diff --git a/source/RobotAPI/interface/armem/server/StoringMemoryInterface.ice b/source/RobotAPI/interface/armem/server/StoringMemoryInterface.ice
index 4e369bf259f24eccb36bcd1a2a58373da0fec442..0bd6de79cccc716b90e632876817a3256e22b7d2 100644
--- a/source/RobotAPI/interface/armem/server/StoringMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/StoringMemoryInterface.ice
@@ -12,6 +12,8 @@ module armarx
interface StoringMemoryInterface
{
data::StoreResult store(data::StoreInput input);
+ void startRecording();
+ void stopRecording();
};
};
};
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 9fb03536bbef6047d96baf6203893ad9cc9f78ed..e30917a78babed693c4ee06d31be30b5cad12e90 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -422,6 +422,32 @@ namespace armarx::armem::client
}
}
+ void Reader::startRecording() const
+ {
+ server::StoringMemoryInterfacePrx storingMemoryPrx = server::StoringMemoryInterfacePrx::checkedCast(readingPrx);
+ if (storingMemoryPrx)
+ {
+ return storingMemoryPrx->startRecording();
+ }
+ else
+ {
+ ARMARX_WARNING << "Could not store a query into the LTM. It seems like the Memory does not implement the StoringMemoryInterface.";
+ }
+ }
+
+ void Reader::stopRecording() const
+ {
+ server::StoringMemoryInterfacePrx storingMemoryPrx = server::StoringMemoryInterfacePrx::checkedCast(readingPrx);
+ if (storingMemoryPrx)
+ {
+ return storingMemoryPrx->stopRecording();
+ }
+ else
+ {
+ ARMARX_WARNING << "Could not store a query into the LTM. It seems like the Memory does not implement the StoringMemoryInterface.";
+ }
+ }
+
void
Reader::setReadingMemory(server::ReadingMemoryInterfacePrx readingMemory)
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 7ecb453c845524edce1a217c49db671efbf3c9e7..e83996499a9c8bc81579a7036a47513f6e0720ae 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -162,8 +162,9 @@ namespace armarx::armem::client
getAll(DataMode dataMode = DataMode::WithData) const;
- //data::StoreResult readAndStore(data::StoreInputSeq& input);
data::StoreResult readAndStore(const data::StoreInput& input) const;
+ void startRecording() const;
+ void stopRecording() const;
/**
* @brief Get a prediction for the state of multiple entity instances in the future.
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index a10a398186c73734a841dbf3e40cf8db11987769..f706b90a8698556f3b2a0cb44d5f051042597bb0 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -335,7 +335,6 @@ namespace armarx::armem::server
data::StoreResult MemoryToIceAdapter::store(const armem::data::StoreInput& input)
{
ARMARX_TRACE;
- ARMARX_CHECK_NOT_NULL(workingMemory);
ARMARX_CHECK_NOT_NULL(longtermMemory);
data::StoreResult output;
@@ -359,6 +358,22 @@ namespace armarx::armem::server
return output;
}
+ void MemoryToIceAdapter::startRecording()
+ {
+ ARMARX_TRACE;
+ ARMARX_CHECK_NOT_NULL(longtermMemory);
+ ARMARX_IMPORTANT << "ENABLING THE RECORDING OF MEMORY " << longtermMemory->id().str();
+ longtermMemory->enabled = true;
+ }
+
+ void MemoryToIceAdapter::stopRecording()
+ {
+ ARMARX_TRACE;
+ ARMARX_CHECK_NOT_NULL(longtermMemory);
+ ARMARX_IMPORTANT << "DISABLING THE RECORDING OF MEMORY " << longtermMemory->id().str();
+ longtermMemory->enabled = false;
+ }
+
// PREDICTION
prediction::data::EngineSupportMap MemoryToIceAdapter::getAvailableEngines()
{
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 96c1e822d6f4150c6e341bd5c0d234f57efec2b5..37fce327859f5b81bb9cfa0a7ff2a21e37e7043d 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -51,6 +51,8 @@ namespace armarx::armem::server
// LTM STORING
data::StoreResult store(const armem::data::StoreInput& input);
+ void startRecording();
+ void stopRecording();
// PREDICTION
prediction::data::EngineSupportMap getAvailableEngines();
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 44454b87d83b905edff8b925b0aa5831ffd8715e..7f3d8795691029c620232ecee220b4d31dda1baa 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -67,6 +67,16 @@ namespace armarx::armem::server::plugins
ARMARX_TRACE;
return iceAdapter().store(input);
}
+ void ReadWritePluginUser::startRecording(const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().startRecording();
+ }
+ void ReadWritePluginUser::stopRecording(const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().stopRecording();
+ }
Plugin& ReadWritePluginUser::memoryServerPlugin()
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 8ddf174b172d4eb2fc4fba7f3e89d79553d72b42..db0f2596489265eeed8290b23179f52d2023a2f1 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -47,6 +47,8 @@ namespace armarx::armem::server::plugins
// StoringInterface interface
virtual data::StoreResult store(const data::StoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
+ virtual void startRecording(const Ice::Current& = Ice::emptyCurrent) override;
+ virtual void stopRecording(const Ice::Current& = Ice::emptyCurrent) override;
// ActionsInterface interface
virtual armem::actions::GetActionsOutputSeq getActions(const armem::actions::GetActionsInputSeq& inputs);
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index bfe6a2b3ceb3bf52788cf009dd97ff40601d16a9..40abd0a585d7793a919207477928520a3b47bfb9 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
@@ -149,9 +149,14 @@ 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(memoryGroup->queryWidget(), &armem::gui::QueryWidget::storeInLTM, this, &This::storeInLTM);
+ connect(periodicUpdateTimer, &QTimer::timeout, this, &This::updateAvailableMemories);
+ connect(periodicUpdateTimer, &QTimer::timeout, this, &This::processQueryResults);
+
+ connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::storeInLTM, this, &This::queryAndStoreInLTM);
+ connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::startRecording, this, &This::startLTMRecording);
+ connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::stopRecording, this, &This::stopLTMRecording);
+
connect(memoryGroup->predictionWidget(),
&armem::gui::PredictionWidget::makePrediction,
this,
@@ -269,12 +274,18 @@ namespace armarx::armem::gui
void
- MemoryViewer::storeInLTM()
+ MemoryViewer::queryAndStoreInLTM()
{
TIMING_START(MemoryStore);
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
for (auto& [name, reader] : memoryReaders)
{
+ // skip if memory should not be queried
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), name) == enabledMemories.end())
+ {
+ continue;
+ }
data::StoreInput input;
input.query = memoryGroup->queryInput().toIce();
reader.readAndStore(input);
@@ -283,6 +294,44 @@ namespace armarx::armem::gui
TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE);
}
+ void
+ MemoryViewer::startLTMRecording()
+ {
+ TIMING_START(MemoryStartRecording);
+
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
+ for (auto& [name, reader] : memoryReaders)
+ {
+ // skip if memory should not be queried
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), name) == enabledMemories.end())
+ {
+ continue;
+ }
+ reader.startRecording();
+ }
+
+ TIMING_END_STREAM(MemoryStartRecording, ARMARX_VERBOSE);
+ }
+
+ void
+ MemoryViewer::stopLTMRecording()
+ {
+ TIMING_START(MemoryStopRecording);
+
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
+ for (auto& [name, reader] : memoryReaders)
+ {
+ // skip if memory should not be queried
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), name) == enabledMemories.end())
+ {
+ continue;
+ }
+ reader.stopRecording();
+ }
+
+ TIMING_END_STREAM(MemoryStopRecording, ARMARX_VERBOSE);
+ }
+
void MemoryViewer::commit()
{
TIMING_START(Commit);
@@ -418,8 +467,15 @@ 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)
@@ -515,18 +571,40 @@ namespace armarx::armem::gui
}
}
- // Drop all entries in memoryData which are not in memoryReaders anymore.
+ // Perhaps remove entries
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
for (auto it = memoryData.begin(); it != memoryData.end();)
{
- auto name = it->second.name();
+ // Drop all entries in memoryData which are not in memoryReaders anymore.
if (memoryReaders.count(it->first) == 0)
{
- it = memoryData.erase(it);
+ if (memoryGroup->queryWidget()->dropRemovedMemories())
+ {
+ it = memoryData.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
+ continue;
}
- else
+
+ // Drop all entries that are not enabled by user (which means that there is no query result)
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), it->first) == enabledMemories.end())
{
- ++it;
+ if (memoryGroup->queryWidget()->dropDisabledMemories())
+ {
+ it = memoryData.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
+ continue;
}
+
+ // Memory found
+ ++it;
}
TIMING_END_STREAM(tProcessQueryResults, ARMARX_VERBOSE)
@@ -665,6 +743,34 @@ namespace armarx::armem::gui
}
+ void
+ MemoryViewer::updateAvailableMemories()
+ {
+ if (mns) // mns must be initialized
+ {
+ try
+ {
+ 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);
+ }
+ catch (const std::exception& e)
+ {
+ // MNS was killed/stopped
+ // ignore?!
+ }
+ }
+ else
+ {
+ ARMARX_VERBOSE << deactivateSpam() << "MNS not ready yet. Skip update of available memories in query widget.";
+ }
+ }
+
+
void
MemoryViewer::updateMemoryTree()
{
@@ -674,9 +780,9 @@ 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 +790,7 @@ 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..8cc41498c27cb0b88fd60f238a2202fc3cfc2d12 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -85,7 +85,10 @@ namespace armarx::armem::gui
void storeOnDisk(QString directory);
void loadFromDisk(QString directory);
- void storeInLTM();
+ void queryAndStoreInLTM();
+ void startLTMRecording();
+ void stopLTMRecording();
+
void commit();
@@ -106,6 +109,7 @@ namespace armarx::armem::gui
void processQueryResults();
void updateMemoryTree();
+ void updateAvailableMemories();
signals:
@@ -149,8 +153,9 @@ 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/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
index d8755bbfd2e640842b4342c55330a761ce8a362d..fe443952ce26bf9546c9238eaf1fa234f13368f6 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -24,7 +24,7 @@ namespace armarx::armem::gui::disk
_loadFromDiskButton = new QPushButton(" Load Query from Disk into WM", this);
_loadFromDiskButton->setIcon(QIcon(":/icons/document-open.svg"));
- _storeOnDiskButton = new QPushButton(" Store Query from WM on Disk", this);
+ _storeOnDiskButton = new QPushButton(" Store shown Data on Disk", this);
_storeOnDiskButton->setIcon(QIcon(":/icons/document-save.svg"));
// Allow horizontal shrinking of buttons
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index ad07dc5b0de991b1e3296a94c66418caa20bf011..f5645fb2e48efb6ea28ac9e45c8701414633db32 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 +23,131 @@ 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 disconnected memories");
+ _dropRemovedCheckBox->setChecked(true);
+ vboxlayout->addWidget(_dropRemovedCheckBox);
+
+ _dropDisabledCheckBox = new QCheckBox("Drop disabled memories");
+ _dropDisabledCheckBox->setChecked(false);
+ vboxlayout->addWidget(_dropDisabledCheckBox);
+
+ 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);
+
+ auto ltmButtonsLayout = new QVBoxLayout();
+ _storeInLTMButton = new QPushButton("Query and store in LTM");
+ ltmButtonsLayout->addWidget(_storeInLTMButton);
+
+ auto* ltmRecHLayout = new QHBoxLayout();
+ _startLTMRecordingButton = new QPushButton("Start LTM Recording");
+ _stopLTMRecordingButton = new QPushButton("Stop LTM Recording");
+
+ ltmRecHLayout->addWidget(_startLTMRecordingButton);
+ ltmRecHLayout->addWidget(_stopLTMRecordingButton);
+ ltmButtonsLayout->addLayout(ltmRecHLayout);
+
+ vboxlayout->addLayout(ltmButtonsLayout);
+
+ hlayout->addWidget(_additionalSettingsGroupBox);
+ }
+ vlayout->addLayout(hlayout);
// Public connections.
connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
+ connect(_startLTMRecordingButton, &QPushButton::pressed, this, &This::startRecording);
+ connect(_stopLTMRecordingButton, &QPushButton::pressed, this, &This::stopRecording);
// 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->isEnabled() && std::find(activeMemoryNames.begin(), activeMemoryNames.end(), memoryName) == activeMemoryNames.end())
+ {
+ // checkbox is enabled but memory is not available anymore
+ box->setVisible(false);
+ box->setChecked(false);
+ box->setEnabled(false);
+ }
+ if (not(box->isEnabled()) && std::find(activeMemoryNames.begin(), activeMemoryNames.end(), memoryName) != activeMemoryNames.end())
+ {
+ // checkbox is disabled but memory is available again
+ box->setVisible(true);
+ box->setChecked(true);
+ box->setEnabled(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);
+ box->setVisible(true);
+ box->setEnabled(true);
+ _availableMemoriesGroupBox->layout()->addWidget(box);
+ }
+ }
+ }
armem::DataMode QueryWidget::dataMode() const
{
@@ -61,6 +156,35 @@ namespace armarx::armem::gui
: armem::DataMode::NoData;
}
+ bool QueryWidget::dropRemovedMemories() const
+ {
+ return _dropRemovedCheckBox->isChecked();
+ }
+
+ bool QueryWidget::dropDisabledMemories() const
+ {
+ return _dropDisabledCheckBox->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->isEnabled() && box->isChecked())
+ {
+ // Invisible ones are always unchecked if set to invisible from update method
+ 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..4988e5d6795e348a7c12a0d30bb4388be194dfe6 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
{
@@ -23,13 +24,22 @@ namespace armarx::armem::gui
armem::DataMode dataMode() const;
+ bool dropRemovedMemories() const;
+ bool dropDisabledMemories() const;
+
int queryLinkRecursionDepth() const;
+ std::vector<std::string> enabledMemories() const;
+
+ void update(const std::vector<std::string>& memoryNames);
+
public slots:
signals:
void storeInLTM();
+ void startRecording();
+ void stopRecording();
// ToDo:
// void queryChanged(armem::query::data::Input query);
@@ -45,10 +55,19 @@ namespace armarx::armem::gui
private:
QCheckBox* _dataCheckBox;
+
+ QCheckBox* _dropRemovedCheckBox;
+ QCheckBox* _dropDisabledCheckBox;
+
QLabel* _recursionDepthLabel;
QSpinBox* _recursionDepthSpinner;
+
QPushButton* _storeInLTMButton;
+ QPushButton* _startLTMRecordingButton;
+ QPushButton* _stopLTMRecordingButton;
+ QGroupBox* _additionalSettingsGroupBox;
+ QGroupBox* _availableMemoriesGroupBox;
};
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
index 6b38efdddb30e67d1abfb3190d88508dff72258a..1d8c4ecadd7b482e523730370afbe95ad7cb9664 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
@@ -4,6 +4,7 @@
#include <QComboBox>
#include <QHBoxLayout>
#include <QVBoxLayout>
+#include <QPushButton>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -69,7 +70,6 @@ namespace armarx::armem::gui
_WMQueryTargetCheckBox->setChecked(true);
typeLayout->addLayout(queryTargetLayout);
-
_pageLayout->addLayout(typeLayout);
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
index e7ec233c896133beb1b675baf37e2d0e2f53489c..d57cf80fd8e6fb39b14de646c175bae9cc29992b 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
@@ -13,6 +13,7 @@
class QCheckBox;
class QComboBox;
class QVBoxLayout;
+class QPushButton;
namespace armarx::armem::gui