diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
index 79d606639c320ffeba73918967d9a832de446e68..8c24f906fef8edea5f33db3b4a890431f5bc7bb4 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
@@ -136,6 +136,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetController::onTreeWidgetItemChanged(QTreeWidgetItem* item, int column)
{
+
tree->blockSignals(true);
auto* aronElem = AronTreeWidgetItem::DynamicCast(item);
@@ -143,13 +144,14 @@ namespace armarx::skills::gui
{
aronElem->onUserChange(column);
}
+
// start conversion for entire tree -- this also sets the highlighting
if (parent->childCount() == 1)
{
auto* aronTreeRoot = AronTreeWidgetItem::DynamicCast(parent->child(0));
- aronTreeRoot->resetError();
if (aronTreeRoot)
{
+ aronTreeRoot->resetError();
AronTreeWidgetConverterVisitor v(parent, 0);
aron::type::visit(v, type);
aronTreeRoot->setValueErrorState(v.hasDirectError(), v.onlyChildFailedConversion());
@@ -158,6 +160,7 @@ namespace armarx::skills::gui
// else perhaps the GUI was stopped or died.
tree->blockSignals(false);
+
}
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
index d76cee191fda8cb927548a795b53291875ae14e6..5f24c40c959e8008457c096b4d872e8407041ab8 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
@@ -149,6 +149,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetItem::onUserChange(int changedColumn)
{
+
QTreeWidgetItem* qParent = QTreeWidgetItem::parent();
ARMARX_CHECK(qParent);
AronTreeWidgetItem* aronParent = DynamicCast(qParent);
@@ -172,6 +173,7 @@ namespace armarx::skills::gui
preventIllegalKeyChange();
}
}
+
}
void
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
index 23be73d02da766a0b361f53cb53486fd91d65684..164e4498f0adcc2ca99bfdacbfcb36cf441a8879 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
@@ -75,16 +75,19 @@ namespace armarx::skills::gui
void
AronTreeWidgetConverterVisitor::handleErrors(bool ownFault)
{
+
ARMARX_TRACE;
isDirectError = ownFault;
auto* aronItem = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
ARMARX_CHECK(aronItem);
aronItem->setValueErrorState(isDirectError, false);
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
{
+
ARMARX_TRACE;
auto createdAronDict = std::make_shared<aron::data::Dict>(i->getPath());
createdAron = createdAronDict;
@@ -113,11 +116,13 @@ namespace armarx::skills::gui
createdAronDict->addElement(key, v.createdAron);
}
}
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DictPtr& i)
{
+
ARMARX_TRACE;
auto createdAronDict = std::make_shared<aron::data::Dict>(i->getPath());
createdAron = createdAronDict;
@@ -146,11 +151,13 @@ namespace armarx::skills::gui
createdAronDict->addElement(key, v.createdAron);
}
}
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ListPtr& i)
{
+
ARMARX_TRACE;
auto createdAronList = std::make_shared<aron::data::List>(i->getPath());
createdAron = createdAronList;
@@ -179,11 +186,13 @@ namespace armarx::skills::gui
createdAronList->addElement(convVisitor.createdAron);
}
}
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::PairPtr& i)
{
+
ARMARX_TRACE;
auto createdAronPair = std::make_shared<aron::data::List>(i->getPath());
createdAron = createdAronPair;
@@ -208,11 +217,13 @@ namespace armarx::skills::gui
createdAronPair->addElement(convVisitor.createdAron);
}
}
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::TuplePtr& i)
{
+
ARMARX_TRACE;
auto createdAronList = std::make_shared<aron::data::List>(i->getPath());
createdAron = createdAronList;
@@ -240,6 +251,7 @@ namespace armarx::skills::gui
createdAronList->addElement(v.createdAron);
}
}
+
}
void
@@ -252,6 +264,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
{
+
ARMARX_TRACE;
auto createdMatrix = std::make_shared<aron::data::NDArray>(i->getPath());
int dataSize = 0;
@@ -276,6 +289,7 @@ namespace armarx::skills::gui
break;
};
+
// UGLY HACK: FIX ME!!!
switch (i->getElementType())
{
@@ -308,6 +322,7 @@ namespace armarx::skills::gui
break;
};
+
createdMatrix->setShape({i->getRows(), i->getCols(), dataSize});
int totalByteSize = i->getRows() * i->getCols() * dataSize;
createdAron = createdMatrix;
@@ -323,17 +338,21 @@ namespace armarx::skills::gui
}
}
-
+
auto* rootWidget = el->treeWidget();
ARMARX_CHECK(rootWidget);
auto* widget = rootWidget->itemWidget(el, 1);
+ ARMARX_CHECK(rootWidget);
auto* matrixWidget = EditMatrixWidget::DynamicCastAndCheck(widget);
+ ARMARX_CHECK(matrixWidget);
handleErrors(matrixWidget->hasParseErrors());
if (matrixWidget->hasParseErrors())
{
return;
}
+
+
// write to aron data
std::vector<unsigned char> elems;
elems.reserve(totalByteSize);
@@ -349,11 +368,13 @@ namespace armarx::skills::gui
}
}
createdMatrix->setData(totalByteSize, elems.data());
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
{
+
ARMARX_TRACE;
auto createdQuat = std::make_shared<aron::data::NDArray>(i->getPath());
createdAron = createdQuat;
@@ -390,6 +411,7 @@ namespace armarx::skills::gui
<< "serialized quaternions did not return byte sequence of correct length!";
}
createdQuat->setData(serialized.size(), serialized.data());
+
}
void
@@ -409,6 +431,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
{
+
ARMARX_TRACE;
QTreeWidgetItem* el = parentItem->child(index);
@@ -433,11 +456,13 @@ namespace armarx::skills::gui
std::tie(success, createdAron) = intEnumWidget->parseToAron();
handleErrors(!success);
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntPtr& i)
{
+
ARMARX_TRACE;
auto createdAronInt = std::make_shared<aron::data::Int>(i->getPath());
createdAron = createdAronInt;
@@ -472,11 +497,13 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::LongPtr& i)
{
+
ARMARX_TRACE;
auto createdAronLong = std::make_shared<aron::data::Long>(i->getPath());
createdAron = createdAronLong;
@@ -510,11 +537,13 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::FloatPtr& i)
{
+
ARMARX_TRACE;
auto createdAronFloat = std::make_shared<aron::data::Float>(i->getPath());
createdAron = createdAronFloat;
@@ -547,11 +576,13 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DoublePtr& i)
{
+
ARMARX_TRACE;
auto createdAronDouble = std::make_shared<aron::data::Double>(i->getPath());
createdAron = createdAronDouble;
@@ -584,11 +615,13 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::BoolPtr& i)
{
+
ARMARX_TRACE;
auto createdAronBool = std::make_shared<aron::data::Bool>(i->getPath());
createdAron = createdAronBool;
@@ -621,16 +654,23 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::StringPtr& i)
{
+
ARMARX_TRACE;
auto createdAronString = std::make_shared<aron::data::String>(i->getPath());
createdAron = createdAronString;
QTreeWidgetItem* el = parentItem->child(index);
+ if (el == nullptr)
+ {
+ return;
+ }
+
if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
{
// its a maybetype. We have to check the state
@@ -643,6 +683,7 @@ namespace armarx::skills::gui
std::string str = el->text(1).toStdString();
createdAronString->setValue(str);
+
}
void
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
index 77887a000c8c5b7dddf955ba8eadeb1ec39b43ec..a9f7e4db55e3e90abcd02bf29e4d4e8c3527b4f6 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
@@ -35,11 +35,12 @@ template <typename T>
std::string
usString(T number, size_t precision = 3)
{
+
std::stringstream ss;
const char* locale = "C";
ss.imbue(std::locale(locale));
-
ss << std::fixed << std::setprecision(precision) << number;
+
return ss.str();
}
@@ -102,6 +103,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DictPtr& i)
{
+
// either it is the root or it has a name
if (i->getPath().size() == 0 ||
checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
@@ -126,11 +128,13 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::ListPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -161,6 +165,7 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
@@ -168,6 +173,7 @@ namespace armarx::skills::gui
const std::shared_ptr<armarx::aron::type::Matrix>& matrixType,
const aron::data::NDArrayPtr& arr)
{
+
auto elemType = matrixType->getElementType();
auto* rawData = arr->getData();
// string can convert any item
@@ -250,6 +256,7 @@ namespace armarx::skills::gui
std::shared_ptr<armarx::aron::type::Quaternion>& quatType,
const aron::data::NDArrayPtr& arr)
{
+
auto elemType = quatType->getElementType();
auto rawData = arr->getData();
auto shape = arr->getShape();
@@ -280,11 +287,13 @@ namespace armarx::skills::gui
{
quatWidget->setText((QuaternionWidget::QuaternionComponents)i, toString(i));
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::NDArrayPtr& arr)
{
+
// Matrices are handled as NDArray. Raw ndarrays cannot be created currently
auto* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
ARMARX_CHECK(el);
@@ -315,11 +324,13 @@ namespace armarx::skills::gui
{
el->setCheckState(2, Qt::CheckState::Checked);
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::IntPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -341,11 +352,13 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::LongPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -356,6 +369,7 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
@@ -364,18 +378,21 @@ namespace armarx::skills::gui
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
- el->setText(1, QString::fromStdString(usString<float>(i->getValue())));
-
+ std::string repr = usString<float>(i->getValue());
+ QString qstr = QString::fromStdString(repr);
+ el->setText(1, qstr);
if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
{
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DoublePtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -386,11 +403,13 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::BoolPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -401,11 +420,13 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::StringPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -416,6 +437,7 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void