diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index 5e88884733237797998522e242bfd88c6ab7ce74..1b7b492b5c24dcc87f536eccb2dffae29a94ca89 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -74,16 +74,20 @@ namespace armarx::skills::gui
return true;
}
- void
- SkillManagerWrapper::filterSkillUpdate(
- std::map<skills::manager::dto::SkillID, skills::manager::dto::SkillDescription>& update)
+ SkillManagerWrapper::Snapshot
+ SkillManagerWrapper::filterUpdate(Snapshot update)
{
// empty search => do not filter
if (this->currentSkillSearch.empty())
{
- return;
+ return update;
}
+ Snapshot filtered;
+
+ // for now we don't change the executions
+ filtered.statuses = update.statuses;
+
std::vector<std::string> substrings;
{
@@ -95,18 +99,27 @@ namespace armarx::skills::gui
}
- for (auto it = update.begin(); it != update.end();)
+ for (auto& provider_and_descrMap : update.skills)
{
- if (not matches(simox::alg::to_lower(skills::SkillID::FromIce(it->first).skillName),
- substrings))
- {
- it = update.erase(it);
- }
- else
+ using DescriptionMap = std::map<skills::SkillID, skills::SkillDescription>;
+
+ DescriptionMap& descriptionMap = provider_and_descrMap.second;
+ skills::ProviderID provider = provider_and_descrMap.first;
+
+ for (auto& skill_and_description : descriptionMap)
{
- ++it;
+ skills::SkillID sid = skill_and_description.first;
+ skills::SkillDescription descr = skill_and_description.second;
+
+ if (matches(simox::alg::to_lower(sid.skillName), substrings))
+ {
+ // add to map
+ filtered.skills[provider][sid] = descr;
+ }
}
}
+
+ return filtered;
}
SkillMap
@@ -125,9 +138,6 @@ namespace armarx::skills::gui
auto managerSkills = memory->getSkillDescriptions();
- this->filterSkillUpdate(managerSkills);
-
-
for (const auto& [sid, desc] : managerSkills)
{
auto description = skills::SkillDescription::FromIce(desc);
@@ -179,6 +189,7 @@ namespace armarx::skills::gui
SkillManagerWrapper::acceptSearchRequest(std::string const& search)
{
this->currentSkillSearch = search;
+ emit searchAccepted();
}
void
@@ -221,7 +232,7 @@ namespace armarx::skills::gui
snapshot.skills = fetchSkillsFromMemory();
// notify registered widgets of update
- emit updateAvailable(this->snapshot);
+ emit updateAvailable(filterUpdate(snapshot));
}
const std::optional<ProviderID>
@@ -252,7 +263,10 @@ namespace armarx::skills::gui
SkillManagerWrapper::getSkills()
{
std::scoped_lock l(mutex_snapshot);
- return snapshot.skills;
+
+ Snapshot filtered = filterUpdate(snapshot);
+
+ return filtered.skills;
}
StatusMap
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
index a3352ad1c7f5a79c77d9fa0b0430377b831133c6..e191e1f963d82b29abeafe0535fe5f50a384bda3 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
@@ -81,6 +81,7 @@ namespace armarx::skills::gui
signals:
void connectionUpdate(std::string const& message, std::string const& error);
void updateAvailable(Snapshot update);
+ void searchAccepted();
public slots:
/**
@@ -126,11 +127,10 @@ namespace armarx::skills::gui
StatusMap fetchExecutionsFromMemory();
/**
- * @brief Modifies the given map to match the search.
- * @param update The map to modify.
+ * @brief Returns the given snapshot, matching the search.
+ * @param update The snapshot to modify.
*/
- void filterSkillUpdate(std::map<skills::manager::dto::SkillID,
- skills::manager::dto::SkillDescription>& update);
+ Snapshot filterUpdate(Snapshot update);
// config
// TODO: perhaps use proper config file for the gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
index acb9219dc5ed5c7566b287dd4b8cccf4dd4c2f0d..bec357e6054091c294bc04c8dbad0ae6aee900d5 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
@@ -18,6 +18,18 @@ namespace armarx::skills::gui
setTitle(QString::fromStdString(observerName));
}
+ void
+ SkillGroupBox::updateGui(SkillManagerWrapper::Snapshot update)
+ {
+ skillTreeWidget->updateGui(update.skills);
+ }
+
+ void
+ SkillGroupBox::searchCallback()
+ {
+ this->skillTreeWidget->updateGui(memory->getSkills());
+ }
+
void
SkillGroupBox::setupUi()
{
@@ -58,16 +70,16 @@ namespace armarx::skills::gui
&SkillGroupBox::searchRequest,
this->memory.get(),
&SkillManagerWrapper::acceptSearchRequest);
+ connect(memory.get(),
+ &SkillManagerWrapper::searchAccepted,
+ this,
+ &SkillGroupBox::searchCallback);
connect(skillTreeWidget,
&SkillTreeWidget::updateSkillDetails,
this,
&SkillGroupBox::updateSkillDetails);
- // update
- connect(
- this, &SkillGroupBox::updateGui, this->skillTreeWidget, &SkillTreeWidget::updateGui);
-
// disconnect
connect(
this, &SkillGroupBox::disconnectGui, skillTreeWidget, &SkillTreeWidget::disconnectGui);
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
index 239247deb28f4694af0b783f6147e83bf49d52eb..11604f2a24710b35faf10b129c2e9c63f35d8051 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
@@ -36,11 +36,14 @@ namespace armarx::skills::gui
void disconnectGui();
- void updateGui(SkillManagerWrapper::Snapshot update);
-
public slots:
void connectGui(std::string observerName);
+ void updateGui(SkillManagerWrapper::Snapshot update);
+
+ // is called, after the search has been accepted in the memory wrapper.
+ void searchCallback();
+
private slots:
/**
* Takes string from line edit and emits the search request.
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
index 44cfa5be656dc612483d5ac732ecd23bae331480..a9ebcdd98cfbde9b54abcb929504dd384e0a7c5f 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
@@ -25,7 +25,7 @@ namespace armarx::skills::gui
}
void
- SkillTreeWidget::updateGui(SkillManagerWrapper::Snapshot update)
+ SkillTreeWidget::updateGui(SkillMap update)
{
setSortingEnabled(false);
@@ -37,7 +37,7 @@ namespace armarx::skills::gui
auto providerName = providerItem->text(0).toStdString();
skills::ProviderID providerId{.providerName = providerName};
- if (update.skills.find(providerId) == update.skills.end())
+ if (update.find(providerId) == update.end())
{
providerItem = nullptr; // reset
auto remove = this->takeTopLevelItem(i);
@@ -48,8 +48,8 @@ namespace armarx::skills::gui
++i;
// sanity check
- ARMARX_CHECK(update.skills.count(providerId) > 0);
- auto& providedSkills = update.skills.at(providerId);
+ ARMARX_CHECK(update.count(providerId) > 0);
+ auto& providedSkills = update.at(providerId);
int j = 0;
while (j < providerItem->childCount())
@@ -74,7 +74,7 @@ namespace armarx::skills::gui
}
// update tree view. Add new elements
- for (const auto& [providerId, providedSkills] : update.skills)
+ for (const auto& [providerId, providedSkills] : update)
{
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 d0fa3880d8ff65c20696835d89845c5e8f018a87..f94bdcaae2d62dd45dc10f8a98f6916117a0eb4d 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
@@ -45,7 +45,7 @@ namespace armarx::skills::gui
public slots:
void disconnectGui();
- void updateGui(SkillManagerWrapper::Snapshot update);
+ void updateGui(SkillMap update);
private slots:
void skillSelectionChanged(QTreeWidgetItem* current, int column);