diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
index ff461269fd3c68bf57c6c69d77116c62dc807d5c..8d7c5a48cb0bb387f21b4a9495bbc73f3e9f1c9b 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
@@ -22,44 +22,42 @@
#include "ArMemMemoryViewerWidgetController.h"
-#include <RobotAPI/libraries/armem_gui/gui_utils.h>
-
#include <string>
+#include <RobotAPI/libraries/armem_gui/gui_utils.h>
namespace armarx
{
- QString ArMemMemoryViewerWidgetController::GetWidgetName()
+ QString
+ ArMemMemoryViewerWidgetController::GetWidgetName()
{
return "ArMem.MemoryViewer";
}
-
- QIcon ArMemMemoryViewerWidgetController::GetWidgetIcon()
+ QIcon
+ ArMemMemoryViewerWidgetController::GetWidgetIcon()
{
return QIcon(":icons/memory-128.png");
}
-
ArMemMemoryViewerWidgetController::ArMemMemoryViewerWidgetController()
{
widget.setupUi(getWidget());
viewer = std::make_unique<MemoryViewer>(
- widget.updateWidgetLayout,
+ widget.updateWidgetLayout,
- widget.memoryGroupBox,
- widget.treesLayout,
+ widget.memoryGroupBox,
+ widget.treesLayout,
- widget.instanceGroupBox,
- widget.treesLayout,
+ widget.instanceGroupBox,
+ widget.treesLayout,
- widget.diskControlWidgetLayout,
+ widget.diskControlWidgetLayout,
- widget.statusLabel
- );
+ widget.statusLabel);
viewer->setLogTag("ArMem Memory Viewer");
armarx::gui::useSplitter(widget.treesLayout);
@@ -71,33 +69,38 @@ namespace armarx
{
}
-
- void ArMemMemoryViewerWidgetController::onInitComponent()
+ void
+ ArMemMemoryViewerWidgetController::onInitComponent()
{
emit lifecycleServer.initialized(this);
}
- void ArMemMemoryViewerWidgetController::onConnectComponent()
+ void
+ ArMemMemoryViewerWidgetController::onConnectComponent()
{
emit lifecycleServer.connected(this);
}
- void ArMemMemoryViewerWidgetController::onDisconnectComponent()
+ void
+ ArMemMemoryViewerWidgetController::onDisconnectComponent()
{
emit lifecycleServer.disconnected(this);
}
-
- void ArMemMemoryViewerWidgetController::loadSettings(QSettings* settings)
+ void
+ ArMemMemoryViewerWidgetController::loadSettings(QSettings* settings)
{
viewer->loadSettings(settings);
}
- void ArMemMemoryViewerWidgetController::saveSettings(QSettings* settings)
+
+ void
+ ArMemMemoryViewerWidgetController::saveSettings(QSettings* settings)
{
viewer->saveSettings(settings);
}
- QPointer<QDialog> ArMemMemoryViewerWidgetController::getConfigDialog(QWidget* parent)
+ QPointer<QDialog>
+ ArMemMemoryViewerWidgetController::getConfigDialog(QWidget* parent)
{
if (!configDialog)
{
@@ -107,11 +110,12 @@ namespace armarx
return qobject_cast<QDialog*>(configDialog);
}
- void ArMemMemoryViewerWidgetController::configured()
+ void
+ ArMemMemoryViewerWidgetController::configured()
{
if (configDialog)
{
viewer->readConfigDialog(configDialog.data());
}
}
-}
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
index 5df70b65810beeead4599151d25b15960a26e615..fae8ace92bdcf18f9e15018a3d38bf8ec025c141 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
@@ -28,6 +28,7 @@ set(SOURCES
ColorPalettes.cpp
SkillManagerMonitorWidgetController.cpp
PeriodicUpdateWidget.cpp
+ #SkillExecutionTreeWidget.cpp
)
set(HEADERS
@@ -55,6 +56,7 @@ set(HEADERS
ColorPalettes.h
SkillManagerMonitorWidgetController.h
PeriodicUpdateWidget.h
+ #SkillExecutionTreeWidget.h
)
set(GUI_UIS
@@ -70,6 +72,7 @@ set(COMPONENT_LIBS
SkillsMemory
aronjsonconverter
SimpleConfigDialog
+ skills_gui
)
if(ArmarXGui_FOUND)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 82569fa85833ef3eb89476da914b7ba02606864b..88daea56ca801bdcd88785d54cb748c97b5e8ebc 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -19,7 +19,7 @@
<property name="windowTitle">
<string>SkillManagerMonitorWidget</string>
</property>
- <layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0">
+ <layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0,0">
<item row="3" column="0" colspan="2">
<widget class="QSplitter" name="splitter_2">
<property name="enabled">
@@ -97,44 +97,7 @@
<property name="title">
<string>Manager</string>
</property>
- <layout class="QGridLayout" name="gridLayout">
- <item row="5" column="0" colspan="3">
- <widget class="QTreeWidget" name="treeWidgetSkills">
- <column>
- <property name="text">
- <string>Skill</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>HasInputType</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>HasOutputType</string>
- </property>
- </column>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QPushButton" name="pushButtonSearch">
- <property name="text">
- <string>Search</string>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLineEdit" name="lineEditSearch">
- <property name="text">
- <string/>
- </property>
- <property name="placeholderText">
- <string>Search...</string>
- </property>
- </widget>
- </item>
- </layout>
+ <layout class="QGridLayout" name="gridLayout"/>
</widget>
<widget class="QGroupBox" name="groupBoxSkillDetails">
<property name="enabled">
@@ -149,140 +112,7 @@
<property name="title">
<string>Skill Details</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <widget class="QSplitter" name="splitter_2">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="childrenCollapsible">
- <bool>false</bool>
- </property>
- <widget class="QWidget" name="groupBoxSkillDetailsTop" native="true">
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item>
- <layout class="QGridLayout" name="gridLayout_5">
- <item row="0" column="0">
- <widget class="QPushButton" name="pushButtonPaste">
- <property name="text">
- <string>Set args from clipboard</string>
- </property>
- </widget>
- </item>
- <item row="0" column="3">
- <widget class="QPushButton" name="pushButtonReset">
- <property name="text">
- <string>Reset args to profile</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0" colspan="4">
- <widget class="QComboBox" name="comboBoxProfiles">
- <item>
- <property name="text">
- <string><No Profile selected. Using root></string>
- </property>
- </item>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QPushButton" name="pushButtonCopy">
- <property name="text">
- <string>Copy args to clipboard</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QWidget" name="skillDescription" native="true"/>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="groupBoxSkillDetailsBottom" native="true">
- <layout class="QVBoxLayout" name="verticalLayout_3">
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item>
- <widget class="QTreeWidget" name="treeWidgetSkillDetails">
- <property name="contextMenuPolicy">
- <enum>Qt::CustomContextMenu</enum>
- </property>
- <property name="editTriggers">
- <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
- </property>
- <column>
- <property name="text">
- <string>Key</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>Value</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>Type</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>defaultValue (hidden in GUI)</string>
- </property>
- </column>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pushButtonExecuteSkill">
- <property name="text">
- <string>Request Execution</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </widget>
- </item>
- </layout>
+ <layout class="QVBoxLayout" name="verticalLayout"/>
</widget>
</widget>
</widget>
@@ -331,6 +161,13 @@
</item>
</layout>
</item>
+ <item row="5" column="0" colspan="2">
+ <widget class="QLabel" name="connectionStatusLabel">
+ <property name="text">
+ <string>(hidden in GUI)</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
<resources/>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index bbeaa5a4d9a889808db465419f732e5903031a31..245ea08034c8c5aa912447fce57fdbe7d7efb58f 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -22,6 +22,7 @@
#include "SkillManagerMonitorWidgetController.h"
+#include <memory>
#include <optional>
#include <regex>
#include <string>
@@ -31,7 +32,6 @@
#include <RobotAPI/libraries/skills/core/Skill.h>
#include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
-#include "aronTreeWidget/visitors/AronTreeWidgetCreator.h"
#include "aronTreeWidget/visitors/AronTreeWidgetModalCreator.h"
// modals
@@ -51,7 +51,6 @@
#include "aronTreeWidget/Data.h"
#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
-#include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
#include "aronTreeWidget/visitors/AronTreeWidgetCreator.h"
#include "aronTreeWidget/visitors/AronTreeWidgetModalCreator.h"
#include "aronTreeWidget/widgets/SkillDescriptionWidget.h"
@@ -59,8 +58,6 @@
//configSk
namespace armarx
{
- const skills::SkillID SkillManagerMonitorWidgetController::SelectedSkill::UNK_SKILL_ID =
- skills::SkillID{.providerId = ::std::nullopt, .skillName = skills::SkillID::UNKNOWN};
QPointer<QDialog>
SkillManagerMonitorWidgetController::getConfigDialog(QWidget* parent)
@@ -68,7 +65,7 @@ namespace armarx
if (!dialog)
{
dialog = new SimpleConfigDialog(parent);
- dialog->addProxyFinder<skills::dti::SkillMemoryInterfacePrx>(
+ dialog->addProxyFinder<skills::manager::dti::SkillManagerInterfacePrx>(
"SkillMemory", "", "SkillMem*");
}
return qobject_cast<SimpleConfigDialog*>(dialog);
@@ -96,728 +93,81 @@ namespace armarx
// Others
namespace armarx
{
- void
- SkillManagerMonitorWidgetController::prepareAndRunMenu(const QPoint& pos)
- {
- QMenu* menu = new QMenu();
-
- // Stop skill
- QAction* stopSkillAction = new QAction("Stop execution", this);
- skills::SkillStatus currentStatus =
- skillStatusUpdates.at(selectedSkill.skillExecutionId).status;
- stopSkillAction->setDisabled(currentStatus == skills::SkillStatus::Aborted ||
- currentStatus == skills::SkillStatus::Failed ||
- currentStatus == skills::SkillStatus::Succeeded);
-
- QAction* rerunSkillAction = new QAction("Re-run with similar params", this);
- menu->addAction(stopSkillAction);
- menu->addAction(rerunSkillAction);
- connect(stopSkillAction,
- &QAction::triggered,
- this,
- &SkillManagerMonitorWidgetController::stopSkill);
- connect(rerunSkillAction,
- &QAction::triggered,
- this,
- &SkillManagerMonitorWidgetController::rerunSkillWithSimilarParams);
-
- // Temporarily disable rerun-skill-Action
- rerunSkillAction->setDisabled(true);
-
- // open menu
- menu->popup(widget.treeWidgetSkillExecutions->viewport()->mapToGlobal(pos));
- }
-
- SkillExecutionInfoTreeWidgetItem*
- SkillExecutionInfoTreeWidgetItem::SearchRecursiveForMatch(
- SkillExecutionInfoTreeWidgetItem* haystack,
- const skills::SkillExecutionID& needle)
- {
- if (!haystack)
- {
- return nullptr;
- }
-
- if (needle == haystack->executionId)
- {
- return haystack;
- }
- for (int i = 0; i < haystack->childCount(); ++i)
- {
- auto el = static_cast<SkillExecutionInfoTreeWidgetItem*>(haystack->child(i));
- return SkillExecutionInfoTreeWidgetItem::SearchRecursiveForMatch(el, needle);
- }
- return nullptr;
- }
-
SkillManagerMonitorWidgetController::SkillManagerMonitorWidgetController()
{
- widget.setupUi(getWidget());
- this->updateWidget = new PeriodicUpdateWidget(2.0, 60);
- widget.updateWidgetLayout->insertWidget(0, updateWidget);
-
- this->stopAllButton = new QPushButton("Stop all executions");
- widget.stopAllLayout->addWidget(stopAllButton);
-
-
- skillDescriptionWidget = new SkillDescriptionWidget();
- widget.skillDescription->parentWidget()->layout()->replaceWidget(widget.skillDescription,
- skillDescriptionWidget);
- widget.skillDescription = skillDescriptionWidget;
-
-
- connect(this->stopAllButton,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::stopAllExecutions);
- connect(widget.treeWidgetSkillExecutions,
- &QTreeWidget::customContextMenuRequested,
- this,
- &SkillManagerMonitorWidgetController::prepareAndRunMenu);
-
- connect(updateWidget,
- &armarx::PeriodicUpdateWidget::update,
- this,
- &SkillManagerMonitorWidgetController::refreshSkillsAndExecutions);
-
- connect(widget.pushButtonCopy,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::copyCurrentConfig);
- connect(widget.pushButtonPaste,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::pasteCurrentConfig);
-
- connect(widget.pushButtonExecuteSkill,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::executeSelectedSkill);
-
- connect(widget.treeWidgetSkills,
- &QTreeWidget::currentItemChanged,
- this,
- &SkillManagerMonitorWidgetController::skillSelectionChanged);
-
- connect(widget.treeWidgetSkillExecutions,
- &QTreeWidget::currentItemChanged,
- this,
- &SkillManagerMonitorWidgetController::skillExecutionSelectionChanged);
-
- /*connect(widget.pushButtonRefreshNow,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::refreshSkills);*/
- connect(widget.pushButtonSearch,
- &QPushButton::clicked,
- this,
- &SkillManagerMonitorWidgetController::searchSkills);
- // alternatively run search when pressing enter
- connect(widget.lineEditSearch,
- &QLineEdit::returnPressed,
- this,
- &SkillManagerMonitorWidgetController::searchSkills);
- }
-
- SkillManagerMonitorWidgetController::~SkillManagerMonitorWidgetController()
- {
- }
-
- void
- SkillManagerMonitorWidgetController::onInitComponent()
- {
- usingProxy(observerName);
- }
-
- void
- SkillManagerMonitorWidgetController::onConnectComponent()
- {
- widget.groupBoxSkills->setTitle(QString::fromStdString(observerName));
- widget.treeWidgetSkillDetails->setEditTriggers(
- QAbstractItemView::EditTrigger::NoEditTriggers);
- widget.treeWidgetSkillDetails->setColumnHidden(3, true);
-
- getProxy(memory, observerName, 1000);
- this->updateWidget->startTimerIfEnabled();
- connected = true;
- }
-
- void
- SkillManagerMonitorWidgetController::onDisconnectComponent()
- {
- connected = false;
- memory = nullptr;
-
- // reset all
- skills.clear();
- widget.treeWidgetSkills->clear();
- widget.treeWidgetSkillDetails->clear();
- skillsArgumentsTreeWidgetItem = nullptr;
- selectedSkill.skillId.providerId->providerName = "";
- selectedSkill.skillId.skillName = "";
- this->updateWidget->stopTimer();
- }
- void
- SkillManagerMonitorWidgetController::searchSkills()
- {
- this->currentSkillSearch = widget.lineEditSearch->text();
- }
-
- void
- SkillManagerMonitorWidgetController::refreshSkillsAndExecutions()
- {
- refreshSkills();
- refreshExecutions();
- }
-
- void
- SkillManagerMonitorWidgetController::matchSkillUpdateToSearch(
- std::map<skills::manager::dto::SkillID, skills::manager::dto::SkillDescription>& update)
- {
- /*
- if (this->currentSkillSearch.isEmpty())
- {
- return;
- }
-
- // TODO: whitespace to wildcard
-
- std::string search = this->currentSkillSearch.toLower().toStdString();
- std::transform(search.begin(), search.end(), search.begin(),
- [](unsigned char c){ return std::tolower(c); });
-
- for (auto it = update.begin(); it != update.end();)
- {
- if (simox::alg::to_lower(skills::SkillID::FromIce(it->first).skillName)
- .find(this->currentSkillSearch.toLower().toStdString()))
- {
- it = update.erase(it);
- }
- else
- {
- ++it;
- }
- }
-*/
- }
-
- void
- SkillManagerMonitorWidgetController::refreshSkills()
- {
- if (!memory)
- {
- // check if null
- return;
- }
-
- /* CHECK OWN SKILLS LIST */
- // remove non-existing ones
- try
- {
- std::scoped_lock l(updateMutex);
-
- auto managerSkills = memory->getSkillDescriptions();
- this->matchSkillUpdateToSearch(managerSkills);
-
- // completely recreate internal skills map
- skills.clear();
- for (const auto& [sid, desc] : managerSkills)
- {
- auto description = skills::SkillDescription::FromIce(desc);
- auto skillId = skills::SkillID::FromIce(sid);
- auto providerId = skillId.providerId.value_or(
- skills::ProviderID{.providerName = "UNKNOWN PROVIDER NAME"});
-
- ARMARX_CHECK(skillId.isFullySpecified());
-
- auto& providedSkillsMap = skills[providerId]; // create new if not existent
- providedSkillsMap.insert({skillId, description});
- }
-
- // update tree view. Remove non-existing elements
- int i = 0;
- while (i < widget.treeWidgetSkills->topLevelItemCount())
- {
- auto* providerItem = widget.treeWidgetSkills->topLevelItem(i);
- auto providerName = providerItem->text(0).toStdString();
- skills::ProviderID providerId{.providerName = providerName};
-
- if (skills.find(providerId) == skills.end())
- {
- providerItem = nullptr; // reset
- auto remove = widget.treeWidgetSkills->takeTopLevelItem(i);
- delete remove;
- continue;
- }
-
- ++i;
- auto& providedSkills = skills.at(providerId);
-
- int j = 0;
- while (j < providerItem->childCount())
- {
- auto* skillItem = providerItem->child(j);
- auto skillName = skillItem->text(0).toStdString();
-
- skills::SkillID skillId{.providerId =
- skills::ProviderID{.providerName = providerName},
- .skillName = skillName};
-
- if (providedSkills.find(skillId) == providedSkills.end())
- {
- skillItem = nullptr;
- auto remove = providerItem->takeChild(j);
- delete remove;
- continue;
- }
-
- ++j;
- }
- }
-
- // update tree view. Add new elements
- for (const auto& [providerId, providedSkills] : skills)
- {
- QTreeWidgetItem* providerItem = nullptr;
- for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
- {
- auto el = widget.treeWidgetSkills->topLevelItem(i);
- auto providerName = el->text(0).toStdString();
- skills::ProviderID elProviderId{.providerName = providerName};
-
- if (providerId == elProviderId)
- {
- providerItem = el;
- break;
- }
- }
-
- if (!providerItem)
- {
- providerItem = new QTreeWidgetItem(widget.treeWidgetSkills);
- providerItem->setText(0, QString::fromStdString(providerId.providerName));
- }
-
- for (const auto& [skillId, skill] : providedSkills)
- {
- QTreeWidgetItem* skillItem = nullptr;
- for (int i = 0; i < providerItem->childCount(); ++i)
- {
- auto el = providerItem->child(i);
- auto skillName = el->text(0).toStdString();
- skills::SkillID elSkillId{providerId, skillName};
-
- if (skillId == elSkillId)
- {
- skillItem = el;
- break;
- }
- }
-
- if (!skillItem)
- {
- skillItem = new SkillInfoTreeWidgetItem(skill, providerItem);
- skillItem->setText(0, QString::fromStdString(skillId.skillName));
- }
- }
- }
- }
- catch (...)
- {
- // perhaps the manager died during the method?
- }
- }
-
- void
- SkillManagerMonitorWidgetController::refreshExecutions()
- {
- static std::map<skills::SkillStatus, std::string> ExecutionStatus2String = {
- // Main states
- {skills::SkillStatus::Constructing, "Constructing"},
- {skills::SkillStatus::Initializing, "Initializing"},
- {skills::SkillStatus::Preparing, "Preparing"},
- {skills::SkillStatus::Running, "Running"},
-
- // Terminating
- {skills::SkillStatus::Aborted, "Aborted"},
- {skills::SkillStatus::Failed, "Failed"},
- {skills::SkillStatus::Succeeded, "Succeeded"}};
-
- if (!memory)
- {
- // check if null
- return;
- }
-
- try
- {
- std::scoped_lock l(updateMutex);
-
- auto currentManagerStatuses = memory->getSkillExecutionStatuses();
-
- for (const auto& [k, v] : currentManagerStatuses)
- {
- auto executionId = skills::SkillExecutionID::FromIce(k);
- auto statusUpdate = skills::SkillStatusUpdate::FromIce(v);
-
- // update maps
- skillStatusUpdates[executionId] = statusUpdate;
- //skillExecutionParams.insert_or_assign(executionId,
- // statusUpdate.usedParameterization);
-
- SkillExecutionInfoTreeWidgetItem* found = nullptr;
- for (int i = 0; i < widget.treeWidgetSkillExecutions->topLevelItemCount(); ++i)
- {
- auto c = static_cast<SkillExecutionInfoTreeWidgetItem*>(
- widget.treeWidgetSkillExecutions->topLevelItem(i));
-
- found =
- SkillExecutionInfoTreeWidgetItem::SearchRecursiveForMatch(c, executionId);
-
- if (found)
- {
- for (std::pair<skills::SkillStatus, std::string> i : ExecutionStatus2String)
- {
- if (i.first == statusUpdate.status)
- {
- found->setText(3, QString::fromStdString(i.second));
- }
- }
-
- break;
- }
- }
-
- if (!found)
- {
- // TODO: Sort to executor!
- auto item = new SkillExecutionInfoTreeWidgetItem(executionId);
-
- item->setText(0,
- QString::fromStdString(
- executionId.executionStartedTime.toDateTimeString()));
- item->setText(1, QString::fromStdString(executionId.executorName));
- item->setText(2, QString::fromStdString(executionId.skillId.toString()));
- for (std::pair<skills::SkillStatus, std::string> i : ExecutionStatus2String)
- {
- if (i.first == statusUpdate.status)
- {
- item->setText(3, QString::fromStdString(i.second));
- }
- }
-
- widget.treeWidgetSkillExecutions->insertTopLevelItem(0, item);
- }
- }
- }
- catch (...)
- {
- // perhaps the manager died during the method?
- }
- }
-
- void
- SkillManagerMonitorWidgetController::executeSelectedSkill()
- {
- auto data = getConfigAsAron();
- executeSkillWithParams(selectedSkill.skillId, data);
- }
-
- void
- SkillManagerMonitorWidgetController::rerunSkillWithSimilarParams()
- {
- // TODO: disabled until skillparameterization is replaced
- //skills::SkillParameterization selectedExecutionParams =
- //skillExecutionParams.at(selectedSkill.skillExecutionId);
- //executeSkillWithParams(selectedSkill.skillExecutionId.skillId,
- // selectedExecutionParams.parameterization);
-
- executeSelectedSkill();
- }
-
- void
- SkillManagerMonitorWidgetController::executeSkillWithParams(skills::SkillID skillId,
- aron::data::DictPtr params)
- {
- std::scoped_lock l(updateMutex);
-
- auto providerId = skillId.providerId;
- if (!providerId.has_value())
- {
- return;
- }
- const auto& skillDescriptions = skills.at(providerId.value());
- if (skillDescriptions.find(skillId) == skillDescriptions.end())
- {
- return;
- }
-
- char hostname[HOST_NAME_MAX];
- gethostname(hostname, HOST_NAME_MAX);
-
- skills::SkillExecutionRequest req{
- .skillId = selectedSkill.skillId,
- .executorName = "Skills.Manager GUI (hostname: " + std::string(hostname) + ")",
- .parameters = params};
-
- ARMARX_CHECK(selectedSkill.skillId.isFullySpecified()); // sanity check
- ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.skillId << ".";
- // Note that we execute the skill in a seperate thread so that the GUI thread does not freeze.
- memory->begin_executeSkill(req.toManagerIce());
- }
-
- void
- SkillManagerMonitorWidgetController::stopAllExecutions()
- {
- QTreeWidget const* tree = widget.treeWidgetSkillExecutions;
+ widget.setupUi(getWidget());
- int const max_retries = 3;
- int left_retries = max_retries;
- bool retry = false;
+ // setup memory
+ this->mem_wrapper = std::make_shared<skills::gui::SkillManagerWrapper>();
- do
- {
- retry = false;
-
- for (ssize_t i = 0; i < tree->topLevelItemCount(); ++i)
- {
- SkillExecutionInfoTreeWidgetItem const* item =
- dynamic_cast<SkillExecutionInfoTreeWidgetItem*>(
- widget.treeWidgetSkillExecutions->topLevelItem(i));
-
- if (not item)
- {
- // At this point, dynamic-casting failed and we don't know anything about the
- // type.
- ARMARX_ERROR << "Cannot stop unknown skill.";
- retry = true;
- continue;
- }
-
- try
- {
- ARMARX_INFO << "Aborting skill '" << item->executionId.skillId.skillName
- << "'...";
- memory->abortSkillAsync(item->executionId.toManagerIce());
- }
- catch (Ice::Exception const& e)
- {
- retry = true;
- ARMARX_ERROR << "Unhandeled Ice exception while aborting skill '"
- << item->executionId.skillId.skillName << "'.";
- }
- catch (...)
- {
- retry = true;
- ARMARX_ERROR << "Unhandled error while aborting skill '"
- << item->executionId.skillId.skillName << "'.";
- }
- }
-
- if (retry)
- {
- left_retries -= 1;
-
- if (left_retries > 0)
- {
- ARMARX_WARNING << "There where errors aborting skills. Retrying...";
- }
- else
- {
- ARMARX_ERROR << "Couldn't abort all skills after " << max_retries
- << " tries. Giving up.";
- retry = false;
- }
- }
- } while (retry);
- }
+ viewer = std::make_unique<armarx::skills::gui::SkillMemoryGUI>(
+ widget.treeWidgetSkillExecutions,
+ widget.groupBoxSkillExecutions->layout(),
- void
- SkillManagerMonitorWidgetController::stopSkill()
- {
- std::scoped_lock l(updateMutex);
+ widget.groupBoxSkills,
+ widget.splitter,
- /*
- if (selectedSkill.skillExecutionId.skillId.fullySpecified())
- {
- ARMARX_INFO << "The user requested to stop a skill, which was not fully specified!";
- return;
- }
+ widget.groupBoxSkillDetails,
+ widget.splitter,
- const auto& skillDescriptions = skills.at(*selectedSkill.skillId.providerId);
- if (!skillDescriptions.count(selectedSkill.skillId.skillName))
- {
- return;
- }
-*/
+ widget.updateWidgetLayout,
- ARMARX_INFO << "Stopping skill from GUI: " << selectedSkill.skillExecutionId.toString();
+ widget.stopAllLayout,
- memory->abortSkillAsync(selectedSkill.skillExecutionId.toManagerIce());
- }
+ widget.connectionStatusLabel,
- void
- SkillManagerMonitorWidgetController::skillExecutionSelectionChanged(QTreeWidgetItem* current,
- QTreeWidgetItem*)
- {
- std::scoped_lock l(updateMutex);
- widget.groupBoxSkillExecutions->setEnabled(false);
-
- if (!current)
- {
- // gui has died?
- return;
- }
+ this->mem_wrapper);
- auto c = static_cast<SkillExecutionInfoTreeWidgetItem*>(current);
- selectedSkill.skillExecutionId = c->executionId;
- widget.groupBoxSkillExecutions->setEnabled(true);
+ connectSignals();
}
void
- SkillManagerMonitorWidgetController::skillSelectionChanged(QTreeWidgetItem* current,
- QTreeWidgetItem*)
+ SkillManagerMonitorWidgetController::connectSignals()
{
- std::scoped_lock l(updateMutex);
- widget.groupBoxSkillDetails->setEnabled(false);
-
- if (!current)
- {
- // gui has died?
- return;
- }
-
- if (!current->parent())
- {
- // no parent available. Perhaps provider clicked? Reset selected skill.
- selectedSkill.skillId = SelectedSkill::UNK_SKILL_ID;
- return;
- }
-
- auto c = static_cast<SkillInfoTreeWidgetItem*>(current);
- auto skillDescription = c->skillDescription;
-
-
- if (selectedSkill.skillId == skillDescription.skillId)
- {
- // no change
- return;
- }
-
- selectedSkill.skillId = skillDescription.skillId;
-
- // setup groupBox
- widget.groupBoxSkillDetails->setTitle(
- QString::fromStdString(selectedSkill.skillId.toString()));
- widget.groupBoxSkillDetails->setEnabled(true);
-
- // setup table view
- widget.treeWidgetSkillDetails->clear();
- aronTreeWidgetController = nullptr;
- skillsArgumentsTreeWidgetItem = nullptr;
-
- // We assert that the skill exists
- ARMARX_CHECK(skills.count(*selectedSkill.skillId.providerId) > 0);
- ARMARX_CHECK(skills.at(*selectedSkill.skillId.providerId).count(selectedSkill.skillId) > 0);
- auto skillDesc = skills.at(*selectedSkill.skillId.providerId).at(selectedSkill.skillId);
-
- {
- auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Name"),
- QString::fromStdString(skillDesc.skillId.skillName)});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
-
- {
- auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Description"),
- QString::fromStdString(skillDesc.description)});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
-
- {
- auto it = new QTreeWidgetItem(
- widget.treeWidgetSkillDetails,
- {QString::fromStdString("Timeout"),
- QString::fromStdString(std::to_string(skillDesc.timeout.toMilliSeconds())) +
- " ms"});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
-
- // select root profile
- widget.comboBoxProfiles->setCurrentIndex(0);
-
- // remove any profile
- while (widget.comboBoxProfiles->count() > 1)
- {
- widget.comboBoxProfiles->removeItem(1);
- }
-
- // add new profiles for this skill
- // TODO: Where stored?
+ // disconnect
+ connect(this,
+ &SkillManagerMonitorWidgetController::disconnectGui,
+ this->mem_wrapper.get(),
+ &skills::gui::SkillManagerWrapper::disconnectMemory);
+ connect(this,
+ &SkillManagerMonitorWidgetController::disconnectGui,
+ this->viewer.get(),
+ &skills::gui::SkillMemoryGUI::disconnectGui);
- skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Arguments")});
- auto aron_args = skillDesc.parametersType;
- auto default_args_of_profile = skillDesc.rootProfileDefaults;
-
- aronTreeWidgetController =
- std::make_shared<AronTreeWidgetController>(widget.treeWidgetSkillDetails,
- skillsArgumentsTreeWidgetItem,
- aron_args,
- default_args_of_profile);
-
- // automatically expand args
- skillsArgumentsTreeWidgetItem->setExpanded(true);
+ // connect
+ connect(this,
+ &SkillManagerMonitorWidgetController::connectGui,
+ viewer.get(),
+ &skills::gui::SkillMemoryGUI::connectGui);
}
- aron::data::DictPtr
- SkillManagerMonitorWidgetController::getConfigAsAron() const
+ SkillManagerMonitorWidgetController::~SkillManagerMonitorWidgetController()
{
- // create argument aron (if there is an accepted type set)
- if (aronTreeWidgetController)
- {
- return aronTreeWidgetController->convertToAron();
- }
- return nullptr;
}
void
- SkillManagerMonitorWidgetController::copyCurrentConfig()
+ SkillManagerMonitorWidgetController::onInitComponent()
{
- auto data = getConfigAsAron();
- if (!data)
- {
- return;
- }
-
- auto json = aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(data);
- QClipboard* clipboard = QApplication::clipboard();
- clipboard->setText(QString::fromStdString(json.dump(2)));
+ usingProxy(observerName);
}
void
- SkillManagerMonitorWidgetController::pasteCurrentConfig()
+ SkillManagerMonitorWidgetController::onConnectComponent()
{
- QClipboard* clipboard = QApplication::clipboard();
- std::string s = clipboard->text().toStdString();
- nlohmann::json json = nlohmann::json::parse(s);
- auto data =
- aron::data::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(json);
-
- if (!aronTreeWidgetController)
- {
- return;
- }
- aronTreeWidgetController->setFromAron(data);
+ getProxy(this->memory, observerName, 1000);
+ connected = true;
+ mem_wrapper->connectMemory(this->memory);
+ emit connectGui(observerName);
}
void
- SkillManagerMonitorWidgetController::resetCurrentConfig()
+ SkillManagerMonitorWidgetController::onDisconnectComponent()
{
- // TODO
+ connected = false;
+ memory = nullptr;
+ emit disconnectGui();
}
} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 786f13d869aee2c6c80d7de9058e840ef0305db1..ca80a304b536833542ad35957423e6dbdc029267 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -33,7 +33,6 @@
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-#include "RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.h"
#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
@@ -42,57 +41,10 @@
#include <RobotAPI/libraries/skills/core/ProviderID.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
-
-#include "aronTreeWidget/AronTreeWidgetController.h"
+#include <RobotAPI/libraries/skills_gui/SkillMemoryGui.h>
namespace armarx
{
- class SkillDescriptionWidget;
-
- class SkillInfoTreeWidgetItem : public QTreeWidgetItem
- {
- public:
- SkillInfoTreeWidgetItem(const skills::SkillDescription& desc, QTreeWidgetItem* parent) :
- QTreeWidgetItem(parent), skillDescription(desc)
- {
- }
-
- SkillInfoTreeWidgetItem(const skills::SkillDescription& desc, QTreeWidget* parent) :
- QTreeWidgetItem(parent), skillDescription(desc)
- {
- }
-
- skills::SkillDescription skillDescription;
- };
-
- class SkillExecutionInfoTreeWidgetItem : public QTreeWidgetItem
- {
- //Q_OBJECT
- public:
- SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id,
- QTreeWidgetItem* parent) :
- QTreeWidgetItem(parent), executionId(id)
- {
- }
-
- // After constructing an item, it must be manually inserted into the tree!
- SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id) : executionId(id)
- {
- }
-
- // When using this constructor, the new item will be appended to the bottom of the tree!
- SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id, QTreeWidget* parent) :
- QTreeWidgetItem(parent), executionId(id)
- {
- }
-
- static SkillExecutionInfoTreeWidgetItem*
- SearchRecursiveForMatch(SkillExecutionInfoTreeWidgetItem* el,
- const skills::SkillExecutionID& needle);
-
- skills::SkillExecutionID executionId;
- };
-
class ARMARXCOMPONENT_IMPORT_EXPORT SkillManagerMonitorWidgetController :
public armarx::ArmarXComponentWidgetControllerTemplate<SkillManagerMonitorWidgetController>
{
@@ -123,84 +75,20 @@ namespace armarx
void onConnectComponent() override;
void onDisconnectComponent();
- private slots:
- void skillSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
- void skillExecutionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
-
- void stopAllExecutions();
- void stopSkill(); // TODO: rename
- void executeSelectedSkill();
-
- void refreshSkills();
- void refreshExecutions();
- void refreshSkillsAndExecutions();
-
- void copyCurrentConfig();
- void pasteCurrentConfig();
- void resetCurrentConfig();
-
- void prepareAndRunMenu(const QPoint& pos);
- void rerunSkillWithSimilarParams();
-
- void searchSkills();
-
-
- private:
- aron::data::DictPtr getConfigAsAron() const;
+ signals:
+ void disconnectGui();
+ void connectGui(std::string observerName);
private:
- /**
- * Widget Form
- */
+ armarx::skills::manager::dti::SkillManagerInterfacePrx memory;
Ui::SkillManagerMonitorWidget widget;
+ std::unique_ptr<armarx::skills::gui::SkillMemoryGUI> viewer = nullptr;
QPointer<SimpleConfigDialog> dialog;
- QString currentSkillSearch;
std::string observerName = "SkillManager";
- skills::dti::SkillMemoryInterfacePrx memory = nullptr;
-
- // Data taken from observer (snapshot of it)
- mutable std::mutex updateMutex;
- std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>> skills =
- {};
- std::map<skills::SkillExecutionID, skills::SkillStatusUpdate> skillStatusUpdates = {};
-
- // store copies (!) of skill descriptions
- //std::map<skills::SkillExecutionID, skills::SkillParameterization> skillExecutionParams = {};
-
- // User Input
- struct SelectedSkill
- {
- static const skills::SkillID UNK_SKILL_ID;
-
- skills::SkillID skillId;
- skills::SkillExecutionID skillExecutionId;
-
- // make default constructable
- SelectedSkill() :
- skillId(UNK_SKILL_ID),
- skillExecutionId{.skillId = UNK_SKILL_ID,
- .executorName = skills::SkillExecutionID::UNKNOWN,
- .executionStartedTime = armarx::core::time::DateTime::Invalid()}
- {
- }
- }
-
- selectedSkill;
-
- void executeSkillWithParams(skills::SkillID skillId, aron::data::DictPtr params);
- void matchSkillUpdateToSearch(std::map<skills::manager::dto::SkillID,
- skills::manager::dto::SkillDescription>& update);
-
-
- PeriodicUpdateWidget* updateWidget =
- nullptr; // TODO: this should not be held by the controller!
- QPushButton* stopAllButton = nullptr; // also this. Oh well...
+ std::shared_ptr<skills::gui::SkillManagerWrapper> mem_wrapper = nullptr;
- // Helper to get the treeWidgetItem easily
- QTreeWidgetItem* skillsArgumentsTreeWidgetItem = nullptr;
- AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;
- SkillDescriptionWidget* skillDescriptionWidget = nullptr;
+ void connectSignals();
// connected flag
std::atomic_bool connected = false;
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 4d481f8619df7851446f95712d8dce766513c943..aab6379138035bbabb26599742ec74372779fd66 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -41,3 +41,5 @@ add_subdirectory(GraspingUtility)
add_subdirectory(obstacle_avoidance)
add_subdirectory(robot_name_service)
+
+add_subdirectory(skills_gui)
diff --git a/source/RobotAPI/libraries/skills/core/ProviderID.cpp b/source/RobotAPI/libraries/skills/core/ProviderID.cpp
index 53d6aad6807a7002a80a097d94b1e1fb5ec9f864..c8d6708f1ce7157256b0eacd0889c836f1dc9137 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderID.cpp
+++ b/source/RobotAPI/libraries/skills/core/ProviderID.cpp
@@ -1,7 +1,5 @@
#include "ProviderID.h"
-#include "SkillID.h"
-
namespace armarx
{
namespace skills
diff --git a/source/RobotAPI/libraries/skills/core/SkillDescription.h b/source/RobotAPI/libraries/skills/core/SkillDescription.h
index 4bc8a3cd8fe92f7ebdf13c32b1e812be8596fbbd..784afd9321f4d677109c1f43672f0bdff4846db8 100644
--- a/source/RobotAPI/libraries/skills/core/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/core/SkillDescription.h
@@ -30,6 +30,16 @@ namespace armarx
static SkillDescription FromIce(const provider::dto::SkillDescription& i,
const std::optional<ProviderID>& = std::nullopt);
static SkillDescription FromIce(const manager::dto::SkillDescription& i);
+
+ bool
+ operator==(const SkillDescription& other) const
+ {
+ return this->skillId == other.skillId && this->description == other.description &&
+ this->rootProfileDefaults == other.rootProfileDefaults &&
+ this->timeout == other.timeout &&
+ this->parametersType == other.parametersType &&
+ this->resultType == other.resultType;
+ }
};
template <class T>
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
index 53fc20a1013f5924c77159580899ae824bd1ad86..39f3bc008324d046486d4eb1cd486ef87a1860f8 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
@@ -36,13 +36,13 @@ namespace armarx
bool
operator<(const SkillExecutionID& other) const
{
- return this->toString() < other.toString();
+ return this->executionStartedTime < other.executionStartedTime;
}
bool
operator<=(const SkillExecutionID& other) const
{
- return this->toString() <= other.toString();
+ return this->executionStartedTime <= other.executionStartedTime;
}
skills::manager::dto::SkillExecutionID toManagerIce() const;
diff --git a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1e53c1a2d96b3a6e50d4720efbd9be38d6760de
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
@@ -0,0 +1,121 @@
+set(LIB_NAME skills_gui)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+set(LIBRARIES
+ ArmarXCore
+ ArmarXCoreInterfaces
+ ArmarXGuiBase
+ RobotAPISkillsCore
+ RobotAPISkillsManager
+ RobotAPIInterfaces
+ aron
+)
+
+set(COMPONENT_LIBS
+ RobotAPIInterfaces
+ aron
+ RobotAPISkills
+ RobotAPISkillsManager
+ RobotAPISkillsMemory
+ SkillsMemory
+ aronjsonconverter
+ SimpleConfigDialog
+)
+
+set(SOURCES
+ aron_tree_widget/visitors/AronTreeWidgetCreator.cpp
+ aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
+ aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
+ aron_tree_widget/visitors/AronTreeWidgetModalCreator.cpp
+ aron_tree_widget/visitors/AronTreeWidgetContextMenu.cpp
+ aron_tree_widget/widgets/CustomWidget.cpp
+ aron_tree_widget/widgets/EditMatrixWidget.cpp
+ aron_tree_widget/widgets/IntEnumWidget.cpp
+ aron_tree_widget/widgets/QuaternionWidget.cpp
+ aron_tree_widget/widgets/SkillDescriptionWidget.cpp
+ aron_tree_widget/Data.cpp
+ aron_tree_widget/ListDictHelper.cpp
+ aron_tree_widget/AronTreeWidgetItem.cpp
+ aron_tree_widget/AronTreeWidgetController.cpp
+ aron_tree_widget/modal/text/AronTreeWidgetTextInputModalController.cpp
+ aron_tree_widget/modal/dict/AronTreeWidgetDictInputModalController.cpp
+ aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
+ aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
+ aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
+ aron_tree_widget/modal/AronTreeWidgetModal.cpp
+ aron_tree_widget/ColorPalettes.cpp
+
+ executions/SkillExecutionTreeWidget.cpp
+ executions/SkillExecutionTreeWidgetItem.cpp
+
+ memory/SkillManagerWrapper.cpp
+ memory/MemoryCommunicatorBase.cpp
+
+ skills/SkillTreeWidget.cpp
+ skills/SkillGroupBox.cpp
+ skills/SkillTreeWidgetItem.cpp
+
+ skill_details/SkillDetailsGroupBox.cpp
+ skill_details/ProfileMenuWidget.cpp
+ skill_details/SkillDetailsTreeWidget.cpp
+
+ SkillMemoryGui.cpp
+ gui_utils.cpp
+ StatusLabel.cpp
+)
+set(HEADERS
+ aron_tree_widget/visitors/AronTreeWidgetCreator.h
+ aron_tree_widget/visitors/AronTreeWidgetConverter.h
+ aron_tree_widget/visitors/AronTreeWidgetSetter.h
+ aron_tree_widget/visitors/AronTreeWidgetModalCreator.h
+ aron_tree_widget/visitors/AronTreeWidgetContextMenu.h
+ aron_tree_widget/widgets/NDArrayHelper.h
+ aron_tree_widget/widgets/EditMatrixWidget.h
+ aron_tree_widget/widgets/CustomWidget.h
+ aron_tree_widget/widgets/IntEnumWidget.h
+ aron_tree_widget/widgets/QuaternionWidget.h
+ aron_tree_widget/widgets/SkillDescriptionWidget.h
+ aron_tree_widget/Data.h
+ aron_tree_widget/ListDictHelper.h
+ aron_tree_widget/AronTreeWidgetItem.h
+ aron_tree_widget/AronTreeWidgetController.h
+ aron_tree_widget/modal/AronTreeWidgetModal.h
+ aron_tree_widget/modal/text/AronTreeWidgetTextInputModalController.h
+ aron_tree_widget/modal/dict/AronTreeWidgetDictInputModalController.h
+ aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModalController.h
+ aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModalController.h
+ aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModalController.h
+ aron_tree_widget/ColorPalettes.h
+
+ executions/SkillExecutionTreeWidget.h
+ executions/SkillExecutionTreeWidgetItem.h
+
+ memory/SkillManagerWrapper.h
+ memory/MemoryCommunicatorBase.h
+
+ skills/SkillTreeWidget.h
+ skills/SkillGroupBox.h
+ skills/SkillTreeWidgetItem
+
+ skill_details/SkillDetailsGroupBox.h
+ skill_details/ProfileMenuWidget.h
+ skill_details/SkillDetailsTreeWidget.h
+
+ SkillMemoryGui.h
+ gui_utils.h
+ StatusLabel.h
+)
+
+armarx_gui_library("${LIB_NAME}" "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${LIBRARIES}")
+
+set(GUI_UIS
+ aronTreeWidget/modal/text/AronTreeWidgetTextInputModal.ui
+)
+
+add_library(${PROJECT_NAME}::skills_gui ALIAS skills_gui)
+
+
+# add unit tests
+#add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4d74cf11e2b5c208a30eb553c986a9636dabd562
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
@@ -0,0 +1,137 @@
+#include "SkillMemoryGui.h"
+
+#include "gui_utils.h"
+
+namespace armarx::skills::gui
+{
+ SkillMemoryGUI::SkillMemoryGUI(QTreeWidget* _skillExecutionTreeWidget,
+ QLayout* _skillExecutionTreeWidgetParentLayout,
+ QGroupBox* _skillGroupBox,
+ QSplitter* _skillGroupBoxParentLayout,
+ QGroupBox* _skillDetailGroupBox,
+ QSplitter* _skillDetailGroupBoxParentLayout,
+ QHBoxLayout* _updateWidgetLayout,
+
+ QLayout* stopAllLayout,
+
+ QWidget* _connectionStatusLabel,
+
+ std::shared_ptr<SkillManagerWrapper> _memory)
+ {
+ Logging::setTag("SkillMemoryGui");
+
+ // parameter check
+ ARMARX_CHECK(_skillExecutionTreeWidgetParentLayout);
+ ARMARX_CHECK(_skillGroupBoxParentLayout);
+ ARMARX_CHECK(_skillDetailGroupBoxParentLayout);
+ ARMARX_CHECK(_memory);
+
+ ARMARX_CHECK(_skillExecutionTreeWidget);
+ ARMARX_CHECK(_skillGroupBox);
+ ARMARX_CHECK(_skillDetailGroupBox);
+ ARMARX_CHECK(_updateWidgetLayout);
+ ARMARX_CHECK(_connectionStatusLabel);
+ ARMARX_CHECK(_memory);
+
+ // setup memory
+ this->memory = _memory;
+
+ // Update widget
+ this->updateWidgetLayout = _updateWidgetLayout;
+ this->updateWidget = new PeriodicUpdateWidget();
+ this->updateWidgetLayout->insertWidget(0, updateWidget);
+
+
+ // replace skillExecutionTreeWidget
+ this->skillExecutionTreeWidget = new SkillExecutionTreeWidget(memory);
+ armarx::gui::replaceWidget(_skillExecutionTreeWidget,
+ this->skillExecutionTreeWidget,
+ _skillExecutionTreeWidgetParentLayout);
+
+ // replace skillGroupBox
+ this->skillGroupBox = new SkillGroupBox(memory);
+
+ // replace skillDetailGroupBox
+ this->skillDetailGroupBox = new SkillDetailGroupBox(memory);
+
+ armarx::gui::clearSplitter(_skillGroupBoxParentLayout);
+ _skillGroupBoxParentLayout->insertWidget(0, this->skillDetailGroupBox);
+ _skillGroupBoxParentLayout->insertWidget(0, this->skillGroupBox);
+
+ // setup stop all button
+ stopAllButton = new QPushButton(QString::fromStdString(STOP_ALL_BUTTON_TEXT));
+ stopAllLayout->addWidget(stopAllButton);
+
+ this->connectionStatusLabel = new StatusLabel();
+ armarx::gui::replaceWidget(_connectionStatusLabel,
+ this->connectionStatusLabel,
+ _connectionStatusLabel->parentWidget()->layout());
+
+ setupUi();
+ }
+
+ void
+ SkillMemoryGUI::setupUi()
+ {
+ stopAllButton->setStyleSheet("background-color: red");
+ connectSignals();
+ }
+
+ void
+ SkillMemoryGUI::connectSignals()
+ {
+ connect(skillGroupBox,
+ &SkillGroupBox::updateSkillDetails,
+ skillDetailGroupBox,
+ &SkillDetailGroupBox::updateSkillDetails);
+
+ // disconnect gui
+ connect(this, &SkillMemoryGUI::disconnectGui, skillGroupBox, &SkillGroupBox::disconnectGui);
+ connect(this,
+ &SkillMemoryGUI::disconnectGui,
+ skillDetailGroupBox,
+ &SkillDetailGroupBox::disconnectGui);
+ connect(this,
+ &SkillMemoryGUI::disconnectGui,
+ skillExecutionTreeWidget,
+ &SkillExecutionTreeWidget::disconnectGui);
+ connect(
+ this, &SkillMemoryGUI::disconnectGui, updateWidget, &PeriodicUpdateWidget::stopTimer);
+
+ // connect gui
+ connect(this,
+ &SkillMemoryGUI::connectGui,
+ updateWidget,
+ &PeriodicUpdateWidget::startTimerIfEnabled);
+ connect(this, &SkillMemoryGUI::connectGui, skillGroupBox, &SkillGroupBox::connectGui);
+
+ // update cascade
+ connect(this, &SkillMemoryGUI::updateGui, skillGroupBox, &SkillGroupBox::updateGui);
+
+ // we don't want to update the skill details periodically, update can be triggered manually
+ /*
+ connect(
+ this, &SkillMemoryGUI::updateGui, skillDetailGroupBox, &SkillDetailGroupBox::updateGui);
+ */
+ connect(this,
+ &SkillMemoryGUI::updateGui,
+ skillExecutionTreeWidget,
+ &SkillExecutionTreeWidget::updateExecutions);
+
+ // timer -> update
+ connect(
+ this->updateWidget, &PeriodicUpdateWidget::update, this, &SkillMemoryGUI::updateGui);
+
+ // stop all
+ connect(stopAllButton,
+ &QPushButton::clicked,
+ memory.get(),
+ &SkillManagerWrapper::stopAllExecutions);
+
+ // status label
+ connect(memory.get(),
+ &SkillManagerWrapper::connectionUpdate,
+ connectionStatusLabel,
+ &StatusLabel::handleMessage);
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
new file mode 100644
index 0000000000000000000000000000000000000000..64361f811ef2251ad679fad0c2efa1395a5aa563
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
@@ -0,0 +1,80 @@
+#ifndef SKILLMEMORYGUI_H
+#define SKILLMEMORYGUI_H
+
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QSplitter>
+#include <QTreeWidget>
+#include <QWidget>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/PeriodicUpdateWidget.h>
+
+#include "RobotAPI/libraries/skills_gui/StatusLabel.h"
+
+#include "./aron_tree_widget/widgets/SkillDescriptionWidget.h"
+#include "./executions/SkillExecutionTreeWidget.h"
+#include "./memory/SkillManagerWrapper.h"
+#include "./skill_details/SkillDetailsGroupBox.h"
+#include "./skills/SkillGroupBox.h"
+
+namespace armarx::skills::gui
+{
+ class SkillMemoryGUI : public QObject, public armarx::Logging
+ {
+ Q_OBJECT
+
+ public:
+ static const constexpr char* STOP_ALL_BUTTON_TEXT = "Stop all executions";
+ SkillMemoryGUI(QTreeWidget* _skillExecutionTreeWidget,
+ QLayout* _skillExecutionTreeWidgetParentLayout,
+ QGroupBox* _skillGroupBox,
+ QSplitter* _skillGroupBoxParentLayout,
+ QGroupBox* _skillDetailGroupBox,
+ QSplitter* _skillDetailGroupBoxParentLayout,
+ QHBoxLayout* _updateWidgetLayout,
+
+ QLayout* stopAllLayout,
+
+ QWidget* connectionStatusLabel,
+
+ std::shared_ptr<SkillManagerWrapper> _memory);
+
+ signals:
+ /**
+ * @brief Notify affected widgets to clear all saved state.
+ */
+ void disconnectGui();
+
+ /**
+ * @brief Notify widgets of new connection.
+ * @param observerName the observer name.
+ */
+ void connectGui(std::string observerName);
+
+ /**
+ * @brief Notify widgets to update themselves
+ */
+ void updateGui();
+
+ private:
+ void setupUi();
+ void connectSignals();
+
+ SkillExecutionTreeWidget* skillExecutionTreeWidget = nullptr;
+ SkillGroupBox* skillGroupBox = nullptr;
+ SkillDetailGroupBox* skillDetailGroupBox = nullptr;
+ QBoxLayout* updateWidgetLayout = nullptr;
+
+ std::shared_ptr<SkillManagerWrapper> memory = nullptr;
+
+ PeriodicUpdateWidget* updateWidget = nullptr;
+
+ QPushButton* stopAllButton = nullptr;
+
+ StatusLabel* connectionStatusLabel = nullptr;
+ };
+} // namespace armarx::skills::gui
+
+#endif // SKILLMEMORYGUI_H
diff --git a/source/RobotAPI/libraries/skills_gui/StatusLabel.cpp b/source/RobotAPI/libraries/skills_gui/StatusLabel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6b65f166aa9677f0eed55b95436a1a76777471f3
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/StatusLabel.cpp
@@ -0,0 +1,52 @@
+#include "StatusLabel.h"
+
+#include <QHBoxLayout>
+
+namespace armarx::skills::gui
+{
+
+ StatusLabel::StatusLabel()
+ {
+ this->label = new QLabel("");
+ this->resetButton = new QPushButton("");
+ this->setupUi();
+ }
+
+ void
+ StatusLabel::handleMessage(const std::string& message, std::string const& error)
+ {
+ this->label->setText(QString::fromStdString(message));
+ this->resetButton->setHidden(false);
+ label->setToolTip(QString::fromStdString(error));
+ }
+
+ void
+ StatusLabel::resetLabel()
+ {
+ this->label->setText(QString::fromStdString(""));
+ this->resetButton->setHidden(true);
+ }
+
+ void
+ StatusLabel::setupUi()
+ {
+ QHBoxLayout* layout = new QHBoxLayout();
+ layout->addWidget(resetButton);
+ layout->addWidget(label);
+ this->setLayout(layout);
+ layout->setStretch(1, 2);
+ label->setStyleSheet("QLabel { color : red; }");
+ this->resetButton->setHidden(true);
+
+ label->setMinimumHeight(35);
+ label->setMaximumHeight(35);
+
+ QPixmap pixmap(":/icons/delete.ico");
+ QIcon ButtonIcon(pixmap);
+ resetButton->setIcon(ButtonIcon);
+ resetButton->setIconSize(pixmap.rect().size() / 2);
+
+ connect(this->resetButton, &QPushButton::clicked, this, &StatusLabel::resetLabel);
+ }
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/StatusLabel.h b/source/RobotAPI/libraries/skills_gui/StatusLabel.h
new file mode 100644
index 0000000000000000000000000000000000000000..b8e0f91e425e3715d5d5f617f877cfeeceee9a39
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/StatusLabel.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <QLabel>
+#include <QPushButton>
+
+namespace armarx::skills::gui
+{
+ class StatusLabel : public QWidget
+ {
+ public:
+ /**
+ * @brief Constructor for StatusLabel
+ */
+ StatusLabel();
+
+ public slots:
+ /**
+ * @brief Display a message to indicate an update.
+ */
+ void handleMessage(std::string const& message, std::string const& error);
+
+ private slots:
+ /**
+ * @brief Reset the label to default state.
+ */
+ void resetLabel();
+
+ private:
+ void setupUi();
+
+ // contents
+ QLabel* label = nullptr;
+ QPushButton* resetButton = nullptr;
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..79d606639c320ffeba73918967d9a832de446e68
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
@@ -0,0 +1,163 @@
+#include "AronTreeWidgetController.h"
+
+#include "RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetModalCreator.h"
+
+#include "visitors/AronTreeWidgetContextMenu.h"
+#include "visitors/AronTreeWidgetConverter.h"
+#include "visitors/AronTreeWidgetSetter.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetController::AronTreeWidgetController(QTreeWidget* tree,
+ QTreeWidgetItem* parent,
+ const aron::type::ObjectPtr& type,
+ const aron::data::DictPtr& data) :
+ parent(parent), tree(tree), type(type)
+ {
+ connect(tree,
+ SIGNAL(customContextMenuRequested(const QPoint&)),
+ this,
+ SLOT(ShowContextMenu(const QPoint&)));
+ connect(tree,
+ &QTreeWidget::itemDoubleClicked,
+ this,
+ &AronTreeWidgetController::onTreeWidgetItemDoubleClicked);
+
+ if (type) // if there is a type set, we create a tree widget from the type
+ {
+ AronTreeWidgetCreatorVisitor v(parent);
+ v.setTopLevelWidget(tree);
+ aron::type::visit(v, type);
+
+ if (data) // check if there is a default argument set. Prefill the GUI with it
+ {
+ setFromAron(data);
+ }
+ }
+ // there is no type but a default configuration. Prefill the GUI with the default arguments
+ else if (data)
+ {
+ // TODO: There is no visitor for that (yet)...
+ // create type from data, ...
+ }
+ else
+ {
+ new QTreeWidgetItem(parent, {QString::fromStdString("No args")});
+ }
+
+ // connect change handling after args init
+ connect(tree,
+ &QTreeWidget::itemChanged,
+ this,
+ &AronTreeWidgetController::onTreeWidgetItemChanged);
+ }
+
+ aron::data::DictPtr
+ AronTreeWidgetController::convertToAron() const
+ {
+ if (parent && type)
+ {
+ AronTreeWidgetConverterVisitor v(parent, 0);
+ aron::type::visit(v, type);
+
+ auto aron_args = aron::data::Dict::DynamicCastAndCheck(v.createdAron);
+ return aron_args;
+ }
+ return nullptr;
+ }
+
+ void
+ AronTreeWidgetController::setFromAron(const aron::data::DictPtr& data)
+ {
+ if (parent)
+ {
+ AronTreeWidgetSetterVisitor v(parent, 0);
+ aron::data::visit(v, data);
+ }
+ }
+
+ void
+ AronTreeWidgetController::ShowContextMenu(const QPoint& pos)
+ {
+ tree->blockSignals(true);
+
+ auto idx = tree->indexAt(pos);
+ AronTreeWidgetItem* clickedItem = AronTreeWidgetItem::DynamicCast(tree->itemAt(pos));
+ if (clickedItem)
+ {
+ AronTreeWidgetContextMenuVisitor visitor(clickedItem, pos, tree, idx.row());
+
+ aron::type::visit(visitor, clickedItem->aronType);
+ visitor.showMenuAndExecute();
+ }
+
+ tree->blockSignals(false);
+ }
+
+ void
+ AronTreeWidgetController::onTreeWidgetItemDoubleClicked(QTreeWidgetItem* item, int column)
+ {
+ if (!item)
+ {
+ return;
+ }
+ tree->blockSignals(true);
+
+ auto* aronItem = AronTreeWidgetItem::DynamicCast(item);
+ if (column == 1 && aronItem)
+ {
+
+
+ std::string name =
+ aronItem->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME).toStdString();
+ // depending on aron type, create extra gui element.
+ armarx::skills::gui::AronTreeWidgetModalCreatorVisitor v(name, aronItem, tree);
+ aron::type::visit(v, aronItem->aronType);
+ auto modal = v.createdModal;
+
+ // if no modal is created, we instead use the edit field directly
+ if (modal)
+ {
+ modal->exec();
+ }
+ else if (aronItem->col1Editable)
+ {
+ item->treeWidget()->editItem(item, column);
+ }
+ }
+ else if (column == 0 && aronItem && aronItem->col0Editable)
+ {
+ item->treeWidget()->editItem(item, column);
+ }
+
+ tree->blockSignals(false);
+ }
+
+ void
+ AronTreeWidgetController::onTreeWidgetItemChanged(QTreeWidgetItem* item, int column)
+ {
+ tree->blockSignals(true);
+
+ auto* aronElem = AronTreeWidgetItem::DynamicCast(item);
+ if (aronElem)
+ {
+ 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)
+ {
+ AronTreeWidgetConverterVisitor v(parent, 0);
+ aron::type::visit(v, type);
+ aronTreeRoot->setValueErrorState(v.hasDirectError(), v.onlyChildFailedConversion());
+ }
+ }
+ // 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/AronTreeWidgetController.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.h
new file mode 100644
index 0000000000000000000000000000000000000000..2b6608fe17e09acddbe5cbde6192ce9625f0de8c
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <stack>
+
+#include <QTreeWidget>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+
+#include "AronTreeWidgetItem.h"
+#include "Data.h"
+#include "visitors/AronTreeWidgetCreator.h"
+
+namespace armarx::skills::gui
+{
+ // Main controller for any AronTreeWidget GUI. It attaches itself to the parent and needs the active widget.
+ // It's responsible to handle all signals for non-widget fields and click events.
+ class AronTreeWidgetController : public QObject
+ {
+ Q_OBJECT
+ public:
+ AronTreeWidgetController(QTreeWidget* tree,
+ QTreeWidgetItem* parent,
+ const aron::type::ObjectPtr& type,
+ const aron::data::DictPtr& data = nullptr);
+
+ aron::data::DictPtr convertToAron() const;
+ void setFromAron(const aron::data::DictPtr&);
+
+ private:
+ QTreeWidgetItem* parent;
+ QTreeWidget* tree;
+
+ aron::type::ObjectPtr type;
+
+ private slots:
+ // allows most primitive fields to be directly editable in the tree
+ // only String will open up a new widget
+ void onTreeWidgetItemDoubleClicked(QTreeWidgetItem* item, int column);
+ // check the new user input. Maybe undo if the field must not be edited.
+ // Also highlight if the input cannot be parsed. (Or the errors are now fixed)
+ void onTreeWidgetItemChanged(QTreeWidgetItem* item, int column);
+
+ public slots:
+ // hook for items to show a context menu (add / delete element)
+ void ShowContextMenu(const QPoint&);
+ };
+
+ using AronTreeWidgetControllerPtr = std::shared_ptr<AronTreeWidgetController>;
+} // 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
new file mode 100644
index 0000000000000000000000000000000000000000..d76cee191fda8cb927548a795b53291875ae14e6
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
@@ -0,0 +1,200 @@
+#include "AronTreeWidgetItem.h"
+
+#include <QAction>
+#include <QMenu>
+
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+
+#include "ColorPalettes.h"
+#include "visitors/AronTreeWidgetConverter.h"
+#include "widgets/CustomWidget.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetItem*
+ AronTreeWidgetItem::DynamicCast(QTreeWidgetItem* i)
+ {
+ return dynamic_cast<AronTreeWidgetItem*>(i);
+ }
+
+ AronTreeWidgetItem*
+ AronTreeWidgetItem::DynamicCastAndCheck(QTreeWidgetItem* i)
+ {
+ if (!i)
+ {
+ return nullptr;
+ }
+ auto c = DynamicCast(i);
+ ARMARX_CHECK_NOT_NULL(c);
+ return c;
+ }
+
+ bool
+ AronTreeWidgetItem::isValueErrorneous()
+ {
+ return itemValueError;
+ }
+
+ void
+ AronTreeWidgetItem::setValueErrorState(bool isErrorSource, bool isTransitiveError)
+ {
+ itemValueError |= isErrorSource;
+ transitiveValueError |= isTransitiveError;
+
+
+ if (CustomWidget::DynamicCast(treeWidget()->itemWidget(this, 1)))
+ {
+ // The widgets handle errors themselves
+ return;
+ }
+ auto palette = gui_color_palette::getNormalPalette();
+ if (itemValueError)
+ {
+ palette = gui_color_palette::getErrorPalette();
+ }
+ else if (transitiveValueError)
+ {
+ palette = gui_color_palette::getIndirectErrorPalette();
+ }
+
+ QTreeWidgetItem::setBackground(1, QBrush(palette.color(QPalette::Base)));
+ }
+
+ void
+ AronTreeWidgetItem::setKeyErrorState(bool hasError)
+ {
+ ARMARX_CHECK(col0Editable); //only editable keys should call this function!
+ auto palette =
+ hasError ? gui_color_palette::getErrorPalette() : gui_color_palette::getNormalPalette();
+
+ keyValueError = hasError;
+
+ QTreeWidgetItem::setBackground(1, QBrush(palette.color(QPalette::Base)));
+ }
+
+ void
+ AronTreeWidgetItem::resetError()
+ {
+ keyValueError = false;
+ itemValueError = false;
+ transitiveValueError = false;
+ // also reset children
+ for (int i = 0; i < childCount(); ++i)
+ {
+ auto* arChild = AronTreeWidgetItem::DynamicCastAndCheck(QTreeWidgetItem::child(i));
+ arChild->resetError();
+ }
+ }
+
+ void
+ AronTreeWidgetItem::checkKeyValidityOfChildren()
+ {
+ ARMARX_CHECK(aronType->getDescriptor() == aron::type::Descriptor::DICT);
+ // return if check failed
+ if (aronType->getDescriptor() != aron::type::Descriptor::DICT)
+ {
+ return;
+ }
+ // iterate through children; memorize keys
+ std::map<QString, std::vector<int>> found_keys;
+ auto numChildren = childCount();
+ for (int i = 0; i < numChildren; ++i)
+ {
+ auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
+ if (!casted)
+ {
+ // soft error here, we already report it above. - Definetly programming error
+ continue;
+ }
+ auto& vec = found_keys[casted->text(0)];
+ vec.push_back(i);
+ }
+ // highlight keys that conflict
+ // memorize children that are not ok
+ std::set<int> errorneous_indices;
+ for (auto [key, vals] : found_keys)
+ {
+ if (vals.size() > 1)
+ {
+ for (int i : vals)
+ {
+ auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
+ if (!casted)
+ {
+ // soft error here, we already report it above. - Definetly programming error
+ continue;
+ }
+ casted->setKeyErrorState(true);
+ errorneous_indices.emplace(i);
+ }
+ }
+ }
+ // clear potential error state of other elements
+ for (int i = 0; i < numChildren; ++i)
+ {
+ if (errorneous_indices.find(i) != errorneous_indices.end())
+ {
+ continue;
+ }
+ auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
+ if (!casted)
+ {
+ // soft error here, we already report it above. - Definetly programming error
+ continue;
+ }
+ casted->setKeyErrorState(false);
+ }
+ }
+
+ void
+ AronTreeWidgetItem::onUserChange(int changedColumn)
+ {
+ QTreeWidgetItem* qParent = QTreeWidgetItem::parent();
+ ARMARX_CHECK(qParent);
+ AronTreeWidgetItem* aronParent = DynamicCast(qParent);
+ if (changedColumn == 0)
+ {
+ if (col0Editable)
+ {
+ // Topmost should always be an Object and col0 is not editable in the child then...
+ // -> aronParent should never be nullptr
+ ARMARX_CHECK(aronParent);
+ // check if the element is child of a dict. If so, validate uniqueness of keys
+ if (aronParent->aronType->getDescriptor() == aron::type::Descriptor::DICT)
+ {
+ aronParent->checkKeyValidityOfChildren();
+ }
+ }
+ else
+ {
+ // maybe while editing keys, we try to edit a key that should not change by tabbing.
+ // Catch that here and undo the edit
+ preventIllegalKeyChange();
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetItem::preventIllegalKeyChange()
+ {
+ if (!col0Editable)
+ {
+ setText(0, unchangeableKey);
+ }
+ }
+
+ AronTreeWidgetItem::AronTreeWidgetItem(bool editKey,
+ bool editVal,
+ QString key,
+ aron::type::VariantPtr type) :
+ aronType(type), col0Editable(editKey), col1Editable(editVal)
+ {
+ this->setText(0, key);
+ // add hook to check for edited keys for children of dictionaries
+ if (!editKey)
+ {
+ unchangeableKey = std::move(key);
+ }
+ }
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.h
new file mode 100644
index 0000000000000000000000000000000000000000..e1bf488e9b4bbec1cc04674e312bcabd783dabdf
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.h
@@ -0,0 +1,65 @@
+#pragma once
+
+#include <QTreeWidget>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+
+#include <RobotAPI/libraries/aron/core/type/variant/Variant.h>
+
+#include "Data.h"
+
+namespace armarx::skills::gui
+{
+ // Internal derived QtTreeWidgetItem class. Contains additional information to compare its data agains aron types.
+ // It contains 3 columns: Key ; Value ; Type
+ // The key can only be edited if the parent object is a dict
+ class AronTreeWidgetItem : public QObject, public QTreeWidgetItem
+ {
+ Q_OBJECT
+ public:
+ AronTreeWidgetItem(bool editKey, bool editVal, QString key, aron::type::VariantPtr type);
+
+ using QTreeWidgetItem::QTreeWidgetItem;
+
+ static AronTreeWidgetItem* DynamicCast(QTreeWidgetItem*);
+ static AronTreeWidgetItem* DynamicCastAndCheck(QTreeWidgetItem*);
+
+ aron::type::VariantPtr aronType;
+ // if editing the first column should be allowed
+ const bool col0Editable = false;
+ // if editing the second column should be allowed
+ const bool col1Editable = false;
+
+ bool isValueErrorneous();
+ // marks the gui in a specific color. Also stores if there is currently an error.
+ // the only way to reset the color back to normal is with resetError() (error is sticky)
+ void setValueErrorState(bool isErrorSource, bool isTransitiveError);
+ void setKeyErrorState(bool hasError);
+ // reset error storage that influences coloring for this and all children
+ void resetError();
+
+ // Checks if the children of a dict are unique
+ // should not be called on other types! (does nothing then)
+ void checkKeyValidityOfChildren();
+
+ // main logic on changes. Gets called from the onTreeWidgetItemChanged() slot in AronTreeWidgetController.
+ // (This class cannot directly consume this signal, at least I did not find a nice way...)
+ void onUserChange(int changedColumn);
+
+ private:
+ // because the editable keyword counts for all columns, it is possible to TAB into uneditable keys.
+ // We do not want those to change, so just change them back once they finished editing.
+ void preventIllegalKeyChange();
+
+ bool itemValueError = false;
+ bool transitiveValueError = false;
+ bool keyValueError = false;
+ // hacky storage of previous key value for items that usually should not be editable.
+ // Problem: Dict-keys are editable, one can tab from that to any other value field and edit it.
+ // Fix: Once the change is commited, the AronTreeWidgetController notices the change and checks if it was allowed.
+ QString unchangeableKey = "";
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ColorPalettes.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ColorPalettes.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ad2e711d96b2cc5cb5a139ac8805bf590fd0591f
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ColorPalettes.cpp
@@ -0,0 +1,33 @@
+#include "ColorPalettes.h"
+
+namespace armarx::skills::gui::gui_color_palette
+{
+ QPalette
+ getErrorPalette()
+ {
+ QPalette errorPalette;
+ errorPalette.setColor(QPalette::Base, Qt::red);
+ return errorPalette;
+ }
+
+ QPalette
+ getNormalPalette()
+ {
+
+ QPalette normalPalette;
+
+ normalPalette.setColor(QPalette::Base, Qt::white);
+ return normalPalette;
+ }
+
+ QPalette
+ getIndirectErrorPalette()
+ {
+ QPalette indirectErr;
+ static QColor orange = QColor::fromRgb(255, 165, 0);
+ // orange color
+ indirectErr.setColor(QPalette::Base, orange);
+ return indirectErr;
+ }
+
+} // namespace armarx::skills::gui::gui_color_palette
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ColorPalettes.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ColorPalettes.h
new file mode 100644
index 0000000000000000000000000000000000000000..79386a831608667395a2405f45d79d751d926b32
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ColorPalettes.h
@@ -0,0 +1,11 @@
+#pragma once
+#include <QPalette>
+
+namespace armarx::skills::gui::gui_color_palette
+{
+ QPalette getNormalPalette();
+
+ QPalette getErrorPalette();
+
+ QPalette getIndirectErrorPalette();
+} // namespace armarx::skills::gui::gui_color_palette
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/Data.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/Data.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f668ffd67c7aa5ccdb889f4e7794a0e08f919d9a
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/Data.cpp
@@ -0,0 +1,6 @@
+#include "Data.h"
+
+namespace armarx::skills::gui
+{
+
+}
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/Data.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/Data.h
new file mode 100644
index 0000000000000000000000000000000000000000..57fadd8343a1b4deab96c56c193851f37ed1d2be
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/Data.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <string>
+
+namespace armarx::skills::gui::aron_tree_widget::constantes
+{
+ const int TREE_WIDGET_ITEM_NAME = 0;
+ const int TREE_WIDGET_ITEM_VALUE = 1;
+ const int TREE_WIDGET_ITEM_TYPE = 2;
+
+ const std::string ITEM_EMPTY_MESSAGE = "(double click to edit)";
+ const std::string NEW_ITEM_DEFAULT_MESSAGE = "(Please set via main GUI (not in modal))";
+} // namespace armarx::skills::gui::aron_tree_widget::constantes
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ListDictHelper.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ListDictHelper.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d8c763e7b227d90fd101ecce44ff7d79ed905fac
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ListDictHelper.cpp
@@ -0,0 +1,28 @@
+#include "ListDictHelper.h"
+
+namespace armarx::skills::gui::misc
+{
+ QString
+ generateNumElementsText(int num)
+ {
+ QString numElemsText = "<";
+ if (num == 0)
+ {
+ numElemsText.append("no");
+ }
+ else
+ {
+ numElemsText.append(QString::number(num));
+ }
+ if (num > 1 || num == 0)
+ {
+ numElemsText.append(" elements>");
+ }
+ else
+ {
+ numElemsText.append(" element>");
+ }
+ return numElemsText;
+ }
+
+} // namespace armarx::skills::gui::misc
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ListDictHelper.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ListDictHelper.h
new file mode 100644
index 0000000000000000000000000000000000000000..553eca828bb37b5acec0b1bee96cf8c7a5addcbd
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/ListDictHelper.h
@@ -0,0 +1,7 @@
+#include <QString>
+
+namespace armarx::skills::gui::misc
+{
+ // helper that generates a string on how many items are available
+ QString generateNumElementsText(int num);
+} // namespace armarx::skills::gui::misc
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/AronTreeWidgetModal.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/AronTreeWidgetModal.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..83189ef6d168fd33dd8e5745c9b4cb2f908bdf9a
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/AronTreeWidgetModal.cpp
@@ -0,0 +1,22 @@
+#include "AronTreeWidgetModal.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetModal::AronTreeWidgetModal(const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent) :
+ QDialog(parent), item(item), label(label), parent(parent)
+ {
+ init.aronType = item->aronType;
+ init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME,
+ item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME));
+ init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE,
+ item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ init.setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE,
+ item->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE));
+ for (int i = 0; i < item->childCount(); ++i)
+ {
+ init.addChild(item->child(i)->clone());
+ }
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/AronTreeWidgetModal.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/AronTreeWidgetModal.h
new file mode 100644
index 0000000000000000000000000000000000000000..ba1b39e5b7ef2fc4a09f0f6208bb931e743b7e6c
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/AronTreeWidgetModal.h
@@ -0,0 +1,65 @@
+#pragma once
+
+#include <stack>
+
+#include <QDialog>
+#include <QTreeWidget>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+
+#include "../AronTreeWidgetItem.h"
+#include "../Data.h"
+
+namespace armarx::skills::gui
+{
+ class AronTreeWidgetModal : public QDialog
+ {
+ Q_OBJECT
+
+ public:
+ AronTreeWidgetModal(const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent);
+
+ protected slots:
+
+ virtual void
+ reset()
+ {
+ item->aronType = init.aronType;
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME,
+ init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME));
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE,
+ init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE,
+ init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE));
+ for (int i = 0; i < item->childCount(); ++i)
+ {
+ item->removeChild(item->child(i));
+ }
+ for (int i = 0; i < init.childCount(); ++i)
+ {
+ item->addChild(init.child(i)->clone());
+ }
+ }
+
+ virtual void
+ submit()
+ {
+ accept();
+ }
+
+ protected:
+ AronTreeWidgetItem init;
+ AronTreeWidgetItem* item;
+
+ private:
+ std::string label;
+ QTreeWidget* parent;
+ };
+
+ using AronTreeWidgetModalControllerPtr = std::shared_ptr<AronTreeWidgetModal>;
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModal.ui b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..69f4a5c99b277ba4808ecc45081df86e0ab55ef0
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetBoolInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetBoolInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModalController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5ae3401afed2a7d933e473600273309ef6e3f4b2
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
@@ -0,0 +1,34 @@
+#include "AronTreeWidgetBoolInputModalController.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetBoolInputModalController::AronTreeWidgetBoolInputModalController(
+ const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void
+ AronTreeWidgetBoolInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE,
+ widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void
+ AronTreeWidgetBoolInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(
+ init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModalController.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..cbac189299a1fa4d9e5f705c159f0f87fdf90a9d
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/bool/AronTreeWidgetBoolInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <QDialog>
+
+#include "RobotAPI/libraries/skills_gui/bool/ui_AronTreeWidgetBoolInputModal.h"
+
+#include "../AronTreeWidgetModal.h"
+
+namespace armarx::skills::gui
+{
+ class AronTreeWidgetBoolInputModalController : public AronTreeWidgetModal
+ {
+
+ public:
+ AronTreeWidgetBoolInputModalController(const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetBoolInputModalWidget widget;
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModal.ui b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..b9b800ed26a2b2170b8ab06633e8e795b1957be4
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModal.ui
@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetDictInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetDictInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0" colspan="5">
+ <widget class="QTreeWidget" name="treeWidgetDict">
+ <column>
+ <property name="text">
+ <string>Key</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Value</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Type</string>
+ </property>
+ </column>
+ </widget>
+ </item>
+ <item row="1" column="3" colspan="2">
+ <widget class="QPushButton" name="pushButtonAddElement">
+ <property name="text">
+ <string>+ Add element</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0" colspan="3">
+ <widget class="QLineEdit" name="lineEditKey">
+ <property name="maximumSize">
+ <size>
+ <width>880</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Enter Key</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1" colspan="4">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModalController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..57d43b6d40917ec1b6a54c6c1eacd560aed72876
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModalController.cpp
@@ -0,0 +1,89 @@
+#include "AronTreeWidgetDictInputModalController.h"
+
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+
+#include "../../visitors/AronTreeWidgetCreator.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetDictInputModalController::AronTreeWidgetDictInputModalController(
+ const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // set header
+ widget.groupBoxInput->setTitle(QString::fromStdString(label));
+ reset();
+
+ // connect signals
+ connect(widget.pushButtonAddElement,
+ &QPushButton::clicked,
+ this,
+ &AronTreeWidgetDictInputModalController::addEmptyElement);
+
+ connect(widget.pushButtonReset,
+ &QPushButton::clicked,
+ this,
+ &AronTreeWidgetDictInputModalController::reset);
+ connect(widget.pushButtonSubmit,
+ &QPushButton::clicked,
+ this,
+ &AronTreeWidgetDictInputModalController::submit);
+ }
+
+ void
+ AronTreeWidgetDictInputModalController::submit()
+ {
+ /*
+ for (const auto& added : addedItems)
+ {
+ item->addChild(added->copy());
+ }
+*/
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void
+ AronTreeWidgetDictInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.treeWidgetDict->clear();
+ for (int i = 0; i < init.childCount(); ++i)
+ {
+ auto el = init.child(i);
+ widget.treeWidgetDict->addTopLevelItem(el->clone());
+ }
+ }
+
+ void
+ AronTreeWidgetDictInputModalController::addEmptyElement()
+ {
+ QString s = widget.lineEditKey->text();
+ widget.lineEditKey->setText("Enter Key");
+
+ if (widget.treeWidgetDict->findItems(s, Qt::MatchFlag::MatchExactly, 0).empty())
+ {
+ auto t = item->aronType;
+ auto d = aron::type::Dict::DynamicCastAndCheck(t);
+ auto ac = d->getAcceptedType();
+
+ AronTreeWidgetCreatorVisitor v(nullptr);
+ v.setTopLevelWidget(widget.treeWidgetDict);
+ aron::type::visit(v, ac);
+
+ if (v.createdQWidgetItem)
+ {
+ v.createdQWidgetItem->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME,
+ s);
+ addedItems.push_back(v.createdQWidgetItem);
+ widget.treeWidgetDict->addTopLevelItem(v.createdQWidgetItem);
+ }
+ }
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModalController.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..f2e992b19eb4d68df7a86c98c538acebc89b8464
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/dict/AronTreeWidgetDictInputModalController.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <stack>
+
+#include <QDialog>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+
+#include "RobotAPI/libraries/skills_gui/dict/ui_AronTreeWidgetDictInputModal.h"
+
+#include "../AronTreeWidgetModal.h"
+
+namespace armarx::skills::gui
+{
+ class AronTreeWidgetDictInputModalController : public AronTreeWidgetModal
+ {
+ public:
+ AronTreeWidgetDictInputModalController(const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ void addEmptyElement();
+
+ private:
+ std::vector<AronTreeWidgetItem*> addedItems;
+ Ui::AronTreeWidgetDictInputModalWidget widget;
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModal.ui b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..ba3734066df16e227142f6636d7cb6e39c415646
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetFloatInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetFloatInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..79ce1bdb67c81465e9631348f50a4689de21a093
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
@@ -0,0 +1,34 @@
+#include "AronTreeWidgetFloatInputModalController.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetFloatInputModalController::AronTreeWidgetFloatInputModalController(
+ const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void
+ AronTreeWidgetFloatInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE,
+ widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void
+ AronTreeWidgetFloatInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(
+ init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModalController.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..a68834c9a75becaf7eb7075e7947485ae7523dee
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/float_double/AronTreeWidgetFloatInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <QDialog>
+
+#include "RobotAPI/libraries/skills_gui/float_double/ui_AronTreeWidgetFloatInputModal.h"
+
+#include "../AronTreeWidgetModal.h"
+
+namespace armarx::skills::gui
+{
+ class AronTreeWidgetFloatInputModalController : public AronTreeWidgetModal
+ {
+
+ public:
+ AronTreeWidgetFloatInputModalController(const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetFloatInputModalWidget widget;
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModal.ui b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..538a78e766e997ad9811ff11b6036f088de332e2
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetIntInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetIntInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModalController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..72f849c2745c63b41ea0c054dbf70f2f282ba48a
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
@@ -0,0 +1,34 @@
+#include "AronTreeWidgetIntInputModalController.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetIntInputModalController::AronTreeWidgetIntInputModalController(
+ const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void
+ AronTreeWidgetIntInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE,
+ widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void
+ AronTreeWidgetIntInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(
+ init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModalController.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..15b3382a4af234d0c435d25787d3f7b3aff822e1
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/int_long/AronTreeWidgetIntInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <QDialog>
+
+#include "RobotAPI/libraries/skills_gui/int_long/ui_AronTreeWidgetIntInputModal.h"
+
+#include "../AronTreeWidgetModal.h"
+
+namespace armarx::skills::gui
+{
+ class AronTreeWidgetIntInputModalController : public AronTreeWidgetModal
+ {
+
+ public:
+ AronTreeWidgetIntInputModalController(const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetIntInputModalWidget widget;
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModal.ui b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..ed40962f96639ff34eed30b85331d7774b2eef9d
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetTextInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetTextInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModalController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cfce5ccafb7be7b9b14f76cb99f383fefc452eb2
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModalController.cpp
@@ -0,0 +1,46 @@
+#include "AronTreeWidgetTextInputModalController.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetTextInputModalController::AronTreeWidgetTextInputModalController(
+ const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // set header
+ widget.groupBoxInput->setTitle(QString::fromStdString(label));
+ reset();
+
+ // connect signals
+ connect(widget.pushButtonReset,
+ &QPushButton::clicked,
+ this,
+ &AronTreeWidgetTextInputModalController::reset);
+ connect(widget.pushButtonSubmit,
+ &QPushButton::clicked,
+ this,
+ &AronTreeWidgetTextInputModalController::submit);
+ }
+
+ void
+ AronTreeWidgetTextInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE,
+ widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void
+ AronTreeWidgetTextInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(
+ init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModalController.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..1089a595ec1a9f935785b71519bb821bbddc648f
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/modal/text/AronTreeWidgetTextInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <QDialog>
+
+#include "RobotAPI/libraries/skills_gui/text/ui_AronTreeWidgetTextInputModal.h"
+
+#include "../AronTreeWidgetModal.h"
+
+namespace armarx::skills::gui
+{
+ class AronTreeWidgetTextInputModalController : public AronTreeWidgetModal
+ {
+
+ public:
+ AronTreeWidgetTextInputModalController(const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetTextInputModalWidget widget;
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetContextMenu.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetContextMenu.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b02b713032456e3b5a7d37dd3a4f7be294236b87
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetContextMenu.cpp
@@ -0,0 +1,242 @@
+#include "AronTreeWidgetContextMenu.h"
+
+#include <QMenu>
+#include <QPoint>
+#include <QTreeWidget>
+#include <QTreeWidgetItem>
+
+#include "../AronTreeWidgetItem.h"
+#include "../ListDictHelper.h"
+#include "AronTreeWidgetCreator.h"
+
+namespace armarx::skills::gui
+{
+ AronTreeWidgetContextMenuVisitor::AronTreeWidgetContextMenuVisitor(
+ AronTreeWidgetItem* i,
+ const QPoint& pos,
+ QTreeWidget* contextMenuParent,
+ int x) :
+ parentItem(i), contextMenuParent(contextMenuParent), pos(pos), index(x)
+ {
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::addDeleteAction()
+ {
+ auto* castedParent = AronTreeWidgetItem::DynamicCast(parentItem->QTreeWidgetItem::parent());
+ if (!castedParent)
+ {
+ // must be top level element
+ return;
+ }
+ auto aronType = castedParent->aronType->getDescriptor();
+ if (aron::type::Descriptor::DICT == aronType || aron::type::Descriptor::LIST == aronType)
+ {
+ QMenu contextMenu("Context menu", contextMenuParent);
+ actions.emplace_back("remove element", contextMenuParent);
+ action_callbacks.push_back([this]() mutable { this->executeDelete(); });
+ }
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::executeDelete()
+ {
+ auto* containerPtr = parentItem->QTreeWidgetItem::parent();
+ containerPtr->removeChild(parentItem);
+ auto* castedContainer = AronTreeWidgetItem::DynamicCast(containerPtr);
+
+ // if the parent item is a List, we need to redo the numbers
+ if (castedContainer &&
+ castedContainer->aronType->getDescriptor() == aron::type::Descriptor::LIST)
+ {
+ // start renumbering from the removed child onwards
+ for (int i = index; i < castedContainer->childCount(); ++i)
+ {
+ std::string numberString = std::to_string(i);
+ castedContainer->child(i)->setText(0, numberString.c_str());
+ }
+ // This displays the number of children also when the list is collapsed
+ QString numElemsText = misc::generateNumElementsText(castedContainer->childCount());
+ containerPtr->setText(1, numElemsText);
+ // set italic
+ auto currFont = castedContainer->font(1);
+ currFont.setItalic(true);
+ castedContainer->setFont(1, currFont);
+ }
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::ObjectPtr&)
+ {
+ addDeleteAction();
+ }
+
+ // lol
+ void
+ AronTreeWidgetContextMenuVisitor::addAddAction()
+ {
+ actions.emplace_back("Add element", contextMenuParent);
+ action_callbacks.push_back([this]() mutable { this->executeAddElement(); });
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::executeAddElement()
+ {
+ AronTreeWidgetCreatorVisitor creator(parentItem);
+ aron::type::visit(creator, parentItem->aronType->getChildren()[0]);
+
+ if (!creator.createdQWidgetItem)
+ {
+ throw std::runtime_error("Creation of TreeElementChild failed unexpectedly");
+ }
+ // if it is a list, we update the number of children at the top
+ auto* castedContainer = AronTreeWidgetItem::DynamicCast(parentItem);
+
+ // if the parent item is a List, we need to redo the numbers
+ if (castedContainer &&
+ castedContainer->aronType->getDescriptor() == aron::type::Descriptor::LIST)
+ {
+ // This displays the number of children also when the list is collapsed
+ auto numElemsText = misc::generateNumElementsText(castedContainer->childCount());
+ castedContainer->setText(1, numElemsText);
+ // set italic
+ auto currFont = castedContainer->font(1);
+ currFont.setItalic(true);
+ castedContainer->setFont(1, currFont);
+ }
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::DictPtr&)
+ {
+ addAddAction();
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::PairPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::TuplePtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::ListPtr&)
+ {
+ addAddAction();
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::NDArrayPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::MatrixPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::QuaternionPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::ImagePtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::PointCloudPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::IntEnumPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::IntPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::LongPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::FloatPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::DoublePtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::BoolPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitAronVariant(const aron::type::StringPtr&)
+ {
+ addDeleteAction();
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING << "Tried to open Context menu on unknown aron type";
+ }
+
+ void
+ AronTreeWidgetContextMenuVisitor::showMenuAndExecute()
+ {
+ QMenu menu("Context Menu", contextMenuParent);
+ for (auto& el : actions)
+ {
+ menu.addAction(&el);
+ }
+ auto* chosenAction = menu.exec(contextMenuParent->mapToGlobal(pos));
+
+ if (!chosenAction)
+ {
+ return;
+ }
+
+ // not elegant, but is a small loop anyway
+ auto it = actions.begin();
+ size_t count = 0;
+ while (it != actions.end())
+ {
+ if (chosenAction == &*it)
+ {
+ action_callbacks[count]();
+ break;
+ }
+ ++it;
+ ++count;
+ }
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetContextMenu.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetContextMenu.h
new file mode 100644
index 0000000000000000000000000000000000000000..d83339329e6f69aa9769a2dc5b138fa0d0144ab6
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetContextMenu.h
@@ -0,0 +1,67 @@
+#pragma once
+
+
+#include <QAction>
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+
+class QTreeWidget;
+class QPoint;
+
+namespace armarx::skills::gui
+{
+
+ class AronTreeWidgetItem;
+
+ // Visitor on aron types. It creates a context menu dependent on the type of the AronTreeWidgetItem.
+ // Its only used for Lists and Dicts.
+ class AronTreeWidgetContextMenuVisitor : public armarx::aron::type::ConstVariantVisitor
+ {
+
+ AronTreeWidgetItem* parentItem;
+ QTreeWidget* contextMenuParent;
+ const QPoint& pos;
+ int index;
+
+ public:
+ AronTreeWidgetContextMenuVisitor() = delete;
+ AronTreeWidgetContextMenuVisitor(AronTreeWidgetItem* i,
+ const QPoint& pos,
+ QTreeWidget* contextMenuParent,
+ int x);
+
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr&) final;
+ void visitAronVariant(const aron::type::PairPtr&) final;
+ void visitAronVariant(const aron::type::TuplePtr&) final;
+ void visitAronVariant(const aron::type::ListPtr&) final;
+ void visitAronVariant(const aron::type::NDArrayPtr&) final;
+ void visitAronVariant(const aron::type::MatrixPtr&) final;
+ void visitAronVariant(const aron::type::QuaternionPtr&) final;
+ void visitAronVariant(const aron::type::ImagePtr&) final;
+ void visitAronVariant(const aron::type::PointCloudPtr&) final;
+ void visitAronVariant(const aron::type::IntEnumPtr&) final;
+ void visitAronVariant(const aron::type::IntPtr&) final;
+ void visitAronVariant(const aron::type::LongPtr&) final;
+ void visitAronVariant(const aron::type::FloatPtr&) final;
+ void visitAronVariant(const aron::type::DoublePtr&) final;
+ void visitAronVariant(const aron::type::BoolPtr&) final;
+ void visitAronVariant(const aron::type::StringPtr&) final;
+ void visitUnknown(Input&) final;
+
+ void showMenuAndExecute();
+
+ private:
+ std::list<QAction> actions;
+ std::vector<std::function<void()>> action_callbacks;
+
+ // Creates a remove option if the element is a direct child of a list or dict
+ void addDeleteAction();
+ void executeDelete();
+
+ void addAddAction();
+ void executeAddElement();
+ };
+} // namespace armarx::skills::gui
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
new file mode 100644
index 0000000000000000000000000000000000000000..63fc8b0de060b4f79de3a06cb168e8ede1e4efc2
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
@@ -0,0 +1,636 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2020
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <string>
+
+// base class
+#include "AronTreeWidgetConverter.h"
+
+// armarx
+#include <SimoxUtility/algorithm/string.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include "RobotAPI/libraries/aron/core/data/variant/All.h"
+
+// qt
+#include <QTreeWidgetItem>
+
+#include "../widgets/EditMatrixWidget.h"
+#include "../widgets/IntEnumWidget.h"
+#include "../widgets/QuaternionWidget.h"
+
+namespace armarx::skills::gui
+{
+ bool
+ AronTreeWidgetConverterVisitor::isConversionSuccessful()
+ {
+ return !isDirectError && !hasTransitiveError;
+ }
+
+ bool
+ AronTreeWidgetConverterVisitor::onlyChildFailedConversion()
+ {
+ return hasTransitiveError;
+ }
+
+ bool
+ AronTreeWidgetConverterVisitor::hasDirectError() const
+ {
+ return isDirectError;
+ }
+
+ void
+ AronTreeWidgetConverterVisitor::handleErrors(AronTreeWidgetConverterVisitor childV,
+ bool ownFault)
+ {
+ ARMARX_TRACE;
+ isDirectError |= ownFault;
+ hasTransitiveError |= childV.isDirectError || childV.hasTransitiveError;
+
+ auto* aronItem = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ ARMARX_CHECK(aronItem);
+ aronItem->setValueErrorState(isDirectError, hasTransitiveError);
+ }
+
+ 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;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ unsigned int x = 0;
+ for (const auto& [key, value] : i->getMemberTypes())
+ {
+ ARMARX_TRACE;
+ AronTreeWidgetConverterVisitor v(el, x++);
+ aron::type::visit(v, value);
+
+ handleErrors(v);
+ if (v.isConversionSuccessful())
+ {
+ 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;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ for (int x = 0; x < el->childCount(); ++x)
+ {
+ auto it = el->child(x);
+ AronTreeWidgetConverterVisitor v(el, x);
+ aron::type::visit(v, i->getAcceptedType());
+ auto key = it->text(0).toStdString();
+ // TODO: handle key errors more elegantly / separately, fine for now
+ handleErrors(v, createdAronDict->hasElement(key));
+ if (v.createdAron && v.isConversionSuccessful() && !createdAronDict->hasElement(key))
+ {
+ 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;
+ auto* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ auto childrenTypes = i->getChildren();
+ ARMARX_CHECK(childrenTypes.size() == 1);
+ for (int j = 0; j < el->childCount(); ++j)
+ {
+ AronTreeWidgetConverterVisitor convVisitor(el, j);
+ aron::type::visit(convVisitor, childrenTypes[0]);
+ handleErrors(convVisitor);
+
+ if (convVisitor.createdAron && convVisitor.isConversionSuccessful())
+ {
+ 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;
+ auto* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ for (int j = 0; j < 2; ++j)
+ {
+ AronTreeWidgetConverterVisitor convVisitor(el, j);
+ handleErrors(convVisitor);
+ if (convVisitor.createdAron && convVisitor.isConversionSuccessful())
+ {
+ 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;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ for (int x = 0; x < el->childCount(); ++x)
+ {
+ auto* it = el->child(x);
+ AronTreeWidgetConverterVisitor v(it, x);
+ aron::type::visit(v, i->getAcceptedType(x));
+ handleErrors(v);
+
+ if (v.createdAron)
+ {
+ createdAronList->addElement(v.createdAron);
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::NDArrayPtr& i)
+ {
+ ARMARX_TRACE;
+ ARMARX_ERROR << "Currently do not support supplying raw NDArrays!";
+ }
+
+ void
+ AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
+ {
+ ARMARX_TRACE;
+ auto createdMatrix = std::make_shared<aron::data::NDArray>(i->getPath());
+ int dataSize = 0;
+ switch (i->getElementType())
+ {
+ case armarx::aron::type::matrix::INT16:
+ dataSize = 2;
+ break;
+ case armarx::aron::type::matrix::INT32:
+ case armarx::aron::type::matrix::FLOAT32:
+ dataSize = 4;
+ break;
+ case armarx::aron::type::matrix::FLOAT64:
+ case armarx::aron::type::matrix::INT64:
+ dataSize = 8;
+ break;
+ };
+
+ // UGLY HACK: FIX ME!!!
+ switch (i->getElementType())
+ {
+ case armarx::aron::type::matrix::INT16:
+ createdMatrix->setType("short");
+ break;
+ case armarx::aron::type::matrix::INT32:
+ createdMatrix->setType("int");
+ break;
+ case armarx::aron::type::matrix::FLOAT32:
+ createdMatrix->setType("float");
+ break;
+ case armarx::aron::type::matrix::FLOAT64:
+ createdMatrix->setType("double");
+ break;
+ case armarx::aron::type::matrix::INT64:
+ createdMatrix->setType("long");
+ break;
+ };
+
+ createdMatrix->setShape({i->getRows(), i->getCols(), dataSize});
+ int totalByteSize = i->getRows() * i->getCols() * dataSize;
+ createdAron = createdMatrix;
+ auto* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+
+ auto* rootWidget = el->treeWidget();
+ ARMARX_CHECK(rootWidget);
+ auto* widget = rootWidget->itemWidget(el, 1);
+ auto* matrixWidget = EditMatrixWidget::DynamicCastAndCheck(widget);
+
+ handleErrors(matrixWidget->hasParseErrors());
+ if (matrixWidget->hasParseErrors())
+ {
+ return;
+ }
+ // write to aron data
+ std::vector<unsigned char> elems;
+ elems.reserve(totalByteSize);
+ // CAUTION: Raw data has column based storage
+ for (size_t col = 0; col < (size_t)i->getCols(); ++col)
+ {
+ for (size_t row = 0; row < (size_t)i->getRows(); ++row)
+ {
+ // gets us directly the byte wise format
+ auto parsed = matrixWidget->parseElement(row, col);
+ // append vector to vector
+ elems.insert(elems.end(), parsed.begin(), parsed.end());
+ }
+ }
+ 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;
+ int dataSize = i->getElementType() == aron::type::quaternion::ElementType::FLOAT32 ? 4 : 8;
+ createdQuat->setShape({1, 4, dataSize});
+ createdQuat->setType(i->getFullName());
+ auto* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ auto* itemWidget = el->treeWidget()->itemWidget(el, 1);
+ auto* quatWidget = QuaternionWidget::DynamicCastAndCheck(itemWidget);
+
+ // error handling
+ handleErrors(quatWidget->hasParseErrors());
+ if (quatWidget->hasParseErrors())
+ {
+ return;
+ }
+
+ // write to aron data
+ auto serialized = quatWidget->parseAllToNDArray();
+ if ((int)serialized.size() != dataSize * 4)
+ {
+ ARMARX_ERROR
+ << "serialized quaternions did not return byte sequence of correct length!";
+ }
+ createdQuat->setData(serialized.size(), serialized.data());
+ }
+
+ void
+ AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ImagePtr& i)
+ {
+ ARMARX_TRACE;
+ // TODO
+ }
+
+ void
+ AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::PointCloudPtr& i)
+ {
+ ARMARX_TRACE;
+ // TODO
+ }
+
+ void
+ AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
+ {
+ ARMARX_TRACE;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ auto* genericWidget = el->treeWidget()->itemWidget(el, 1);
+ auto* intEnumWidget = IntEnumWidget::DynamicCastAndCheck(genericWidget);
+ if (!intEnumWidget)
+ {
+ // already reporting error; continue here
+ return;
+ }
+ bool success;
+ 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;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ createdAronInt->setValue(0);
+ return;
+ }
+ try
+ {
+ int val = simox::alg::to_<int>(str);
+ createdAronInt->setValue(val);
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ handleErrors();
+ ARMARX_VERBOSE << "Conversion from String to Int failed. Error:\"" << err.what()
+ << "\"";
+ 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;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ //TODO: similar behaviour for rest?
+ str = el->text(3).toStdString();
+ }
+ try
+ {
+ createdAronLong->setValue(simox::alg::to_<long>(str));
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ handleErrors();
+ ARMARX_VERBOSE << "Conversion from String to Long failed. Error:\"" << err.what()
+ << "\"";
+ 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;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ str = el->text(3).toStdString();
+ }
+ try
+ {
+ createdAronFloat->setValue(simox::alg::to_<float>(str));
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ handleErrors();
+ ARMARX_VERBOSE << "Conversion from String to Float failed. Error:\"" << err.what()
+ << "\"";
+ 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;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ str = el->text(3).toStdString();
+ }
+ try
+ {
+ createdAronDouble->setValue(simox::alg::to_<double>(str));
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ handleErrors();
+ ARMARX_VERBOSE << "Conversion from String to Double failed. Error:\"" << err.what()
+ << "\"";
+ 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;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ str = el->text(3).toStdString();
+ }
+ try
+ {
+ createdAronBool->setValue(simox::alg::to_<bool>(str));
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ handleErrors();
+ ARMARX_VERBOSE << "Conversion from String to Bool failed. Error:\"" << err.what()
+ << "\"";
+ 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 (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ // its a maybetype. We have to check the state
+ if (el->checkState(1) == Qt::CheckState::Unchecked)
+ {
+ createdAron = nullptr;
+ return;
+ }
+ }
+
+ std::string str = el->text(1).toStdString();
+ createdAronString->setValue(str);
+ }
+
+ void
+ AronTreeWidgetConverterVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING_S << "Received an unknown type when trying to convert a skill argument type "
+ "to an aron data object.";
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.h
new file mode 100644
index 0000000000000000000000000000000000000000..ff16506dabdfdcda5d23e128fb8975e435bb8158
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.h
@@ -0,0 +1,84 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+
+// forward declarations of qt
+class QTreeWidgetItem;
+
+namespace armarx::skills::gui
+{
+ // Conversion from TreeView to aron data
+ class AronTreeWidgetConverterVisitor : public armarx::aron::type::ConstVariantVisitor
+ {
+ public:
+ QTreeWidgetItem* parentItem;
+ int index;
+ aron::data::VariantPtr createdAron = nullptr;
+
+ AronTreeWidgetConverterVisitor() = delete;
+
+ AronTreeWidgetConverterVisitor(QTreeWidgetItem* i, int x) : parentItem(i), index(x)
+ {
+ }
+
+ // if the conversion was successful after calling visit()
+ bool isConversionSuccessful();
+ // returns true if this type itself was sucessfully parsed, but some contained object failed.
+ // also false if there is no error
+ bool onlyChildFailedConversion();
+
+ bool hasDirectError() const;
+
+ private:
+ bool isDirectError = false;
+ bool hasTransitiveError = false;
+ // adds all errors from other visitor to our own error collection -> collecting errors
+ // with ownFault, we also add this node to the collection
+ void handleErrors(AronTreeWidgetConverterVisitor childV, bool ownFault = false);
+ // we are the cause...
+ void handleErrors(bool ownFault = true);
+
+ public:
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr&) final;
+ void visitAronVariant(const aron::type::PairPtr&) final;
+ void visitAronVariant(const aron::type::TuplePtr&) final;
+ void visitAronVariant(const aron::type::ListPtr&) final;
+ void visitAronVariant(const aron::type::NDArrayPtr&) final;
+ void visitAronVariant(const aron::type::MatrixPtr&) final;
+ void visitAronVariant(const aron::type::QuaternionPtr&) final;
+ void visitAronVariant(const aron::type::ImagePtr&) final;
+ void visitAronVariant(const aron::type::PointCloudPtr&) final;
+ void visitAronVariant(const aron::type::IntEnumPtr&) final;
+ void visitAronVariant(const aron::type::IntPtr&) final;
+ void visitAronVariant(const aron::type::LongPtr&) final;
+ void visitAronVariant(const aron::type::FloatPtr&) final;
+ void visitAronVariant(const aron::type::DoublePtr&) final;
+ void visitAronVariant(const aron::type::BoolPtr&) final;
+ void visitAronVariant(const aron::type::StringPtr&) final;
+ void visitUnknown(Input&) final;
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetCreator.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetCreator.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..037c8dab99d890443224e1491d25337dd901c085
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetCreator.cpp
@@ -0,0 +1,354 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2020
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <string>
+
+#include "../widgets/EditMatrixWidget.h"
+#include "../widgets/IntEnumWidget.h"
+#include "../widgets/QuaternionWidget.h"
+
+// base class
+#include "AronTreeWidgetCreator.h"
+
+// data
+#include <QComboBox>
+
+#include "../AronTreeWidgetItem.h"
+#include "../Data.h"
+#include "../ListDictHelper.h"
+#include "AronTreeWidgetContextMenu.h"
+
+namespace armarx::skills::gui
+{
+
+ AronTreeWidgetCreatorVisitor::AronTreeWidgetCreatorVisitor(QTreeWidgetItem* parentInstance) :
+ parentOfCreatedObj(parentInstance)
+ {
+ // The parent of the root aron Tree Widget will not be aron type.
+ // there an explicit setTopLevelWidget() is required.
+ auto* aronParent = AronTreeWidgetItem::DynamicCast(parentInstance);
+ if (aronParent)
+ {
+ toplevelWidget = aronParent->treeWidget();
+ }
+ }
+
+ std::string
+ AronTreeWidgetCreatorVisitor::generateUniqueKeyFromSet(std::set<std::string>&& usedKeys)
+ {
+ size_t num = 0;
+ while (true)
+ {
+ std::string proposedName = this->defaultMapKeyName + std::to_string(num);
+ auto it = usedKeys.find(proposedName);
+ if (it == usedKeys.end())
+ {
+ break;
+ }
+ ++num;
+ }
+ return this->defaultMapKeyName + std::to_string(num);
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::insertNewTreeViewWidget(Input& i, const std::string& defaul)
+ {
+ ARMARX_CHECK_NOT_NULL(i);
+
+ auto key = i->getPath().getLastElement();
+ bool isDictChild = false;
+ // edit key, to be a unique string, if the parent is a dict
+ auto* aronParent = AronTreeWidgetItem::DynamicCast(parentOfCreatedObj);
+ if (aronParent && aronParent->aronType->getDescriptor() == aron::type::Descriptor::DICT)
+ {
+ isDictChild = true;
+ std::set<std::string> usedKeys;
+ for (int i = 0; i < parentOfCreatedObj->childCount(); ++i)
+ {
+ auto* sibling = AronTreeWidgetItem::DynamicCast(parentOfCreatedObj->child(i));
+ if (sibling)
+ {
+ usedKeys.insert(sibling->text(0).toStdString());
+ }
+ }
+ key = generateUniqueKeyFromSet(std::move(usedKeys));
+ }
+ // if it's a list -> choose the right number
+ else if (aronParent &&
+ aronParent->aronType->getDescriptor() == aron::type::Descriptor::LIST)
+ {
+ key = std::to_string(parentOfCreatedObj->childCount());
+ }
+
+ createdQWidgetItem =
+ new AronTreeWidgetItem(isDictChild, editableValue, QString::fromStdString(key), i);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ createdQWidgetItem->setCheckState(1, Qt::CheckState::Unchecked);
+ }
+ createdQWidgetItem->setText(1, QString::fromStdString(defaul));
+ createdQWidgetItem->setText(2, QString::fromStdString(i->getShortName()));
+ createdQWidgetItem->setText(
+ 3,
+ QString::fromStdString(
+ aron_tree_widget::constantes::
+ ITEM_EMPTY_MESSAGE) /*QString::fromStdString(i->getDefaultFromString())*/);
+
+ if (editableValue || isDictChild)
+ {
+ createdQWidgetItem->setFlags(createdQWidgetItem->flags() | Qt::ItemIsEditable);
+ }
+ parentOfCreatedObj->addChild(createdQWidgetItem);
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
+ {
+ ARMARX_CHECK_NOT_NULL(i);
+
+ auto key = i->getObjectName();
+ if (i->getPath().hasElement())
+ {
+ key = i->getPath().getLastElement();
+ }
+
+ createdQWidgetItem =
+ new AronTreeWidgetItem(editableValue, false, QString::fromStdString(key), i);
+
+ if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ createdQWidgetItem->setCheckState(1, Qt::CheckState::Unchecked);
+ }
+
+ parentOfCreatedObj->addChild(createdQWidgetItem);
+
+ for (const auto& [key, value] : i->getMemberTypes())
+ {
+ AronTreeWidgetCreatorVisitor v(createdQWidgetItem);
+ aron::type::visit(v, value);
+
+ assert(v.createdQWidgetItem);
+ }
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::DictPtr& i)
+ {
+ ARMARX_CHECK_NOT_NULL(i);
+
+ insertNewTreeViewWidget(i, "");
+ // The DictType has only one member, its key-type. This also must be present
+ ARMARX_CHECK_EQUAL(i->getChildren().size(), 1);
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::PairPtr& pair)
+ {
+ // create default, uneditable tree widget item.
+ insertNewTreeViewWidget(pair, "");
+ // attach two children
+ ARMARX_CHECK(pair->getChildren().size() == 2);
+ for (size_t i = 0; i < 2; ++i)
+ {
+ AronTreeWidgetCreatorVisitor v(createdQWidgetItem);
+ aron::type::visit(v, pair->getChildren()[i]);
+ if (v.createdQWidgetItem)
+ {
+ std::string descr = "p[" + std::to_string(i) + "]";
+ v.createdQWidgetItem->setText(0, descr.c_str());
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::TuplePtr& tuple)
+ {
+ // CAUTION; UNTESTED
+ // create default, uneditable tree widget item.
+ insertNewTreeViewWidget(tuple, "");
+ // attach all children
+ for (size_t i = 0; i < tuple->getChildren().size(); ++i)
+ {
+ AronTreeWidgetCreatorVisitor v(createdQWidgetItem);
+ aron::type::visit(v, tuple->getChildren()[i]);
+ if (v.createdQWidgetItem)
+ {
+ std::string descr = "tup[" + std::to_string(i) + "]";
+ v.createdQWidgetItem->setText(0, descr.c_str());
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::ListPtr& i)
+ {
+ insertNewTreeViewWidget(i, "");
+ auto txt = misc::generateNumElementsText(0);
+ createdQWidgetItem->setText(1, txt);
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::NDArrayPtr& i)
+ {
+ insertNewTreeViewWidget(i, "");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
+ {
+ editableValue = false;
+ insertNewTreeViewWidget(i, "");
+ // special code to print the type of base type used
+ QString type = "";
+ switch (i->getElementType())
+ {
+ case armarx::aron::type::matrix::INT16:
+ type = "<int16>";
+ break;
+ case armarx::aron::type::matrix::INT32:
+ type = "<int32>";
+ break;
+ case armarx::aron::type::matrix::INT64:
+ type = "<int64>";
+ break;
+ case armarx::aron::type::matrix::FLOAT32:
+ type = "<float>";
+ break;
+ case armarx::aron::type::matrix::FLOAT64:
+ type = "<double>";
+ break;
+ }
+ type = createdQWidgetItem->text(2) + type;
+ createdQWidgetItem->setText(2, type);
+
+ // Widget fiddling source: https://blog.manash.io/quick-qt-6-how-to-add-qpushbutton-or-widgets-to-a-qtreewidget-as-qtreewidgetitem-2ae9f54c0e5f
+ // overlay custom widget in column 1
+ auto* toplevelWidget = createdQWidgetItem->treeWidget();
+ EditMatrixWidget* matWidget = new EditMatrixWidget(
+ i->getRows(), i->getCols(), i->getElementType(), createdQWidgetItem);
+ toplevelWidget->setItemWidget(createdQWidgetItem, 1, matWidget);
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
+ {
+ editableValue = false;
+ insertNewTreeViewWidget(i, "");
+ // special code to print the type of base type used
+ QString type = "";
+ switch (i->getElementType())
+ {
+ case armarx::aron::type::quaternion::FLOAT32:
+ type = "<float>";
+ break;
+ case armarx::aron::type::quaternion::FLOAT64:
+ type = "<double>";
+ break;
+ }
+ type = createdQWidgetItem->text(2) + type;
+ createdQWidgetItem->setText(2, type);
+
+ auto* toplevelWidget = createdQWidgetItem->treeWidget();
+ QuaternionWidget* quatWidget =
+ new QuaternionWidget(i->getElementType(), createdQWidgetItem);
+ toplevelWidget->setItemWidget(createdQWidgetItem, 1, quatWidget);
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::ImagePtr& i)
+ {
+ insertNewTreeViewWidget(i, "");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::PointCloudPtr& i)
+ {
+ insertNewTreeViewWidget(i, "");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
+ {
+ editableValue = false;
+ ARMARX_CHECK_NOT_NULL(i);
+ ARMARX_CHECK_GREATER(i->getAcceptedValueNames().size(), 0);
+
+ insertNewTreeViewWidget(i, "");
+ IntEnumWidget* widget = new IntEnumWidget(i, createdQWidgetItem);
+ createdQWidgetItem->treeWidget()->setItemWidget(createdQWidgetItem, 1, widget);
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::IntPtr& i)
+ {
+ editableValue = true;
+ insertNewTreeViewWidget(i, "0");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::LongPtr& i)
+ {
+ editableValue = true;
+ insertNewTreeViewWidget(i, "0");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::FloatPtr& i)
+ {
+ editableValue = true;
+ insertNewTreeViewWidget(i, "0.0");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::DoublePtr& i)
+ {
+ editableValue = true;
+ insertNewTreeViewWidget(i, "0.0");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::BoolPtr& i)
+ {
+ editableValue = true;
+ insertNewTreeViewWidget(i, "false");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::StringPtr& i)
+ {
+ insertNewTreeViewWidget(i, "");
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING_S << "Received an unknown type when trying to create a tree view widget for "
+ "a skill argument type.";
+ }
+
+ void
+ AronTreeWidgetCreatorVisitor::setTopLevelWidget(QTreeWidget* widget)
+ {
+ toplevelWidget = widget;
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetCreator.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetCreator.h
new file mode 100644
index 0000000000000000000000000000000000000000..ee3943dcd481d28abce4ef58d6f3e87956002cd8
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetCreator.h
@@ -0,0 +1,81 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <QTreeWidgetItem>
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+
+namespace armarx::skills::gui
+{
+ class AronTreeWidgetItem;
+
+ // Convert aron type to tree widgets
+ class AronTreeWidgetCreatorVisitor : public armarx::aron::type::ConstVariantVisitor
+ {
+ public:
+ AronTreeWidgetItem* createdQWidgetItem = nullptr;
+
+ AronTreeWidgetCreatorVisitor() = delete;
+
+ // Takes the parent tree element and attaches the newly crated object during visit() to it.
+ // This allows us to also use information of the parent object during creation (like if this child is a dict entry or part of a list)
+ // IMPORTANT: For the root element, manually set the topLevelWidget after this constructor
+ AronTreeWidgetCreatorVisitor(QTreeWidgetItem* parentInstance);
+
+ void insertNewTreeViewWidget(Input& i, const std::string&);
+
+
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr& i) final;
+ void visitAronVariant(const aron::type::PairPtr& i) final;
+ void visitAronVariant(const aron::type::TuplePtr& i) final;
+ void visitAronVariant(const aron::type::ListPtr& i) final;
+ void visitAronVariant(const aron::type::NDArrayPtr& i) final;
+ void visitAronVariant(const aron::type::MatrixPtr& i) final;
+ void visitAronVariant(const aron::type::QuaternionPtr& i) final;
+ void visitAronVariant(const aron::type::ImagePtr& i) final;
+ void visitAronVariant(const aron::type::PointCloudPtr& i) final;
+ void visitAronVariant(const aron::type::IntEnumPtr& i) final;
+ void visitAronVariant(const aron::type::IntPtr& i) final;
+ void visitAronVariant(const aron::type::LongPtr& i) final;
+ void visitAronVariant(const aron::type::FloatPtr& i) final;
+ void visitAronVariant(const aron::type::DoublePtr& i) final;
+ void visitAronVariant(const aron::type::BoolPtr& i) final;
+ void visitAronVariant(const aron::type::StringPtr& i) final;
+ void visitUnknown(Input&) final;
+
+ // setter for the widget attachment point. Only needs to be manually set for the root element.
+ void setTopLevelWidget(QTreeWidget* widget);
+
+ private:
+ void handleEditable();
+ std::string generateUniqueKeyFromSet(std::set<std::string>&& usedKeys);
+ QTreeWidgetItem* parentOfCreatedObj = nullptr;
+ QTreeWidget* toplevelWidget = nullptr;
+ const std::string defaultMapKeyName = "key_";
+ // controls, if values (column 1) can be edited directly
+ bool editableValue = false;
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetModalCreator.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetModalCreator.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..81a75a5da145e85c1f39c84c49dc8bf1372a21a5
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetModalCreator.cpp
@@ -0,0 +1,53 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2020
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "AronTreeWidgetModalCreator.h"
+
+#include <string>
+
+#include <SimoxUtility/algorithm/string.h>
+
+// modals
+#include "../modal/text/AronTreeWidgetTextInputModalController.h"
+//#include "../modal/dict/AronTreeWidgetDictInputModalController.h"
+
+// qt
+#include <QTreeWidget>
+
+//visitors
+namespace armarx::skills::gui
+{
+
+ void
+ AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::StringPtr& i)
+ {
+ createdModal =
+ std::make_shared<AronTreeWidgetTextInputModalController>(label, item, parent);
+ }
+
+ void
+ AronTreeWidgetModalCreatorVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING_S << "Received an unknown type when trying to create a tree view widget "
+ "modal for a skill argument type.";
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetModalCreator.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetModalCreator.h
new file mode 100644
index 0000000000000000000000000000000000000000..413ea9bcff79e8f650a00b66d12165d6832a64db
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetModalCreator.h
@@ -0,0 +1,55 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+
+#include "../modal/AronTreeWidgetModal.h"
+
+namespace armarx::skills::gui
+{
+ // Convert aron type to tree widget.
+ // (Widgets are only created for string types to enter longer texts.
+ // However, the visitor implementation allows modals for differnt types. Might be useful in the future..)
+ class AronTreeWidgetModalCreatorVisitor : public armarx::aron::type::ConstVariantVisitor
+ {
+ public:
+ std::string label = "";
+ AronTreeWidgetItem* item = nullptr;
+ QTreeWidget* parent = nullptr;
+ AronTreeWidgetModalControllerPtr createdModal = nullptr;
+
+ AronTreeWidgetModalCreatorVisitor() = delete;
+
+ AronTreeWidgetModalCreatorVisitor(const std::string& label,
+ AronTreeWidgetItem* item,
+ QTreeWidget* parent) :
+ label(label), item(item), parent(parent)
+ {
+ }
+
+ void visitAronVariant(const aron::type::StringPtr& i) final;
+ void visitUnknown(Input&) final;
+ };
+} // namespace armarx::skills::gui
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
new file mode 100644
index 0000000000000000000000000000000000000000..1ae9dbc9d8aa99ae0e0eabfb489a29dfdf0a8d78
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
@@ -0,0 +1,403 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2020
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "AronTreeWidgetSetter.h"
+
+#include <string>
+
+#include "../ListDictHelper.h"
+#include "../widgets/EditMatrixWidget.h"
+#include "../widgets/IntEnumWidget.h"
+#include "../widgets/QuaternionWidget.h"
+#include "AronTreeWidgetContextMenu.h"
+#include "AronTreeWidgetCreator.h"
+
+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();
+}
+
+//visitors
+namespace armarx::skills::gui
+{
+ bool
+ AronTreeWidgetSetterVisitor::checkTreeWidgetItemForSimilarName(const std::string& name) const
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ // do not check attribute name, if the element is part of a list or map
+ auto* castedThis = AronTreeWidgetItem::DynamicCast(el->parent());
+ if (castedThis)
+ {
+ auto descr = castedThis->aronType->getDescriptor();
+ if (descr == aron::type::Descriptor::LIST || descr == aron::type::Descriptor::DICT)
+ {
+ return true;
+ }
+ }
+ std::string n = el->text(0).toStdString();
+ if (name != n)
+ {
+ ARMARX_WARNING_S << "Could not set a tree widget value for the element with key '"
+ << name << "' because it is different from the expected name '" << n
+ << "'.";
+ return false;
+ }
+ return true;
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::adjustNumberOfChildren(AronTreeWidgetItem* parent,
+ size_t numChildren)
+ {
+ if (((size_t)parent->childCount()) < numChildren)
+ {
+ // The type to create must be the only child of the current aron type
+ ARMARX_CHECK_EQUAL(parent->aronType->childrenSize(), 1);
+ size_t childrenToAdd = numChildren - parent->childCount();
+ for (size_t j = 0; j < childrenToAdd; ++j)
+ {
+ AronTreeWidgetCreatorVisitor childCreator(parent);
+ aron::type::visit(childCreator, parent->aronType->getChildren()[0]);
+ ARMARX_CHECK_NOT_NULL(childCreator.createdQWidgetItem);
+ }
+ }
+ else if ((size_t)parent->childCount() > numChildren)
+ {
+ size_t numChilds = (size_t)parent->childCount() - numChildren;
+ // pop the last child
+ for (size_t j = 0; j < numChilds; ++j)
+ {
+ parent->removeChild(parent->child(parent->childCount() - 1));
+ }
+ }
+ }
+
+ 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()))
+ {
+ AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ auto* aronTreeWidget = AronTreeWidgetItem::DynamicCastAndCheck(el);
+ // allocate enough child items
+ adjustNumberOfChildren(aronTreeWidget, i->childrenSize());
+
+ // write child values
+ unsigned int x = 0;
+ for (const auto& [key, value] : i->getElements())
+ {
+ el->child(x)->setText(0, {key.c_str()});
+
+ AronTreeWidgetSetterVisitor v(el, x++);
+ aron::data::visit(v, value);
+ }
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::ListPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ auto* aronTreeWidget = AronTreeWidgetItem::DynamicCastAndCheck(el);
+ adjustNumberOfChildren(aronTreeWidget, i->childrenSize());
+
+ unsigned int x = 0;
+ for (const auto& value : i->getElements())
+ {
+ AronTreeWidgetSetterVisitor v(el, x);
+ aron::data::visit(v, value);
+ auto* currChild = el->child(x);
+ std::string listNum = usString(x);
+ currChild->setText(0, listNum.c_str());
+
+ ++x;
+ }
+ // This displays the number of children also when the list is collapsed
+ QString numElemsText = misc::generateNumElementsText(i->getElements().size());
+ aronTreeWidget->setText(1, numElemsText);
+ // set italic
+ auto currFont = aronTreeWidget->font(1);
+ currFont.setItalic(true);
+ aronTreeWidget->setFont(1, currFont);
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+ }
+
+ void
+ visitMatrix(EditMatrixWidget* matrixWidget,
+ 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
+ auto toString = [elemType, rawData](size_t elementNr) -> std::string
+ {
+ switch (elemType)
+ {
+ case aron::type::matrix::ElementType::FLOAT32:
+ {
+ static_assert(sizeof(float) == 4);
+ float* interpreted = reinterpret_cast<float*>(rawData);
+ float laundered = std::launder(interpreted)[elementNr];
+ return usString<float>(laundered);
+ }
+ case aron::type::matrix::ElementType::FLOAT64:
+ {
+ static_assert(sizeof(double) == 8);
+ double* interpreted = reinterpret_cast<double*>(rawData);
+ float laundered = std::launder(interpreted)[elementNr];
+ return usString<double>(laundered);
+ }
+ case aron::type::matrix::ElementType::INT16:
+ {
+ int16_t* interpreted = reinterpret_cast<int16_t*>(rawData);
+ int16_t laudered = std::launder(interpreted)[elementNr];
+ return usString<int16_t>(laudered);
+ }
+ case aron::type::matrix::ElementType::INT32:
+ {
+ int32_t* interpreted = reinterpret_cast<int32_t*>(rawData);
+ int32_t laudered = std::launder(interpreted)[elementNr];
+ return usString<int32_t>(laudered);
+ }
+ case aron::type::matrix::ElementType::INT64:
+ {
+ int64_t* interpreted = reinterpret_cast<int64_t*>(rawData);
+ int64_t laudered = std::launder(interpreted)[elementNr];
+ return usString<int64_t>(laudered);
+ }
+ }
+ return "Error!";
+ };
+
+
+ for (size_t row = 0; (int)row < matrixType->getRows(); ++row)
+ {
+ for (size_t col = 0; (int)col < matrixType->getCols(); ++col)
+ {
+ matrixWidget->setText(row, col, toString(col * matrixType->getRows() + row));
+ }
+ }
+ }
+
+ void
+ visitQuaternion(QuaternionWidget* quatWidget,
+ 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();
+ // string can convert any item
+ auto toString = [elemType, rawData](size_t elementNr) -> std::string
+ {
+ switch (elemType)
+ {
+ case aron::type::quaternion::ElementType::FLOAT32:
+ {
+ static_assert(sizeof(float) == 4);
+ float* interpreted = reinterpret_cast<float*>(rawData);
+ float laundered = std::launder(interpreted)[elementNr];
+ return usString<float>(laundered);
+ }
+ case aron::type::quaternion::ElementType::FLOAT64:
+ {
+ static_assert(sizeof(double) == 8);
+ double* interpreted = reinterpret_cast<double*>(rawData);
+
+ float laundered = std::launder(interpreted)[elementNr];
+ return usString<double>(laundered);
+ }
+ }
+ return "Error!";
+ };
+ for (size_t i = 0; i < 4; ++i)
+ {
+ 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);
+
+ auto matrixCast = aron::type::Matrix::DynamicCast(el->aronType);
+ auto quaternionCast = aron::type::Quaternion::DynamicCast(el->aronType);
+
+ auto* rootWidget = el->treeWidget();
+ ARMARX_CHECK(rootWidget);
+ auto* matrixWidget = EditMatrixWidget::DynamicCast(rootWidget->itemWidget(el, 1));
+ auto* quaternionWidget = QuaternionWidget::DynamicCast(rootWidget->itemWidget(el, 1));
+
+ if (matrixCast && matrixWidget)
+ {
+ visitMatrix(matrixWidget, matrixCast, arr);
+ }
+ else if (quaternionCast && quaternionWidget)
+ {
+ visitQuaternion(quaternionWidget, quaternionCast, arr);
+ }
+ else
+ {
+ ARMARX_ERROR
+ << "we do not support raw NDArrays. Ask Fabian Peller for more information.";
+ }
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::IntPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ auto* enumWidget = IntEnumWidget::DynamicCast(el->treeWidget()->itemWidget(el, 1));
+ auto newText = QString::fromStdString(usString<int>(i->getValue()));
+ if (enumWidget)
+ {
+ // Its an IntEnum! -> Ask the custom widget
+ enumWidget->setText(newText);
+ }
+ else
+ {
+ // Its just an int. -> do the QTreeWidgetItem call
+ el->setText(1, newText);
+ }
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::LongPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ el->setText(1, QString::fromStdString(usString<long>(i->getValue())));
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::FloatPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ el->setText(1, QString::fromStdString(usString<float>(i->getValue())));
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DoublePtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ el->setText(1, QString::fromStdString(usString<double>(i->getValue())));
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::BoolPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ el->setText(1, QString::fromStdString(usString<bool>(i->getValue())));
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::StringPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ el->setText(1, QString::fromStdString(i->getValue()));
+
+ if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
+ {
+ el->setCheckState(1, Qt::CheckState::Checked);
+ }
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING_S << "Received an unknown type when trying to set a skill argument type "
+ "from an aron data object.";
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.h
new file mode 100644
index 0000000000000000000000000000000000000000..010b1e2e20a3e8850707fe55a97bc1d859f53236
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.h
@@ -0,0 +1,65 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <stack>
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+
+#include "../AronTreeWidgetItem.h"
+
+namespace armarx::skills::gui
+{
+ // Conversion from aron data to Tree View data
+ // This should be used to programatically change data to be displayed in the GUI.
+ // This code will not be called, if changes are made on the GUI side.
+ class AronTreeWidgetSetterVisitor : public armarx::aron::data::ConstVariantVisitor
+ {
+ public:
+ QTreeWidgetItem* parentItem;
+ int index;
+ AronTreeWidgetItem* qWidgetItem;
+
+ AronTreeWidgetSetterVisitor() = delete;
+
+ AronTreeWidgetSetterVisitor(QTreeWidgetItem* i, int x) : parentItem(i), index(x)
+ {
+ }
+
+ virtual void visitAronVariant(const aron::data::DictPtr&) final;
+ virtual void visitAronVariant(const aron::data::ListPtr&) final;
+ virtual void visitAronVariant(const aron::data::NDArrayPtr&) final;
+ virtual void visitAronVariant(const aron::data::IntPtr&) final;
+ virtual void visitAronVariant(const aron::data::LongPtr&) final;
+ virtual void visitAronVariant(const aron::data::FloatPtr&) final;
+ virtual void visitAronVariant(const aron::data::DoublePtr&) final;
+ virtual void visitAronVariant(const aron::data::BoolPtr&) final;
+ virtual void visitAronVariant(const aron::data::StringPtr&) final;
+ void visitUnknown(Input&) final;
+
+ private:
+ bool checkTreeWidgetItemForSimilarName(const std::string& name) const;
+ void adjustNumberOfChildren(AronTreeWidgetItem* parent, size_t numChildren);
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/CustomWidget.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/CustomWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e8ebdb950ce55318b868c124124880e1228ef901
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/CustomWidget.cpp
@@ -0,0 +1,42 @@
+#include "CustomWidget.h"
+
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
+
+namespace armarx::skills::gui
+{
+ CustomWidget::CustomWidget(QTreeWidgetItem* overlayingItem) : overlayingItem(overlayingItem)
+ {
+ // connect to general QTreeWidgetItem callback.
+ // This also lets the conversion start for other objects. (Not just this widget)
+ ARMARX_CHECK(connect(this,
+ SIGNAL(elemChanged(QTreeWidgetItem*, int)),
+ overlayingItem->treeWidget(),
+ SIGNAL(itemChanged(QTreeWidgetItem*, int))));
+ }
+
+ CustomWidget*
+ CustomWidget::DynamicCast(QWidget* elem)
+ {
+ return dynamic_cast<CustomWidget*>(elem);
+ }
+
+ CustomWidget*
+ CustomWidget::DynamicCastAndCheck(QWidget* elem)
+ {
+ if (!elem)
+ {
+ return nullptr;
+ }
+ auto* casted = DynamicCast(elem);
+ ARMARX_CHECK_NOT_NULL(casted);
+ return casted;
+ }
+
+ void
+ CustomWidget::setSupressSignals(bool doSupress)
+ {
+ QObject::blockSignals(doSupress);
+ }
+
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/CustomWidget.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/CustomWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..16b397116351f31d510a9871b28fb1066d2f4b01
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/CustomWidget.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <QTreeWidgetItem>
+#include <QWidget>
+
+namespace armarx::skills::gui
+{
+
+ class CustomWidget : public QWidget
+ {
+ Q_OBJECT
+
+ public:
+ CustomWidget(QTreeWidgetItem* overlayingItem);
+ static CustomWidget* DynamicCast(QWidget*);
+ static CustomWidget* DynamicCastAndCheck(QWidget*);
+
+ virtual void setSupressSignals(bool doSupress);
+
+ protected:
+ QTreeWidgetItem* overlayingItem;
+
+ signals:
+ void elemChanged(QTreeWidgetItem* elem, int col);
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c40c0821533ad3ce24d23dcc76611f4a5e1cb3f3
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.cpp
@@ -0,0 +1,252 @@
+#include "EditMatrixWidget.h"
+
+#include <QGridLayout>
+#include <QLabel>
+
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
+#include "ArmarXCore/core/logging/Logging.h"
+
+#include "../ColorPalettes.h"
+#include "../visitors/AronTreeWidgetCreator.h"
+#include "NDArrayHelper.h"
+
+namespace armarx::skills::gui
+{
+ EditMatrixWidget::EditMatrixWidget(long numRows,
+ long numCols,
+ aron::type::matrix::ElementType elemType,
+ QTreeWidgetItem* currentItem) :
+ CustomWidget(currentItem)
+ {
+ realRows = numRows;
+ realCols = numCols;
+ this->elemType = elemType;
+ // init surrounding layout
+ outerVerticalLayout = new QVBoxLayout();
+ innerHorizontalLayout = new QHBoxLayout();
+ outerVerticalLayout->addItem(innerHorizontalLayout);
+
+
+ QGridLayout* innerGrid = new QGridLayout();
+ const long createRows = std::min(numRows, MAX_ROWS_DISPLAY);
+ const long createCols = std::min(numCols, MAX_COLS_DISPLAY);
+
+ for (long i = 0; i < createRows * createCols; ++i)
+ {
+ auto* edit = new QLineEdit();
+ dispElements.push_back(edit);
+ int currRow = i / createCols;
+ int currCol = i % createCols;
+
+ innerGrid->addWidget(edit, currRow, currCol);
+ std::stringstream ss;
+ ss << "(" << currRow << ", " << currCol << ")";
+ std::string text = ss.str();
+
+ edit->setText(text.c_str());
+ }
+ innerHorizontalLayout->addItem(innerGrid);
+
+ // check, if we need to signal to the user, that not all elements are displayed.
+ if (numRows > MAX_ROWS_DISPLAY)
+ {
+ QLabel* fullLabel = new QLabel("...");
+ outerVerticalLayout->addWidget(fullLabel);
+ }
+ if (numCols > MAX_COLS_DISPLAY)
+ {
+ QLabel* fullLabel = new QLabel("...");
+ innerHorizontalLayout->addWidget(fullLabel);
+ }
+ setLayout(outerVerticalLayout);
+
+ // add hidden elements in vector
+ {
+ const auto hiddenCols = numCols - createCols;
+ // the 0th element holds all columns that are
+ // to the right of the displayed cols AND besides the displayed rows!
+ hiddenElems.push_back(std::vector<std::string>(hiddenCols * createRows, ""));
+
+ // add all rows that are hidden
+ for (long i = 0; i < numRows - createRows; ++i)
+ {
+ // add full cols; everything is hidden here
+ hiddenElems.push_back(std::vector<std::string>(numCols, ""));
+ }
+ }
+
+ for (size_t i = 0; i < dispElements.size(); ++i)
+ {
+ ARMARX_CHECK(connect(
+ dispElements[i], SIGNAL(editingFinished()), this, SLOT(matrixElementChanged())));
+ }
+ }
+
+ EditMatrixWidget*
+ EditMatrixWidget::DynamicCast(QWidget* elem)
+ {
+ return dynamic_cast<EditMatrixWidget*>(elem);
+ }
+
+ EditMatrixWidget*
+ EditMatrixWidget::DynamicCastAndCheck(QWidget* elem)
+ {
+ if (!elem)
+ {
+ return nullptr;
+ }
+ auto* casted = DynamicCast(elem);
+ ARMARX_CHECK_NOT_NULL(casted);
+ return casted;
+ }
+
+ void
+ EditMatrixWidget::setText(long row, long col, const std::string& str)
+ {
+ ARMARX_CHECK(row < realRows);
+ ARMARX_CHECK(col < realCols);
+ auto dispCols = getDisplayedCols();
+ auto dispRows = getDisplayedRows();
+ if (row < dispRows && col < dispCols)
+ {
+ dispElements[row * dispCols + col]->setText(str.c_str());
+ dispElements[row * dispCols + col]->setCursorPosition(0);
+ }
+ else if (row < dispRows)
+ {
+ long idx = row * (realCols - dispCols) + col - dispCols;
+ hiddenElems.at(0).at(idx) = str;
+ }
+ else
+ {
+ hiddenElems.at(row - dispRows + 1).at(col) = str;
+ }
+ }
+
+ std::string
+ EditMatrixWidget::getText(long row, long col)
+ {
+ ARMARX_CHECK(row < realRows);
+ ARMARX_CHECK(col < realCols);
+ const auto dispRows = getDisplayedRows();
+ const auto dispCols = getDisplayedCols();
+ if (row < dispRows && col < dispCols)
+ {
+ auto txt = dispElements.at(row * dispCols + col)->text();
+ return txt.toStdString();
+ }
+ else if (row < getDisplayedRows())
+ {
+ // the stuff besides the displayed rows
+ long idx = row * (realCols - dispCols) + col - dispCols;
+ return hiddenElems.at(0).at(idx);
+ }
+ else
+ {
+ // stuff beneath displayed rows
+ return hiddenElems.at(row - dispRows + 1).at(col);
+ }
+ }
+
+ void
+ EditMatrixWidget::highlightUnparsableEntries()
+ {
+ auto dispRows = getDisplayedRows();
+ auto dispCols = getDisplayedCols();
+ for (long row = 0; row < dispRows; ++row)
+ {
+ for (long col = 0; col < dispCols; ++col)
+ {
+ auto parsed = parseElement(row, col);
+ if (parsed.empty())
+ {
+ dispElements.at(row * dispCols + col)
+ ->setPalette(gui_color_palette::getErrorPalette());
+ }
+ else
+ {
+ dispElements.at(row * dispCols + col)
+ ->setPalette(gui_color_palette::getNormalPalette());
+ }
+ }
+ }
+ }
+
+ bool
+ EditMatrixWidget::hasParseErrors()
+ {
+ // also parse the hidden stuff!
+ for (long row = 0; row < realRows; ++row)
+ {
+ for (long col = 0; col < realCols; ++col)
+ {
+ auto parsed = parseElement(row, col);
+ if (parsed.empty())
+ {
+ if (row >= getDisplayedRows() || col >= getDisplayedCols())
+ {
+ ARMARX_ERROR
+ << "Programming error! Could not parse content in EditMatrixWidget "
+ "that was set programatically from inside the SkillManagerPlugin. "
+ "The error occured in row "
+ << row << " and col " << col << ".";
+ }
+ return true;
+ }
+ }
+ }
+ return false;
+ }
+
+ std::vector<unsigned char>
+ EditMatrixWidget::parseElement(long row, long col)
+ {
+ std::string str = getText(row, col);
+ try
+ {
+ switch (elemType)
+ {
+ case armarx::aron::type::matrix::INT16:
+ return NDArrayHelper::toByteVector<int16_t>(str);
+
+ case armarx::aron::type::matrix::INT32:
+ return NDArrayHelper::toByteVector<int32_t>(str);
+
+ case armarx::aron::type::matrix::INT64:
+ return NDArrayHelper::toByteVector<int64_t>(str);
+
+ case armarx::aron::type::matrix::FLOAT32:
+ return NDArrayHelper::toByteVector<float>(str);
+
+ case armarx::aron::type::matrix::FLOAT64:
+ return NDArrayHelper::toByteVector<double>(str);
+ }
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ return {};
+ }
+ return {};
+ }
+
+ long
+ EditMatrixWidget::getDisplayedRows() const
+ {
+ return std::min(realRows, MAX_ROWS_DISPLAY);
+ }
+
+ long
+ EditMatrixWidget::getDisplayedCols() const
+ {
+ return std::min(realCols, MAX_COLS_DISPLAY);
+ }
+
+ void
+ EditMatrixWidget::matrixElementChanged()
+ {
+ blockSignals(true);
+ highlightUnparsableEntries();
+ blockSignals(false);
+ emit elemChanged(overlayingItem, 1);
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..9d0c8cbfbd9463ab37d8498410381aebd54c6956
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.h
@@ -0,0 +1,81 @@
+#pragma once
+#include <vector>
+
+#include <QHBoxLayout>
+#include <QLineEdit>
+#include <QObject>
+#include <QTreeWidgetItem>
+#include <QVBoxLayout>
+
+#include "RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h"
+
+#include "CustomWidget.h"
+
+namespace armarx::skills::gui
+{
+ // Custom Widget used to display Matrices
+ // MAX_ROWS_DISPLAY and MAX_COLS_DISPLAY are the maximal number of elements displayable
+ // everything else will not be displayed. However, there can still be made changes to this data with setText()
+ class EditMatrixWidget : public CustomWidget
+ {
+ Q_OBJECT
+ public:
+ EditMatrixWidget() = delete;
+ EditMatrixWidget(long numRows,
+ long numCols,
+ aron::type::matrix::ElementType elemType,
+ QTreeWidgetItem* currentWidget);
+
+ static EditMatrixWidget* DynamicCast(QWidget*);
+ static EditMatrixWidget* DynamicCastAndCheck(QWidget*);
+
+ // Sets the text on all visible rows and cols.
+ void setText(long row, long col, const std::string& str);
+ std::string getText(long row, long col);
+ void highlightUnparsableEntries();
+ bool hasParseErrors();
+ // returns an empty vector if parsing failed. Else, contains the individual bytes.
+ std::vector<unsigned char> parseElement(long row, long col);
+
+
+ private:
+ // Dimensions of the underlying Type to represent
+ long realRows = 1;
+ long realCols = 1;
+
+ // maximum of rows / cols to display
+ static constexpr long MAX_ROWS_DISPLAY = 5;
+ static constexpr long MAX_COLS_DISPLAY = 5;
+ long getDisplayedRows() const;
+ long getDisplayedCols() const;
+
+ // Want to add dots to show the user that not all is displayed. This needs some wrapping layouts
+ QVBoxLayout* outerVerticalLayout;
+ QHBoxLayout* innerHorizontalLayout;
+
+ // Using row major layout
+ std::vector<QLineEdit*> dispElements;
+ // rows<cols<text>>: stores get and set messages for hidden elements (if there is not enough space for all elements)
+ std::vector<std::vector<std::string>> hiddenElems;
+
+ template <typename T>
+ static std::vector<unsigned char> toByteVector(const std::string& str);
+
+ // TODO: It would be nice to have this code somewhere else, this way, at least the GUI-responses
+ // are restricted to this Widget (signal & slot stuff)
+ aron::type::matrix::ElementType elemType;
+
+ private slots:
+ void matrixElementChanged();
+ };
+
+ template <typename T>
+ std::vector<unsigned char>
+ EditMatrixWidget::toByteVector(const std::string& str)
+ {
+ auto val = simox::alg::to_<T>(str);
+ std::vector<unsigned char> res(sizeof(val), 0);
+ *reinterpret_cast<T*>(res.data()) = val;
+ return res;
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bbbee283d5aee3f75a0ce77b07a3e5dbca18eab7
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.cpp
@@ -0,0 +1,139 @@
+#include "IntEnumWidget.h"
+
+#include <QHBoxLayout>
+
+#include "RobotAPI/libraries/aron/core/type/variant/All.h"
+
+#include "../ColorPalettes.h"
+#include "../visitors/AronTreeWidgetConverter.h"
+
+namespace armarx::skills::gui
+{
+ IntEnumWidget::IntEnumWidget(const aron::type::IntEnumPtr& enumPtr,
+ QTreeWidgetItem* currentItem) :
+ CustomWidget(currentItem), element_type(enumPtr)
+ {
+ auto names = enumPtr->getAcceptedValueNames();
+ auto outerLayout = new QHBoxLayout();
+ outerLayout->setContentsMargins(0, 0, 0, 0);
+ innerWidget = new QComboBox();
+ outerLayout->addWidget(innerWidget);
+
+ for (const auto& n : names)
+ {
+ innerWidget->addItem(n.c_str());
+ }
+ innerWidget->setInsertPolicy(QComboBox::NoInsert);
+ innerWidget->setEditable(true);
+ innerWidget->setCurrentIndex(0);
+
+ setLayout(outerLayout);
+ ARMARX_CHECK(connect(innerWidget,
+ SIGNAL(currentTextChanged(const QString&)),
+ this,
+ SLOT(textChanged(const QString&))));
+ }
+
+ IntEnumWidget*
+ IntEnumWidget::DynamicCast(QWidget* widget)
+ {
+ return dynamic_cast<IntEnumWidget*>(widget);
+ }
+
+ IntEnumWidget*
+ IntEnumWidget::DynamicCastAndCheck(QWidget* elem)
+ {
+ if (!elem)
+ {
+ return nullptr;
+ }
+ auto* casted = DynamicCast(elem);
+ ARMARX_CHECK_NOT_NULL(casted);
+ return casted;
+ }
+
+ bool
+ IntEnumWidget::hasParseErrors()
+ {
+ return parseToAron().first;
+ }
+
+ void
+ IntEnumWidget::setText(const QString& text)
+ {
+ innerWidget->setEditText(text);
+ highlightUnparsableEntries();
+ }
+
+ QString
+ IntEnumWidget::getText()
+ {
+ return innerWidget->currentText();
+ }
+
+ std::pair<bool, aron::data::IntPtr>
+ IntEnumWidget::parseToAron()
+ {
+ auto crAron = std::make_shared<aron::data::Int>(element_type->getPath());
+
+ // first look for strings in value map
+ auto valueMap = element_type->getAcceptedValueMap();
+ std::string toParse = getText().toStdString();
+
+ auto searchRes = valueMap.find(toParse);
+ if (searchRes != valueMap.end())
+ {
+ crAron->setValue(searchRes->second);
+ return {true, crAron};
+ }
+ // maybe its the number directly
+ auto accVals = element_type->getAcceptedValues();
+ int res;
+ try
+ {
+ res = simox::alg::to_<int>(toParse);
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ ARMARX_VERBOSE << "Failed to parse IntEnum: Could not convert \'" << toParse
+ << "\' to an int. It also was not one of the accepted strings.";
+ return {false, nullptr};
+ }
+ if (std::find(accVals.begin(), accVals.end(), res) != accVals.end())
+ {
+
+ crAron->setValue(res);
+ }
+ else
+ {
+ ARMARX_VERBOSE << "Parsed int " << res
+ << "but this int is not part of the accepted values.";
+ return {false, nullptr};
+ }
+ return {true, crAron};
+ }
+
+ void
+ IntEnumWidget::highlightUnparsableEntries()
+ {
+ auto parsed = parseToAron().first;
+ if (parsed)
+ {
+ innerWidget->setPalette(gui_color_palette::getNormalPalette());
+ }
+ else
+ {
+ innerWidget->setPalette(gui_color_palette::getErrorPalette());
+ }
+ }
+
+ void
+ IntEnumWidget::textChanged(const QString&)
+ {
+ setSupressSignals(true);
+ highlightUnparsableEntries();
+ setSupressSignals(false);
+ // fire change signal
+ emit CustomWidget::elemChanged(overlayingItem, 1);
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..ba70937ad28318fe512641ba7d9068978c07244a
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include <QComboBox>
+
+#include "RobotAPI/libraries/aron/core/data/variant/primitive/Int.h"
+#include "RobotAPI/libraries/aron/core/type/variant/forward_declarations.h"
+
+#include "../AronTreeWidgetItem.h"
+#include "CustomWidget.h"
+
+namespace armarx::skills::gui
+{
+ // Custom wrapper around the QComboBox widget to represent IntEnums
+ // This class handles parsing once the user edited the field and is also responsible
+ // to parse the according aron data from text
+ class IntEnumWidget : public CustomWidget
+ {
+ Q_OBJECT
+ public:
+ IntEnumWidget(const aron::type::IntEnumPtr&, QTreeWidgetItem* currentItem);
+ // needs to be called after the constructor, because qt needs the meta object to be fully constructed at this point
+ void postCtorCall();
+
+ static IntEnumWidget* DynamicCast(QWidget*);
+ static IntEnumWidget* DynamicCastAndCheck(QWidget*);
+
+ bool hasParseErrors();
+ void setText(const QString& text);
+ QString getText();
+ std::pair<bool, aron::data::IntPtr> parseToAron();
+
+ private:
+ const aron::type::IntEnumPtr element_type;
+ QComboBox* innerWidget;
+
+ bool noParseErrors = true;
+
+ void highlightUnparsableEntries();
+ private slots:
+ void textChanged(const QString&);
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/NDArrayHelper.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/NDArrayHelper.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a9599a2dbdfd456e1237542d34006f5d4c4c9bbf
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/NDArrayHelper.cpp
@@ -0,0 +1 @@
+#include "NDArrayHelper.h"
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/NDArrayHelper.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/NDArrayHelper.h
new file mode 100644
index 0000000000000000000000000000000000000000..bd74b4ef50ae33cab07e836157085cf23d3f517c
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/NDArrayHelper.h
@@ -0,0 +1,33 @@
+#pragma once
+#include <string>
+#include <vector>
+
+#include <SimoxUtility/algorithm/string.h>
+
+namespace armarx::skills::gui
+{
+ class NDArrayHelper
+ {
+ public:
+ // Uses the simox utility to parse floatingpoint and fixed precision types
+ // it then writes the result into a byte vector
+ // an empty byte vector encodes a parsing error.
+ template <typename T>
+ std::vector<unsigned char> static toByteVector(const std::string& str)
+ {
+ try
+ {
+ auto val = simox::alg::to_<T>(str);
+ std::vector<unsigned char> res(sizeof(val), 0);
+ T* reinterpPtr = reinterpret_cast<T*>(res.data());
+ T* laundered = std::launder(reinterpPtr);
+ *laundered = val;
+ return res;
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ return {};
+ }
+ }
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e8a48aa71942e5f86e837a8fc516e7d475615f66
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.cpp
@@ -0,0 +1,161 @@
+#include "QuaternionWidget.h"
+
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
+
+#include "../ColorPalettes.h"
+#include "NDArrayHelper.h"
+
+namespace armarx::skills::gui
+{
+
+ QuaternionWidget*
+ QuaternionWidget::DynamicCast(QWidget* elem)
+ {
+ return dynamic_cast<QuaternionWidget*>(elem);
+ }
+
+ QuaternionWidget*
+ QuaternionWidget::DynamicCastAndCheck(QWidget* elem)
+ {
+ if (!elem)
+ {
+ return nullptr;
+ }
+ auto* casted = DynamicCast(elem);
+ ARMARX_CHECK_NOT_NULL(casted);
+ return casted;
+ }
+
+ void
+ QuaternionWidget::setText(QuaternionComponents col, const std::string& str)
+ {
+ size_t idx = (size_t)col;
+ xyzw_components.at(idx)->setText(str.c_str());
+ highlightUnparsableEntries();
+ }
+
+ bool
+ QuaternionWidget::hasParseErrors()
+ {
+ return parseErrors;
+ }
+
+ QuaternionWidget::QuaternionWidget(aron::type::quaternion::ElementType elType,
+ QTreeWidgetItem* currentItem) :
+ CustomWidget(currentItem), element_type(elType)
+ {
+ auto outerLayout = new QHBoxLayout();
+ auto labelCol1 = new QVBoxLayout();
+ auto labelCol2 = new QVBoxLayout();
+ auto xzEdit = new QVBoxLayout();
+ auto ywEdit = new QVBoxLayout();
+
+ outerLayout->addLayout(labelCol1);
+ outerLayout->addLayout(xzEdit);
+ outerLayout->addLayout(labelCol2);
+ outerLayout->addLayout(ywEdit);
+
+ xyzw_components.reserve(4);
+ for (size_t i = 0; i < 4; ++i)
+ {
+ xyzw_components.push_back(new QLineEdit());
+ }
+
+ // Tabbing order >> Viewing order. Thats why the indeces are a bit switched
+ labelCol1->addWidget(new QLabel("x"));
+ xzEdit->addWidget(xyzw_components.at(0));
+
+ labelCol2->addWidget(new QLabel("z"));
+ ywEdit->addWidget(xyzw_components.at(2));
+
+ labelCol1->addWidget(new QLabel("y"));
+ xzEdit->addWidget(xyzw_components.at(1));
+
+ labelCol2->addWidget(new QLabel("w"));
+ ywEdit->addWidget(xyzw_components.at(3));
+
+ for (const auto& el : xyzw_components)
+ {
+ ARMARX_CHECK(
+ connect(el, SIGNAL(editingFinished()), this, SLOT(quaternionElementChanged())));
+ }
+
+ setLayout(outerLayout);
+ highlightUnparsableEntries();
+ }
+
+ void
+ QuaternionWidget::highlightUnparsableEntries()
+ {
+ parseErrors = false;
+ for (size_t i = 0; i < 4; ++i)
+ {
+ bool ok = false;
+ switch (element_type)
+ {
+ case armarx::aron::type::quaternion::FLOAT32:
+ {
+ float flt;
+ std::tie(ok, flt) = parseQuatVals<float>((QuaternionComponents)i);
+ break;
+ }
+ case armarx::aron::type::quaternion::FLOAT64:
+ {
+ double dbl;
+ std::tie(ok, dbl) = parseQuatVals<double>((QuaternionComponents)i);
+ break;
+ }
+ }
+ if (ok)
+ {
+ xyzw_components.at(i)->setPalette(gui_color_palette::getNormalPalette());
+ }
+ else
+ {
+ xyzw_components.at(i)->setPalette(gui_color_palette::getErrorPalette());
+ parseErrors = true;
+ }
+ }
+ }
+
+ std::vector<unsigned char>
+ QuaternionWidget::parseAllToNDArray()
+ {
+ std::vector<unsigned char> res;
+ bool success = true;
+ if (element_type == aron::type::quaternion::FLOAT32)
+ {
+ res.reserve(16);
+ for (size_t i = 0; i < 4; ++i)
+ {
+ auto bytevec =
+ NDArrayHelper::toByteVector<float>(xyzw_components.at(i)->text().toStdString());
+ success &= !bytevec.empty();
+ res.insert(res.end(), bytevec.begin(), bytevec.end());
+ }
+ }
+ else
+ {
+ res.reserve(32);
+ for (size_t i = 0; i < 4; ++i)
+ {
+ auto bytevec = NDArrayHelper::toByteVector<double>(
+ xyzw_components.at(i)->text().toStdString());
+ success &= !bytevec.empty();
+ res.insert(res.end(), bytevec.begin(), bytevec.end());
+ }
+ }
+ return (success) ? res : std::vector<unsigned char>();
+ }
+
+ void
+ QuaternionWidget::quaternionElementChanged()
+ {
+ CustomWidget::setSupressSignals(true);
+ highlightUnparsableEntries();
+ CustomWidget::setSupressSignals(false);
+ emit CustomWidget::elemChanged(overlayingItem, 1);
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..f743e3acf3a2eafdfd03f3eb35bddb48b49cfbb4
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.h
@@ -0,0 +1,67 @@
+#pragma once
+#include <vector>
+
+#include <QLineEdit>
+#include <QObject>
+#include <QVBoxLayout>
+
+#include "RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h"
+
+#include "CustomWidget.h"
+
+namespace armarx::skills::gui
+{
+ // Custom Widget which represents a Quaternion - This class does not normalize the inputs
+ // It can parse its data to NDArray and also handles user edit signals itself. (And also the highlighting if errors occur)
+ class QuaternionWidget : public CustomWidget
+ {
+ Q_OBJECT
+ public:
+ QuaternionWidget(aron::type::quaternion::ElementType type, QTreeWidgetItem* currentItem);
+
+ static QuaternionWidget* DynamicCast(QWidget*);
+ static QuaternionWidget* DynamicCastAndCheck(QWidget*);
+
+ enum struct QuaternionComponents
+ {
+ X = 0,
+ Y,
+ Z,
+ W
+ };
+ void setText(QuaternionComponents col, const std::string& str);
+ std::string getText(QuaternionComponents col);
+ bool hasParseErrors();
+ std::vector<unsigned char> parseAllToNDArray();
+
+ private:
+ std::vector<QLineEdit*> xyzw_components;
+ aron::type::quaternion::ElementType element_type;
+ bool parseErrors = false;
+
+ void highlightUnparsableEntries();
+ template <typename T>
+ std::pair<bool, T> parseQuatVals(QuaternionComponents comp);
+
+ private slots:
+ void quaternionElementChanged();
+ };
+
+ template <typename T>
+ std::pair<bool, T>
+ QuaternionWidget::parseQuatVals(QuaternionWidget::QuaternionComponents comp)
+ {
+ // size_t data_size = element_type == aron::type::quaternion::ElementType::FLOAT32 ? 4 : 8;
+ try
+ {
+ T val = simox::alg::to_<T>(xyzw_components.at((size_t)comp)->text().toStdString());
+ return {true, val};
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ return {false, NAN};
+ }
+ }
+
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/SkillDescriptionWidget.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/SkillDescriptionWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b0132b59f6dedb147a3820d0a7d0dbcce89a4c1c
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/SkillDescriptionWidget.cpp
@@ -0,0 +1,69 @@
+#include "SkillDescriptionWidget.h"
+
+#include <sstream>
+
+#include <QGridLayout>
+#include <QLabel>
+#include <QTextEdit>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/cpp-markdown/markdown.h> // ToDo: Move cpp-markdown to own Axii module.
+
+namespace armarx::skills::gui
+{
+
+ static std::string
+ markdownToHtml(const std::string& markdownText, size_t spacesPerTab = 2)
+ {
+ ::markdown::Document document(spacesPerTab);
+ document.read(markdownText);
+
+ std::stringstream html;
+ document.write(html);
+ return html.str();
+ }
+
+ SkillDescriptionWidget::SkillDescriptionWidget(QWidget* parent) : QWidget{parent}
+ {
+ QGridLayout* layout = new QGridLayout;
+ setLayout(layout);
+
+ layout->setMargin(0);
+
+ int row = 0;
+ int col = 0;
+
+ layout->addWidget(new QLabel("Name:"), row, col++);
+ name = new QLabel;
+ layout->addWidget(name, row, col++);
+
+ // Add some padding.
+ layout->addWidget(new QLabel(), row, col++);
+
+ {
+ QLabel* label = new QLabel("Timeout:");
+ label->setAlignment(Qt::AlignmentFlag::AlignRight);
+ layout->addWidget(label, row, col++);
+ }
+ timeout = new QLabel;
+ timeout->setAlignment(Qt::AlignmentFlag::AlignRight);
+ layout->addWidget(timeout, row, col++);
+
+ ++row;
+ int numCols = col;
+ col = 0;
+
+ description = new QTextEdit;
+ description->setReadOnly(true);
+ layout->addWidget(description, row, col, 1, numCols);
+ ++row;
+ }
+
+ void
+ SkillDescriptionWidget::setSkillDescription(const skills::SkillDescription& desc)
+ {
+ name->setText(QString::fromStdString(desc.skillId.skillName));
+ description->setHtml(QString::fromStdString(markdownToHtml(desc.description)));
+ timeout->setText(QString::fromStdString(desc.timeout.toDurationString()));
+ }
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/SkillDescriptionWidget.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/SkillDescriptionWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..5344c50d4188c7e700b7b4b9a8518c3d71794dec
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/SkillDescriptionWidget.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <QWidget>
+
+#include <RobotAPI/libraries/skills/core/SkillDescription.h>
+
+class QLabel;
+class QTextEdit;
+
+namespace armarx::skills::gui
+{
+
+ class SkillDescriptionWidget : public QWidget
+ {
+ public:
+ SkillDescriptionWidget(QWidget* parent = nullptr);
+
+ void setSkillDescription(const skills::SkillDescription& desc);
+
+ private:
+ QLabel* name = nullptr;
+ QTextEdit* description = nullptr;
+ QLabel* timeout = nullptr;
+ };
+
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..02c8c1df0871cb69f09ceb05fe0adb41e6d0a2e7
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -0,0 +1,183 @@
+#include "SkillExecutionTreeWidget.h"
+
+#include <mutex>
+
+#include <QMenu>
+#include <QTreeWidgetItem>
+
+#include "SkillExecutionTreeWidgetItem.h"
+
+namespace armarx::skills::gui
+{
+
+ void
+ SkillExecutionTreeWidget::runContextMenu(const QPoint& pos)
+ {
+ // sanity check
+ ARMARX_CHECK(selectionValid());
+
+ QMenu* menu = new QMenu();
+
+ // Stop skill
+ QAction* stopSkillAction = new QAction("Stop execution", this);
+ const auto& executions = memory->fetchExecutions();
+ if (executions.count(selectedExecution.skillExecutionId) == 0)
+ return;
+ skills::SkillStatus currentStatus =
+ memory->fetchExecutions().at(selectedExecution.skillExecutionId).status;
+ stopSkillAction->setDisabled(currentStatus == skills::SkillStatus::Aborted ||
+ currentStatus == skills::SkillStatus::Failed ||
+ currentStatus == skills::SkillStatus::Succeeded);
+
+ QAction* rerunSkillAction = new QAction("Re-run with similar params", this);
+ menu->addAction(stopSkillAction);
+ menu->addAction(rerunSkillAction);
+ connect(stopSkillAction,
+ &QAction::triggered,
+ this,
+ &SkillExecutionTreeWidget::stopSelectedExecution);
+ connect(rerunSkillAction,
+ &QAction::triggered,
+ this,
+ &SkillExecutionTreeWidget::rerunSkillWithSimilarParams);
+
+ // open menu
+ menu->popup(this->viewport()->mapToGlobal(pos));
+ }
+
+ void
+ SkillExecutionTreeWidget::stopSelectedExecution()
+ {
+ if (!selectionValid())
+ return;
+ memory->stopExecution(this->selectedExecution.skillExecutionId);
+ }
+
+ void
+ SkillExecutionTreeWidget::rerunSkillWithSimilarParams()
+ {
+ if (!selectionValid())
+ return;
+ // we don't want to hold state in the gui, so we need to get the parameters from memory:
+ skills::SkillExecutionID currentExecutionId = this->selectedExecution.skillExecutionId;
+ auto executions = memory->fetchExecutions();
+ if (executions.empty())
+ return;
+
+ if (executions.count(currentExecutionId) == 0)
+ {
+ // we didn't find an entry for the execution id
+ ARMARX_IMPORTANT << "The selected execution was not found in memory. The GUI is unable "
+ "to determine the parametrization for this execution.";
+ return;
+ }
+ auto params = executions[currentExecutionId].parameters;
+
+ ARMARX_INFO << "Re-executing the skill " << currentExecutionId.skillId
+ << " with previous parameters.";
+
+ // give all information to manager
+ this->memory->startExecutionWithParams(currentExecutionId.skillId, params);
+ }
+
+ void
+ SkillExecutionTreeWidget::disconnectGui()
+ {
+ this->selectedExecution = SelectedExecution();
+ this->clear();
+ }
+
+ void
+ SkillExecutionTreeWidget::setupUi()
+ {
+ this->setColumnCount(6);
+
+ this->setContextMenuPolicy(Qt::CustomContextMenu);
+
+ QTreeWidgetItem* qtreewidgetitem = this->headerItem();
+ qtreewidgetitem->setText(5, "");
+ qtreewidgetitem->setText(4, "");
+ qtreewidgetitem->setText(3, "Status");
+ qtreewidgetitem->setText(2, "SkillID");
+ qtreewidgetitem->setText(1, "Executor");
+ qtreewidgetitem->setText(0, "Timestamp");
+
+ this->setColumnWidth(4, 30);
+
+ connectSignals();
+ }
+
+ void
+ SkillExecutionTreeWidget::connectSignals()
+ {
+ connect(this,
+ &QTreeWidget::customContextMenuRequested,
+ this,
+ &SkillExecutionTreeWidget::runContextMenu);
+ connect(this,
+ &QTreeWidget::currentItemChanged,
+ this,
+ &SkillExecutionTreeWidget::executionSelectionChanged);
+ }
+
+ inline bool
+ SkillExecutionTreeWidget::selectionValid()
+ {
+ return selectedExecution.skillExecutionId.skillId.skillName != skills::SkillID::UNKNOWN;
+ }
+
+ void
+ SkillExecutionTreeWidget::executionSelectionChanged(QTreeWidgetItem* current,
+ QTreeWidgetItem* previous)
+ {
+ // update internal state
+ SkillExecutionTreeWidgetItem* selected =
+ dynamic_cast<SkillExecutionTreeWidgetItem*>(current);
+ if (selected)
+ {
+ this->selectedExecution.skillExecutionId = selected->getExecutionId();
+ }
+ }
+
+ void
+ SkillExecutionTreeWidget::updateExecutions()
+ {
+ auto currentManagerStatuses = memory->fetchExecutions();
+ if (currentManagerStatuses.empty())
+ return;
+
+ for (const auto& [k, v] : currentManagerStatuses)
+ {
+ skills::SkillExecutionID executionId = k;
+ skills::SkillStatusUpdate statusUpdate = v;
+
+ SkillExecutionTreeWidgetItem* found = nullptr;
+ for (int i = 0; i < this->topLevelItemCount(); ++i)
+ {
+ auto c = dynamic_cast<SkillExecutionTreeWidgetItem*>(topLevelItem(i));
+ if (!c)
+ {
+ // the item is probably not the correct type, skip...
+ continue;
+ }
+
+ found = SkillExecutionTreeWidgetItem::SearchRecursiveForMatch(c, executionId);
+
+ if (found)
+ {
+ found->updateItem(statusUpdate.status);
+
+ break;
+ }
+ }
+
+ if (!found)
+ {
+ // TODO: Sort to executor!
+ auto item = new SkillExecutionTreeWidgetItem(executionId, memory, this);
+
+ item->updateItem(statusUpdate.status);
+ }
+ }
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..795045302b4b47655e196e4cea566d53140f90d6
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
@@ -0,0 +1,62 @@
+#ifndef SKILLEXECUTIONTREEWIDGET_H
+#define SKILLEXECUTIONTREEWIDGET_H
+
+#include <QTreeWidget>
+
+#include <ArmarXCore/core/time.h>
+
+#include "../memory/MemoryCommunicatorBase.h"
+
+namespace armarx::skills::gui
+{
+
+ class SkillExecutionTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
+ {
+ public:
+ SkillExecutionTreeWidget(std::shared_ptr<SkillManagerWrapper> _memory,
+ QWidget* parent = nullptr) :
+ QTreeWidget(parent), MemoryCommunicatorBase(_memory)
+ {
+ setupUi();
+ }
+
+ struct SelectedExecution
+ {
+ skills::SkillExecutionID skillExecutionId;
+
+ // make default constructable
+ SelectedExecution() :
+ skillExecutionId{
+ .skillId = {.providerId = std::nullopt, .skillName = skills::SkillID::UNKNOWN},
+ .executorName = skills::SkillExecutionID::UNKNOWN,
+ .executionStartedTime = armarx::core::time::DateTime::Invalid()}
+ {
+ }
+ };
+
+ SelectedExecution& getSelectedExecution();
+
+ public slots:
+ void disconnectGui();
+ void updateExecutions();
+
+ private slots:
+ void executionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
+ void runContextMenu(const QPoint& pos);
+ void stopSelectedExecution();
+ void rerunSkillWithSimilarParams();
+
+ private:
+ void setupUi();
+ void connectSignals();
+
+ /**
+ * @brief Checks the validity of the selected item at run time.
+ * @return the validity.
+ */
+ bool selectionValid();
+ SelectedExecution selectedExecution;
+ };
+} // namespace armarx::skills::gui
+
+#endif // SKILLEXECUTIONTREEWIDGET_H
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..947671ff7fd44d0c9a9545bf82a721447f0ce952
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.cpp
@@ -0,0 +1,95 @@
+#include "SkillExecutionTreeWidgetItem.h"
+
+namespace armarx::skills::gui
+{
+ SkillExecutionTreeWidgetItem*
+ SkillExecutionTreeWidgetItem::SearchRecursiveForMatch(SkillExecutionTreeWidgetItem* haystack,
+ const SkillExecutionID& needle)
+ {
+ if (!haystack)
+ {
+ return nullptr;
+ }
+
+ if (needle == haystack->executionId)
+ {
+ return haystack;
+ }
+ for (int i = 0; i < haystack->childCount(); ++i)
+ {
+ auto el = dynamic_cast<SkillExecutionTreeWidgetItem*>(haystack->child(i));
+ if (!el)
+ {
+ // Dynamic casting failed. Skip element...
+ // We assume, that only this type can contain children in the tree.
+ continue;
+ }
+ return SkillExecutionTreeWidgetItem::SearchRecursiveForMatch(el, needle);
+ }
+ return nullptr;
+ }
+
+ SkillExecutionID
+ SkillExecutionTreeWidgetItem::getExecutionId()
+ {
+ return this->executionId;
+ }
+
+ void
+ SkillExecutionTreeWidgetItem::updateItem(skills::SkillStatus& skillStatus)
+ {
+ this->setText(0,
+ QString::fromStdString(executionId.executionStartedTime.toDateTimeString()));
+ this->setText(1, QString::fromStdString(executionId.executorName));
+ this->setText(2, QString::fromStdString(executionId.skillId.toString()));
+ for (std::pair<skills::SkillStatus, std::string> i : EXECUTION_STATUS_TO_STRING)
+ {
+ if (i.first == skillStatus)
+ {
+ this->setText(3, QString::fromStdString(i.second));
+ }
+ }
+ updateButtonState(skillStatus);
+ }
+
+ void
+ SkillExecutionTreeWidgetItem::abortExecution()
+ {
+ memory->stopExecution(executionId);
+ }
+
+ void
+ SkillExecutionTreeWidgetItem::setupUi()
+ {
+ parentTree->insertTopLevelItem(0, this);
+ abortButton = new QPushButton();
+ abortButton->setMinimumHeight(20);
+ abortButton->setMaximumHeight(20);
+ parentTree->setItemWidget(this, 4, abortButton);
+
+ QPixmap pix(":/icons/process-stop-7.ico");
+ QIcon icon(pix);
+
+ abortButton->setIcon(icon);
+
+
+ connectSignals();
+ }
+
+ void
+ SkillExecutionTreeWidgetItem::connectSignals()
+ {
+ connect(abortButton,
+ &QPushButton::clicked,
+ this,
+ &SkillExecutionTreeWidgetItem::abortExecution);
+ }
+
+ void
+ SkillExecutionTreeWidgetItem::updateButtonState(SkillStatus& skillStatus)
+ {
+ abortButton->setDisabled(skillStatus == SkillStatus::Aborted ||
+ skillStatus == SkillStatus::Failed ||
+ skillStatus == SkillStatus::Succeeded);
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h
new file mode 100644
index 0000000000000000000000000000000000000000..cd0376f8f9c123f6046e061a4955293fc833c9ec
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h
@@ -0,0 +1,68 @@
+#ifndef SKILLEXECUTIONTREEWIDGETITEM_H
+#define SKILLEXECUTIONTREEWIDGETITEM_H
+
+#include <QPushButton>
+#include <QTreeWidgetItem>
+
+#include "RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h"
+#include <RobotAPI/libraries/skills/core/SkillExecutionID.h>
+#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
+
+#include "../memory/MemoryCommunicatorBase.h"
+#include "SkillExecutionTreeWidgetItem.h"
+
+namespace armarx::skills::gui
+{
+ static const std::map<skills::SkillStatus, std::string> EXECUTION_STATUS_TO_STRING = {
+ // Main states
+ {skills::SkillStatus::Constructing, "Constructing"},
+ {skills::SkillStatus::Initializing, "Initializing"},
+ {skills::SkillStatus::Preparing, "Preparing"},
+ {skills::SkillStatus::Running, "Running"},
+
+ // Terminating
+ {skills::SkillStatus::Aborted, "Aborted"},
+ {skills::SkillStatus::Failed, "Failed"},
+ {skills::SkillStatus::Succeeded, "Succeeded"}};
+
+ class SkillExecutionTreeWidgetItem :
+ public QObject,
+ public QTreeWidgetItem,
+ public MemoryCommunicatorBase
+ {
+ Q_OBJECT
+ public:
+ SkillExecutionTreeWidgetItem() = delete;
+
+ SkillExecutionTreeWidgetItem(const skills::SkillExecutionID& id,
+ std::shared_ptr<SkillManagerWrapper> _memory,
+ SkillExecutionTreeWidget* parent) :
+ MemoryCommunicatorBase(_memory), executionId(id), parentTree(parent)
+ {
+ setupUi();
+ }
+
+ static SkillExecutionTreeWidgetItem*
+ SearchRecursiveForMatch(SkillExecutionTreeWidgetItem* haystack,
+ const skills::SkillExecutionID& needle);
+
+ skills::SkillExecutionID getExecutionId();
+
+ void updateItem(skills::SkillStatus& skillStatus);
+
+ protected:
+ skills::SkillExecutionID executionId;
+
+ public slots:
+ void abortExecution();
+
+ private:
+ void setupUi();
+ void connectSignals();
+ void updateButtonState(skills::SkillStatus& skillStatus);
+ SkillExecutionTreeWidget* parentTree = nullptr;
+ QPushButton* abortButton = nullptr;
+ };
+} // namespace armarx::skills::gui
+
+#endif // SKILLEXECUTIONTREEWIDGETITEM_H
diff --git a/source/RobotAPI/libraries/skills_gui/gui_utils.cpp b/source/RobotAPI/libraries/skills_gui/gui_utils.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..666228c764379671d6ca59d142fefc02446c42d6
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/gui_utils.cpp
@@ -0,0 +1,109 @@
+#include "gui_utils.h"
+
+#include <QLayout>
+#include <QLayoutItem>
+#include <QSplitter>
+#include <QTreeWidgetItem>
+#include <QWidget>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+void
+armarx::gui::clearLayout(QLayout* layout)
+{
+ // Source: https://stackoverflow.com/a/4857631
+
+ ARMARX_CHECK(layout);
+
+ QLayoutItem* item;
+ while ((item = layout->takeAt(0)))
+ {
+ if (item->layout())
+ {
+ clearLayout(item->layout());
+ delete item->layout();
+ }
+ if (item->widget())
+ {
+ delete item->widget();
+ }
+ delete item;
+ }
+}
+
+void
+armarx::gui::clearItem(QTreeWidgetItem* item)
+{
+ while (item->childCount() > 0)
+ {
+ delete item->takeChild(0);
+ }
+}
+
+QSplitter*
+armarx::gui::useSplitter(QLayout* layout)
+{
+ ARMARX_CHECK(layout);
+
+ // Check all items
+ for (int i = 0; i < layout->count(); ++i)
+ {
+ ARMARX_CHECK_NOT_NULL(layout->itemAt(i)->widget())
+ << "QSplitter only supports widgets, but layout item #" << i << " is not a widget.";
+ }
+
+ QSplitter* splitter;
+ if (dynamic_cast<QHBoxLayout*>(layout))
+ {
+ splitter = new QSplitter(Qt::Orientation::Horizontal);
+ }
+ else if (dynamic_cast<QVBoxLayout*>(layout))
+ {
+ splitter = new QSplitter(Qt::Orientation::Vertical);
+ }
+ else
+ {
+ splitter = new QSplitter();
+ }
+
+ while (layout->count() > 0)
+ {
+ const int index = 0;
+ if (layout->itemAt(index))
+ {
+ QLayoutItem* item = layout->takeAt(index);
+
+ ARMARX_CHECK(item->widget());
+ splitter->addWidget(item->widget());
+
+ delete item;
+ }
+ }
+ ARMARX_CHECK_EQUAL(layout->count(), 0);
+
+ layout->addWidget(splitter);
+ ARMARX_CHECK_EQUAL(layout->count(), 1);
+ ARMARX_CHECK_EQUAL(layout->itemAt(0)->widget(), splitter);
+
+ return splitter;
+}
+
+armarx::gui::LeadingZeroSpinBox::LeadingZeroSpinBox(int numDigits, int base) :
+ numDigits(numDigits), base(base)
+{
+}
+
+QString
+armarx::gui::LeadingZeroSpinBox::textFromValue(int value) const
+{
+ return QString("%1").arg(value, numDigits, base, QChar('0'));
+}
+
+void
+armarx::gui::clearSplitter(QSplitter* splitter)
+{
+ for (int i = 0; i < splitter->count(); ++i)
+ {
+ splitter->widget(i)->deleteLater();
+ }
+}
diff --git a/source/RobotAPI/libraries/skills_gui/gui_utils.h b/source/RobotAPI/libraries/skills_gui/gui_utils.h
new file mode 100644
index 0000000000000000000000000000000000000000..3901038ba99f7b59494df40210af0da867ba6ff3
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/gui_utils.h
@@ -0,0 +1,100 @@
+#pragma once
+
+#include <iostream>
+
+#include <QLayout>
+#include <QLayoutItem>
+#include <QSpinBox>
+#include <QSplitter>
+#include <QTreeWidgetItem>
+#include <QWidget>
+
+#include <mutex>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+namespace armarx::gui
+{
+ /**
+ * @brief Clear a layout.
+ *
+ * Recursively take and delete all items in `layout`.
+ *
+ * @param layout The layout.
+ */
+ void clearLayout(QLayout* layout);
+
+ void clearSplitter(QSplitter* splitter);
+
+ /**
+ * @brief Clear a tree widget item
+ *
+ * Take and delete all children of `item`.
+ *
+ * @param item The tree widget item.
+ */
+ void clearItem(QTreeWidgetItem* item);
+
+ template <class WidgetT>
+ void
+ replaceWidget(WidgetT*& old, QWidget* neu, QLayout* parentLayout)
+ {
+ ARMARX_CHECK(old);
+ ARMARX_CHECK(neu);
+ ARMARX_CHECK(parentLayout);
+ QLayoutItem* oldItem = parentLayout->replaceWidget(old, neu);
+ if (oldItem)
+ {
+ delete oldItem;
+ delete old;
+ old = nullptr;
+ }
+ }
+
+ template <class WidgetT>
+ void
+ replaceWidget(WidgetT*& old, QWidget* neu, QSplitter*& parentLayout)
+ {
+ ARMARX_CHECK(old);
+ ARMARX_CHECK(neu);
+ ARMARX_CHECK(parentLayout);
+ int index = parentLayout->indexOf(old);
+ ARMARX_CHECK(index >= 0) << "Could not find widget in splitter";
+ QWidget* oldItem = parentLayout->replaceWidget(index, neu);
+ if (oldItem)
+ {
+ // deleting the widget(s) directly will segfault for some reason
+ oldItem->deleteLater();
+ old->deleteLater();
+ old = nullptr;
+ }
+ }
+
+ /**
+ * @brief Let items in `layout` be children of a splitter.
+ *
+ * Items in `layout` are moved to a new `QSplitter`, which will
+ * be the only child of `layout`.
+ * If `layout` is a Q{H,V}BoxLayout, the respective orientation
+ * will be adopted.
+ *
+ * @param The parent layout.
+ * @return The splitter item.
+ */
+ QSplitter* useSplitter(QLayout* layout);
+
+ // Source: https://stackoverflow.com/a/26538572
+ class LeadingZeroSpinBox : public QSpinBox
+ {
+ using QSpinBox::QSpinBox;
+
+ public:
+ LeadingZeroSpinBox(int numDigits, int base);
+
+ QString textFromValue(int value) const override;
+
+ private:
+ int numDigits;
+ int base;
+ };
+} // namespace armarx::gui
diff --git a/source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.cpp b/source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5950600afad2f71a04b0997885d986a23d82d824
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.cpp
@@ -0,0 +1 @@
+#include "MemoryCommunicatorBase.h"
diff --git a/source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.h b/source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.h
new file mode 100644
index 0000000000000000000000000000000000000000..adefacd9358f9982555cbc860dc0a96a3f58c77f
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.h
@@ -0,0 +1,27 @@
+#ifndef MEMORYCOMMUNICATOR_H
+#define MEMORYCOMMUNICATOR_H
+
+#include <memory>
+
+#include "SkillManagerWrapper.h"
+
+namespace armarx::skills::gui
+{
+ /*
+ * This is a convenience base class to prevent repeatedly putting the SkillManagerWrapper in
+ * every widget.
+ */
+ class MemoryCommunicatorBase
+ {
+ protected:
+ // We don't want to instantiate the base class
+ MemoryCommunicatorBase(std::shared_ptr<SkillManagerWrapper> _memory) : memory(_memory)
+ {
+ }
+
+ // The interface of the memory, used by the skill memory gui
+ std::shared_ptr<SkillManagerWrapper> memory;
+ };
+} // namespace armarx::skills::gui
+
+#endif // MEMORYCOMMUNICATOR_H
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..92277c0eba7e1277a658e8ed685156d70bd100bc
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -0,0 +1,312 @@
+#include "SkillManagerWrapper.h"
+
+#include <mutex>
+
+#include "RobotAPI/libraries/skills/core/SkillExecutionRequest.h"
+
+namespace armarx::skills::gui
+{
+ using StatusMap = std::map<skills::SkillExecutionID, skills::SkillStatusUpdate>;
+ using SkillMap =
+ std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>>;
+
+ const StatusMap
+ SkillManagerWrapper::fetchExecutions()
+ {
+ if (!memory)
+ {
+ // check if null
+ return {};
+ }
+
+ try
+ {
+ std::scoped_lock l(mutex_memory);
+
+ // we return this map
+ StatusMap statusMap;
+
+ auto currentManagerStatuses = memory->getSkillExecutionStatuses();
+
+ // iterate over raw data and convert to common types
+ for (const auto& [k, v] : currentManagerStatuses)
+ {
+ auto executionId = skills::SkillExecutionID::FromIce(k);
+ auto statusUpdate = skills::SkillStatusUpdate::FromIce(v);
+
+ // update maps
+ statusMap[executionId] = statusUpdate;
+ }
+ return statusMap;
+ }
+ catch (Ice::Exception const& e)
+ {
+ ARMARX_WARNING
+ << "Unhandled Ice exception encountered while updating executions. Exception was: "
+ << e;
+ emit connectionUpdate("Could not fetch executions", e.what());
+ return {};
+ }
+ catch (...)
+ {
+ ARMARX_WARNING << "Unknown exception encountered while updating executions.";
+ return {};
+ }
+ }
+
+ void
+ SkillManagerWrapper::filterSkillUpdate(
+ std::map<skills::manager::dto::SkillID, skills::manager::dto::SkillDescription>& update)
+ {
+ // empty search => do not filter
+ if (this->currentSkillSearch.empty())
+ {
+ return;
+ }
+
+ // TODO: whitespace to wildcard
+
+ std::string key = simox::alg::to_lower(this->currentSkillSearch);
+
+ for (auto it = update.begin(); it != update.end();)
+ {
+ if (simox::alg::to_lower(skills::SkillID::FromIce(it->first).skillName).find(key))
+ {
+ it = update.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
+ }
+ }
+
+ const SkillMap
+ SkillManagerWrapper::fetchSkills()
+ {
+ if (!memory)
+ {
+ return {};
+ }
+
+ try
+ {
+ std::scoped_lock l(mutex_memory);
+
+ SkillMap skills;
+
+ auto managerSkills = memory->getSkillDescriptions();
+
+ this->filterSkillUpdate(managerSkills);
+
+
+ for (const auto& [sid, desc] : managerSkills)
+ {
+ auto description = skills::SkillDescription::FromIce(desc);
+ auto skillId = skills::SkillID::FromIce(sid);
+ auto providerId = skillId.providerId.value_or(
+ skills::ProviderID{.providerName = "UNKNOWN PROVIDER NAME"});
+
+ ARMARX_CHECK(skillId.isFullySpecified());
+
+ auto& providedSkillsMap = skills[providerId]; // create new if not existing
+ providedSkillsMap.insert({skillId, description});
+ }
+
+ return skills;
+ }
+ catch (Ice::Exception const& e)
+ {
+ ARMARX_WARNING
+ << "Unhandled Ice exception encountered while updating skills. Exception was: "
+ << e;
+ emit connectionUpdate("Could not fetch skills", e.what());
+ return {};
+ }
+ catch (...)
+ {
+ ARMARX_WARNING << "Unknown exception encountered while updating skills.";
+ return {};
+ }
+ }
+
+ void
+ SkillManagerWrapper::connectMemory(
+ skills::manager::dti::SkillManagerInterfacePrx const& updatedMemory)
+ {
+ std::scoped_lock l(mutex_memory);
+ this->memory = updatedMemory;
+ }
+
+ void
+ SkillManagerWrapper::disconnectMemory()
+ {
+ // clear memory
+
+ std::scoped_lock l(mutex_memory);
+ this->memory = nullptr;
+ }
+
+ void
+ SkillManagerWrapper::acceptSearchRequest(std::string const& search)
+ {
+ this->currentSkillSearch = search;
+ }
+
+ void
+ SkillManagerWrapper::stopAllExecutions()
+ {
+ ARMARX_IMPORTANT << "Stopping all running executions.";
+ const auto& executions = this->fetchExecutions();
+ for (auto& [executionId, status] : executions)
+ {
+ // select all running executions...
+ if (!status.hasBeenTerminated())
+ {
+ // ... and kill them.
+ this->stopExecution(executionId, 3);
+ }
+ }
+ }
+
+ const std::optional<ProviderID>
+ SkillManagerWrapper::findFirstProvider(SkillMap const& map, SkillID const& skillId)
+ {
+ // check if id already contains a provider. If so, this function should not have been called!
+ if (skillId.isProviderSpecified())
+ {
+ ARMARX_WARNING << "The memory snapshot was searched for any provider, when a provider "
+ "was specified.";
+ // we continue, but this might result in unexpected behaviour...
+ }
+
+ for (auto& [prov, skillMap] : map)
+ {
+ for (auto& [skill, desc] : skillMap)
+ {
+ if (skill == skillId)
+ {
+ return prov;
+ }
+ }
+ }
+ return std::nullopt;
+ }
+
+ void
+ SkillManagerWrapper::stopExecution(skills::SkillExecutionID const& executionId,
+ const unsigned int max_retries)
+ {
+ // memory???
+ if (!memory)
+ {
+ return;
+ }
+
+ unsigned int retries = max_retries;
+ bool retry = false;
+
+ do
+ {
+ try
+ {
+ ARMARX_INFO << "Aborting skill '" << executionId.skillId.skillName << "'...";
+ std::scoped_lock l(mutex_memory);
+ this->memory->abortSkillAsync(executionId.toManagerIce());
+ }
+ catch (Ice::Exception const& e)
+ {
+ retry = true;
+ ARMARX_ERROR << "Unhandeled Ice exception while aborting skill '"
+ << executionId.skillId.skillName << "'.";
+ emit connectionUpdate("Could not abort skill " + executionId.skillId.skillName,
+ e.what());
+ }
+ catch (...)
+ {
+ retry = true;
+ ARMARX_ERROR << "Unhandled error while aborting skill '"
+ << executionId.skillId.skillName << "'.";
+ }
+
+ if (retry)
+ {
+ retries -= 1;
+
+ if (retries > 0)
+ {
+ ARMARX_WARNING << "There where errors aborting skills. Retrying...";
+ }
+ else
+ {
+ ARMARX_ERROR << "Couldn't abort all skills after " << max_retries
+ << " tries. Giving up.";
+ retry = false;
+ }
+ }
+ } while (retry);
+ }
+
+ void
+ SkillManagerWrapper::startExecutionWithParams(skills::SkillID& skillId,
+ aron::data::DictPtr const params)
+ {
+ // Memory???
+ if (!memory)
+ {
+ return;
+ }
+
+ auto providerId = skillId.providerId;
+ if (!providerId.has_value())
+ {
+ ARMARX_IMPORTANT << "The skill: '" << skillId.skillName
+ << "' has been requested to be executed, but no provider was "
+ "given. Aborting...";
+ return;
+ }
+
+ std::map<skills::SkillID, skills::SkillDescription> skillDescriptions;
+ {
+ skillDescriptions = this->fetchSkills().at(providerId.value());
+ }
+
+ if (skillDescriptions.find(skillId) == skillDescriptions.end())
+ {
+ ARMARX_IMPORTANT << "The Skill: '" << skillId.skillName
+ << "' has been requested to be executed, but no skill description was "
+ "found. Aborting...";
+ return;
+ }
+
+ char hostname[HOST_NAME_MAX];
+ gethostname(hostname, HOST_NAME_MAX);
+
+ skills::SkillExecutionRequest req{
+ .skillId = skillId,
+ .executorName = "Skills.Manager GUI (hostname: " + std::string(hostname) + ")",
+ .parameters = params};
+
+ ARMARX_CHECK(skillId.isFullySpecified()); // sanity check
+ ARMARX_IMPORTANT << "Executing skill from GUI: " << skillId << ".";
+
+ try
+ {
+ std::scoped_lock l(mutex_memory);
+ memory->executeSkillAsync(req.toManagerIce());
+ }
+ catch (Ice::Exception const& e)
+ {
+ ARMARX_ERROR << "Unhandeled Ice exception while executing skill '" << skillId.skillName
+ << "'. Aborting...";
+ emit connectionUpdate("Execution failed of skill " + skillId.skillName, e.what());
+ }
+ catch (...)
+ {
+ ARMARX_ERROR << "Unhandled error while executing skill '" << skillId.skillName
+ << "'. Aborting...";
+ }
+ }
+
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
new file mode 100644
index 0000000000000000000000000000000000000000..22eec04e20bfd499aa444eae74136be6d4c5490f
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
@@ -0,0 +1,103 @@
+#pragma once
+
+#include <mutex>
+
+#include <QObject>
+
+#include "RobotAPI/libraries/skills/core/ProviderID.h"
+#include "RobotAPI/libraries/skills/core/SkillDescription.h"
+#include "RobotAPI/libraries/skills/core/SkillExecutionID.h"
+#include "RobotAPI/libraries/skills/core/SkillStatusUpdate.h"
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
+namespace armarx::skills::gui
+{
+ using StatusMap = std::map<skills::SkillExecutionID, skills::SkillStatusUpdate>;
+ using SkillMap =
+ std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>>;
+
+ class SkillManagerWrapper : public QObject
+ {
+ Q_OBJECT
+ public:
+ SkillManagerWrapper(skills::manager::dti::SkillManagerInterfacePrx& _memory,
+ QObject* parent = nullptr) :
+ QObject(parent), memory(_memory)
+ {
+ }
+
+ // We can instantiate the proxy without memory, if it's not connected yet.
+ SkillManagerWrapper(QObject* parent = nullptr) : QObject(parent)
+ {
+ }
+
+ /**
+ * @brief Updates the memory pointer. This should be called whenever the GUI connects/reconnects.
+ */
+ void connectMemory(skills::manager::dti::SkillManagerInterfacePrx const& updatedMemory);
+
+ // Basic functions to work with. These will produce Ice calls!
+ /**
+ * @brief Attempts to start an execution with given parameters. If an Ice exception is encountered, a message will be logged and the method will abort.
+ * @param skillId The skill to execute.
+ * @param params The parameters to execute with.
+ */
+ void startExecutionWithParams(skills::SkillID& skillId, aron::data::DictPtr const params);
+
+ /**
+ * @brief Attempts to stop an execution. If this doesn't succeed, it will retry.
+ * @param executionId The ExecutionID to abort.
+ * @param max_retries The amount of times to retry, if aborting fails.
+ */
+ void stopExecution(skills::SkillExecutionID const& executionId,
+ const unsigned int max_retries = 0);
+
+ /**
+ * @brief Fetches and returns the latest skills update from memory.
+ * @return The map representing all skills in memory. Empty, if error occurred.
+ */
+ const SkillMap fetchSkills();
+
+ /**
+ * @brief Fetches and returns the latest status update from memory.
+ * @return The map containing status updates for all execution ids. Empty, if error occurred.
+ */
+ const StatusMap fetchExecutions();
+
+ static const std::optional<skills::ProviderID> findFirstProvider(SkillMap const& map,
+ SkillID const& skillId);
+
+ signals:
+ void connectionUpdate(std::string const& message, std::string const& error);
+
+ public slots:
+ /**
+ * @brief Disconnects the interface from memory.
+ */
+ void disconnectMemory();
+
+ /**
+ * @brief Applies the search word to the update filter.
+ * @param search The search word.
+ */
+ void acceptSearchRequest(std::string const& search);
+
+ /**
+ * @brief Stops all available (and running) executions.
+ */
+ void stopAllExecutions();
+
+ private:
+ mutable std::mutex mutex_memory;
+
+ armarx::skills::manager::dti::SkillManagerInterfacePrx memory;
+ std::string currentSkillSearch = "";
+
+ /**
+ * @brief Modifies the given map to match the search.
+ * @param update The map to modify.
+ */
+ void filterSkillUpdate(std::map<skills::manager::dto::SkillID,
+ skills::manager::dto::SkillDescription>& update);
+ };
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..20295978a7ea67e75136277af2a1e617e5a9aae5
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.cpp
@@ -0,0 +1,43 @@
+#include "ProfileMenuWidget.h"
+
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QVBoxLayout>
+
+namespace armarx::skills::gui
+{
+
+ void
+ ProfileMenuWidget::setupUi()
+ {
+ setArgsFromClipboard = new QPushButton();
+ copyArgsToClipboard = new QPushButton();
+ resetArgsToProfile = new QPushButton();
+ profileSelector = new QComboBox();
+
+ // layouting
+ QVBoxLayout* mainLayout = new QVBoxLayout();
+ QHBoxLayout* topLayout = new QHBoxLayout();
+
+ mainLayout->addLayout(topLayout);
+ mainLayout->addWidget(profileSelector);
+
+ topLayout->addWidget(setArgsFromClipboard);
+ topLayout->addWidget(copyArgsToClipboard);
+ // this is not good. We should probably use a QSpacerItem here...
+ topLayout->addWidget(new QLabel());
+ topLayout->addWidget(resetArgsToProfile);
+
+ this->setLayout(mainLayout);
+
+ // Text
+ setArgsFromClipboard->setText(QString::fromStdString(SET_ARGS_BUTTON_TEXT));
+ copyArgsToClipboard->setText(QString::fromStdString(COPY_ARGS_BUTTON_TEXT));
+ resetArgsToProfile->setText(QString::fromStdString(RESET_ARGS_BUTTON_TEXT));
+ profileSelector->addItem(QString::fromStdString(DEFAULT_PROFILE_TEXT));
+ profileSelector->setDisabled(true);
+ profileSelector->setToolTip(QString::fromStdString(PROFILE_NOT_IMPLEMENTED));
+ }
+
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..32dc1f278649060b97d58f680f2a8c74d5e1f75a
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h
@@ -0,0 +1,40 @@
+#ifndef PROFILEMENUWIDGET_H
+#define PROFILEMENUWIDGET_H
+
+#include <QComboBox>
+#include <QPushButton>
+#include <QWidget>
+
+#include "../memory/MemoryCommunicatorBase.h"
+
+namespace armarx::skills::gui
+{
+ class ProfileMenuWidget : public QWidget, public MemoryCommunicatorBase
+ {
+ Q_OBJECT
+ public:
+ static const constexpr char* SET_ARGS_BUTTON_TEXT = "Set Args from Clipboard";
+ static const constexpr char* COPY_ARGS_BUTTON_TEXT = "Copy Args to Clipboard";
+ static const constexpr char* RESET_ARGS_BUTTON_TEXT = "Reset Args to Profile";
+ static const constexpr char* DEFAULT_PROFILE_TEXT = "<No Profile selected. Using root>";
+ static const constexpr char* PROFILE_NOT_IMPLEMENTED =
+ "Profiles other than the root profile are currently not supported.";
+
+ // contents are public, as this class is just a convenience wrapper
+ QPushButton* setArgsFromClipboard = nullptr;
+ QPushButton* copyArgsToClipboard = nullptr;
+ QPushButton* resetArgsToProfile = nullptr;
+ QComboBox* profileSelector = nullptr;
+
+ ProfileMenuWidget(std::shared_ptr<SkillManagerWrapper> _memory, QWidget* parent = nullptr) :
+ QWidget(parent), MemoryCommunicatorBase(_memory)
+ {
+ setupUi();
+ }
+
+ private:
+ void setupUi();
+ };
+} // namespace armarx::skills::gui
+
+#endif // PROFILEMENUWIDGET_H
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b54d55c8a21b3ef8f1eb912e52473a9bcfbd230f
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
@@ -0,0 +1,148 @@
+#include "SkillDetailsGroupBox.h"
+
+namespace armarx::skills::gui
+{
+ void
+ SkillDetailGroupBox::updateSkillDetails(SkillID& _skillId)
+ {
+ if (_skillId.skillName == SkillID::UNKNOWN)
+ return;
+
+ auto const& skills = memory->fetchSkills();
+
+ std::optional<skills::ProviderID> provider_opt;
+ // check skillId
+ if (_skillId.isProviderSpecified())
+ {
+ provider_opt = _skillId.providerId;
+ }
+ else
+ {
+ // find first provider to provide the skill
+ provider_opt = SkillManagerWrapper::findFirstProvider(skills, _skillId);
+ }
+
+ if (provider_opt == std::nullopt)
+ {
+ // skill was not found in snapshot. Abort...
+ return;
+ }
+
+ // construct skill id (with guaranteed valid provider)
+ skills::SkillID skillId = {provider_opt, _skillId.skillName};
+
+
+ // Maybe the search doesn't include the shown skill?
+ if (skills.count(skillId.providerId.value()) == 0 ||
+ skills.at(skillId.providerId.value()).count(skillId) == 0)
+ {
+ // reset details widget
+ skillDetailsTreeWidget->resetWidget();
+ return;
+ }
+
+
+ // get skill description
+ skills::SkillDescription descr = skills.at(skillId.providerId.value()).at(skillId);
+
+ // ------------ update widgets ------------
+
+ setDisabled(true);
+
+ // setup groupBox
+ this->setTitle(QString::fromStdString(skillId.toString()));
+ setDisabled(false);
+
+ // setup table view
+ skillDetailsTreeWidget->updateContents(skillId, descr);
+
+ // description widget
+ skillDescriptionWidget->setSkillDescription(descr);
+
+
+ // add new profiles for this skill
+ // TODO: Where stored?
+ }
+
+ void
+ SkillDetailGroupBox::connectGui(std::string observerName)
+ {
+ skillDetailsTreeWidget->setEditTriggers(QAbstractItemView::EditTrigger::NoEditTriggers);
+ }
+
+ void
+ SkillDetailGroupBox::handleExecutionRequest()
+ {
+ auto data = skillDetailsTreeWidget->getConfigAsAron();
+ auto skillId = skillDetailsTreeWidget->getShownId();
+ if (skillId.has_value())
+ {
+ memory->startExecutionWithParams(skillId.value(), data);
+ }
+ }
+
+ void
+ SkillDetailGroupBox::resizeEvent(QResizeEvent* event)
+ {
+ QGroupBox::resizeEvent(event);
+ skillDetailsTreeWidget->resizeContents();
+ }
+
+ void
+ SkillDetailGroupBox::setupUi()
+ {
+ this->setTitle(QString::fromStdString(GROUP_BOX_TITLE));
+
+ this->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+
+ // construct all sub widgets
+ this->executeSkillButton = new QPushButton();
+ this->profileMenuWidget = new ProfileMenuWidget(this->memory, this);
+ this->skillDetailsTreeWidget = new SkillDetailsTreeWidget(this->memory, this);
+ this->skillDescriptionWidget = new SkillDescriptionWidget(this);
+ this->layout = new QVBoxLayout();
+
+ // Layouting
+ this->setLayout(layout);
+
+ layout->addWidget(this->profileMenuWidget);
+ layout->addWidget(this->skillDescriptionWidget);
+ layout->addWidget(this->skillDetailsTreeWidget);
+ layout->addWidget(this->executeSkillButton);
+
+ // Text
+ this->executeSkillButton->setText(
+ QString::fromStdString(SkillDetailGroupBox::EXECUTE_SKILL_BUTTON_TEXT));
+
+ connectSignals();
+ }
+
+ void
+ SkillDetailGroupBox::connectSignals()
+ {
+ connect(executeSkillButton,
+ &QPushButton::clicked,
+ this,
+ &SkillDetailGroupBox::handleExecutionRequest);
+ connect(this,
+ &SkillDetailGroupBox::disconnectGui,
+ skillDetailsTreeWidget,
+ &SkillDetailsTreeWidget::disconnectGui);
+
+ // profile buttons
+ connect(profileMenuWidget->copyArgsToClipboard,
+ &QPushButton::clicked,
+ skillDetailsTreeWidget,
+ &SkillDetailsTreeWidget::copyCurrentConfig);
+ connect(profileMenuWidget->setArgsFromClipboard,
+ &QPushButton::clicked,
+ skillDetailsTreeWidget,
+ &SkillDetailsTreeWidget::pasteCurrentConfig);
+ connect(profileMenuWidget->resetArgsToProfile,
+ &QPushButton::clicked,
+ skillDetailsTreeWidget,
+ &SkillDetailsTreeWidget::resetCurrentConfig);
+ }
+
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
new file mode 100644
index 0000000000000000000000000000000000000000..918fa2ec3241ae512645c878de16d53042fb0005
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
@@ -0,0 +1,66 @@
+#ifndef SKILLDETAILGROUPBOX_H
+#define SKILLDETAILGROUPBOX_H
+
+#include <QGroupBox>
+#include <QPushButton>
+#include <QVBoxLayout>
+
+#include "RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.h"
+#include "RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/SkillDescriptionWidget.h"
+
+#include "../aron_tree_widget/widgets/SkillDescriptionWidget.h"
+#include "../memory/MemoryCommunicatorBase.h"
+#include "ProfileMenuWidget.h"
+#include "SkillDetailsTreeWidget.h"
+
+namespace armarx::skills::gui
+{
+ class SkillDetailGroupBox : public QGroupBox, public MemoryCommunicatorBase
+ {
+ Q_OBJECT
+ public:
+ static const constexpr char* EXECUTE_SKILL_BUTTON_TEXT = "Request Execution";
+ static const constexpr char* GROUP_BOX_TITLE = "Skill Description";
+
+ SkillDetailGroupBox(std::shared_ptr<SkillManagerWrapper> _memory,
+ QWidget* parent = nullptr) :
+ QGroupBox(parent), MemoryCommunicatorBase(_memory)
+ {
+ setupUi();
+ }
+
+ signals:
+ void disconnectGui();
+
+ /**
+ * @brief Notify widgets to update themselves
+ */
+ void updateGui();
+
+ public slots:
+ /**
+ * @brief Update subwidgets of an updated skill selection.
+ * @param skillId
+ */
+ void updateSkillDetails(skills::SkillID& skillId);
+
+ void connectGui(std::string observerName);
+
+ private slots:
+ void handleExecutionRequest();
+ void resizeEvent(QResizeEvent* event) override;
+
+ private:
+ void setupUi();
+ void connectSignals();
+
+ QVBoxLayout* layout = nullptr;
+ QPushButton* executeSkillButton = nullptr;
+ SkillDetailsTreeWidget* skillDetailsTreeWidget = nullptr;
+ SkillDescriptionWidget* skillDescriptionWidget = nullptr;
+
+ ProfileMenuWidget* profileMenuWidget = nullptr;
+ };
+} // namespace armarx::skills::gui
+
+#endif // SKILLDETAILGROUPBOX_H
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0287c5468f3a6b1f27e182e88bdbf589f4736af5
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
@@ -0,0 +1,219 @@
+#include "SkillDetailsTreeWidget.h"
+
+#include <QApplication>
+#include <QClipboard>
+#include <QHeaderView>
+#include <QResizeEvent>
+#include <QVBoxLayout>
+
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+
+namespace armarx::skills::gui
+{
+ SkillDetailsTreeWidget::SkillDetailsTreeWidget(std::shared_ptr<SkillManagerWrapper> _memory,
+ QWidget* parent) :
+ QTreeWidget(parent), MemoryCommunicatorBase(_memory)
+ {
+ setupUi();
+ }
+
+ std::optional<SkillID>
+ SkillDetailsTreeWidget::getShownId()
+ {
+ if (shownSkill.has_value())
+ {
+ return shownSkill.value().skillId;
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+ void
+ SkillDetailsTreeWidget::updateContents(const SkillID& skillId, const SkillDescription& descr)
+ {
+ // dont touch the widget if the skill id didn't change
+ // note: this is only relevant when periodic updates are enabled
+ /*
+ if (shownSkill.has_value() && skillId == shownSkill.value().skillId)
+ return;
+ */
+
+ // check the parameters: did they change?
+ if (shownSkill.has_value())
+ {
+ auto remDesc = shownSkill.value().descr;
+ if (descr.rootProfileDefaults != remDesc.rootProfileDefaults)
+ {
+ // TODO: ask the user if they want to reset to defaults
+ // for now, we just overwrite without asking... (and do nothing)
+ }
+ // other cases: if the parameter types change, we *have* to reset; else the skill
+ // cannot be started with the parameters.
+ // same goes for the result type.
+ }
+
+ this->resetWidget();
+
+ auto aron_args = descr.parametersType;
+ auto default_args_of_profile = descr.rootProfileDefaults;
+ // ideally we want to use the invisible root item, but aron expects a parent...
+ QTreeWidgetItem* aronTreeWidgetItem = new QTreeWidgetItem(this);
+ aronTreeWidgetItem->setText(0, QString::fromStdString("Parameters"));
+
+ aronTreeWidgetController = std::make_shared<AronTreeWidgetController>(
+ this, aronTreeWidgetItem, aron_args, default_args_of_profile);
+
+
+ this->expandAll();
+ resizeContents();
+
+ // update the ShownSkill
+ shownSkill = {skillId, descr};
+ }
+
+ void
+ SkillDetailsTreeWidget::disconnectGui()
+ {
+ this->aronTreeWidgetController = nullptr;
+ }
+
+ void
+ SkillDetailsTreeWidget::updateGui()
+ {
+ if (!shownSkill.has_value())
+ return;
+ skills::SkillID sid = shownSkill.value().skillId;
+
+ // we assume the id to be fully specified, as it is checked while constructing
+ // sanity check
+ ARMARX_CHECK(sid.isFullySpecified());
+
+ // maybe the search is empty?
+ auto skillsMap = memory->fetchSkills();
+ if (skillsMap.count(sid.providerId.value()) == 0 ||
+ skillsMap.at(sid.providerId.value()).count(sid) == 0)
+ {
+ this->resetWidget();
+ return;
+ }
+
+ auto descr = memory->fetchSkills().at(sid.providerId.value()).at(sid);
+
+ this->updateContents(sid, descr);
+ }
+
+ void
+ SkillDetailsTreeWidget::setupUi()
+ {
+ this->setColumnCount(3);
+
+ this->setContextMenuPolicy(Qt::CustomContextMenu);
+ this->setEditTriggers(QAbstractItemView::DoubleClicked | QAbstractItemView::EditKeyPressed);
+
+ QTreeWidgetItem* qtreewidgetitem2 = this->headerItem();
+ qtreewidgetitem2->setText(3, "defaultValue (hidden in GUI)");
+ qtreewidgetitem2->setText(2, "Type");
+ qtreewidgetitem2->setText(1, "Value");
+ qtreewidgetitem2->setText(0, "Key");
+
+ setColumnHidden(3, true);
+ }
+
+ /**
+ * Problem: columns 0 and 1 have arbitrary size; so we want to limit their size, to make sure
+ * everything is visible without scrolling. Column 2 is limited by design, as it only contains
+ * type information.
+ */
+ void
+ SkillDetailsTreeWidget::resizeContents()
+ {
+ // take remainder of width (which we want to assign to dynamic columns)
+ const int widthRemainder = this->width() - typeWidth;
+
+ // we want to assign half of it to each dynamic column
+ const int dynamicColumnSize = widthRemainder / 2;
+
+ // set width...
+
+ this->setColumnWidth(0, dynamicColumnSize);
+
+ this->setColumnWidth(1, dynamicColumnSize);
+ }
+
+ aron::data::DictPtr
+ SkillDetailsTreeWidget::getConfigAsAron()
+ {
+ // create argument aron (if there is an accepted type set)
+ if (aronTreeWidgetController)
+ {
+ return aronTreeWidgetController->convertToAron();
+ }
+ return nullptr;
+ }
+
+ void
+ SkillDetailsTreeWidget::copyCurrentConfig()
+ {
+ auto data = getConfigAsAron();
+ if (!data)
+ {
+ return;
+ }
+
+ auto json = aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(data);
+ QClipboard* clipboard = QApplication::clipboard();
+ clipboard->setText(QString::fromStdString(json.dump(2)));
+ }
+
+ void
+ SkillDetailsTreeWidget::pasteCurrentConfig()
+ {
+ QClipboard* clipboard = QApplication::clipboard();
+ std::string s = clipboard->text().toStdString();
+ nlohmann::json json = nlohmann::json::parse(s);
+ auto data =
+ aron::data::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(json);
+
+ if (!aronTreeWidgetController)
+ {
+ return;
+ }
+
+ aronTreeWidgetController->setFromAron(data);
+ }
+
+ void
+ SkillDetailsTreeWidget::resetCurrentConfig()
+ {
+ // this will always reset the args to the root profile
+ // good while there is only the root, not good when profiles are properly implemented
+
+
+ if (!shownSkill.has_value())
+ {
+ return;
+ }
+ skills::SkillID& skillId = shownSkill.value().skillId;
+ auto& skills = memory->fetchSkills();
+ ARMARX_CHECK(skillId.isProviderSpecified());
+
+ // find description
+ // did the provider die?
+ if (skills.count(skillId.providerId.value()) == 0 ||
+ skills.at(skillId.providerId.value()).count(skillId) == 0)
+ return;
+ skills::SkillDescription descr = skills.at(skillId.providerId.value()).at(skillId);
+ this->updateContents(skillId, descr);
+ }
+
+ void
+ SkillDetailsTreeWidget::resetWidget()
+ {
+ this->clear();
+ aronTreeWidgetController = nullptr;
+ }
+
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..1ac3bcdd1e59c8d6b842943ab09f7da174273273
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h
@@ -0,0 +1,52 @@
+#ifndef SKILLDETAILSTREEWIDGET_H
+#define SKILLDETAILSTREEWIDGET_H
+
+#include <QTreeWidget>
+
+#include "RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.h"
+
+#include "../memory/MemoryCommunicatorBase.h"
+
+namespace armarx::skills::gui
+{
+ class SkillDetailsTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
+ {
+ Q_OBJECT
+ public:
+ SkillDetailsTreeWidget(std::shared_ptr<SkillManagerWrapper> _memory,
+ QWidget* parent = nullptr);
+
+ std::optional<skills::SkillID> getShownId();
+ void updateContents(skills::SkillID const& skillId, skills::SkillDescription const& descr);
+
+ aron::data::DictPtr getConfigAsAron();
+ void copyCurrentConfig();
+ void pasteCurrentConfig();
+ void resetWidget();
+
+ public slots:
+ // this will reset the args to the profile defaults
+ void resetCurrentConfig();
+ void disconnectGui();
+ void updateGui();
+ void resizeContents();
+
+ private:
+ struct ShownSkill
+ {
+ skills::SkillID skillId;
+ skills::SkillDescription descr;
+ };
+
+ std::optional<ShownSkill> shownSkill;
+
+ // The size, which we assume the last column to be.
+ // If the last column has too little space, increase this value.
+ const int typeWidth = 200;
+
+ AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;
+ void setupUi();
+ };
+} // namespace armarx::skills::gui
+
+#endif // SKILLDETAILSTREEWIDGET_H
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..91fb11c021677e96890a001a0538fc6cf98f4aa0
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
@@ -0,0 +1,74 @@
+#include "SkillGroupBox.h"
+
+#include <QHBoxLayout>
+#include <QVBoxLayout>
+
+namespace armarx::skills::gui
+{
+ void
+ SkillGroupBox::handleSearch()
+ {
+ std::string search = this->searchBar->text().toStdString();
+ emit searchRequest(search);
+ }
+
+ void
+ SkillGroupBox::connectGui(std::string observerName)
+ {
+ setTitle(QString::fromStdString(observerName));
+ }
+
+ void
+ SkillGroupBox::setupUi()
+ {
+ this->setTitle(QString::fromStdString(GROUP_BOX_TITLE));
+
+ this->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+
+
+ // construct widgets
+ this->searchBar = new QLineEdit();
+ this->acceptSearchButton = new QPushButton();
+ this->skillTreeWidget = new SkillTreeWidget(memory, this);
+
+ // layouting
+ QHBoxLayout* searchLayout = new QHBoxLayout();
+ QVBoxLayout* layout = new QVBoxLayout();
+ this->setLayout(layout);
+ layout->addLayout(searchLayout);
+ layout->addWidget(this->skillTreeWidget);
+
+ searchLayout->addWidget(this->searchBar);
+ searchLayout->addWidget(this->acceptSearchButton);
+
+ // text
+ this->searchBar->setPlaceholderText(QString::fromStdString("Search ..."));
+ this->acceptSearchButton->setText(QString::fromStdString("Search"));
+
+ connectSignals();
+ }
+
+ void
+ SkillGroupBox::connectSignals()
+ {
+ connect(
+ this->acceptSearchButton, &QPushButton::clicked, this, &SkillGroupBox::handleSearch);
+ connect(this->searchBar, &QLineEdit::editingFinished, this, &SkillGroupBox::handleSearch);
+ connect(this,
+ &SkillGroupBox::searchRequest,
+ this->memory.get(),
+ &SkillManagerWrapper::acceptSearchRequest);
+
+ connect(skillTreeWidget,
+ &SkillTreeWidget::updateSkillDetails,
+ this,
+ &SkillGroupBox::updateSkillDetails);
+
+ // disconnect
+ connect(
+ this, &SkillGroupBox::disconnectGui, skillTreeWidget, &SkillTreeWidget::disconnectGui);
+
+ // update cascade
+ connect(this, &SkillGroupBox::updateGui, skillTreeWidget, &SkillTreeWidget::updateSkills);
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
new file mode 100644
index 0000000000000000000000000000000000000000..2ac6044ba72807ef300ae48fa19fe53d9230d1f3
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
@@ -0,0 +1,62 @@
+#ifndef SKILLGROUPBOX_H
+#define SKILLGROUPBOX_H
+
+#include <QGroupBox>
+#include <QLineEdit>
+#include <QPushButton>
+
+#include "../memory/MemoryCommunicatorBase.h"
+#include "SkillTreeWidget.h"
+
+namespace armarx::skills::gui
+{
+ class SkillGroupBox : public QGroupBox, public MemoryCommunicatorBase
+ {
+ Q_OBJECT
+ public:
+ static const constexpr char* GROUP_BOX_TITLE = "Skills";
+
+ SkillGroupBox(std::shared_ptr<SkillManagerWrapper> _memory, QWidget* parent = nullptr) :
+ QGroupBox(parent), MemoryCommunicatorBase(_memory)
+ {
+ setupUi();
+ }
+
+ signals:
+ /**
+ * @brief Output signal to controller.
+ */
+ void searchRequest(std::string search);
+
+ /**
+ * @brief Notify the skill description widget of an updated selection.
+ * @param skillId
+ */
+ void updateSkillDetails(skills::SkillID& skillId);
+
+ void disconnectGui();
+
+ /**
+ * @brief Notify widgets to update themselves
+ */
+ void updateGui();
+
+ public slots:
+ void connectGui(std::string observerName);
+
+ private slots:
+ /**
+ * Takes string from line edit and emits the search request.
+ */
+ void handleSearch();
+
+ private:
+ void setupUi();
+ void connectSignals();
+ QLineEdit* searchBar = nullptr;
+ QPushButton* acceptSearchButton = nullptr;
+ SkillTreeWidget* skillTreeWidget = nullptr;
+ };
+} // namespace armarx::skills::gui
+
+#endif // SKILLGROUPBOX_H
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9909cc1675edf8ae1ae94a33ae878bde21955498
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
@@ -0,0 +1,152 @@
+#include "SkillTreeWidget.h"
+
+#include "RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h"
+
+namespace armarx::skills::gui
+{
+ void
+ SkillTreeWidget::skillSelectionChanged(QTreeWidgetItem* current, int)
+ {
+ if (!current)
+ {
+ // gui has died?
+ return;
+ }
+
+ auto c = dynamic_cast<SkillTreeWidgetItem*>(current);
+ if (!c)
+ {
+ // we don't know what to do with the item. Abort...
+ return;
+ }
+
+ selectedSkill.skillId = c->skillId;
+ emit updateSkillDetails(selectedSkill.skillId);
+ }
+
+ void
+ SkillTreeWidget::updateSkills()
+ {
+ const auto skills = memory->fetchSkills();
+
+ // update tree view. Remove non-existing elements
+ int i = 0;
+ while (i < this->topLevelItemCount())
+ {
+ auto* providerItem = this->topLevelItem(i);
+ auto providerName = providerItem->text(0).toStdString();
+ skills::ProviderID providerId{.providerName = providerName};
+
+ if (skills.find(providerId) == skills.end())
+ {
+ providerItem = nullptr; // reset
+ auto remove = this->takeTopLevelItem(i);
+ delete remove;
+ continue;
+ }
+
+ ++i;
+
+ // sanity check
+ ARMARX_CHECK(skills.count(providerId) > 0);
+ auto& providedSkills = skills.at(providerId);
+
+ int j = 0;
+ while (j < providerItem->childCount())
+ {
+ auto* skillItem = providerItem->child(j);
+ auto skillName = skillItem->text(0).toStdString();
+
+ skills::SkillID skillId{.providerId =
+ skills::ProviderID{.providerName = providerName},
+ .skillName = skillName};
+
+ if (providedSkills.find(skillId) == providedSkills.end())
+ {
+ skillItem = nullptr;
+ auto remove = providerItem->takeChild(j);
+ delete remove;
+ continue;
+ }
+
+ ++j;
+ }
+ }
+
+ // update tree view. Add new elements
+ for (const auto& [providerId, providedSkills] : skills)
+ {
+ QTreeWidgetItem* providerItem = nullptr;
+ for (int i = 0; i < this->topLevelItemCount(); ++i)
+ {
+ auto el = this->topLevelItem(i);
+ auto providerName = el->text(0).toStdString();
+ skills::ProviderID elProviderId{.providerName = providerName};
+
+ if (providerId == elProviderId)
+ {
+ providerItem = el;
+ break;
+ }
+ }
+
+ if (!providerItem)
+ {
+ providerItem = new QTreeWidgetItem(this);
+ providerItem->setText(0, QString::fromStdString(providerId.providerName));
+ }
+
+ for (const auto& [skillId, skill] : providedSkills)
+ {
+ QTreeWidgetItem* skillItem = nullptr;
+ for (int i = 0; i < providerItem->childCount(); ++i)
+ {
+ auto el = providerItem->child(i);
+ auto skillName = el->text(0).toStdString();
+ skills::SkillID elSkillId{providerId, skillName};
+
+ if (skillId == elSkillId)
+ {
+ skillItem = el;
+ break;
+ }
+ }
+
+ if (!skillItem)
+ {
+ skillItem = new SkillTreeWidgetItem(skillId, providerItem);
+ skillItem->setText(0, QString::fromStdString(skillId.skillName));
+ }
+ }
+ }
+ }
+
+ void
+ SkillTreeWidget::disconnectGui()
+ {
+ this->clear();
+ selectedSkill = SelectedSkill();
+ }
+
+ void
+ SkillTreeWidget::setupUi()
+ {
+ this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+
+ QTreeWidgetItem* qtreewidgetitem = this->headerItem();
+
+ qtreewidgetitem->setText(0, "Skill");
+
+ connectSignals();
+ }
+
+ void
+ SkillTreeWidget::connectSignals()
+ {
+ // The selectionChanged signal does not trigger when clicking the active item
+ // => we use itemClicked
+ connect(this, &QTreeWidget::itemClicked, this, &SkillTreeWidget::skillSelectionChanged);
+ }
+
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..c076d2101f0016056f13dd4a75adc7022fa5a50a
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
@@ -0,0 +1,60 @@
+#ifndef ARMARX_SKILLS_GUI_SKILLTREEWIDGET_H
+#define ARMARX_SKILLS_GUI_SKILLTREEWIDGET_H
+
+#include <QTreeWidget>
+
+#include <RobotAPI/libraries/skills/core/SkillID.h>
+
+#include "../memory/MemoryCommunicatorBase.h"
+
+namespace armarx::skills::gui
+{
+
+ class SkillTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
+ {
+ Q_OBJECT
+ public:
+ SkillTreeWidget(std::shared_ptr<SkillManagerWrapper> _memory, QWidget* parent = nullptr) :
+ QTreeWidget(parent), MemoryCommunicatorBase(_memory)
+ {
+ setupUi();
+ }
+
+ struct SelectedSkill
+ {
+ skills::SkillID skillId;
+
+ // make default constructable
+ SelectedSkill() :
+ skillId({.providerId = std::nullopt, .skillName = skills::SkillID::UNKNOWN})
+ {
+ }
+ };
+
+ SelectedSkill& getSelectedSkill();
+
+ signals:
+ /**
+ * @brief Notify the skill description widget of an updated selection.
+ * @param skillId
+ */
+ void updateSkillDetails(skills::SkillID& skillId);
+
+ public slots:
+ void disconnectGui();
+ void updateSkills();
+
+ private slots:
+ void skillSelectionChanged(QTreeWidgetItem* current, int column);
+
+
+ private:
+ SelectedSkill selectedSkill;
+
+ void setupUi();
+ void connectSignals();
+ };
+
+} // namespace armarx::skills::gui
+
+#endif // ARMARX_SKILLS_GUI_SKILLTREEWIDGET_H
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e4845c11d5bc6264a0f4200d412eb6eb28198b19
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp
@@ -0,0 +1,6 @@
+#include "SkillTreeWidgetItem.h"
+
+namespace armarx::skills::gui
+{
+
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h
new file mode 100644
index 0000000000000000000000000000000000000000..2a2ae418e4f546027753a4faf62daf7693ee0f7a
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <QTreeWidgetItem>
+#include "RobotAPI/libraries/skills/core/SkillID.h"
+
+
+
+namespace armarx::skills::gui
+{
+ class SkillTreeWidgetItem : public QTreeWidgetItem
+ {
+ public:
+ SkillTreeWidgetItem(const skills::SkillID& desc, QTreeWidgetItem* parent) :
+ QTreeWidgetItem(parent), skillId(desc)
+ {
+ }
+
+ SkillTreeWidgetItem(const skills::SkillID& desc, QTreeWidget* parent) :
+ QTreeWidgetItem(parent), skillId(desc)
+ {
+ }
+
+ skills::SkillID skillId;
+ };
+}
+