use the optimised way to get valueChangedSignal of a DescribedWidget for...

use the optimised way to get valueChangedSignal of a DescribedWidget for functions in the RobotUnitGuiPlugin

source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitLVL1ControllersWidget.cpp

@@ -392,26 +392,17 @@ namespace armarx
                 head->addItem(new QSpacerItem {0, 0, QSizePolicy::MinimumExpanding, QSizePolicy::Minimum});
                 l->addLayout(head);
             }
-            params = WidgetDescription::makeDescribedWidget(w);
+            params = WidgetDescription::makeDescribedWidget(w, this);
+            paramValues = params->getVariants();
             params->setContentsMargins(0, 0, 0, 0);
             l->addWidget(params);
-            connect(params, SIGNAL(valueChangedSignal(std::string, VariantBasePtr)), this, SLOT(paramsChanged()));
         }
         compress->addItem(new QSpacerItem {0, 0, QSizePolicy::MinimumExpanding, QSizePolicy::Minimum});
     }
 
-    void RobotUnitLVL1ControllersWidgetRemoteFunction::paramsChanged()
-    {
-        if (execOnParamChange->isChecked())
-        {
-            execFunction();
-        }
-    }
-
     void RobotUnitLVL1ControllersWidgetRemoteFunction::execFunction()
     {
-        const auto variants = params->getVariants();
-        if (variants.empty())
+        if (paramValues.empty())
         {
             ARMARX_INFO << deactivateSpam(1) << "calling function " << functionName << " with no parameters\n";
         }
@@ -419,7 +410,7 @@ namespace armarx
         {
             std::stringstream ss;
             ss  << "calling function " << functionName <<  " with parameters:\n";
-            for (const auto& pair : variants)
+            for (const auto& pair : paramValues)
             {
                 if (pair.second)
                 {
@@ -440,6 +431,15 @@ namespace armarx
             }
             ARMARX_INFO << deactivateSpam(1) << ss.str();
         }
-        ctrl->callDescribedFunction(functionName, variants);
+        ctrl->callDescribedFunction(functionName, paramValues);
+    }
+
+    void RobotUnitLVL1ControllersWidgetRemoteFunction::valueChangedSlot(std::string name, VariantBasePtr value)
+    {
+        paramValues[std::move(name)] = std::move(value);
+        if (execOnParamChange->isChecked())
+        {
+            execFunction();
+        }
     }
 }

source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitLVL1ControllersWidget.h

@@ -128,13 +128,12 @@ namespace armarx
 
     };
 
-    class RobotUnitLVL1ControllersWidgetRemoteFunction : public QWidget
+    class RobotUnitLVL1ControllersWidgetRemoteFunction : public WidgetDescription::ValueChangedListenerInterface
     {
         Q_OBJECT
     public:
         RobotUnitLVL1ControllersWidgetRemoteFunction(const std::string& functionName, const LVL1ControllerInterfacePrx& ctrl, const WidgetDescription::WidgetPtr& w);
     private slots:
-        void paramsChanged();
         void execFunction();
     private:
         std::string functionName;
@@ -142,6 +141,11 @@ namespace armarx
 
         QCheckBox* execOnParamChange;
         WidgetDescription::DescribedWidgetBase* params;
+
+        std::map<std::string, VariantBasePtr> paramValues;
+
+    public slots:
+        virtual void valueChangedSlot(std::string name, VariantBasePtr value) override;
     };
 }
 #endif