From bf6fd34ebadd114a990c231288390c29745fc958 Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Sun, 26 Nov 2023 19:15:26 +0100
Subject: [PATCH] Added memory communicator base class
---
.../libraries/skills_gui/CMakeLists.txt | 6 +++++
.../memory/MemoryCommunicatorBase.cpp | 1 +
.../memory/MemoryCommunicatorBase.h | 22 +++++++++++++++++++
.../skills_gui/memory/SkillMemoryProxy.h | 5 +++--
.../SkillExecutionTreeWidget.h | 6 +++--
.../SkillExecutionTreeWidgetItem.h | 16 +++++---------
.../skills_gui/skills/SkillTreeWidget.cpp | 1 +
.../skills_gui/skills/SkillTreeWidget.h | 21 ++++++++++++++++++
8 files changed, 64 insertions(+), 14 deletions(-)
create mode 100644 source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.cpp
create mode 100644 source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.h
create mode 100644 source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
create mode 100644 source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
diff --git a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
index 6d4e90f17..e446267a7 100644
--- a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
@@ -48,6 +48,9 @@ set(SOURCES
skill_executions/SkillExecutionTreeWidgetItem.cpp
memory/SkillMemoryProxy.cpp
+ memory/MemoryCommunicatorBase.cpp
+
+ skills/SkillTreeWidget.cpp
)
set(HEADERS
aron_tree_widget/visitors/AronTreeWidgetCreator.h
@@ -77,6 +80,9 @@ set(HEADERS
skill_executions/SkillExecutionTreeWidgetItem.h
memory/SkillMemoryProxy.h
+ memory/MemoryCommunicatorBase.h
+
+ skills/SkillTreeWidget.h
)
armarx_gui_library("${LIB_NAME}" "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${LIBRARIES}")
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 000000000..5950600af
--- /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 000000000..2fce59401
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/memory/MemoryCommunicatorBase.h
@@ -0,0 +1,22 @@
+#ifndef MEMORYCOMMUNICATOR_H
+#define MEMORYCOMMUNICATOR_H
+
+#include "SkillMemoryProxy.h"
+
+namespace armarx::skills::gui
+{
+ /*
+ * This base class holds a skill memory proxy.
+ */
+ class MemoryCommunicatorBase
+ {
+ protected:
+ // We don't want to instantiate the base class
+ MemoryCommunicatorBase(std::shared_ptr<SkillMemoryProxy> _memory) : memory(_memory)
+ {
+ }
+ std::shared_ptr<SkillMemoryProxy> memory;
+ };
+} // namespace armarx::skills::gui
+
+#endif // MEMORYCOMMUNICATOR_H
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillMemoryProxy.h b/source/RobotAPI/libraries/skills_gui/memory/SkillMemoryProxy.h
index 3bb6ff4c0..d5ba4676b 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillMemoryProxy.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillMemoryProxy.h
@@ -51,7 +51,7 @@ namespace armarx::skills::gui
/*
* Returns a snapshot, which contains the most current update from memory.
- * Calling this function will not use an Ice call!
+ * Calling this function will *not* use an Ice call!
* Use this instead of holding the state in a widget.
*/
Snapshot& getLatestUpdate();
@@ -65,7 +65,8 @@ namespace armarx::skills::gui
void fetchUpdates();
private:
- skills::dti::SkillMemoryInterfacePrx* memory = nullptr;
+ mutable std::mutex updateMutex;
+ skills::dti::SkillMemoryInterfacePrx* memory;
Snapshot snapshot;
};
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skill_executions/SkillExecutionTreeWidget.h b/source/RobotAPI/libraries/skills_gui/skill_executions/SkillExecutionTreeWidget.h
index dac8bb039..d8a23d344 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_executions/SkillExecutionTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_executions/SkillExecutionTreeWidget.h
@@ -7,14 +7,16 @@
#include "RobotAPI/libraries/skills/core/SkillExecutionID.h"
+#include "../memory/MemoryCommunicatorBase.h"
#include "SkillExecutionTreeWidgetItem.h"
namespace armarx::skills::gui
{
- class SkillExecutionTreeWidget : public QTreeWidget
+ class SkillExecutionTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
{
public:
- SkillExecutionTreeWidget(QWidget* parent) : QTreeWidget(parent)
+ SkillExecutionTreeWidget(QWidget* parent, std::shared_ptr<SkillMemoryProxy> _memory) :
+ QTreeWidget(parent), MemoryCommunicatorBase(_memory)
{
}
diff --git a/source/RobotAPI/libraries/skills_gui/skill_executions/SkillExecutionTreeWidgetItem.h b/source/RobotAPI/libraries/skills_gui/skill_executions/SkillExecutionTreeWidgetItem.h
index 035a26ada..ef160643c 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_executions/SkillExecutionTreeWidgetItem.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_executions/SkillExecutionTreeWidgetItem.h
@@ -6,23 +6,20 @@
#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
{
- class SkillExecutionTreeWidgetItem : QTreeWidgetItem
+ class SkillExecutionTreeWidgetItem : QTreeWidgetItem, public MemoryCommunicatorBase
{
public:
SkillExecutionTreeWidgetItem() = delete;
// After constructing an item, it must be manually inserted into the tree!
- SkillExecutionTreeWidgetItem(const skills::SkillExecutionID& id) : executionId(id)
- {
- }
-
- // When using this constructor, the new item will be appended to the bottom of the tree
- SkillExecutionTreeWidgetItem(const skills::SkillExecutionID& id, QTreeWidget* parent) :
- QTreeWidgetItem(parent), executionId(id)
+ SkillExecutionTreeWidgetItem(const skills::SkillExecutionID& id,
+ std::shared_ptr<SkillMemoryProxy> _memory) :
+ MemoryCommunicatorBase(_memory), executionId(id)
{
}
@@ -36,8 +33,7 @@ namespace armarx::skills::gui
private slots:
void runContextMenu(const QPoint& pos);
- private:
- // private since we don't want to overwrite the executionId
+ protected:
skills::SkillExecutionID executionId;
};
} // namespace armarx::skills::gui
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 000000000..d848b4d62
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
@@ -0,0 +1 @@
+#include "SkillTreeWidget.h"
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 000000000..ae47f1a36
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
@@ -0,0 +1,21 @@
+#ifndef ARMARX_SKILLS_GUI_SKILLTREEWIDGET_H
+#define ARMARX_SKILLS_GUI_SKILLTREEWIDGET_H
+
+#include <QTreeWidget>
+
+#include "../memory/MemoryCommunicatorBase.h"
+
+namespace armarx::skills::gui
+{
+ class SkillTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
+ {
+ public:
+ SkillTreeWidget(QWidget* parent, std::shared_ptr<SkillMemoryProxy> _memory) :
+ QTreeWidget(parent), MemoryCommunicatorBase(_memory)
+ {
+ }
+ };
+
+} // namespace armarx::skills::gui
+
+#endif // ARMARX_SKILLS_GUI_SKILLTREEWIDGET_H
--
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