From ca7ac9fd69f8672d905d9a3ef5f2039b44450504 Mon Sep 17 00:00:00 2001
From: Peter Albrecht <usnlf@student.kit.edu>
Date: Wed, 12 Feb 2025 15:11:54 +0100
Subject: [PATCH] feat: parameter history
---
.../skills_gui/memory/SkillManagerWrapper.cpp | 39 ++++++++++++++++++-
.../skills_gui/memory/SkillManagerWrapper.h | 15 +++++++
2 files changed, 53 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index a241634e3..dc26d0dcd 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -1,6 +1,7 @@
#include "SkillManagerWrapper.h"
#include <mutex>
+#include <optional>
#include <SimoxUtility/algorithm/string/string_tools.h>
@@ -241,6 +242,39 @@ namespace armarx::skills::gui
// notify registered widgets of update
emit updateAvailable(filterUpdate(snapshot));
}
+
+ std::vector<Parameters> SkillManagerWrapper::getParameterHistoryForSkill(const skills::SkillID& sid) const
+ {
+ if (not this->skillParameterHistory.contains(sid))
+ {
+ return {};
+ }
+ return this->skillParameterHistory[sid];
+ }
+
+ void SkillManagerWrapper::addParametersToHistory(const skills::SkillID& sid, const Parameters& params)
+ {
+ if (not this->skillParameterHistory.contains(sid))
+ {
+ // no history exists for this skill. Assign new
+ this->skillParameterHistory.insert({sid, {params}});
+ }
+ else
+ {
+ // history already exists. Append to list
+ this->skillParameterHistory[sid].emplace_back(params);
+ }
+ }
+
+ std::optional<Parameters> SkillManagerWrapper::getLatestParametersForSkill(const skills::SkillID& sid) const
+ {
+ auto parameterList = getParameterHistoryForSkill(sid);
+ if (parameterList.empty())
+ {
+ return std::nullopt;
+ }
+ return parameterList.back();
+ }
const std::optional<ProviderID>
SkillManagerWrapper::findFirstProvider(SkillMap const& map, SkillID const& skillId)
@@ -391,8 +425,11 @@ namespace armarx::skills::gui
.parameters = params};
ARMARX_CHECK(skillId.isFullySpecified()); // sanity check
- ARMARX_IMPORTANT << "Executing skill from GUI: " << skillId << ".";
+ this->addParametersToHistory(skillId, params);
+ ARMARX_INFO << "Saved skill parameters to history...";
+ ARMARX_IMPORTANT << "Executing skill from GUI: " << skillId << ".";
+
try
{
std::scoped_lock l(mutex_memory);
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
index ec25489db..017739a45 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
@@ -1,12 +1,14 @@
#pragma once
#include <mutex>
+#include <vector>
#include <QObject>
#include "RobotAPI/libraries/skills/core/ProviderID.h"
#include "RobotAPI/libraries/skills/core/SkillDescription.h"
#include "RobotAPI/libraries/skills/core/SkillExecutionID.h"
+#include "RobotAPI/libraries/skills/core/SkillID.h"
#include "RobotAPI/libraries/skills/core/SkillStatusUpdate.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -16,6 +18,10 @@ namespace armarx::skills::gui
using SkillMap =
std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>>;
+ using Parameters = aron::data::DictPtr;
+ using SkillParameterMap =
+ std::map<skills::SkillID, std::vector<Parameters>>;
+
class SkillManagerWrapper : public QObject
{
Q_OBJECT
@@ -112,6 +118,12 @@ namespace armarx::skills::gui
*/
void updateFromMemory();
+ // == Skill Parameters State ==
+
+ std::vector<Parameters> getParameterHistoryForSkill(const skills::SkillID& sid) const;
+ void addParametersToHistory(const skills::SkillID& sid, const Parameters& params);
+ std::optional<Parameters> getLatestParametersForSkill(const skills::SkillID& sid) const;
+
private:
mutable std::mutex mutex_memory;
mutable std::mutex mutex_snapshot;
@@ -119,6 +131,9 @@ namespace armarx::skills::gui
armarx::skills::manager::dti::SkillManagerInterfacePrx memory;
std::string currentSkillSearch = "";
+ // Store a list of all execution parameters for each skill
+ SkillParameterMap skillParameterHistory;
+
Snapshot snapshot;
/**
--
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