From 9d4d2f274a6e9a32809686a7359bfe55e1b80de0 Mon Sep 17 00:00:00 2001
From: albrecpe <albrecpe@gmail.com>
Date: Fri, 8 Mar 2024 17:35:36 +0100
Subject: [PATCH] Change memory wrapper to use and update snapshot
---
.../executions/SkillExecutionTreeWidget.cpp | 8 +--
.../skills_gui/memory/SkillManagerWrapper.cpp | 57 ++++++++++++++++---
.../skills_gui/memory/SkillManagerWrapper.h | 30 +++++++++-
.../skill_details/SkillDetailsGroupBox.cpp | 2 +-
.../skill_details/SkillDetailsTreeWidget.cpp | 6 +-
.../skills_gui/skills/SkillTreeWidget.cpp | 2 +-
6 files changed, 85 insertions(+), 20 deletions(-)
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
index aae241ae4..2699e41f2 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -20,11 +20,11 @@ namespace armarx::skills::gui
// Stop skill
QAction* stopSkillAction = new QAction("Stop execution", this);
- const auto& executions = memory->fetchExecutions();
+ const auto& executions = memory->getExecutions();
if (executions.count(selectedExecution.skillExecutionId) == 0)
return;
skills::SkillStatus currentStatus =
- memory->fetchExecutions().at(selectedExecution.skillExecutionId).status;
+ memory->getExecutions().at(selectedExecution.skillExecutionId).status;
stopSkillAction->setDisabled(currentStatus == skills::SkillStatus::Aborted ||
currentStatus == skills::SkillStatus::Failed ||
currentStatus == skills::SkillStatus::Succeeded);
@@ -60,7 +60,7 @@ namespace armarx::skills::gui
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();
+ auto executions = memory->getExecutions();
if (executions.empty())
return;
@@ -142,7 +142,7 @@ namespace armarx::skills::gui
void
SkillExecutionTreeWidget::updateExecutions()
{
- auto currentManagerStatuses = memory->fetchExecutions();
+ auto currentManagerStatuses = memory->getExecutions();
if (currentManagerStatuses.empty())
return;
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index bf3db4738..25119c9a1 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -11,7 +11,7 @@ namespace armarx::skills::gui
std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>>;
StatusMap
- SkillManagerWrapper::fetchExecutions()
+ SkillManagerWrapper::fetchExecutionsFromMemory()
{
if (!memory)
{
@@ -109,8 +109,8 @@ namespace armarx::skills::gui
}
}
- const SkillMap
- SkillManagerWrapper::fetchSkills()
+ SkillMap
+ SkillManagerWrapper::fetchSkillsFromMemory()
{
if (!memory)
{
@@ -185,7 +185,22 @@ namespace armarx::skills::gui
SkillManagerWrapper::stopAllExecutions()
{
ARMARX_IMPORTANT << "Stopping all running executions.";
- const auto& executions = this->fetchExecutions();
+
+ StatusMap executions;
+
+ // we ALWAYS want the newest information when stopping all!
+ // e.g. there is some new skill not known to the GUI which we explicitely want to stop too.
+ // the stop-all function is often used in an emergency, so we'll live with the extra call...
+ try
+ {
+ executions = this->fetchExecutionsFromMemory();
+ }
+ catch (...) // if any error occurs, we use the snapshot as backup. better to miss a skill
+ // than to not do anything.
+ {
+ executions = this->getExecutions();
+ }
+
for (auto& [executionId, status] : executions)
{
// select all running executions...
@@ -197,10 +212,17 @@ namespace armarx::skills::gui
}
}
- void SkillManagerWrapper::updateFromMemory()
+ void
+ SkillManagerWrapper::updateFromMemory()
{
- snapshot.statuses = fetchExecutions();
- snapshot.skills = fetchSkills();
+ std::scoped_lock l(mutex_snapshot);
+
+ snapshot.statuses = fetchExecutionsFromMemory();
+ snapshot.skills = fetchSkillsFromMemory();
+
+ // notify registered widgets of update
+ emit skillUpdate(snapshot.skills);
+ emit statusUpdate(snapshot.statuses);
}
const std::optional<ProviderID>
@@ -227,6 +249,20 @@ namespace armarx::skills::gui
return std::nullopt;
}
+ SkillMap
+ SkillManagerWrapper::getSkills()
+ {
+ std::scoped_lock l(mutex_snapshot);
+ return snapshot.skills;
+ }
+
+ StatusMap
+ SkillManagerWrapper::getExecutions()
+ {
+ std::scoped_lock l(mutex_snapshot);
+ return snapshot.statuses;
+ }
+
void
SkillManagerWrapper::stopExecution(skills::SkillExecutionID const& executionId,
const unsigned int max_retries)
@@ -301,8 +337,13 @@ namespace armarx::skills::gui
}
std::map<skills::SkillID, skills::SkillDescription> skillDescriptions;
+ if (this->UPDATE_ON_EXECUTION_REQUEST)
+ {
+ skillDescriptions = this->fetchSkillsFromMemory().at(providerId.value());
+ }
+ else
{
- skillDescriptions = this->fetchSkills().at(providerId.value());
+ skillDescriptions = this->getSkills().at(providerId.value());
}
if (skillDescriptions.find(skillId) == skillDescriptions.end())
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
index ea902a723..f6f797c8e 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
@@ -55,8 +55,22 @@ namespace armarx::skills::gui
static const std::optional<skills::ProviderID> findFirstProvider(SkillMap const& map,
SkillID const& skillId);
+ /**
+ * @brief Returns the latest skills snapshot.
+ * @return The map representing all currently known skills.
+ */
+ SkillMap getSkills();
+
+ /**
+ * @brief Returns the latest status snapshot.
+ * @return The map containing status updates for all execution ids.
+ */
+ StatusMap getExecutions();
+
signals:
void connectionUpdate(std::string const& message, std::string const& error);
+ void skillUpdate(SkillMap update);
+ void statusUpdate(StatusMap update);
public slots:
/**
@@ -82,11 +96,13 @@ namespace armarx::skills::gui
private:
mutable std::mutex mutex_memory;
+ mutable std::mutex mutex_snapshot;
armarx::skills::manager::dti::SkillManagerInterfacePrx memory;
std::string currentSkillSearch = "";
- struct Snapshot {
+ struct Snapshot
+ {
StatusMap statuses;
SkillMap skills;
@@ -102,13 +118,13 @@ namespace armarx::skills::gui
* @brief Fetches and returns the latest skills update from memory.
* @return The map representing all skills in memory. Empty, if error occurred.
*/
- SkillMap fetchSkills();
+ SkillMap fetchSkillsFromMemory();
/**
* @brief Fetches and returns the latest status update from memory.
* @return The map containing status updates for all execution ids. Empty, if error occurred.
*/
- StatusMap fetchExecutions();
+ StatusMap fetchExecutionsFromMemory();
/**
* @brief Modifies the given map to match the search.
@@ -116,5 +132,13 @@ namespace armarx::skills::gui
*/
void filterSkillUpdate(std::map<skills::manager::dto::SkillID,
skills::manager::dto::SkillDescription>& update);
+
+ // config
+ // TODO: perhaps use proper config file for the gui
+
+ // should we do an ice call to use the latest information when requesting an execution?
+ static constexpr bool UPDATE_ON_EXECUTION_REQUEST = true;
+
+ // ---
};
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
index 137140d25..8eaa3633f 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
@@ -8,7 +8,7 @@ namespace armarx::skills::gui
if (_skillId.skillName == SkillID::UNKNOWN)
return;
- auto const& skills = memory->fetchSkills();
+ auto const& skills = memory->getSkills();
std::optional<skills::ProviderID> provider_opt;
// check skillId
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
index 0287c5468..57b26011b 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
@@ -91,7 +91,7 @@ namespace armarx::skills::gui
ARMARX_CHECK(sid.isFullySpecified());
// maybe the search is empty?
- auto skillsMap = memory->fetchSkills();
+ auto skillsMap = memory->getSkills();
if (skillsMap.count(sid.providerId.value()) == 0 ||
skillsMap.at(sid.providerId.value()).count(sid) == 0)
{
@@ -99,7 +99,7 @@ namespace armarx::skills::gui
return;
}
- auto descr = memory->fetchSkills().at(sid.providerId.value()).at(sid);
+ auto descr = memory->getSkills().at(sid.providerId.value()).at(sid);
this->updateContents(sid, descr);
}
@@ -196,7 +196,7 @@ namespace armarx::skills::gui
return;
}
skills::SkillID& skillId = shownSkill.value().skillId;
- auto& skills = memory->fetchSkills();
+ const auto skills = memory->getSkills();
ARMARX_CHECK(skillId.isProviderSpecified());
// find description
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
index c1b100130..142a387cc 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
@@ -28,7 +28,7 @@ namespace armarx::skills::gui
SkillTreeWidget::updateSkills()
{
setSortingEnabled(false);
- const auto skills = memory->fetchSkills();
+ const auto skills = memory->getSkills();
// update tree view. Remove non-existing elements
int i = 0;
--
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