a001a0538fc6cf98f4aa0..acb9219dc5ed5c7566b287dd4b8cccf4dd4c2f0d 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
@@ -64,11 +64,12 @@ namespace armarx::skills::gui
this,
&SkillGroupBox::updateSkillDetails);
+ // update
+ connect(
+ this, &SkillGroupBox::updateGui, this->skillTreeWidget, &SkillTreeWidget::updateGui);
+
// disconnect
connect(
this, &SkillGroupBox::disconnectGui, skillTreeWidget, &SkillTreeWidget::disconnectGui);
-
- // update cascade
- connect(this, &SkillGroupBox::updateGui, skillTreeWidget, &SkillTreeWidget::updateSkills);
}
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
index 2ac6044ba72807ef300ae48fa19fe53d9230d1f3..239247deb28f4694af0b783f6147e83bf49d52eb 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
@@ -36,10 +36,7 @@ namespace armarx::skills::gui
void disconnectGui();
- /**
- * @brief Notify widgets to update themselves
- */
- void updateGui();
+ void updateGui(SkillManagerWrapper::Snapshot update);
public slots:
void connectGui(std::string observerName);
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
index 142a387ccbe0c7860b2f0f26169abcb9e74456c2..44cfa5be656dc612483d5ac732ecd23bae331480 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
@@ -25,10 +25,9 @@ namespace armarx::skills::gui
}
void
- SkillTreeWidget::updateSkills()
+ SkillTreeWidget::updateGui(SkillManagerWrapper::Snapshot update)
{
setSortingEnabled(false);
- const auto skills = memory->getSkills();
// update tree view. Remove non-existing elements
int i = 0;
@@ -38,7 +37,7 @@ namespace armarx::skills::gui
auto providerName = providerItem->text(0).toStdString();
skills::ProviderID providerId{.providerName = providerName};
- if (skills.find(providerId) == skills.end())
+ if (update.skills.find(providerId) == update.skills.end())
{
providerItem = nullptr; // reset
auto remove = this->takeTopLevelItem(i);
@@ -49,8 +48,8 @@ namespace armarx::skills::gui
++i;
// sanity check
- ARMARX_CHECK(skills.count(providerId) > 0);
- auto& providedSkills = skills.at(providerId);
+ ARMARX_CHECK(update.skills.count(providerId) > 0);
+ auto& providedSkills = update.skills.at(providerId);
int j = 0;
while (j < providerItem->childCount())
@@ -75,7 +74,7 @@ namespace armarx::skills::gui
}
// update tree view. Add new elements
- for (const auto& [providerId, providedSkills] : skills)
+ for (const auto& [providerId, providedSkills] : update.skills)
{
bool newProvider = false;
QTreeWidgetItem* providerItem = nullptr;
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
index 61ec5cc85314d0318a951e8216a620d1f1d9a7c8..d0fa3880d8ff65c20696835d89845c5e8f018a87 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
@@ -9,6 +9,8 @@
namespace armarx::skills::gui
{
+ using SkillMap =
+ std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>>;
class SkillTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
{
@@ -42,7 +44,8 @@ namespace armarx::skills::gui
public slots:
void disconnectGui();
- void updateSkills();
+
+ void updateGui(SkillManagerWrapper::Snapshot update);
private slots:
void skillSelectionChanged(QTreeWidgetItem* current, int column);