diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index bfe6a2b3ceb3bf52788cf009dd97ff40601d16a9..adff35eac5ca796021a7f323381a88725f0731a6 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -71,9 +71,9 @@ namespace armarx::armem::gui
updateWidget = new armem::gui::PeriodicUpdateWidget(2.0, 60);
updateWidgetLayout->insertWidget(0, updateWidget);
- processQueryResultTimer = new QTimer(this);
- processQueryResultTimer->setInterval(1000 / 60); // Keep this stable.
- processQueryResultTimer->start();
+ periodicUpdateTimer = new QTimer(this);
+ periodicUpdateTimer->setInterval(1000 / 60); // Keep this stable.
+ periodicUpdateTimer->start();
// Memory View
auto retrieveEntityInfo = [this](const MemoryID& entityID) -> PredictionWidget::EntityInfo
@@ -149,7 +149,9 @@ namespace armarx::armem::gui
connect(this, &This::connected, this, &This::startQueries);
connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::startQueries);
- connect(processQueryResultTimer, &QTimer::timeout, this, &This::processQueryResults);
+
+ connect(periodicUpdateTimer, &QTimer::timeout, this, &This::updateAvailableMemories);
+ connect(periodicUpdateTimer, &QTimer::timeout, this, &This::processQueryResults);
connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::storeInLTM, this, &This::storeInLTM);
connect(memoryGroup->predictionWidget(),
@@ -418,8 +420,15 @@ namespace armarx::armem::gui
// Can't use a structured binding here because you can't capture those in a lambda
// according to the C++ standard.
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
for (const auto& pair : readers)
{
+ // skip if memory should not be queried
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), pair.first) == enabledMemories.end())
+ {
+ continue;
+ }
+
const auto& name = pair.first;
const auto& reader = pair.second;
if (queries.count(name) == 0)
@@ -516,16 +525,19 @@ namespace armarx::armem::gui
}
// Drop all entries in memoryData which are not in memoryReaders anymore.
- for (auto it = memoryData.begin(); it != memoryData.end();)
+ if (memoryGroup->queryWidget()->dropRemovedMemories())
{
- auto name = it->second.name();
- if (memoryReaders.count(it->first) == 0)
- {
- it = memoryData.erase(it);
- }
- else
+ for (auto it = memoryData.begin(); it != memoryData.end();)
{
- ++it;
+ auto name = it->second.name();
+ if (memoryReaders.count(it->first) == 0)
+ {
+ it = memoryData.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
}
}
@@ -665,6 +677,26 @@ namespace armarx::armem::gui
}
+ void
+ MemoryViewer::updateAvailableMemories()
+ {
+ if (mns)
+ {
+ std::vector<std::string> convVec;
+ memoryReaders = mns.getAllReaders(true); // we only need the readers
+ std::transform(memoryReaders.begin(), memoryReaders.end(), std::back_inserter(convVec), [](const auto& p){return p.first;});
+
+ TIMING_START(GuiUpdateAvailableMemories)
+ memoryGroup->queryWidget()->update(convVec);
+ TIMING_END_STREAM(GuiUpdateAvailableMemories, ARMARX_VERBOSE)
+ }
+ else
+ {
+ ARMARX_VERBOSE << deactivateSpam() << "MNS not ready yet. Skip update of available memories in query widget.";
+ }
+ }
+
+
void
MemoryViewer::updateMemoryTree()
{
@@ -674,9 +706,9 @@ namespace armarx::armem::gui
convMap[name] = &data;
}
- TIMING_START(GuiUpdate)
+ TIMING_START(GuiUpdateMemoryTree)
memoryGroup->tree()->update(convMap);
- TIMING_END_STREAM(GuiUpdate, ARMARX_VERBOSE)
+ TIMING_END_STREAM(GuiUpdateMemoryTree, ARMARX_VERBOSE)
if (debugObserver)
{
@@ -684,7 +716,7 @@ namespace armarx::armem::gui
{
debugObserver->setDebugDatafield(Logging::tag.tagName,
"GUI Update [ms]",
- new Variant(GuiUpdate.toMilliSecondsDouble()));
+ new Variant(GuiUpdateMemoryTree.toMilliSecondsDouble()));
}
catch (const Ice::Exception&)
{
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 34562204b070f763084b6d0d0a2946b99b2b8dc0..88d18ad853be7054cc0a3b17bc69a64043438d5a 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -106,6 +106,7 @@ namespace armarx::armem::gui
void processQueryResults();
void updateMemoryTree();
+ void updateAvailableMemories();
signals:
@@ -149,8 +150,9 @@ namespace armarx::armem::gui
std::map<std::string, armem::wm::Memory> memoryData;
std::map<std::string, std::future<armem::query::data::Result>> runningQueries;
- /// Periodically triggers query result collection.
- QTimer* processQueryResultTimer;
+
+ /// Periodically triggers query result collection and updates the available memories
+ QTimer* periodicUpdateTimer;
QLayout* updateWidgetLayout = nullptr;
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index ad07dc5b0de991b1e3296a94c66418caa20bf011..ea2e0e729d0a719f0aade293684a3d6bfdea98b2 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -1,6 +1,7 @@
#include "QueryWidget.h"
#include <limits>
+#include <mutex>
#include <QCheckBox>
#include <QGroupBox>
@@ -11,6 +12,7 @@
#include <QTabWidget>
#include <QVBoxLayout>
#include <QWidget>
+#include <QScrollArea>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -21,38 +23,111 @@ namespace armarx::armem::gui
QueryWidget::QueryWidget()
{
auto* vlayout = new QVBoxLayout();
+ auto* hlayout = new QHBoxLayout();
- _dataCheckBox = new QCheckBox("Get Data");
- _dataCheckBox->setChecked(true);
- vlayout->addWidget(_dataCheckBox);
-
- auto* recDepthHLayout = new QHBoxLayout();
- vlayout->addLayout(recDepthHLayout);
-
- _recursionDepthSpinner = new QSpinBox(); // NOLINT
- _recursionDepthSpinner->setRange(-1, std::numeric_limits<int>::max());
- _recursionDepthSpinner->setValue(0);
- _recursionDepthSpinner->setEnabled(_dataCheckBox->isChecked());
- _recursionDepthSpinner->setSpecialValueText(QString("Unlimited"));
- recDepthHLayout->addWidget(_recursionDepthSpinner);
+ {
+ _availableMemoriesGroupBox = new QGroupBox("Available memories");
+ auto vboxlayout = new QVBoxLayout();
+ vboxlayout->setMargin(1);
+ vboxlayout->setSizeConstraint(QLayout::SizeConstraint::SetMinAndMaxSize);
+ vboxlayout->setAlignment(Qt::AlignTop);
+ _availableMemoriesGroupBox->setLayout(vboxlayout);
+ hlayout->addWidget(_availableMemoriesGroupBox);
+ }
- _recursionDepthLabel = new QLabel("Link resolution depth");
- recDepthHLayout->addWidget(_recursionDepthLabel);
- recDepthHLayout->addStretch();
+ QFrame* vFrame = new QFrame;
+ vFrame->setFrameShape(QFrame::VLine);
+ hlayout->addWidget(vFrame);
- _storeInLTMButton = new QPushButton("Store query result in LTM");
- vlayout->addWidget(_storeInLTMButton);
+ {
+ _additionalSettingsGroupBox = new QGroupBox("Additional query settings");
+ auto vboxlayout = new QVBoxLayout();
+ vboxlayout->setMargin(1);
+ vboxlayout->setSizeConstraint(QLayout::SizeConstraint::SetMinAndMaxSize);
+ vboxlayout->setAlignment(Qt::AlignTop);
+ _additionalSettingsGroupBox->setLayout(vboxlayout);
+
+ _dataCheckBox = new QCheckBox("Get Data");
+ _dataCheckBox->setChecked(true);
+ vboxlayout->addWidget(_dataCheckBox);
+
+ _dropRemovedCheckBox = new QCheckBox("Drop removed memories");
+ _dropRemovedCheckBox->setChecked(true);
+ vboxlayout->addWidget(_dropRemovedCheckBox);
+
+ auto* recDepthHLayout = new QHBoxLayout();
+
+ _recursionDepthSpinner = new QSpinBox(); // NOLINT
+ _recursionDepthSpinner->setRange(-1, std::numeric_limits<int>::max());
+ _recursionDepthSpinner->setValue(0);
+ _recursionDepthSpinner->setEnabled(_dataCheckBox->isChecked());
+ _recursionDepthSpinner->setSpecialValueText(QString("Unlimited"));
+ recDepthHLayout->addWidget(_recursionDepthSpinner);
+
+ _recursionDepthLabel = new QLabel("Link resolution depth");
+ recDepthHLayout->addWidget(_recursionDepthLabel);
+ recDepthHLayout->addStretch();
+ vboxlayout->addLayout(recDepthHLayout);
+
+ _storeInLTMButton = new QPushButton("Store query result in LTM");
+ vboxlayout->addWidget(_storeInLTMButton);
+
+ hlayout->addWidget(_additionalSettingsGroupBox);
+ }
+ vlayout->addLayout(hlayout);
// Public connections.
connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
// Private connections.
- connect(
- _dataCheckBox, &QCheckBox::stateChanged, this, &This::setRecursionDepthSpinnerEnabled);
+ connect(_dataCheckBox, &QCheckBox::stateChanged, this, &This::setRecursionDepthSpinnerEnabled);
setLayout(vlayout);
}
+ void QueryWidget::update(const std::vector<std::string>& activeMemoryNames)
+ {
+ // since this is the only method that adds or hides elements of the groupbox after initialization,
+ // we can use a static mutex, only available to this method
+ //static std::mutex m;
+
+ //std::scoped_lock l(m);
+ std::vector<std::string> alreadyPresentMemoryCheckboxes;
+
+ // get information about memories already present and activate inactive ones if necessary
+ int maxIndex = _availableMemoriesGroupBox->layout()->count();
+ for (int i = 0; i < maxIndex; ++i)
+ {
+ auto w = _availableMemoriesGroupBox->layout()->itemAt(i)->widget();
+ QCheckBox* box = static_cast<QCheckBox*>(w);
+ std::string memoryName = box->text().toStdString();
+ if (box->isVisible() && std::find(activeMemoryNames.begin(), activeMemoryNames.end(), memoryName) == activeMemoryNames.end())
+ {
+ // checkbox is visible but memory is not available anymore
+ box->setVisible(false);
+ box->setChecked(false);
+ }
+ if (not(box->isVisible()) && std::find(activeMemoryNames.begin(), activeMemoryNames.end(), memoryName) != activeMemoryNames.end())
+ {
+ // checkbox is hidden but memory is not available again
+ box->setVisible(true);
+ box->setChecked(true);
+ }
+ alreadyPresentMemoryCheckboxes.push_back(memoryName);
+ }
+
+ // Add checkboxes for new memories
+ for (const auto& memoryName : activeMemoryNames)
+ {
+ if (std::find(alreadyPresentMemoryCheckboxes.begin(), alreadyPresentMemoryCheckboxes.end(), memoryName) == alreadyPresentMemoryCheckboxes.end())
+ {
+ // new memory available
+ auto box = new QCheckBox(QString::fromStdString(memoryName));
+ box->setChecked(true);
+ _availableMemoriesGroupBox->layout()->addWidget(box);
+ }
+ }
+ }
armem::DataMode QueryWidget::dataMode() const
{
@@ -61,6 +136,30 @@ namespace armarx::armem::gui
: armem::DataMode::NoData;
}
+ bool QueryWidget::dropRemovedMemories() const
+ {
+ return _dropRemovedCheckBox->isChecked();
+ }
+
+
+ std::vector<std::string> QueryWidget::enabledMemories() const
+ {
+ std::vector<std::string> enabledMemoryCheckboxes;
+ int maxIndex = _availableMemoriesGroupBox->layout()->count();
+ for (int i = 0; i < maxIndex; ++i)
+ {
+ auto w = _availableMemoriesGroupBox->layout()->itemAt(i)->widget();
+ QCheckBox* box = static_cast<QCheckBox*>(w);
+ std::string memoryName = box->text().toStdString();
+ if (box->isVisible() && box->isChecked())
+ {
+ // checkbox is visible and checked, so it is enabled
+ enabledMemoryCheckboxes.push_back(memoryName);
+ }
+ }
+ return enabledMemoryCheckboxes;
+ }
+
int QueryWidget::queryLinkRecursionDepth() const
{
return _recursionDepthSpinner->value();
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index e7a98a8026786a7c8e0c2acbfd8dc834cb72f16a..5d03cf90fd7f6f84bfa9f5d6677c9edd31e58617 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -8,6 +8,7 @@
class QWidget;
class QTabWidget;
class QPushButton;
+class QGroupBox;
namespace armarx::armem::gui
{
@@ -23,8 +24,14 @@ namespace armarx::armem::gui
armem::DataMode dataMode() const;
+ bool dropRemovedMemories() const;
+
int queryLinkRecursionDepth() const;
+ std::vector<std::string> enabledMemories() const;
+
+ void update(const std::vector<std::string>& memoryNames);
+
public slots:
@@ -45,10 +52,13 @@ namespace armarx::armem::gui
private:
QCheckBox* _dataCheckBox;
+ QCheckBox* _dropRemovedCheckBox;
QLabel* _recursionDepthLabel;
QSpinBox* _recursionDepthSpinner;
QPushButton* _storeInLTMButton;
+ QGroupBox* _additionalSettingsGroupBox;
+ QGroupBox* _availableMemoriesGroupBox;
};
}