From a60222886201ea32a3b01c59b656e77417add4e3 Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Mon, 27 Nov 2023 16:47:47 +0100
Subject: [PATCH] Added SkillMemoryGUI
---
.../libraries/skills_gui/CMakeLists.txt | 8 +
.../skills_gui/PeriodicUpdateWidget.cpp | 141 ++++++++++++++++++
.../skills_gui/PeriodicUpdateWidget.h | 66 ++++++++
.../libraries/skills_gui/SkillMemoryGui.cpp | 52 +++++++
.../libraries/skills_gui/SkillMemoryGui.h | 45 ++++++
.../libraries/skills_gui/gui_utils.cpp | 99 ++++++++++++
.../RobotAPI/libraries/skills_gui/gui_utils.h | 74 +++++++++
.../skills_gui/memory/SkillMemoryProxy.h | 12 +-
.../skills_gui/skill_issues/todo.txt | 1 +
9 files changed, 493 insertions(+), 5 deletions(-)
create mode 100644 source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.cpp
create mode 100644 source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.h
create mode 100644 source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
create mode 100644 source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
create mode 100644 source/RobotAPI/libraries/skills_gui/gui_utils.cpp
create mode 100644 source/RobotAPI/libraries/skills_gui/gui_utils.h
create mode 100644 source/RobotAPI/libraries/skills_gui/skill_issues/todo.txt
diff --git a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
index ba5987e59..5efc75b58 100644
--- a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
@@ -56,6 +56,10 @@ set(SOURCES
skill_details/SkillDetailsGroupBox.cpp
skill_details/ProfileMenuWidget.cpp
skill_details/SkillDetailsTreeWidget.cpp
+
+ PeriodicUpdateWidget.cpp
+ SkillMemoryGui.cpp
+ gui_utils.cpp
)
set(HEADERS
aron_tree_widget/visitors/AronTreeWidgetCreator.h
@@ -93,6 +97,10 @@ set(HEADERS
skill_details/SkillDetailsGroupBox.h
skill_details/ProfileMenuWidget.h
skill_details/SkillDetailsTreeWidget.h
+
+ PeriodicUpdateWidget.h
+ SkillMemoryGui.h
+ gui_utils.h
)
armarx_gui_library("${LIB_NAME}" "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${LIBRARIES}")
diff --git a/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.cpp b/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.cpp
new file mode 100644
index 000000000..e23920f1b
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.cpp
@@ -0,0 +1,141 @@
+#include "PeriodicUpdateWidget.h"
+
+#include <cmath>
+
+#include <QCheckBox>
+#include <QDoubleSpinBox>
+#include <QHBoxLayout>
+#include <QPushButton>
+#include <QTimer>
+
+namespace armarx
+{
+ PeriodicUpdateWidget::PeriodicUpdateWidget(double frequency, double maxFrequency)
+ {
+ setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Minimum);
+
+ QLayout* vlayout = new QVBoxLayout();
+ QLayout* hlayout = new QHBoxLayout();
+ this->setLayout(vlayout);
+
+ const int margin = 0;
+ hlayout->setContentsMargins(margin, margin, margin, margin);
+
+ _updateButton = new QPushButton("Update", this);
+ _autoCheckBox = new QCheckBox("Auto Update", this);
+ _frequencySpinBox = new QDoubleSpinBox(this);
+ _frequencySpinBox->setValue(frequency);
+ _frequencySpinBox->setMinimum(0);
+ _frequencySpinBox->setMaximum(maxFrequency);
+ _frequencySpinBox->setSingleStep(0.5);
+ _frequencySpinBox->setSuffix(" Hz");
+
+ hlayout->addWidget(_updateButton);
+ hlayout->addWidget(_autoCheckBox);
+ hlayout->addWidget(_frequencySpinBox);
+
+ vlayout->addItem(hlayout);
+
+
+ _timer = new QTimer(this);
+ _updateTimerFrequency();
+ _frequencySpinBox->setEnabled(_autoCheckBox->isChecked());
+
+
+ // Private connections.
+ connect(_autoCheckBox, &QCheckBox::toggled, this, &This::_toggleAutoUpdates);
+ connect(_frequencySpinBox,
+ &QDoubleSpinBox::editingFinished,
+ this,
+ &This::_updateTimerFrequency);
+
+ // Public connections.
+ connect(_updateButton, &QPushButton::pressed, this, &This::updateSingle);
+ connect(_timer, &QTimer::timeout, this, &This::updatePeriodic);
+
+ connect(this, &This::updateSingle, this, &This::update);
+ connect(this, &This::updatePeriodic, this, &This::update);
+
+ // See `startTimerIfEnabled` for the signal reasoning.
+ // qOverload is required because `QTimer::start()` is overloaded.
+ connect(this, &This::startTimerSignal, _timer, qOverload<>(&QTimer::start));
+ connect(this, &This::stopTimerSignal, _timer, &QTimer::stop);
+ }
+
+ QPushButton*
+ PeriodicUpdateWidget::updateButton()
+ {
+ return _updateButton;
+ }
+
+ int
+ PeriodicUpdateWidget::getUpdateIntervalMs() const
+ {
+ return static_cast<int>(std::round(1000 / _frequencySpinBox->value()));
+ }
+
+ void
+ PeriodicUpdateWidget::startTimerIfEnabled()
+ {
+ /* A QTimer can only be started and stopped within its own thread (the thread for which
+ * it has the greatest affinity). Since this method can be called from any thread, we
+ * need to take a detour through these signals, which can be emitted from any thread and
+ * will always be caught in this object's (and thus the timer's) native thread.
+ */
+ if (_autoCheckBox->isChecked())
+ {
+ emit startTimerSignal();
+ }
+ else
+ {
+ emit stopTimerSignal();
+ }
+ }
+
+ void
+ PeriodicUpdateWidget::stopTimer()
+ {
+ // See `startTimerIfEnabled` for the signal reasoning.
+ emit stopTimerSignal();
+ }
+
+ void
+ PeriodicUpdateWidget::_updateTimerFrequency()
+ {
+ _timer->setInterval(getUpdateIntervalMs());
+ }
+
+ void
+ PeriodicUpdateWidget::_toggleAutoUpdates(bool enabled)
+ {
+ // This method is already a slot, so it doesn't need to use the timer signals.
+ _frequencySpinBox->setEnabled(enabled);
+ if (enabled)
+ {
+ _timer->start();
+ }
+ else
+ {
+ _timer->stop();
+ }
+ }
+
+ QCheckBox*
+ PeriodicUpdateWidget::autoCheckBox()
+ {
+ return _autoCheckBox;
+ }
+
+ QDoubleSpinBox*
+ PeriodicUpdateWidget::frequencySpinBox()
+ {
+ return _frequencySpinBox;
+ }
+
+ QTimer*
+ PeriodicUpdateWidget::timer()
+ {
+ return _timer;
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.h b/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.h
new file mode 100644
index 000000000..9d199db39
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/PeriodicUpdateWidget.h
@@ -0,0 +1,66 @@
+#pragma once
+
+#include <QWidget>
+
+
+class QCheckBox;
+class QDoubleSpinBox;
+class QPushButton;
+class QTimer;
+
+namespace armarx
+{
+
+ class PeriodicUpdateWidget : public QWidget
+ {
+ Q_OBJECT
+ using This = PeriodicUpdateWidget;
+
+ public:
+ PeriodicUpdateWidget(double frequency = 2.0, double maxFrequency = 60);
+
+
+ QTimer* timer();
+
+ QCheckBox* autoCheckBox();
+ QDoubleSpinBox* frequencySpinBox();
+ QPushButton* updateButton();
+
+ bool isAutoEnabled() const;
+ double getUpdateFrequency() const;
+ int getUpdateIntervalMs() const;
+
+ void startTimerIfEnabled();
+ void stopTimer();
+
+
+ public slots:
+
+ signals:
+
+ void update();
+
+ void updateSingle();
+ void updatePeriodic();
+
+ private slots:
+
+ void _updateTimerFrequency();
+ void _toggleAutoUpdates(bool enabled);
+
+ signals:
+
+ void startTimerSignal();
+ void stopTimerSignal();
+
+ private:
+ QPushButton* _updateButton;
+ QCheckBox* _autoCheckBox;
+ QDoubleSpinBox* _frequencySpinBox;
+
+ QPushButton* _collapseAllButton;
+
+ QTimer* _timer;
+ };
+
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
new file mode 100644
index 000000000..a3a6566ec
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
@@ -0,0 +1,52 @@
+#include "SkillMemoryGui.h"
+
+#include "gui_utils.h"
+
+namespace armarx::skills::gui
+{
+ SkillMemoryGUI::SkillMemoryGUI(QWidget* root,
+ QTreeWidget* _skillExecutionTreeWidget,
+ QBoxLayout* _skillExecutionTreeWidgetParentLayout,
+ QGroupBox* _skillGroupBox,
+ QBoxLayout* _skillGroupBoxParentLayout,
+ QGroupBox* _skillDetailGroupBox,
+ QBoxLayout* _skillDetailGroupBoxParentLayout,
+ QBoxLayout* _updateWidgetLayout) :
+ QObject()
+ {
+ Logging::setTag("SkillMemoryGui");
+
+ // setup memory
+ this->memory = std::make_shared(SkillMemoryProxy);
+
+ // Update widget
+ this->updateWidgetLayout = _updateWidgetLayout;
+ this->updateWidget = new PeriodicUpdateWidget(this);
+ this->updateWidgetLayout->insertWidget(0, updateWidget);
+
+ // replace skillExecutionTreeWidget
+ this->skillExecutionTreeWidget = new SkillExecutionTreeWidget(root, memory);
+ armarx::gui::replaceWidget(_skillExecutionTreeWidget,
+ this->skillExecutionTreeWidget,
+ _skillDetailGroupBoxParentLayout);
+
+ // replace skillGroupBox
+ this->skillGroupBox = new SkillGroupBox(root, memory);
+ armarx::gui::replaceWidget(_skillGroupBox, this->skillGroupBox, _skillGroupBoxParentLayout);
+
+ // replace skillDetailGroupBox
+ this->skillDetailGroupBox = new SkillDetailGroupBox(root, memory);
+ armarx::gui::replaceWidget(
+ _skillDetailGroupBox, this->skillDetailGroupBox, _skillDetailGroupBoxParentLayout);
+ }
+
+ void
+ SkillMemoryGUI::connectSignals()
+ {
+ // connect update widget to memory update
+ connect(this->updateWidget,
+ &PeriodicUpdateWidget::update,
+ this->memory,
+ &SkillMemoryProxy::fetchUpdates);
+ }
+} // 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 000000000..1d9c8a3e6
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
@@ -0,0 +1,45 @@
+#ifndef SKILLMEMORYGUI_H
+#define SKILLMEMORYGUI_H
+
+#include <QBoxLayout>
+#include <QTreeWidget>
+#include <QWidget>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include "./PeriodicUpdateWidget.h"
+#include "./executions/SkillExecutionTreeWidget.h"
+#include "./memory/SkillMemoryProxy.h"
+#include "./skill_details/SkillDetailsGroupBox.h"
+#include "./skills/SkillGroupBox.h"
+
+namespace armarx::skills::gui
+{
+ class SkillMemoryGUI : public QObject, public armarx::Logging
+ {
+ Q_OBJECT
+ public:
+ SkillMemoryGUI(QWidget* root,
+ QTreeWidget* _skillExecutionTreeWidget,
+ QBoxLayout* _skillExecutionTreeWidgetParentLayout,
+ QGroupBox* _skillGroupBox,
+ QBoxLayout* _skillGroupBoxParentLayout,
+ QGroupBox* _skillDetailGroupBox,
+ QBoxLayout* _skillDetailGroupBoxParentLayout,
+ QBoxLayout* _updateWidgetLayout);
+
+ private:
+ void connectSignals();
+
+ SkillExecutionTreeWidget* skillExecutionTreeWidget = nullptr;
+ SkillGroupBox* skillGroupBox = nullptr;
+ SkillDetailGroupBox* skillDetailGroupBox = nullptr;
+ QBoxLayout* updateWidgetLayout = nullptr;
+
+ std::shared_ptr<SkillMemoryProxy> memory = nullptr;
+
+ PeriodicUpdateWidget* updateWidget = nullptr;
+ };
+} // namespace armarx::skills::gui
+
+#endif // SKILLMEMORYGUI_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 000000000..337ebc87d
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/gui_utils.cpp
@@ -0,0 +1,99 @@
+#include "gui_utils.h"
+
+#include <QLayout>
+#include <QLayoutItem>
+#include <QSplitter>
+#include <QWidget>
+#include <QTreeWidgetItem>
+
+#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'));
+}
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 000000000..1b7b810ad
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/gui_utils.h
@@ -0,0 +1,74 @@
+#pragma once
+
+#include <QLayout>
+#include <QLayoutItem>
+#include <QSpinBox>
+#include <QWidget>
+
+class QLayout;
+class QSplitter;
+class QTreeWidgetItem;
+
+
+namespace armarx::gui
+{
+ /**
+ * @brief Clear a layout.
+ *
+ * Recursively take and delete all items in `layout`.
+ *
+ * @param layout The layout.
+ */
+ void clearLayout(QLayout* layout);
+
+ /**
+ * @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)
+ {
+ QLayoutItem* oldItem = parentLayout->replaceWidget(old, neu);
+ if (oldItem)
+ {
+ delete oldItem;
+ delete old;
+ 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;
+ };
+}
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillMemoryProxy.h b/source/RobotAPI/libraries/skills_gui/memory/SkillMemoryProxy.h
index d5ba4676b..f1490bbd9 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillMemoryProxy.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillMemoryProxy.h
@@ -19,13 +19,15 @@ namespace armarx::skills::gui
{
}
- // No memory = no good
- SkillMemoryProxy() = delete;
+ // We can instantiate the proxy without memory, if it's not connected yet.
+ SkillMemoryProxy(QObject* parent = nullptr) : QObject(parent)
+ {
+ }
/*
- * Replaces the memory pointer. This should be called whenever the GUI reconnects.
+ * Updates the memory pointer. This should be called whenever the GUI connects/reconnects.
*/
- void reInitialize(skills::dti::SkillMemoryInterfacePrx* updatedMemory);
+ void initialize(skills::dti::SkillMemoryInterfacePrx* updatedMemory);
// The most current snapshot of the memory. Updated with each memory fetch.
struct Snapshot
@@ -47,7 +49,7 @@ namespace armarx::skills::gui
* If this doesn't succeed, it will log a message.
*/
void stopExecution(skills::SkillExecutionID const& executionId,
- const unsigned int attempts = 3);
+ const unsigned int attempts = 1);
/*
* Returns a snapshot, which contains the most current update from memory.
diff --git a/source/RobotAPI/libraries/skills_gui/skill_issues/todo.txt b/source/RobotAPI/libraries/skills_gui/skill_issues/todo.txt
new file mode 100644
index 000000000..92939d259
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skill_issues/todo.txt
@@ -0,0 +1 @@
+Outsource timer widget and gui utils to ArmarXGui
--
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