diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 10b31920d68599552ab3dc0713a41bf8ab56033f..db3fb7ee4c04b359d97ca606e54fe2961750043c 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -174,6 +174,10 @@ namespace armarx
{
//commitExampleImages();
}
+ if (true)
+ {
+ commitExamplesWithUntypedData();
+ }
CycleUtil c(static_cast<int>(1000 / p.commitFrequency));
while (!task->isStopped())
@@ -602,6 +606,37 @@ namespace armarx
}
}
+ void ExampleMemoryClient::commitExamplesWithUntypedData()
+ {
+ const armem::Time time = armem::Time::now();
+
+ armem::Commit commit;
+ {
+ armem::EntityUpdate& update = commit.add();
+ update.entityID = exampleDataProviderID.withEntityName("unexpected_data");
+ update.timeCreated = time;
+
+ armem::example::ExampleData data;
+ toAron(data.memoryLink, armem::MemoryID()); // ////1/1
+
+ aron::data::DictPtr aron = data.toAron();
+ aron->addElement("unexpectedString", std::make_shared<aron::data::String>("unexpected value"));
+ aron->addElement("unexpectedDict", std::make_shared<aron::data::Dict>(
+ std::map<std::string, aron::data::VariantPtr>{
+ { "key43", std::make_shared<aron::data::Int>(43) },
+ { "keyABC", std::make_shared<aron::data::String>("ABC") },
+ }
+ ));
+ update.instancesData = { aron };
+ }
+
+ armem::CommitResult commitResult = memoryWriter.commit(commit);
+ if (!commitResult.allSuccess())
+ {
+ ARMARX_WARNING << commitResult.allErrorMessages();
+ }
+ }
+
void ExampleMemoryClient::processExampleEntityUpdate(
const armem::MemoryID& subscriptionID, const std::vector<armem::MemoryID>& snapshotIDs)
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
index 0adda091a10f7c07585fe1a34d00ee3d7cae0737..930abfea7618c4ece3f7298c97376a54b201bac6 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
@@ -102,6 +102,8 @@ namespace armarx
void commitExampleImages();
+ void commitExamplesWithUntypedData();
+
private:
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
index eae4cb934e7c878c2c2f7787f0ef0cd96a2f9775..e2537e0c5f94b382ea00920eb79f168e50b73331 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
@@ -12,6 +12,7 @@
#include <RobotAPI/libraries/armem_gui/instance/sanitize_typename.h>
#include <RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h>
#include <RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.h>
+#include <RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.h>
namespace armarx::armem::gui::instance
@@ -28,21 +29,18 @@ namespace armarx::armem::gui::instance
const aron::data::Dict& data)
{
auto childType = type.getAcceptedType();
- if (childType)
+ DictBuilder builder = getDictBuilder();
+ builder.setUpdateItemFn([this, &childType, &data](const std::string & key, QTreeWidgetItem * item)
{
- DictBuilder builder = getDictBuilder();
- builder.setUpdateItemFn([this, &childType, &data](const std::string & key, QTreeWidgetItem * item)
+ auto childData = data.getElement(key);
+ if (childData)
{
- auto childData = data.getElement(key);
- if (childData)
- {
- this->update(item, key, childType, childData);
- }
- return true;
- });
-
- builder.updateTreeWithContainer(parent, data.getAllKeys());
- }
+ this->updateDispatch(item, key, childType, childData);
+ }
+ return true;
+ });
+
+ builder.updateTreeWithContainer(parent, data.getAllKeys());
}
@@ -54,7 +52,8 @@ namespace armarx::armem::gui::instance
DictBuilder builder = getDictBuilder();
builder.setMakeItemFn([this, &type](const std::string & key) -> QTreeWidgetItem*
{
- if (type.getMemberType(key)->getFullName() == instance::rawMemoryIDTypeName)
+ if (type.hasMemberType(key)
+ && type.getMemberType(key)->getFullName() == instance::rawMemoryIDTypeName)
{
MemoryIDTreeWidgetItem* item = new MemoryIDTreeWidgetItem({QString::fromStdString(key)});
item->addKeyChildren();
@@ -67,17 +66,22 @@ namespace armarx::armem::gui::instance
});
builder.setUpdateItemFn([this, &type, &data](const std::string & key, QTreeWidgetItem * item)
{
- auto childType = type.getMemberType(key);
auto childData = data.getElement(key);
- if (childType)
+ // We need this check here because getMemberType(key) throws
+ // instead of returning nullptr if the type doesn't have the key.
+ if (type.hasMemberType(key))
{
- this->update(item, key, childType, childData);
+ this->updateDispatch(item, key, type.getMemberType(key), childData);
+ }
+ else
+ {
+ this->updateDispatch(item, key, nullptr, childData);
}
return true;
});
- builder.updateTreeWithContainer(parent, type.getAllKeys());
+ builder.updateTreeWithContainer(parent, data.getAllKeys());
}
@@ -86,22 +90,19 @@ namespace armarx::armem::gui::instance
const aron::data::List& data)
{
auto childType = type.getAcceptedType();
- if (childType)
- {
- auto children = data.getChildren();
+ auto children = data.getChildren();
- ListBuilder builder = getListBuilder();
- builder.setUpdateItemFn([this, &children, &childType](size_t key, QTreeWidgetItem * item)
+ ListBuilder builder = getListBuilder();
+ builder.setUpdateItemFn([this, &children, &childType](size_t key, QTreeWidgetItem * item)
+ {
+ if (auto childData = children.at(key))
{
- if (auto childData = children.at(key))
- {
- this->update(item, std::to_string(key), childType, childData);
- }
- return true;
- });
-
- builder.updateTreeWithContainer(parent, getIndex(children.size()));
- }
+ this->updateDispatch(item, std::to_string(key), childType, childData);
+ }
+ return true;
+ });
+
+ builder.updateTreeWithContainer(parent, getIndex(children.size()));
}
@@ -119,10 +120,7 @@ namespace armarx::armem::gui::instance
auto childType = i == 0 ? childTypes.first : childTypes.second;
auto childData = data.getElement(static_cast<unsigned int>(i));
- if (childType)
- {
- this->update(item, std::to_string(i), childType, childData);
- }
+ this->updateDispatch(item, std::to_string(i), childType, childData);
return true;
});
@@ -135,22 +133,43 @@ namespace armarx::armem::gui::instance
const aron::type::Tuple& type,
const aron::data::List& data)
{
+ // Allows tuples where the data list is longer than the type tuple -
+ // is that desired behavior?
+
auto childTypes = type.getAcceptedTypes();
ListBuilder builder = getListBuilder();
builder.setUpdateItemFn([this, &data, &childTypes](size_t i, QTreeWidgetItem * item)
{
- auto childType = childTypes.at(i);
+ auto childType = (i < childTypes.size()) ? childTypes.at(i) : nullptr;
auto childData = data.getElement(static_cast<unsigned int>(i));
- if (childType)
- {
- this->update(item, std::to_string(i), childType, childData);
- }
+ this->updateDispatch(item, std::to_string(i), childType, childData);
return true;
});
- builder.updateTreeWithContainer(parent, getIndex(type.getAcceptedTypes().size()));
+ builder.updateTreeWithContainer(parent, getIndex(data.childrenSize()));
+ }
+
+
+ /*! Used so that elements in the data that don't appear in the type
+ * can still be shown in the GUI if type information is enabled
+ * (otherwise, they would be hidden).
+ */
+ void TypedDataTreeBuilder::updateDispatch(
+ QTreeWidgetItem* item,
+ const std::string& key,
+ const aron::type::VariantPtr& type,
+ const aron::data::VariantPtr& data)
+ {
+ if (type)
+ {
+ this->update(item, key, type, data);
+ }
+ else
+ {
+ this->update(item, key, data);
+ }
}
@@ -217,6 +236,33 @@ namespace armarx::armem::gui::instance
_updateTree(item, *t, *d);
}
// else???
+ // phesch: else we stop here, since there's no container to recurse into.
+ }
+ }
+
+
+ void TypedDataTreeBuilder::update(QTreeWidgetItem* item,
+ const std::string& key,
+ const aron::data::VariantPtr& data)
+ {
+ if (data)
+ {
+ this->setRowTexts(item, key, data);
+
+ if (auto cast = aron::data::Dict::DynamicCast(data))
+ {
+ DataTreeBuilder builder;
+ builder.updateTree(item, cast);
+ }
+ else if (auto cast = aron::data::List::DynamicCast(data))
+ {
+ DataTreeBuilder builder;
+ builder.updateTree(item, cast);
+ }
+ }
+ else
+ {
+ this->setRowTexts(item, key, "(none)");
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h
index b4e6dc91bc963ac799e5230f95f5e46c7fb79ebb..b8aacc686df4dbf2119d963f5fc163aabe0c52bf 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h
@@ -49,11 +49,20 @@ namespace armarx::armem::gui::instance
protected:
+ void updateDispatch(QTreeWidgetItem* item,
+ const std::string& key,
+ const aron::type::VariantPtr& type,
+ const aron::data::VariantPtr& data);
+
void update(QTreeWidgetItem* item,
const std::string& key,
const aron::type::VariantPtr& type,
const aron::data::VariantPtr& data);
+ void update(QTreeWidgetItem* item,
+ const std::string& key,
+ const aron::data::VariantPtr& data);
+
template <class DataT, class TypeT>
void _updateTree(QTreeWidgetItem* item, TypeT& type, DataT& data);
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
index 56dd6f22a526a60c65bcd992b48ae214b7af2241..eb27eedcdb74c99f04003f0b0d143add11527bc7 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
@@ -105,7 +105,7 @@ namespace armarx::aron::type
VariantPtr Object::getMemberType(const std::string& s) const
{
- if (memberTypes.find(s) == memberTypes.end() and !extends->hasMemberType(s))
+ if (memberTypes.find(s) == memberTypes.end() and not (extends and extends->hasMemberType(s)))
{
throw error::ValueNotValidException("ObjectNavigator", "getMemberType", "Member not set. The list of all members is: " + simox::alg::to_string(simox::alg::get_keys(memberTypes)), s);
}