From 5ac8a0fc626f406ad55bc46bb14c8a3105fdcf86 Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Tue, 12 Dec 2023 16:58:49 +0100
Subject: [PATCH] Implemented context menu for executions tree
---
.../libraries/skills_gui/SkillMemoryGui.cpp | 7 +++-
.../libraries/skills_gui/SkillMemoryGui.h | 2 +-
.../executions/SkillExecutionTreeWidget.cpp | 41 +++++++++++++++++++
.../executions/SkillExecutionTreeWidget.h | 6 ++-
.../skills_gui/memory/SkillManagerWrapper.cpp | 16 ++++++--
5 files changed, 66 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
index faacc352f..127930695 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
@@ -22,6 +22,11 @@ namespace armarx::skills::gui
ARMARX_CHECK(_skillDetailGroupBoxParentLayout);
ARMARX_CHECK(_memory);
+ ARMARX_CHECK(_skillExecutionTreeWidget);
+ ARMARX_CHECK(_skillGroupBox);
+ ARMARX_CHECK(_skillDetailGroupBox);
+ ARMARX_CHECK(_updateWidgetLayout);
+
// setup memory
this->memory = _memory;
@@ -47,7 +52,7 @@ namespace armarx::skills::gui
}
void
- SkillMemoryGUI::disconnect()
+ SkillMemoryGUI::resetGui()
{
ARMARX_ERROR << "Not implemented";
}
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
index b0b6baf22..b49123cae 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
@@ -36,7 +36,7 @@ namespace armarx::skills::gui
/**
* @brief Resets all widgets when disconnecting
*/
- void disconnect();
+ void resetGui();
private:
void connectSignals();
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
index aab0b484f..8e53e9708 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -1,7 +1,48 @@
#include "SkillExecutionTreeWidget.h"
+#include <QMenu>
+
namespace armarx::skills::gui
{
+
+ void
+ SkillExecutionTreeWidget::runContextMenu(const QPoint& pos)
+ {
+ QMenu* menu = new QMenu();
+
+ // Stop skill
+ QAction* stopSkillAction = new QAction("Stop execution", this);
+ skills::SkillStatus currentStatus =
+ memory->getLatestUpdate().statuses.at(selectedExecution.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,
+ SIGNAL(stopSkillAction.triggered()),
+ this,
+ SIGNAL(stopSelectedExecution()));
+ connect(rerunSkillAction,
+ SIGNAL(rerunSkillAction.triggered()),
+ this,
+ SIGNAL(rerunSkillWithSimilarParams()));
+
+ // Temporarily disable rerun-skill-Action
+ rerunSkillAction->setDisabled(true);
+
+ // open menu
+ menu->popup(this->viewport()->mapToGlobal(pos));
+ }
+
+ void
+ SkillExecutionTreeWidget::stopSelectedExecution()
+ {
+ memory->stopExecution(this->selectedExecution.skillExecutionId);
+ }
+
/*
void
SkillExecutionTreeWidget::refresh()
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
index 87231431a..2dc6b8a3f 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
@@ -35,14 +35,18 @@ namespace armarx::skills::gui
SelectedExecution& getSelectedExecution();
+ signals:
+ void rerunSkillWithSimilarParams();
private slots:
void stopAllExecutions();
void executionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
void refresh();
+ void runContextMenu(const QPoint& pos);
+ void stopSelectedExecution();
private:
void setupUi();
- SkillExecutionID selectedExecution;
+ SelectedExecution selectedExecution;
};
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index 818d88227..66b8a2b62 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -73,15 +73,25 @@ namespace armarx::skills::gui
void
SkillManagerWrapper::disconnect()
{
- std::scoped_lock l(mutex_memory);
- this->memory = nullptr;
+ // clear memory
+ {
+ std::scoped_lock l(mutex_memory);
+ this->memory = nullptr;
+ }
+
+ // clear stored data
+ {
+ std::scoped_lock d(mutex_snapshot);
+ this->snapshot.skills.clear();
+ this->snapshot.statuses.clear();
+ }
}
const SkillManagerWrapper::Snapshot
SkillManagerWrapper::getLatestUpdate()
{
// We *want* to make a const copy, since a reference to the snapshot would not necessarily be thread safe.
- // If this is too slow, this class might implement wrapper functions for the maps. This would not scale well.
+ // If this is too slow, this class might implement wrapper functions for the maps.
std::scoped_lock l(mutex_snapshot);
return snapshot;
}
--
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