From c5c9a18a408c01046e6a7550adb852b960b66edf Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Thu, 14 Dec 2023 15:56:28 +0100
Subject: [PATCH] Implemented re-running with similar params
---
.../executions/SkillExecutionTreeWidget.cpp | 34 ++++++++++++++++---
.../executions/SkillExecutionTreeWidget.h | 3 +-
.../executions/SkillExecutionTreeWidgetItem.h | 4 +--
3 files changed, 31 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
index f1be93266..dd1f601f1 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -27,13 +27,13 @@ namespace armarx::skills::gui
menu->addAction(stopSkillAction);
menu->addAction(rerunSkillAction);
connect(stopSkillAction,
- SIGNAL(stopSkillAction.triggered()),
+ &QAction::triggered,
this,
- SIGNAL(stopSelectedExecution()));
+ &SkillExecutionTreeWidget::stopSelectedExecution);
connect(rerunSkillAction,
- SIGNAL(rerunSkillAction.triggered()),
+ &QAction::triggered,
this,
- SIGNAL(rerunSkillWithSimilarParams()));
+ &SkillExecutionTreeWidget::rerunSkillWithSimilarParams);
// Temporarily disable rerun-skill-Action
rerunSkillAction->setDisabled(true);
@@ -48,6 +48,25 @@ namespace armarx::skills::gui
memory->stopExecution(this->selectedExecution.skillExecutionId);
}
+ void
+ SkillExecutionTreeWidget::rerunSkillWithSimilarParams()
+ {
+ // 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 update = memory->getLatestUpdate();
+ if (!update.statuses.contains(currentExecutionId))
+ {
+ // 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 = update.statuses[currentExecutionId].parameters;
+
+ // give all information to manager
+ this->memory->startExecutionWithParams(currentExecutionId.skillId, params);
+ }
+
void
SkillExecutionTreeWidget::refresh()
{
@@ -61,7 +80,12 @@ namespace armarx::skills::gui
SkillExecutionTreeWidgetItem* found = nullptr;
for (int i = 0; i < this->topLevelItemCount(); ++i)
{
- auto c = static_cast<SkillExecutionTreeWidgetItem*>(topLevelItem(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);
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
index 211538c64..797e60d41 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
@@ -47,14 +47,13 @@ namespace armarx::skills::gui
SelectedExecution& getSelectedExecution();
- signals:
- void rerunSkillWithSimilarParams();
private slots:
void stopAllExecutions();
void executionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
void refresh();
void runContextMenu(const QPoint& pos);
void stopSelectedExecution();
+ void rerunSkillWithSimilarParams();
private:
void setupUi();
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h
index 18afc6356..270ef0321 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h
@@ -27,12 +27,10 @@ namespace armarx::skills::gui
SearchRecursiveForMatch(SkillExecutionTreeWidgetItem* haystack,
const skills::SkillExecutionID& needle);
- skills::SkillExecutionID getExecutionID();
- void updateItem(skills::SkillStatus status);
-
protected:
skills::SkillExecutionID executionId;
+
private:
void setupUi();
};
--
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