Show objects in GUI

source/RobotAPI/gui-plugins/ObjectPoseGui/CMakeLists.txt

@@ -23,7 +23,10 @@ set(GUI_UIS
 )
 
 # Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
-set(COMPONENT_LIBS )
+set(COMPONENT_LIBS
+    SimpleConfigDialog
+    ObjectPoseObserver
+)
 
 if(ArmarXGui_FOUND)
     armarx_gui_library(ObjectPoseGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")

source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidget.ui

@@ -13,6 +13,51 @@
   <property name="windowTitle">
    <string>ObjectPoseGuiWidget</string>
   </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QGroupBox" name="objectsGroupBox">
+     <property name="title">
+      <string>Objects</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QPushButton" name="updateObjectsButton">
+          <property name="text">
+           <string>Update</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QCheckBox" name="autoUpdateCheckBox">
+          <property name="text">
+           <string>Auto Update</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QTableWidget" name="objectsTable"/>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>

source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp

@@ -24,6 +24,11 @@
 
 #include <string>
 
+#include <QTimer>
+
+#include <RobotAPI/components/ObjectPoseObserver/ice_conversions.h>
+#include <RobotAPI/components/ObjectPoseObserver/ObjectPose.h>
+
 
 namespace armarx
 {
@@ -31,6 +36,15 @@ namespace armarx
     ObjectPoseGuiWidgetController::ObjectPoseGuiWidgetController()
     {
         widget.setupUi(getWidget());
+
+        QStringList header = {"Dataset", "Name", "Provider", "Type"};
+        widget.objectsTable->setColumnCount(header.size());
+        widget.objectsTable->setHorizontalHeaderLabels(header);
+
+        using This = ObjectPoseGuiWidgetController;
+
+        connect(widget.updateObjectsButton, &QPushButton::clicked, this, &This::updateObjects);
+        // QTimer* timer = new QTimer(this,);
     }
 
 
@@ -42,10 +56,12 @@ namespace armarx
 
     void ObjectPoseGuiWidgetController::loadSettings(QSettings* settings)
     {
+        (void) settings;
     }
 
     void ObjectPoseGuiWidgetController::saveSettings(QSettings* settings)
     {
+        (void) settings;
     }
 
     QString ObjectPoseGuiWidgetController::GetWidgetName()
@@ -53,14 +69,72 @@ namespace armarx
         return "ObjectPoseGui";
     }
 
+    static const std::string CONFIG_KEY_OBJECT_POSE_OBSERVER = "ObjectPoseObserver";
 
-    void ObjectPoseGuiWidgetController::onInitComponent()
+    QPointer<QDialog> ObjectPoseGuiWidgetController::getConfigDialog(QWidget* parent)
     {
+        if (!configDialog)
+        {
+            configDialog = new SimpleConfigDialog(parent);
+            configDialog->addProxyFinder<armarx::objpose::ObjectPoseObserverInterfacePrx>({CONFIG_KEY_OBJECT_POSE_OBSERVER, "Object pose observer.", "ObjectPoseObserver"});
+        }
+        return qobject_cast<QDialog*>(configDialog);
+    }
 
+    void ObjectPoseGuiWidgetController::configured()
+    {
+        if (configDialog)
+        {
+            objectPoseObserverName = configDialog->getProxyName(CONFIG_KEY_OBJECT_POSE_OBSERVER);
+        }
+    }
+
+    void ObjectPoseGuiWidgetController::onInitComponent()
+    {
+        if (!objectPoseObserverName.empty())
+        {
+            usingProxy(objectPoseObserverName);
+        }
     }
 
     void ObjectPoseGuiWidgetController::onConnectComponent()
     {
+        if (!objectPoseObserverName.empty())
+        {
+            getProxy(objectPoseObserver, objectPoseObserverName);
+        }
+    }
 
+    void ObjectPoseGuiWidgetController::updateObjects()
+    {
+        if (!objectPoseObserver)
+        {
+            return;
+        }
+
+        ARMARX_INFO << "Get object poses...";
+        // const objpose::ObjectPoseSeq objectPoses = objpose::fromIce(objectPoseObserver->getObjectPoses());
+
+        const objpose::data::ObjectPoseSeq objectPoses = objectPoseObserver->getObjectPoses();
+        ARMARX_INFO << "Got " << objectPoses.size() << " object poses.";
+
+        widget.objectsTable->setRowCount(int(objectPoses.size()));
+
+        for (int i = 0; i < int(objectPoses.size()); ++i)
+        {
+            const objpose::data::ObjectPose& pose = objectPoses.at(size_t(i));
+            int col = 0;
+
+            widget.objectsTable->setItem(
+                i, col++, new QTableWidgetItem(pose.objectID.dataset.c_str()));
+            widget.objectsTable->setItem(
+                i, col++, new QTableWidgetItem(pose.objectID.name.c_str()));
+            widget.objectsTable->setItem(
+                i, col++, new QTableWidgetItem(pose.providerName.c_str()));
+            widget.objectsTable->setItem(
+                i, col++, new QTableWidgetItem(objpose::ObjectTypeEnumNames.to_name(pose.objectType).c_str()));
+
+        }
     }
+
 }

source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.h

@@ -25,9 +25,13 @@
 
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
 
 #include <ArmarXCore/core/system/ImportExportComponent.h>
 
+#include <RobotAPI/interface/objectpose/ObjectPoseObserver.h>
+
+
 namespace armarx
 {
     /**
@@ -59,7 +63,10 @@ namespace armarx
         explicit ObjectPoseGuiWidgetController();
 
         /// Controller destructor
-        virtual ~ObjectPoseGuiWidgetController();
+        virtual ~ObjectPoseGuiWidgetController() override;
+
+        /// Returns the Widget name displayed in the ArmarXGui to create an instance of this class.
+        static QString GetWidgetName();
 
 
         /// @see ArmarXWidgetController::loadSettings()
@@ -67,8 +74,9 @@ namespace armarx
         /// @see ArmarXWidgetController::saveSettings()
         void saveSettings(QSettings* settings) override;
 
-        /// Returns the Widget name displayed in the ArmarXGui to create an instance of this class.
-        static QString GetWidgetName();
+
+        QPointer<QDialog> getConfigDialog(QWidget* parent) override;
+        void configured() override;
 
 
         /// @see armarx::Component::onInitComponent()
@@ -81,6 +89,9 @@ namespace armarx
     public slots:
         /* QT slot declarations */
 
+        void updateObjects();
+
+
     signals:
         /* QT signal declarations */
 
@@ -89,6 +100,12 @@ namespace armarx
         /// Widget Form
         Ui::ObjectPoseGuiWidget widget;
 
+        QPointer<SimpleConfigDialog> configDialog;
+
+
+        std::string objectPoseObserverName;
+        armarx::objpose::ObjectPoseObserverInterfacePrx objectPoseObserver;
+
 
     };
 }