diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
index 9450ff9ebb1ace95ca7a96d8bc631ecde8a2a145..e3c6112a1dda404dd72af32403f9512f9eccd014 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
@@ -11,13 +11,15 @@ set(SOURCES
aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
aronTreeWidget/Data.cpp
- aronTreeWidget/NDArrayHelper.cpp
aronTreeWidget/EditMatrixWidget.cpp
- aronTreeWidget/QuaternionWidget.cpp
aronTreeWidget/AronTreeWidgetItem.cpp
aronTreeWidget/AronTreeWidgetController.cpp
- aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.cpp
aronTreeWidget/modal/AronTreeWidgetModal.cpp
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
+ aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.cpp
+ aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.cpp
SkillManagerMonitorWidgetController.cpp
)
@@ -28,19 +30,25 @@ set(HEADERS
aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
aronTreeWidget/visitors/AronTreeWidgetContextMenu.h
aronTreeWidget/Data.h
- aronTreeWidget/NDArrayHelper.h
aronTreeWidget/EditMatrixWidget.h
- aronTreeWidget/QuaternionWidget.h
aronTreeWidget/AronTreeWidgetItem.h
aronTreeWidget/AronTreeWidgetController.h
aronTreeWidget/modal/AronTreeWidgetModal.h
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
+ aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.h
SkillManagerMonitorWidgetController.h
)
set(GUI_UIS
SkillManagerMonitorWidget.ui
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
aronTreeWidget/modal/text/AronTreeWidgetTextInputModal.ui
+ aronTreeWidget/modal/dict/AronTreeWidgetDictInputModal.ui
)
# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index b90e4f6b5c76022d1a87c7afc0f484cf1993d01f..0811cfffe3b243b57a656b1f88beaa40bbfe916f 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -181,6 +181,11 @@ namespace armarx
if (!connected)
return;
+ // TODO: this can hang the whole gui! (if the skills do not respond in time.) Move into Future calculation?
+ // for example set to pending in GUI while calculating, update on this thread once results are there.
+ // (GUIs do not like to be called from seperate threads)
+ // The Furure can calculate a set of actions to perform on gui elements?
+
// remove non-existing ones
auto managerSkills = manager->getSkillDescriptions();
std::vector<std::string> removedProviders;
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
index 2bffc07e7b8aacdad7bb2eabda044795a7714277..3399138ef033c86698345f4e068c7fc0a57d7ab4 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
@@ -127,31 +127,16 @@ namespace armarx
AronTreeWidgetController::onTreeWidgetItemChanged(QTreeWidgetItem* item, int column)
{
auto* aronElem = AronTreeWidgetItem::DynamicCast(item);
- auto* parent = AronTreeWidgetItem::DynamicCast(item->parent());
-
- if (!aronElem || !parent)
+ if (column != 1 || !aronElem)
{
return;
}
- if (column == 1)
- {
- // Try to convert the type into aron to find errors
- AronTreeWidgetConverterVisitor v(item->parent(), item->parent()->indexOfChild(item));
- aron::type::visit(v, aronElem->aronType);
- // set the state accordingly
- aronElem->setValueErrorState(!v.isConversionSuccessful());
- }
- else if (column == 0)
- {
- // check if the element is child of a dict. If so, validate uniqueness of keys
- if (parent->aronType->getDescriptor() == aron::type::Descriptor::DICT)
- {
- parent->checkKeyValidityOfChildren();
- }
- // maybe while editing keys, we try to edit a key that should not change by tabbing.
- // Catch that here and undo the edit
- aronElem->preventIllegalKeyChange();
- }
+ ARMARX_CHECK(item->parent());
+ // Try to convert the type into aron to find errors
+ AronTreeWidgetConverterVisitor v(item->parent(), item->parent()->indexOfChild(item));
+ aron::type::visit(v, aronElem->aronType);
+ // set the state accordingly
+ aronElem->setValueErrorState(!v.isConversionSuccessful());
}
} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.cpp
index 7ab2989457d0071b76f8951d3bf77b22b2b1062f..239921ff7f811fb119435a4fdf6c7d02a2b7d5a2 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.cpp
@@ -7,14 +7,26 @@
namespace armarx
{
- AronTreeWidgetItem*
- AronTreeWidgetItem::DynamicCast(QTreeWidgetItem* i)
+ AronTreeWidgetItem* AronTreeWidgetItem::DynamicCast(QTreeWidgetItem* i)
{
return dynamic_cast<AronTreeWidgetItem*>(i);
}
- AronTreeWidgetItem*
- AronTreeWidgetItem::DynamicCastAndCheck(QTreeWidgetItem* i)
+ AronTreeWidgetItem::AronTreeWidgetItem(const AronTreeWidgetItem &other) :
+ QObject(),
+ QTreeWidgetItem(other)
+ {
+ aronType = other.aronType;
+ setValueErrorState(true);
+ }
+
+ AronTreeWidgetItem* AronTreeWidgetItem::copy()
+ {
+ AronTreeWidgetItem* ret = new AronTreeWidgetItem(*this);
+ return ret;
+ }
+
+ AronTreeWidgetItem* AronTreeWidgetItem::DynamicCastAndCheck(QTreeWidgetItem* i)
{
if (!i)
{
@@ -25,123 +37,24 @@ namespace armarx
return c;
}
- bool
- AronTreeWidgetItem::isValueErrorneous()
+ bool AronTreeWidgetItem::isValueErrorneous()
{
return itemValueError;
}
- void
- AronTreeWidgetItem::setValueErrorState(bool hasError)
+ void AronTreeWidgetItem::setValueErrorState(bool hasError)
{
itemValueError = hasError;
- if (hasError)
- {
+ if(hasError){
QTreeWidgetItem::setBackgroundColor(1, Qt::red);
- }
- else
- {
+ }else{
QTreeWidgetItem::setBackground(1, Qt::white);
}
}
- void
- AronTreeWidgetItem::setKeyErrorState(bool hasError)
+ AronTreeWidgetItem::AronTreeWidgetItem(bool editKey, bool editVal) :
+ col0Editable(editKey), col1Editable(editVal)
{
- ARMARX_CHECK(col0Editable); //only editable keys should call this function!
- keyValueError = hasError;
- if (hasError)
- {
- QTreeWidgetItem::setBackgroundColor(0, Qt::red);
- }
- else
- {
- QTreeWidgetItem::setBackground(0, Qt::white);
- }
- }
-
-
- void
- AronTreeWidgetItem::checkKeyValidityOfChildren()
- {
- ARMARX_CHECK(aronType->getDescriptor() == aron::type::Descriptor::DICT);
- // return if check failed
- if (aronType->getDescriptor() != aron::type::Descriptor::DICT)
- {
- return;
- }
- // iterate through children; memorize keys
- std::map<QString, std::vector<int>> found_keys;
- auto numChildren = childCount();
- for (int i = 0; i < numChildren; ++i)
- {
- auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
- if (!casted)
- {
- // soft error here, we already report it above. - Definetly programming error
- continue;
- }
- auto& vec = found_keys[casted->text(0)];
- vec.push_back(i);
- }
- // highlight keys that conflict
- // memorize children that are not ok
- std::set<int> errorneous_indices;
- for (auto [key, vals] : found_keys)
- {
- if (vals.size() > 1)
- {
- for (int i : vals)
- {
- auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
- if (!casted)
- {
- // soft error here, we already report it above. - Definetly programming error
- continue;
- }
- casted->setKeyErrorState(true);
- errorneous_indices.emplace(i);
- }
- }
- }
- // clear potential error state of other elements
- for (int i = 0; i < numChildren; ++i)
- {
- if (errorneous_indices.find(i) != errorneous_indices.end())
- {
- continue;
- }
- auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
- if (!casted)
- {
- // soft error here, we already report it above. - Definetly programming error
- continue;
- }
- casted->setKeyErrorState(false);
- }
- }
-
- void
- AronTreeWidgetItem::preventIllegalKeyChange()
- {
- if (!col0Editable)
- {
- setText(0, unchangeableKey);
- }
- }
-
- AronTreeWidgetItem::AronTreeWidgetItem(bool editKey,
- bool editVal,
- QString key,
- aron::type::VariantPtr type) :
- aronType(type), col0Editable(editKey), col1Editable(editVal)
- {
- this->setText(0, key);
- // add hook to check for edited keys for children of dictionaries
- if (!editKey)
- {
- unchangeableKey = std::move(key);
- }
}
} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.h
index b93f0e3e757a1bb937f8d1f3365bd7d6dd90a621..fe177100283826563ce23dd327ead2c7e494cde7 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.h
@@ -17,14 +17,18 @@ namespace armarx
{
Q_OBJECT
public:
- AronTreeWidgetItem(bool editKey, bool editVal, QString key, aron::type::VariantPtr type);
+ AronTreeWidgetItem(const AronTreeWidgetItem& other);
+ AronTreeWidgetItem(bool editKey, bool editVal);
using QTreeWidgetItem::QTreeWidgetItem;
+ AronTreeWidgetItem* copy(); // differs from clone!!!!
+
static AronTreeWidgetItem* DynamicCast(QTreeWidgetItem*);
+
static AronTreeWidgetItem* DynamicCastAndCheck(QTreeWidgetItem*);
- const aron::type::VariantPtr aronType;
+ aron::type::VariantPtr aronType;
// if editing the first column should be allowed
const bool col0Editable = false;
// if editing the second column should be allowed
@@ -32,19 +36,8 @@ namespace armarx
bool isValueErrorneous();
void setValueErrorState(bool hasError);
- void setKeyErrorState(bool hasError);
-
- // Checks if the children of a dict are unique
- // should not be called on other types! (does nothing then)
- void checkKeyValidityOfChildren();
-
- // because the editable keyword counts for all columns, it is possible to TAB into uneditable keys.
- // We do not want those to change, so just change them back once they finished editing.
- void preventIllegalKeyChange();
private:
bool itemValueError = false;
- bool keyValueError = false;
- QString unchangeableKey = "";
};
} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.cpp
index 223e5e8d9f71bfa03938c87d20862d1c58c1959a..7a0d9f4e939daf31b7ef838fbfb7fcede7aa9aa1 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.cpp
@@ -6,7 +6,6 @@
#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
#include "ArmarXCore/core/logging/Logging.h"
-#include "NDArrayHelper.h"
#include "visitors/AronTreeWidgetCreator.h"
namespace armarx
@@ -204,24 +203,25 @@ namespace armarx
EditMatrixWidget::parseElement(size_t row, size_t col)
{
std::string str = getText(row, col);
+ // TODO improve! Exceptions in control flow are a *really* bad smell
try
{
switch (elemType)
{
case armarx::aron::type::matrix::INT16:
- return NDArrayHelper::toByteVector<int16_t>(str);
+ return toByteVector<int16_t>(str);
case armarx::aron::type::matrix::INT32:
- return NDArrayHelper::toByteVector<int32_t>(str);
+ return toByteVector<int32_t>(str);
case armarx::aron::type::matrix::INT64:
- return NDArrayHelper::toByteVector<int64_t>(str);
+ return toByteVector<int64_t>(str);
case armarx::aron::type::matrix::FLOAT32:
- return NDArrayHelper::toByteVector<float>(str);
+ return toByteVector<float>(str);
case armarx::aron::type::matrix::FLOAT64:
- return NDArrayHelper::toByteVector<double>(str);
+ return toByteVector<double>(str);
}
}
catch (const simox::error::SimoxError& err)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h
index 3c3f9f5140d4a9820cc964fd98acf36927d9806b..fd39da5d21569d1b4dd6b30b74c8e2b05af2b06c 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h
@@ -51,9 +51,21 @@ namespace armarx
template <typename T>
static std::vector<unsigned char> toByteVector(const std::string& str);
+ // TODO: It would be nice to have this code somewhere else, this way, at least the GUI-responses
+ // are restricted to this Widget (signal & slot stuff)
aron::type::matrix::ElementType elemType;
private slots:
void matrixElementChanged();
};
+
+ template <typename T>
+ std::vector<unsigned char>
+ EditMatrixWidget::toByteVector(const std::string& str)
+ {
+ auto val = simox::alg::to_<T>(str);
+ std::vector<unsigned char> res(sizeof(val), 0);
+ *reinterpret_cast<T*>(res.data()) = val;
+ return res;
+ }
} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.cpp
deleted file mode 100644
index 67a5a62a19c25f2c3b15058f8e3b0e9472fad1c5..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.cpp
+++ /dev/null
@@ -1,163 +0,0 @@
-#include "QuaternionWidget.h"
-
-#include <QHBoxLayout>
-#include <QLabel>
-#include <QLineEdit>
-
-#include "NDArrayHelper.h"
-namespace armarx
-{
-
- QuaternionWidget*
- QuaternionWidget::DynamicCast(QWidget* elem)
- {
- return dynamic_cast<QuaternionWidget*>(elem);
- }
-
- QuaternionWidget*
- QuaternionWidget::DynamicCastAndCheck(QWidget* elem)
- {
- if (!elem)
- {
- return nullptr;
- }
- auto* casted = DynamicCast(elem);
- ARMARX_CHECK_NOT_NULL(casted);
- return casted;
- }
-
- void
- QuaternionWidget::setText(QuaternionComponents col, const std::string& str)
- {
- size_t idx = (size_t)col;
- xyzw_components.at(idx)->setText(str.c_str());
- highlightUnparsableEntries();
- }
-
- bool
- QuaternionWidget::hasParseErrors()
- {
- return !noParseErrors;
- }
-
- armarx::QuaternionWidget::QuaternionWidget(aron::type::quaternion::ElementType elType) :
- element_type(elType)
- {
- auto outerLayout = new QHBoxLayout();
- auto labelCol1 = new QVBoxLayout();
- auto labelCol2 = new QVBoxLayout();
- auto xzEdit = new QVBoxLayout();
- auto ywEdit = new QVBoxLayout();
-
- outerLayout->addLayout(labelCol1);
- outerLayout->addLayout(xzEdit);
- outerLayout->addLayout(labelCol2);
- outerLayout->addLayout(ywEdit);
-
- xyzw_components.reserve(4);
- for (size_t i = 0; i < 4; ++i)
- {
- xyzw_components.push_back(new QLineEdit());
- }
-
- // Tabbing order >> Viewing order. Thats why the indeces are a bit switched
- labelCol1->addWidget(new QLabel("x"));
- xzEdit->addWidget(xyzw_components.at(0));
-
- labelCol2->addWidget(new QLabel("z"));
- ywEdit->addWidget(xyzw_components.at(2));
-
- labelCol1->addWidget(new QLabel("y"));
- xzEdit->addWidget(xyzw_components.at(1));
-
- labelCol2->addWidget(new QLabel("w"));
- ywEdit->addWidget(xyzw_components.at(3));
-
- for (const auto& el : xyzw_components)
- {
- connect(el, SIGNAL(editingFinished()), this, SLOT(quaternionElementChanged()));
- }
-
- setLayout(outerLayout);
- highlightUnparsableEntries();
- }
-
- void
- QuaternionWidget::highlightUnparsableEntries()
- {
- QPalette normalPalette;
- normalPalette.setColor(QPalette::Base, Qt::white);
- normalPalette.setColor(QPalette::Text, Qt::black);
-
- QPalette errorPalette;
- errorPalette.setColor(QPalette::Base, Qt::red);
- errorPalette.setColor(QPalette::Text, Qt::black);
-
- noParseErrors = true;
- for (size_t i = 0; i < 4; ++i)
- {
- bool ok = false;
- switch (element_type)
- {
- case armarx::aron::type::quaternion::FLOAT32:
- {
- float flt;
- std::tie(ok, flt) = parseQuatVals<float>((QuaternionComponents)i);
- break;
- }
-
- case armarx::aron::type::quaternion::FLOAT64:
- {
- double dbl;
- std::tie(ok, dbl) = parseQuatVals<double>((QuaternionComponents)i);
- break;
- }
- }
- if (ok)
- {
- xyzw_components.at(i)->setPalette(normalPalette);
- }
- else
- {
- xyzw_components.at(i)->setPalette(errorPalette);
- noParseErrors = false;
- }
- }
- }
-
- std::vector<unsigned char>
- QuaternionWidget::parseAllToNDArray()
- {
- std::vector<unsigned char> res;
- bool success = true;
- if (element_type == aron::type::quaternion::FLOAT32)
- {
- res.reserve(16);
- for (size_t i = 0; i < 4; ++i)
- {
- auto bytevec =
- NDArrayHelper::toByteVector<float>(xyzw_components.at(i)->text().toStdString());
- success &= bytevec.size();
- res.insert(res.end(), bytevec.begin(), bytevec.end());
- }
- }
- else
- {
- res.reserve(32);
- for (size_t i = 0; i < 4; ++i)
- {
- auto bytevec = NDArrayHelper::toByteVector<double>(
- xyzw_components.at(i)->text().toStdString());
- success &= !bytevec.empty();
- res.insert(res.end(), bytevec.begin(), bytevec.end());
- }
- }
- return (success) ? res : std::vector<unsigned char>();
- }
-
- void
- QuaternionWidget::quaternionElementChanged()
- {
- highlightUnparsableEntries();
- }
-} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.h
deleted file mode 100644
index c75e0fad87b50c8a1225dbdcc4fc901b7c088650..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#pragma once
-#include <vector>
-
-#include <QLineEdit>
-#include <QObject>
-#include <QVBoxLayout>
-#include <QWidget>
-
-#include "RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h"
-
-
-namespace armarx
-{
- class QuaternionWidget : public QWidget
- {
- Q_OBJECT
- public:
- QuaternionWidget(aron::type::quaternion::ElementType);
-
- static QuaternionWidget* DynamicCast(QWidget*);
- static QuaternionWidget* DynamicCastAndCheck(QWidget*);
-
- enum struct QuaternionComponents
- {
- X = 0,
- Y,
- Z,
- W
- };
- void setText(QuaternionComponents col, const std::string& str);
- std::string getText(QuaternionComponents col);
- bool hasParseErrors();
- std::vector<unsigned char> parseAllToNDArray();
-
- private:
- std::vector<QLineEdit*> xyzw_components;
- aron::type::quaternion::ElementType element_type;
- bool noParseErrors = true;
-
- void highlightUnparsableEntries();
- template <typename T>
- std::pair<bool, T> parseQuatVals(QuaternionComponents comp);
-
- private slots:
- void quaternionElementChanged();
- };
-
- template <typename T>
- std::pair<bool, T>
- QuaternionWidget::parseQuatVals(QuaternionWidget::QuaternionComponents comp)
- {
- // size_t data_size = element_type == aron::type::quaternion::ElementType::FLOAT32 ? 4 : 8;
- try
- {
- T val = simox::alg::to_<T>(xyzw_components.at((size_t)comp)->text().toStdString());
- return {true, val};
- }
- catch (const simox::error::SimoxError& err)
- {
- return {false, NAN};
- }
- }
-
-
-} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/AronTreeWidgetModal.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/AronTreeWidgetModal.cpp
index 8af5b0c9ba513773b7666369080ba4a0dced4a93..8fbd9c5ba1abdb5e2d2175b1ff545579034c7376 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/AronTreeWidgetModal.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/AronTreeWidgetModal.cpp
@@ -2,27 +2,19 @@
namespace armarx
{
- AronTreeWidgetModal::AronTreeWidgetModal(const std::string& label,
- AronTreeWidgetItem* item,
- QTreeWidget* parent) :
+ AronTreeWidgetModal::AronTreeWidgetModal(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
QDialog(parent),
- init(false,
- false,
- item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME),
- item->aronType),
item(item),
label(label),
parent(parent)
{
- init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME,
- item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME));
- init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE,
- item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
- init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE,
- item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE));
+ init.aronType = item->aronType;
+ init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME, item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME));
+ init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE, item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE));
for (int i = 0; i < item->childCount(); ++i)
{
init.addChild(item->child(i)->clone());
}
}
-} // namespace armarx
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/AronTreeWidgetModal.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/AronTreeWidgetModal.h
index 03c01a9843da2c6a55bf0710dbddb31b16887624..cda9f7e728df6da713fb1e09001bc37e8502b9e6 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/AronTreeWidgetModal.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/AronTreeWidgetModal.h
@@ -1,39 +1,34 @@
#pragma once
#include <stack>
-
-#include <QDialog>
-#include <QTreeWidget>
-
#include <ArmarXCore/core/system/ImportExportComponent.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-
#include "../AronTreeWidgetItem.h"
#include "../Data.h"
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+#include <QDialog>
+#include <QTreeWidget>
+
namespace armarx
{
- class AronTreeWidgetModal : public QDialog
+ class AronTreeWidgetModal :
+ public QDialog
{
Q_OBJECT
public:
- AronTreeWidgetModal(const std::string& label,
- AronTreeWidgetItem* item,
- QTreeWidget* parent);
+ AronTreeWidgetModal(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
protected slots:
- virtual void
- reset()
+ virtual void reset()
{
- item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME,
- init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME));
- item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE,
- init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
- item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE,
- init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE));
+ item->aronType = init.aronType;
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME, init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME));
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE, init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE));
for (int i = 0; i < item->childCount(); ++i)
{
item->removeChild(item->child(i));
@@ -43,13 +38,13 @@ namespace armarx
item->addChild(init.child(i)->clone());
}
}
- virtual void
- submit()
+ virtual void submit()
{
accept();
}
protected:
+
AronTreeWidgetItem init;
AronTreeWidgetItem* item;
@@ -59,4 +54,4 @@ namespace armarx
};
using AronTreeWidgetModalControllerPtr = std::shared_ptr<AronTreeWidgetModal>;
-} // namespace armarx
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..69f4a5c99b277ba4808ecc45081df86e0ab55ef0
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetBoolInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetBoolInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7bc282597909fef3dcd538724cb2bf52f05893d2
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetBoolInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetBoolInputModalController::AronTreeWidgetBoolInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetBoolInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetBoolInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..1a1c60a07665fae06869962bc9a66c84da4cef12
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/ui_AronTreeWidgetBoolInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetBoolInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetBoolInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetBoolInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..b9b800ed26a2b2170b8ab06633e8e795b1957be4
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModal.ui
@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetDictInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetDictInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0" colspan="5">
+ <widget class="QTreeWidget" name="treeWidgetDict">
+ <column>
+ <property name="text">
+ <string>Key</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Value</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Type</string>
+ </property>
+ </column>
+ </widget>
+ </item>
+ <item row="1" column="3" colspan="2">
+ <widget class="QPushButton" name="pushButtonAddElement">
+ <property name="text">
+ <string>+ Add element</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0" colspan="3">
+ <widget class="QLineEdit" name="lineEditKey">
+ <property name="maximumSize">
+ <size>
+ <width>880</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Enter Key</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1" colspan="4">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0e96cb6245384234e01f6d312866495f619e51f8
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.cpp
@@ -0,0 +1,76 @@
+#include "AronTreeWidgetDictInputModalController.h"
+
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+
+#include "../../visitors/AronTreeWidgetCreator.h"
+
+namespace armarx
+{
+ AronTreeWidgetDictInputModalController::AronTreeWidgetDictInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // set header
+ widget.groupBoxInput->setTitle(QString::fromStdString(label));
+ reset();
+
+ // connect signals
+ connect(widget.pushButtonAddElement, &QPushButton::clicked,
+ this, &AronTreeWidgetDictInputModalController::addEmptyElement);
+
+ connect(widget.pushButtonReset, &QPushButton::clicked,
+ this, &AronTreeWidgetDictInputModalController::reset);
+ connect(widget.pushButtonSubmit, &QPushButton::clicked,
+ this, &AronTreeWidgetDictInputModalController::submit);
+
+ }
+
+ void AronTreeWidgetDictInputModalController::submit()
+ {
+ for (const auto& added : addedItems)
+ {
+ item->addChild(added->copy());
+ }
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetDictInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.treeWidgetDict->clear();
+ for (int i = 0; i < init.childCount(); ++i)
+ {
+ auto el = init.child(i);
+ widget.treeWidgetDict->addTopLevelItem(el->clone());
+ }
+ }
+
+ void AronTreeWidgetDictInputModalController::addEmptyElement()
+ {
+ QString s = widget.lineEditKey->text();
+ widget.lineEditKey->setText("Enter Key");
+
+ if (widget.treeWidgetDict->findItems(s, Qt::MatchFlag::MatchExactly, 0).empty())
+ {
+ auto t = item->aronType;
+ auto d = aron::type::Dict::DynamicCastAndCheck(t);
+ auto ac = d->getAcceptedType();
+
+ AronTreeWidgetCreatorVisitor v(nullptr);
+ v.setTopLevelWidget(widget.treeWidgetDict);
+ aron::type::visit(v, ac);
+
+ if (v.createdQWidgetItem)
+ {
+ v.createdQWidgetItem->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME,
+ s);
+ addedItems.push_back(v.createdQWidgetItem);
+ widget.treeWidgetDict->addTopLevelItem(v.createdQWidgetItem);
+ }
+ }
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..f5d94a04b46994220fb0ff9c81e1fff50a9c3091
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <stack>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/dict/ui_AronTreeWidgetDictInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetDictInputModalController :
+ public AronTreeWidgetModal
+ {
+ public:
+
+ AronTreeWidgetDictInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ void addEmptyElement();
+
+ private:
+ std::vector<AronTreeWidgetItem*> addedItems;
+ Ui::AronTreeWidgetDictInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..ba3734066df16e227142f6636d7cb6e39c415646
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetFloatInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetFloatInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ae9cbe6aac34390785cdc410508681ff0b79a9f6
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetFloatInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetFloatInputModalController::AronTreeWidgetFloatInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetFloatInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetFloatInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..debd50e9f04eae0d35c161d9124e7876d3eacc6c
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/ui_AronTreeWidgetFloatInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetFloatInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetFloatInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetFloatInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..538a78e766e997ad9811ff11b6036f088de332e2
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetIntInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetIntInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..dd9b19e06494c8720f7cc2e172b0caecad3fc7d2
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetIntInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetIntInputModalController::AronTreeWidgetIntInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetIntInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetIntInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..1de43a0870b2af8ff4edbc974c13f826d31e67ef
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/ui_AronTreeWidgetIntInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetIntInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetIntInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetIntInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
index 76c38e9a27d686d40e7dce7d29380074957f5dde..3f484b85d92717f332aa7d72f8890bebbce443c6 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
@@ -85,12 +85,6 @@ namespace armarx
currFont.setItalic(true);
castedContainer->setFont(1, currFont);
}
- // if it's a dict, we might have resolved key conflicts this way.
- else if (castedContainer &&
- castedContainer->aronType->getDescriptor() == aron::type::Descriptor::DICT)
- {
- castedContainer->checkKeyValidityOfChildren();
- }
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
index 10fa387251f71fefbacfd95b39d1510ce7163db7..5a5d52c03c9fd37027c55b22a46e4904bad918a1 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
@@ -35,8 +35,7 @@
// qt
#include <QTreeWidgetItem>
-#include "../EditMatrixWidget.h"
-#include "../QuaternionWidget.h"
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h>
namespace armarx
@@ -86,16 +85,7 @@ namespace armarx
if (v.createdAron && !v.errorOccured)
{
- // TODO find more elegant solution that does not crash aron code
- auto key = it->text(0).toStdString();
- if (createdAronDict->hasElement(key))
- {
- errorOccured = true;
- }
- else
- {
- createdAronDict->addElement(key, v.createdAron);
- }
+ createdAronDict->addElement(it->text(0).toStdString(), v.createdAron);
}
else
{
@@ -152,7 +142,6 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::TuplePtr& i)
{
- // CAUTION; UNTESTED
auto createdAronTuple = std::make_shared<aron::data::List>(i->getPath());
createdAron = createdAronTuple;
auto* currElem = parentItem->child(index);
@@ -232,26 +221,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
{
- auto createdQuat = std::make_shared<aron::data::NDArray>(i->getPath());
- createdAron = createdQuat;
- int dataSize = i->getElementType() == aron::type::quaternion::ElementType::FLOAT32 ? 4 : 8;
- createdQuat->setShape({1, 4, dataSize});
- createdQuat->setType(i->getFullName());
- auto* currTreeElem = parentItem->child(index);
- auto* itemWidget = currTreeElem->treeWidget()->itemWidget(currTreeElem, 1);
- auto* quatWidget = QuaternionWidget::DynamicCastAndCheck(itemWidget);
- if (quatWidget->hasParseErrors())
- {
- errorOccured = true;
- return;
- }
- auto serialized = quatWidget->parseAllToNDArray();
- if ((int)serialized.size() != dataSize * 4)
- {
- ARMARX_ERROR
- << "serialized quaternions did not return byte sequence of correct length!";
- }
- createdQuat->setData(serialized.size(), serialized.data());
+ // TODO
}
void
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
index e7dde099a79a7bab378e82b71270e8ec090dcee2..de92a507c4a030c1f4c26ff784aee2f2c78edfc9 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
@@ -23,7 +23,6 @@
#include <string>
#include "../EditMatrixWidget.h"
-#include "../QuaternionWidget.h"
// base class
#include "AronTreeWidgetCreator.h"
@@ -31,7 +30,6 @@
// data
#include "../AronTreeWidgetItem.h"
#include "../Data.h"
-#include "AronTreeWidgetContextMenu.h"
namespace armarx
{
@@ -95,8 +93,9 @@ namespace armarx
key = std::to_string(parentOfCreatedObj->childCount());
}
- createdQWidgetItem =
- new AronTreeWidgetItem(isDictChild, editableValue, QString::fromStdString(key), i);
+ createdQWidgetItem = new AronTreeWidgetItem(isDictChild, editableValue);
+ createdQWidgetItem->aronType = i;
+ createdQWidgetItem->setText(0, QString::fromStdString(key));
createdQWidgetItem->setText(1, QString::fromStdString(defaul));
createdQWidgetItem->setText(2, QString::fromStdString(i->getShortName()));
createdQWidgetItem->setText(
@@ -123,8 +122,9 @@ namespace armarx
key = i->getPath().getLastElement();
}
- createdQWidgetItem =
- new AronTreeWidgetItem(editableValue, false, QString::fromStdString(key), i);
+ createdQWidgetItem = new AronTreeWidgetItem(editableValue, false);
+ createdQWidgetItem->setText(0, QString::fromStdString(key));
+ createdQWidgetItem->aronType = i;
parentOfCreatedObj->addChild(createdQWidgetItem);
for (const auto& [key, value] : i->getMemberTypes())
@@ -166,7 +166,6 @@ namespace armarx
void
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::TuplePtr& tuple)
{
- // CAUTION; UNTESTED
// create default, uneditable tree widget item.
insertNewTreeViewWidget(tuple, "");
// attach all children
@@ -185,9 +184,6 @@ namespace armarx
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::ListPtr& i)
{
insertNewTreeViewWidget(i, "");
- // TODO: Move to external helper class
- auto txt = AronTreeWidgetContextMenuVisitor::generateNumElementsText(0);
- createdQWidgetItem->setText(1, txt);
}
void
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::NDArrayPtr& i)
@@ -201,6 +197,7 @@ namespace armarx
editableValue = true;
insertNewTreeViewWidget(i, "");
// TODO add size and type info to 2nd column manually here
+ // TODO: make hello world execution work!
// Widget fiddling source: https://blog.manash.io/quick-qt-6-how-to-add-qpushbutton-or-widgets-to-a-qtreewidget-as-qtreewidgetitem-2ae9f54c0e5f
// overlay custom widget in column 1
@@ -212,11 +209,7 @@ namespace armarx
void
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
{
- editableValue = true;
insertNewTreeViewWidget(i, "");
- auto* toplevelWidget = createdQWidgetItem->treeWidget();
- QuaternionWidget* quatWidget = new QuaternionWidget(i->getElementType());
- toplevelWidget->setItemWidget(createdQWidgetItem, 1, quatWidget);
}
void
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::ImagePtr& i)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
index edb553e2d840dc0651c191c5d13159c9605d50ce..50a5753b7c5fb2f069885e6c0c242bc055c7fa23 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
@@ -20,14 +20,15 @@
* GNU General Public License
*/
-#include "AronTreeWidgetModalCreator.h"
-
#include <string>
+#include "AronTreeWidgetModalCreator.h"
+
#include <SimoxUtility/algorithm/string.h>
// modals
#include "../modal/text/AronTreeWidgetTextInputModalController.h"
+#include "../modal/dict/AronTreeWidgetDictInputModalController.h"
// qt
#include <QTreeWidget>
@@ -38,6 +39,7 @@ namespace armarx
void AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
{
+ // should not happen, right?
}
void
@@ -103,14 +105,12 @@ namespace armarx
void
AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::StringPtr& i)
{
- createdModal =
- std::make_shared<AronTreeWidgetTextInputModalController>(label, item, parent);
+ createdModal = std::make_shared<AronTreeWidgetTextInputModalController>(label, item, parent);
}
- void
- AronTreeWidgetModalCreatorVisitor::visitUnknown(Input&)
+ void AronTreeWidgetModalCreatorVisitor::visitUnknown(Input&)
{
- ARMARX_WARNING_S << "Received an unknown type when trying to create a tree view widget "
- "modal for a skill argument type.";
+ ARMARX_WARNING_S << "Received an unknown type when trying to create a tree view widget modal for a skill argument type.";
}
-} // namespace armarx
+}
+
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
index 6c03126d63948bd1f89446dc6fabea89755d25e5..63b29b930c468a1c47e0afe1099616ad9686bc51 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
@@ -24,25 +24,11 @@
#include <string>
-#include "../EditMatrixWidget.h"
-#include "../QuaternionWidget.h"
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h>
+
#include "AronTreeWidgetContextMenu.h"
#include "AronTreeWidgetCreator.h"
-
-template <typename T>
-std::string
-usString(T number, size_t precision = 3)
-{
- std::stringstream ss;
- const char* locale = "C";
- ss.imbue(std::locale(locale));
-
- ss << std::fixed << std::setprecision(precision) << number;
- return ss.str();
-}
-
-
//visitors
namespace armarx
{
@@ -139,7 +125,7 @@ namespace armarx
AronTreeWidgetSetterVisitor v(el, x);
aron::data::visit(v, value);
auto* currChild = el->child(x);
- std::string listNum = usString(x);
+ std::string listNum = std::to_string(x);
currChild->setText(0, listNum.c_str());
++x;
@@ -163,15 +149,11 @@ namespace armarx
auto* castedEl = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
ARMARX_CHECK(castedEl);
auto matrixCast = aron::type::Matrix::DynamicCast(castedEl->aronType);
- auto quaternionCast = aron::type::Quaternion::DynamicCast(castedEl->aronType);
auto* rootWidget = castedEl->treeWidget();
ARMARX_CHECK(rootWidget);
- EditMatrixWidget* matrixWidget =
+ EditMatrixWidget* widget =
EditMatrixWidget::DynamicCast(rootWidget->itemWidget(castedEl, 1));
- QuaternionWidget* quaternionWidget =
- QuaternionWidget::DynamicCast(rootWidget->itemWidget(castedEl, 1));
-
- if (matrixCast && matrixWidget)
+ if (matrixCast && widget)
{
auto elemType = matrixCast->getElementType();
auto* rawData = arr->getData();
@@ -183,34 +165,29 @@ namespace armarx
case aron::type::matrix::ElementType::FLOAT32:
{
static_assert(sizeof(float) == 4);
- float* interpreted = reinterpret_cast<float*>(rawData);
- float laundered = std::launder(interpreted)[elementNr];
- return usString<float>(laundered);
+ float interpreted = reinterpret_cast<float*>(rawData)[elementNr];
+ return std::to_string(interpreted);
}
case aron::type::matrix::ElementType::FLOAT64:
{
static_assert(sizeof(double) == 8);
- double* interpreted = reinterpret_cast<double*>(rawData);
- float laundered = std::launder(interpreted)[elementNr];
- return usString<double>(laundered);
+ double interpreted = reinterpret_cast<double*>(rawData)[elementNr];
+ return std::to_string(interpreted);
}
case aron::type::matrix::ElementType::INT16:
{
- int16_t* interpreted = reinterpret_cast<int16_t*>(rawData);
- int16_t laudered = std::launder(interpreted)[elementNr];
- return usString<int16_t>(laudered);
+ int16_t interpreted = reinterpret_cast<int16_t*>(rawData)[elementNr];
+ return std::to_string(interpreted);
}
case aron::type::matrix::ElementType::INT32:
{
- int32_t* interpreted = reinterpret_cast<int32_t*>(rawData);
- int32_t laudered = std::launder(interpreted)[elementNr];
- return usString<int32_t>(laudered);
+ int32_t interpreted = reinterpret_cast<int32_t*>(rawData)[elementNr];
+ return std::to_string(interpreted);
}
case aron::type::matrix::ElementType::INT64:
{
- int64_t* interpreted = reinterpret_cast<int64_t*>(rawData);
- int64_t laudered = std::launder(interpreted)[elementNr];
- return usString<int64_t>(laudered);
+ int64_t interpreted = reinterpret_cast<int64_t*>(rawData)[elementNr];
+ return std::to_string(interpreted);
}
}
return "Error!";
@@ -221,48 +198,12 @@ namespace armarx
{
for (size_t col = 0; (int)col < matrixCast->getCols(); ++col)
{
- matrixWidget->setText(row, col, toString(col * matrixCast->getRows() + row));
+ widget->setText(row, col, toString(col * matrixCast->getRows() + row));
}
}
}
- else if (quaternionCast && quaternionWidget)
- {
- auto elemType = quaternionCast->getElementType();
- auto rawData = arr->getData();
- auto shape = arr->getShape();
- // string can convert any item
- auto toString = [elemType, rawData](size_t elementNr) -> std::string
- {
- switch (elemType)
- {
- case aron::type::quaternion::ElementType::FLOAT32:
- {
- static_assert(sizeof(float) == 4);
- float* interpreted = reinterpret_cast<float*>(rawData);
- float laundered = std::launder(interpreted)[elementNr];
- return usString<float>(laundered);
- }
- case aron::type::quaternion::ElementType::FLOAT64:
- {
- static_assert(sizeof(double) == 8);
- double* interpreted = reinterpret_cast<double*>(rawData);
- //TODO: Note to future Tobi: Fix pls. Does not find correct number. May also be export error from component!
- // also: skill execution crashes. See into Skill provider
- float laundered = std::launder(interpreted)[elementNr];
- return usString<double>(laundered);
- }
- }
- return "Error!";
- };
- for (size_t i = 0; i < 4; ++i)
- {
- quaternionWidget->setText((QuaternionWidget::QuaternionComponents)i, toString(i));
- }
- }
else
{
- ARMARX_ERROR
- << "we do not support raw NDArrays. Ask Fabian Peller for more information.";
}
}
@@ -272,7 +213,7 @@ namespace armarx
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
QTreeWidgetItem* el = parentItem->child(index);
- el->setText(1, QString::fromStdString(usString<int>(i->getValue())));
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
}
}
@@ -282,7 +223,7 @@ namespace armarx
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
QTreeWidgetItem* el = parentItem->child(index);
- el->setText(1, QString::fromStdString(usString<long>(i->getValue())));
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
}
}
@@ -292,7 +233,7 @@ namespace armarx
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
QTreeWidgetItem* el = parentItem->child(index);
- el->setText(1, QString::fromStdString(usString<float>(i->getValue())));
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
}
}
@@ -302,7 +243,7 @@ namespace armarx
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
QTreeWidgetItem* el = parentItem->child(index);
- el->setText(1, QString::fromStdString(usString<double>(i->getValue())));
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
}
}
@@ -312,7 +253,7 @@ namespace armarx
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
QTreeWidgetItem* el = parentItem->child(index);
- el->setText(1, QString::fromStdString(usString<bool>(i->getValue())));
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
}
}