From 80b3568581008d454188952477250735dcc7d9ed Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 8 Oct 2020 17:49:11 +0200
Subject: [PATCH] Refactor ObjectPoseGui request tab
---
.../ObjectPoseGui/ObjectPoseGuiWidget.ui | 101 ++++++++++++++-
.../ObjectPoseGuiWidgetController.cpp | 118 +++++++++++-------
2 files changed, 175 insertions(+), 44 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui
index de8496435..0a8bbb2f9 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui
@@ -68,14 +68,111 @@
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
- <widget class="QTableWidget" name="requestTable"/>
+ <widget class="QTreeWidget" name="requestTree">
+ <property name="alternatingRowColors">
+ <bool>true</bool>
+ </property>
+ <property name="sortingEnabled">
+ <bool>true</bool>
+ </property>
+ <property name="columnCount">
+ <number>3</number>
+ </property>
+ <attribute name="headerCascadingSectionResizes">
+ <bool>true</bool>
+ </attribute>
+ <attribute name="headerShowSortIndicator" stdset="0">
+ <bool>true</bool>
+ </attribute>
+ <attribute name="headerStretchLastSection">
+ <bool>true</bool>
+ </attribute>
+ <column>
+ <property name="text">
+ <string>ID</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Provider</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Request</string>
+ </property>
+ </column>
+ <item>
+ <property name="text">
+ <string>Dataset2</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <item>
+ <property name="text">
+ <string>ClassName3</string>
+ </property>
+ <property name="text">
+ <string>Provider1</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>ClassName3</string>
+ </property>
+ <property name="text">
+ <string>Provider2</string>
+ </property>
+ </item>
+ </item>
+ <item>
+ <property name="text">
+ <string>Dataset1</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <item>
+ <property name="text">
+ <string>ClassName2</string>
+ </property>
+ <property name="text">
+ <string>Provider1</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>ClassName1</string>
+ </property>
+ <property name="text">
+ <string>Provider2</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </item>
+ </item>
+ </widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
- <widget class="QLabel" name="label_2">
+ <widget class="QLabel" name="labelTimeout">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Maximum">
<horstretch>0</horstretch>
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
index e4373f379..ae76b958a 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
@@ -42,9 +42,8 @@ namespace armarx
widget.objectsTable->setHorizontalHeaderLabels(header);
- header = QStringList{"Dataset", "ClassName", "Type", "Provider", "Request"};
- widget.requestTable->setColumnCount(header.size());
- widget.requestTable->setHorizontalHeaderLabels(header);
+ widget.requestTree->clear();
+ widget.requestTree->sortItems(0, Qt::SortOrder::AscendingOrder);
using This = ObjectPoseGuiWidgetController;
@@ -60,7 +59,6 @@ namespace armarx
ObjectPoseGuiWidgetController::~ObjectPoseGuiWidgetController()
{
-
}
@@ -76,7 +74,7 @@ namespace armarx
QString ObjectPoseGuiWidgetController::GetWidgetName()
{
- return "VisionX.ObjectPoseGui";
+ return "MemoryX.ObjectPoseGui";
}
static const std::string CONFIG_KEY_OBJECT_POSE_OBSERVER = "ObjectPoseObserver";
@@ -171,6 +169,14 @@ namespace armarx
}
+
+ struct ProviderInfo
+ {
+ std::string name;
+ objpose::ObjectPoseProviderPrx proxy;
+ objpose::ObjectTypeEnum objectType;
+ };
+
void ObjectPoseGuiWidgetController::updateRequestTab()
{
if (!objectPoseObserver)
@@ -181,43 +187,43 @@ namespace armarx
IceUtil::Time start = IceUtil::Time::now();
objpose::ProviderInfoMap availableProvidersInfo = objectPoseObserver->getAvailableProvidersInfo();
- ARMARX_INFO << "Got infos of " << availableProvidersInfo.size() << " object poses. "
+ ARMARX_INFO << "Got infos of " << availableProvidersInfo.size() << " object pose providers. "
<< "(Took " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms.)";
- start = IceUtil::Time::now();
- int row = 0;
+
+ // Restructure data.
+ std::map<std::string, std::map<std::string, std::map<std::string, ProviderInfo>>> data;
for (const auto& [providerName, info] : availableProvidersInfo)
{
for (const auto& id : info.supportedObjects)
{
- int col = 0;
+ ProviderInfo& dinfo = data[id.dataset][id.className][providerName];
+ dinfo.name = providerName;
+ dinfo.proxy = info.proxy;
+ dinfo.objectType = info.objectType;
+ }
+ }
+
+ QTreeWidget* tree = widget.requestTree;
+ tree->clear();
+
+ start = IceUtil::Time::now();
+ for (const auto& [dataset, datasetData] : data)
+ {
+ QTreeWidgetItem* datasetItem = new QTreeWidgetItem({QString::fromStdString(dataset)});
+ tree->addTopLevelItem(datasetItem);
- // header = QStringList{"Dataset", "ClassName", "Type", "Provider", "Request"};
- /*
- if (row < widget.requestTable->rowCount())
+ for (const auto& [className, providerData] : datasetData)
+ {
+ for (const auto& [providerName, providerInfo] : providerData)
{
- widget.requestTable->item(row, col++)->setText(id.dataset.c_str());
- widget.requestTable->item(row, col++)->setText(id.className.c_str());
- widget.requestTable->item(row, col++)->setText(objpose::ObjectTypeEnumNames.to_name(info.objectType).c_str());
- widget.requestTable->item(row, col++)->setText(providerName.c_str());
- widget.requestTable->item(row, col++)->setText(id.dataset.c_str());
+ QTreeWidgetItem* classItem = new QTreeWidgetItem(
+ { QString::fromStdString(className), QString::fromStdString(providerName)});
+ datasetItem->addChild(classItem);
+
QCheckBox* requestCheckBox = new QCheckBox();
- widget.requestTable->setCellWidget(row, col++, requestCheckBox);
+ tree->setItemWidget(classItem, 2, requestCheckBox);
}
- else
- */
- widget.requestTable->setItem(
- row, col++, new QTableWidgetItem(id.dataset.c_str()));
- widget.requestTable->setItem(
- row, col++, new QTableWidgetItem(id.className.c_str()));
- widget.requestTable->setItem(
- row, col++, new QTableWidgetItem(objpose::ObjectTypeEnumNames.to_name(info.objectType).c_str()));
- widget.requestTable->setItem(
- row, col++, new QTableWidgetItem(providerName.c_str()));
- QCheckBox* requestCheckBox = new QCheckBox();
- widget.requestTable->setCellWidget(row, col++, requestCheckBox);
-
- ++row;
}
}
@@ -226,20 +232,48 @@ namespace armarx
void ObjectPoseGuiWidgetController::requestSelectedObjects()
{
- objpose::RequestObjectsInput requests;
+ std::map<std::string, objpose::observer::RequestObjectsInput> requestsPerProvider;
+
+ QTreeWidget* tree = widget.requestTree;
+ for (int i = 0; i < tree->topLevelItemCount(); ++i)
+ {
+ QTreeWidgetItem* datasetItem = tree->topLevelItem(i);
+ for (int j = 0; j < datasetItem->childCount(); ++j)
+ {
+ QTreeWidgetItem* classItem = datasetItem->child(j);
+ QCheckBox* selected = dynamic_cast<QCheckBox*>(tree->itemWidget(classItem, 2));
+ ARMARX_CHECK_NOT_NULL(selected);
+ if (selected->isChecked())
+ {
+ std::string providerName = classItem->text(1).toStdString();
+ objpose::observer::RequestObjectsInput& requests = requestsPerProvider[providerName];
+ objpose::ObjectID& id = requests.request.objectIDs.emplace_back();
+ id.dataset = datasetItem->text(0).toStdString();
+ id.className = classItem->text(0).toStdString();
+ }
+ }
+ }
+
+ long timeoutMS = -1;
+ if (!widget.requestInfiniteCheckBox->isChecked())
+ {
+ timeoutMS = long(widget.requestTimeoutSpinBox->value() * 1000);
+ }
- QTableWidget* table = widget.requestTable;
- for (int row = 0; row < table->rowCount(); ++row)
+ for (auto& [providerName, request] : requestsPerProvider)
{
- QCheckBox* selected = dynamic_cast<QCheckBox*>(table->cellWidget(row, table->columnCount() - 1));
- ARMARX_CHECK_NOT_NULL(selected);
- if (selected->isChecked())
+ request.provider = providerName;
+ request.request.relativeTimeoutMS = timeoutMS;
+
+ ARMARX_INFO << "Requesting " << request.request.objectIDs.size() << " objects for "
+ << request.request.relativeTimeoutMS << " ms.";
+ objpose::observer::RequestObjectsOutput output = objectPoseObserver->requestObjects(request);
+ int successful = 0;
+ for (const auto& [id, result] : output.results)
{
- objpose::ObjectID id;
- id.dataset = table->item(row, 0)->text().toStdString();
- id.className = table->item(row, 1)->text().toStdString();
- requests.objectIDs.emplace_back(id);
+ successful += int(!result.providerName.empty() && result.result.success);
}
+ ARMARX_INFO << successful << " of " << request.request.objectIDs.size() << " object request successful.";
}
}
--
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