diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 7403e833107e392c8ffdecc4f0544500b13568de..deeec0ebb3405b9ac61bdbf9dbc76549f3fa4564 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -350,4 +350,12 @@ namespace armarx::armem::server::obj
}
}
+ void ObjectMemory::reloadKnownObjectClasses(const Ice::Current& current)
+ {
+ ARMARX_INFO << "Reloading object classes ...";
+ classSegment.reloadObjectClassesByObjectFinder();
+ ARMARX_INFO << "Reloaded object classes.";
+ }
+
+
}
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 9a97c2374a3010c5003978bf8f0eecdecb4af610..ec78eb3fa7493a890541e915317ccd1689d9e15d 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -110,6 +110,8 @@ namespace armarx::armem::server::obj
void createRemoteGuiTab();
void RemoteGui_update() override;
+ // Updates the list of known classes and generates a new snapshot in the memory
+ void reloadKnownObjectClasses(const Ice::Current& current) override;
private:
diff --git a/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
index fdae53a727de5b00ad65e4d9edacca8734ce26fe..fa9d74f160dc12e05fd6b1395d03b85b36384bea 100644
--- a/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
@@ -54,6 +54,7 @@ module armarx
, FamiliarObjectInstanceSegmentInterface
{
+ void reloadKnownObjectClasses();
};
};
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index a9b406a13c1fa22384705afa88777a5a9c504a9e..c25da26b18023deecb52a83191ee4d17af11c609 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -56,11 +56,26 @@ namespace armarx::armem::server::obj::clazz
if (p.loadFromObjectsPackage)
{
- ARMARX_VERBOSE << "Loading objects from package";
+ ARMARX_VERBOSE << "Loading objects from package `" << p.objectsPackage << "`.";
loadByObjectFinder(p.objectsPackage);
}
}
+ void
+ Segment::reloadObjectClassesByObjectFinder()
+ {
+ if (p.loadFromObjectsPackage)
+ {
+ ARMARX_VERBOSE << "Loading objects from package `" << p.objectsPackage << "`.";
+ loadByObjectFinder(p.objectsPackage);
+ }
+ else
+ {
+ ARMARX_INFO << "Loading object from package in `reloadObjectClassesByObjectFinder()` "
+ "is disabled via property. No object classes will be reloaded!";
+ }
+ }
+
void
Segment::connect(viz::Client arviz)
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
index ba42e0072097beb531b1fedbef3f6344eb208cc4..b2da5cd1b44faf2382c3a31eba5fcf9c3486029a 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
@@ -38,6 +38,8 @@ namespace armarx::armem::server::obj::clazz
void loadByObjectFinder(const ObjectFinder& finder);
void loadByObjectFinder();
+ void reloadObjectClassesByObjectFinder();
+
void visualizeClass(const MemoryID& entityID, bool showAABB = true, bool showOOBB = true);
diff --git a/source/RobotAPI/libraries/skills/core/CMakeLists.txt b/source/RobotAPI/libraries/skills/core/CMakeLists.txt
index 29145e60e305fa10decf06200685dcb99ec6a3d5..f757e4b5d8d069673c67d39e8b559250202d6c03 100644
--- a/source/RobotAPI/libraries/skills/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/core/CMakeLists.txt
@@ -4,6 +4,8 @@ armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
armarx_add_library(
+ ARON_FILES
+ aron/SkillErrorResult.xml
LIBS
ArmarXCoreInterfaces
ArmarXCore
diff --git a/source/RobotAPI/libraries/skills/core/aron/SkillErrorResult.xml b/source/RobotAPI/libraries/skills/core/aron/SkillErrorResult.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f222af7c14a350cfcb90c5081d938af5355ad2f4
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/core/aron/SkillErrorResult.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <GenerateTypes>
+
+ <Object name='armarx::skills::arondto::SkillErrorResult'>
+ <ObjectChild key='errorCode'>
+ <string />
+ </ObjectChild>
+
+ <ObjectChild key='data'>
+ <AnyObject shared_ptr="true" />
+ </ObjectChild>
+
+ <ObjectChild key='errorMessage'>
+ <string />
+ </ObjectChild>
+
+ </Object>
+
+ </GenerateTypes>
+
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 773fc5af86c525950cd84846b6a641deabcb1c29..a244ae6593ec82b802dcbd930af07990ce3d4503 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -1,5 +1,8 @@
#include "SkillImplementationWrapper.h"
+#include <ArmarXCore/core/exceptions/LocalException.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/skills/core/aron/SkillErrorResult.aron.generated.h>
namespace armarx
{
namespace skills::detail
@@ -75,6 +78,7 @@ namespace armarx
{
std::unique_lock l(skillStatusesMutex);
statusUpdate.status = status;
+
statusUpdate.result = data;
if (skill) // if skill has been constructed
{
@@ -89,14 +93,6 @@ namespace armarx
}
};
- auto createErrorMessageData = [](const std::string& message)
- {
- auto obj = aron::make_dict();
- auto m = aron::make_string(message, aron::Path({"errormessage"}));
- obj->addElement("errormessage", m);
- return obj;
- };
-
{
std::unique_lock l(skillStatusesMutex);
@@ -130,9 +126,14 @@ namespace armarx
// set initial parameters that were attached to the execution request (only add as we are not sure whether some updates already arrived)
this->updateSkillParameters(initial_aron_params);
- auto makeAbortedResult = [&](const std::string& message)
+ auto makeAbortedResult = [&](const std::string& errorCode, const aron::data::DictPtr& data, const std::string& message)
{
- updateStatus(SkillStatus::Aborted, createErrorMessageData(message));
+ armarx::skills::arondto::SkillErrorResult errorResult;
+ errorResult.errorCode = errorCode;
+ errorResult.data = data;
+ errorResult.errorMessage = message;
+
+ updateStatus(SkillStatus::Aborted, errorResult.toAron());
std::unique_lock l(skillStatusesMutex);
auto terminated = TerminatedSkillStatusUpdate{
@@ -145,9 +146,14 @@ namespace armarx
};
- auto makeFailedResult = [&](const std::string& message)
+ auto makeFailedResult = [&](const std::string& errorCode, const aron::data::DictPtr& data, const std::string& message)
{
- updateStatus(SkillStatus::Failed, createErrorMessageData(message));
+ armarx::skills::arondto::SkillErrorResult errorResult;
+ errorResult.errorCode = errorCode;
+ errorResult.data = data;
+ errorResult.errorMessage = message;
+
+ updateStatus(SkillStatus::Failed, errorResult.toAron());
std::unique_lock l(skillStatusesMutex);
auto terminated = TerminatedSkillStatusUpdate{
@@ -174,15 +180,15 @@ namespace armarx
// }
- auto exitAndMakeFailedResult = [&](const std::string& message)
+ auto exitAndMakeFailedResult = [&](const std::string& errorCode, const aron::data::DictPtr& data, const std::string& message)
{
skill->exitSkill(); // try to exit skill. Ignore return value
- return makeFailedResult(message);
+ return makeFailedResult(errorCode, data, message);
};
- auto exitAndMakeAbortedResult = [&](const std::string& message)
+ auto exitAndMakeAbortedResult = [&](const std::string& errorCode, const aron::data::DictPtr& data, const std::string& message)
{
skill->exitSkill(); // try to exit skill. Ignore return value
- return makeAbortedResult(message);
+ return makeAbortedResult(errorCode, data, message);
};
// Construction succeeded!
@@ -199,16 +205,16 @@ namespace armarx
{
std::string message = "SkillError 101: The initialization of skill '" +
skillName + "' did not succeed.";
- return exitAndMakeFailedResult(message);
+ return exitAndMakeFailedResult("101", nullptr, message);
}
}
catch (const error::SkillAbortedException& ex)
{
- return exitAndMakeAbortedResult(GetHandledExceptionString());
+ return exitAndMakeAbortedResult("101x", nullptr, GetHandledExceptionString());
}
catch (const error::SkillFailedException& ex)
{
- return exitAndMakeFailedResult(GetHandledExceptionString());
+ return exitAndMakeFailedResult("101x", nullptr, GetHandledExceptionString());
}
catch (const std::exception& ex)
{
@@ -216,7 +222,7 @@ namespace armarx
"SkillError 101e: An error occured during the initialization of skill '" +
skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- return exitAndMakeFailedResult(message);
+ return exitAndMakeFailedResult("101e", nullptr, message);
}
// Init succeeded!
@@ -244,16 +250,16 @@ namespace armarx
std::string message = "SkillError 201: The prepare method of skill '" +
skillName + "' did not succeed.";
ARMARX_ERROR_S << message;
- return exitAndMakeFailedResult(message);
+ return exitAndMakeFailedResult("201", nullptr, message);
}
}
catch (const error::SkillAbortedException& ex)
{
- return exitAndMakeAbortedResult(GetHandledExceptionString());
+ return exitAndMakeAbortedResult("201x", nullptr, GetHandledExceptionString());
}
catch (const error::SkillFailedException& ex)
{
- return exitAndMakeFailedResult(GetHandledExceptionString());
+ return exitAndMakeFailedResult("201x", nullptr, GetHandledExceptionString());
}
catch (const std::exception& ex)
{
@@ -262,7 +268,7 @@ namespace armarx
skillName +
"'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- return exitAndMakeFailedResult(message);
+ return exitAndMakeFailedResult("201e", nullptr, message);
}
// Prepare succeeded!
@@ -281,22 +287,23 @@ namespace armarx
{
std::string message =
"SkillError 501: The main method of skill '" + skillName + "' did fail.";
- return exitAndMakeFailedResult(message);
+
+ return exitAndMakeFailedResult("501", mainRet.data, message);
}
else if (mainRet.status == TerminatedSkillStatus::Aborted)
{
std::string message =
"SkillError 501: The main method of skill '" + skillName + "' got aborted.";
- return exitAndMakeAbortedResult(message);
+ return exitAndMakeAbortedResult("501", mainRet.data, message);
}
}
catch (const error::SkillAbortedException& ex)
{
- return exitAndMakeAbortedResult(GetHandledExceptionString());
+ return exitAndMakeAbortedResult("501x", mainRet.data, GetHandledExceptionString());
}
catch (const error::SkillFailedException& ex)
{
- return exitAndMakeFailedResult(GetHandledExceptionString());
+ return exitAndMakeFailedResult("501x", mainRet.data, GetHandledExceptionString());
}
catch (const std::exception& ex)
{
@@ -304,7 +311,7 @@ namespace armarx
"SkillError 501e: An error occured during the main method of skill '" +
skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- return exitAndMakeFailedResult(message);
+ return exitAndMakeFailedResult("501e", mainRet.data, message);
}
// Main succeeded!
@@ -319,16 +326,16 @@ namespace armarx
{
std::string message = "SkillError 601: The exit method of skill '" + skillName +
"' did not succeed.";
- return makeFailedResult(message);
+ return makeFailedResult("601", mainRet.data, message);
}
}
catch (const error::SkillAbortedException& ex)
{
- return makeAbortedResult(GetHandledExceptionString());
+ return makeAbortedResult("601x", mainRet.data, GetHandledExceptionString());
}
catch (const error::SkillFailedException& ex)
{
- return makeFailedResult(GetHandledExceptionString());
+ return makeFailedResult("601x", mainRet.data, GetHandledExceptionString());
}
catch (const std::exception& ex)
{
@@ -336,7 +343,7 @@ namespace armarx
"SkillError 601e: An error occured during the exit method of skill '" +
skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- return makeFailedResult(message);
+ return makeFailedResult("601e", mainRet.data, message);
}
// Exit succeeded!
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
index 79d606639c320ffeba73918967d9a832de446e68..8c24f906fef8edea5f33db3b4a890431f5bc7bb4 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
@@ -136,6 +136,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetController::onTreeWidgetItemChanged(QTreeWidgetItem* item, int column)
{
+
tree->blockSignals(true);
auto* aronElem = AronTreeWidgetItem::DynamicCast(item);
@@ -143,13 +144,14 @@ namespace armarx::skills::gui
{
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)
{
+ aronTreeRoot->resetError();
AronTreeWidgetConverterVisitor v(parent, 0);
aron::type::visit(v, type);
aronTreeRoot->setValueErrorState(v.hasDirectError(), v.onlyChildFailedConversion());
@@ -158,6 +160,7 @@ namespace armarx::skills::gui
// 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/AronTreeWidgetItem.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
index d76cee191fda8cb927548a795b53291875ae14e6..5f24c40c959e8008457c096b4d872e8407041ab8 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
@@ -149,6 +149,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetItem::onUserChange(int changedColumn)
{
+
QTreeWidgetItem* qParent = QTreeWidgetItem::parent();
ARMARX_CHECK(qParent);
AronTreeWidgetItem* aronParent = DynamicCast(qParent);
@@ -172,6 +173,7 @@ namespace armarx::skills::gui
preventIllegalKeyChange();
}
}
+
}
void
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
index 23be73d02da766a0b361f53cb53486fd91d65684..164e4498f0adcc2ca99bfdacbfcb36cf441a8879 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
@@ -75,16 +75,19 @@ namespace armarx::skills::gui
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;
@@ -113,11 +116,13 @@ namespace armarx::skills::gui
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;
@@ -146,11 +151,13 @@ namespace armarx::skills::gui
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;
@@ -179,11 +186,13 @@ namespace armarx::skills::gui
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;
@@ -208,11 +217,13 @@ namespace armarx::skills::gui
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;
@@ -240,6 +251,7 @@ namespace armarx::skills::gui
createdAronList->addElement(v.createdAron);
}
}
+
}
void
@@ -252,6 +264,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
{
+
ARMARX_TRACE;
auto createdMatrix = std::make_shared<aron::data::NDArray>(i->getPath());
int dataSize = 0;
@@ -276,6 +289,7 @@ namespace armarx::skills::gui
break;
};
+
// UGLY HACK: FIX ME!!!
switch (i->getElementType())
{
@@ -308,6 +322,7 @@ namespace armarx::skills::gui
break;
};
+
createdMatrix->setShape({i->getRows(), i->getCols(), dataSize});
int totalByteSize = i->getRows() * i->getCols() * dataSize;
createdAron = createdMatrix;
@@ -323,17 +338,21 @@ namespace armarx::skills::gui
}
}
-
+
auto* rootWidget = el->treeWidget();
ARMARX_CHECK(rootWidget);
auto* widget = rootWidget->itemWidget(el, 1);
+ ARMARX_CHECK(rootWidget);
auto* matrixWidget = EditMatrixWidget::DynamicCastAndCheck(widget);
+ ARMARX_CHECK(matrixWidget);
handleErrors(matrixWidget->hasParseErrors());
if (matrixWidget->hasParseErrors())
{
return;
}
+
+
// write to aron data
std::vector<unsigned char> elems;
elems.reserve(totalByteSize);
@@ -349,11 +368,13 @@ namespace armarx::skills::gui
}
}
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;
@@ -390,6 +411,7 @@ namespace armarx::skills::gui
<< "serialized quaternions did not return byte sequence of correct length!";
}
createdQuat->setData(serialized.size(), serialized.data());
+
}
void
@@ -409,6 +431,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
{
+
ARMARX_TRACE;
QTreeWidgetItem* el = parentItem->child(index);
@@ -433,11 +456,13 @@ namespace armarx::skills::gui
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;
@@ -472,11 +497,13 @@ namespace armarx::skills::gui
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;
@@ -510,11 +537,13 @@ namespace armarx::skills::gui
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;
@@ -547,11 +576,13 @@ namespace armarx::skills::gui
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;
@@ -584,11 +615,13 @@ namespace armarx::skills::gui
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;
@@ -621,16 +654,23 @@ namespace armarx::skills::gui
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 (el == nullptr)
+ {
+ return;
+ }
+
if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
{
// its a maybetype. We have to check the state
@@ -643,6 +683,7 @@ namespace armarx::skills::gui
std::string str = el->text(1).toStdString();
createdAronString->setValue(str);
+
}
void
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
index 77887a000c8c5b7dddf955ba8eadeb1ec39b43ec..a9f7e4db55e3e90abcd02bf29e4d4e8c3527b4f6 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
@@ -35,11 +35,12 @@ 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();
}
@@ -102,6 +103,7 @@ namespace armarx::skills::gui
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()))
@@ -126,11 +128,13 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::ListPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -161,6 +165,7 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
@@ -168,6 +173,7 @@ namespace armarx::skills::gui
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
@@ -250,6 +256,7 @@ namespace armarx::skills::gui
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();
@@ -280,11 +287,13 @@ namespace armarx::skills::gui
{
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);
@@ -315,11 +324,13 @@ namespace armarx::skills::gui
{
el->setCheckState(2, Qt::CheckState::Checked);
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::IntPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -341,11 +352,13 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::LongPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -356,6 +369,7 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
@@ -364,18 +378,21 @@ namespace armarx::skills::gui
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
- el->setText(1, QString::fromStdString(usString<float>(i->getValue())));
-
+ std::string repr = usString<float>(i->getValue());
+ QString qstr = QString::fromStdString(repr);
+ el->setText(1, qstr);
if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
{
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DoublePtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -386,11 +403,13 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::BoolPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -401,11 +420,13 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::StringPtr& i)
{
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -416,6 +437,7 @@ namespace armarx::skills::gui
el->setCheckState(2, Qt::CheckState::Checked);
}
}
+
}
void