diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
index 4d74cf11e2b5c208a30eb553c986a9636dabd562..ac0cfaa2420a1dd2d11d01b77a4fb38c02a62fc6 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
@@ -105,22 +105,25 @@ namespace armarx::skills::gui
&PeriodicUpdateWidget::startTimerIfEnabled);
connect(this, &SkillMemoryGUI::connectGui, skillGroupBox, &SkillGroupBox::connectGui);
- // update cascade
- connect(this, &SkillMemoryGUI::updateGui, skillGroupBox, &SkillGroupBox::updateGui);
+ // timer
+ connect(this->updateWidget,
+ &PeriodicUpdateWidget::update,
+ this->memory.get(),
+ &SkillManagerWrapper::updateFromMemory);
+
+ // updates
+ connect(this->memory.get(),
+ &SkillManagerWrapper::updateAvailable,
+ this,
+ &SkillMemoryGUI::updateGui);
+
+ connect(this, &SkillMemoryGUI::updateGui, this->skillGroupBox, &SkillGroupBox::updateGui);
- // we don't want to update the skill details periodically, update can be triggered manually
- /*
- connect(
- this, &SkillMemoryGUI::updateGui, skillDetailGroupBox, &SkillDetailGroupBox::updateGui);
- */
connect(this,
&SkillMemoryGUI::updateGui,
- skillExecutionTreeWidget,
- &SkillExecutionTreeWidget::updateExecutions);
+ this->skillExecutionTreeWidget,
+ &SkillExecutionTreeWidget::updateGui);
- // timer -> update
- connect(
- this->updateWidget, &PeriodicUpdateWidget::update, this, &SkillMemoryGUI::updateGui);
// stop all
connect(stopAllButton,
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
index 648f7cee806866a36363559267f68c537f203c1c..09c26b287bc62ebd08ff3ee58366285bfc419860 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
@@ -52,10 +52,7 @@ namespace armarx::skills::gui
*/
void connectGui(std::string observerName);
- /**
- * @brief Notify widgets to update themselves
- */
- void updateGui();
+ void updateGui(SkillManagerWrapper::Snapshot update);
private:
void setupUi();
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
index aae241ae41b69d9770544708373be904023a671b..780c2bb728874f9865d7147ee2a17be55e925527 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -20,11 +20,11 @@ namespace armarx::skills::gui
// Stop skill
QAction* stopSkillAction = new QAction("Stop execution", this);
- const auto& executions = memory->fetchExecutions();
+ const auto& executions = memory->getExecutions();
if (executions.count(selectedExecution.skillExecutionId) == 0)
return;
skills::SkillStatus currentStatus =
- memory->fetchExecutions().at(selectedExecution.skillExecutionId).status;
+ memory->getExecutions().at(selectedExecution.skillExecutionId).status;
stopSkillAction->setDisabled(currentStatus == skills::SkillStatus::Aborted ||
currentStatus == skills::SkillStatus::Failed ||
currentStatus == skills::SkillStatus::Succeeded);
@@ -60,7 +60,7 @@ namespace armarx::skills::gui
return;
// 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 executions = memory->fetchExecutions();
+ auto executions = memory->getExecutions();
if (executions.empty())
return;
@@ -140,13 +140,14 @@ namespace armarx::skills::gui
}
void
- SkillExecutionTreeWidget::updateExecutions()
+ SkillExecutionTreeWidget::updateGui(SkillManagerWrapper::Snapshot update)
{
- auto currentManagerStatuses = memory->fetchExecutions();
- if (currentManagerStatuses.empty())
+ if (update.statuses.empty())
+ {
return;
+ }
- for (const auto& [k, v] : currentManagerStatuses)
+ for (const auto& [k, v] : update.statuses)
{
skills::SkillExecutionID executionId = k;
skills::SkillStatusUpdate statusUpdate = v;
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
index 795045302b4b47655e196e4cea566d53140f90d6..09fbdae081ed61aed705a278cbc903c053f30a80 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
@@ -9,6 +9,7 @@
namespace armarx::skills::gui
{
+ using StatusMap = std::map<skills::SkillExecutionID, skills::SkillStatusUpdate>;
class SkillExecutionTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
{
@@ -38,7 +39,7 @@ namespace armarx::skills::gui
public slots:
void disconnectGui();
- void updateExecutions();
+ void updateGui(SkillManagerWrapper::Snapshot update);
private slots:
void executionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index d8ff3fd78b6d76c4b8d0ca7d805260e8bccd4681..1b7b492b5c24dcc87f536eccb2dffae29a94ca89 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -10,8 +10,8 @@ namespace armarx::skills::gui
using SkillMap =
std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>>;
- const StatusMap
- SkillManagerWrapper::fetchExecutions()
+ StatusMap
+ SkillManagerWrapper::fetchExecutionsFromMemory()
{
if (!memory)
{
@@ -74,16 +74,20 @@ namespace armarx::skills::gui
return true;
}
- void
- SkillManagerWrapper::filterSkillUpdate(
- std::map<skills::manager::dto::SkillID, skills::manager::dto::SkillDescription>& update)
+ SkillManagerWrapper::Snapshot
+ SkillManagerWrapper::filterUpdate(Snapshot update)
{
// empty search => do not filter
if (this->currentSkillSearch.empty())
{
- return;
+ return update;
}
+ Snapshot filtered;
+
+ // for now we don't change the executions
+ filtered.statuses = update.statuses;
+
std::vector<std::string> substrings;
{
@@ -95,22 +99,31 @@ namespace armarx::skills::gui
}
- for (auto it = update.begin(); it != update.end();)
+ for (auto& provider_and_descrMap : update.skills)
{
- if (not matches(simox::alg::to_lower(skills::SkillID::FromIce(it->first).skillName),
- substrings))
- {
- it = update.erase(it);
- }
- else
+ using DescriptionMap = std::map<skills::SkillID, skills::SkillDescription>;
+
+ DescriptionMap& descriptionMap = provider_and_descrMap.second;
+ skills::ProviderID provider = provider_and_descrMap.first;
+
+ for (auto& skill_and_description : descriptionMap)
{
- ++it;
+ skills::SkillID sid = skill_and_description.first;
+ skills::SkillDescription descr = skill_and_description.second;
+
+ if (matches(simox::alg::to_lower(sid.skillName), substrings))
+ {
+ // add to map
+ filtered.skills[provider][sid] = descr;
+ }
}
}
+
+ return filtered;
}
- const SkillMap
- SkillManagerWrapper::fetchSkills()
+ SkillMap
+ SkillManagerWrapper::fetchSkillsFromMemory()
{
if (!memory)
{
@@ -125,9 +138,6 @@ namespace armarx::skills::gui
auto managerSkills = memory->getSkillDescriptions();
- this->filterSkillUpdate(managerSkills);
-
-
for (const auto& [sid, desc] : managerSkills)
{
auto description = skills::SkillDescription::FromIce(desc);
@@ -179,13 +189,29 @@ namespace armarx::skills::gui
SkillManagerWrapper::acceptSearchRequest(std::string const& search)
{
this->currentSkillSearch = search;
+ emit searchAccepted();
}
void
SkillManagerWrapper::stopAllExecutions()
{
ARMARX_IMPORTANT << "Stopping all running executions.";
- const auto& executions = this->fetchExecutions();
+
+ StatusMap executions;
+
+ // we ALWAYS want the newest information when stopping all!
+ // e.g. there is some new skill not known to the GUI which we explicitely want to stop too.
+ // the stop-all function is often used in an emergency, so we'll live with the extra call...
+ try
+ {
+ executions = this->fetchExecutionsFromMemory();
+ }
+ catch (...) // if any error occurs, we use the snapshot as backup. better to miss a skill
+ // than to not do anything.
+ {
+ executions = this->getExecutions();
+ }
+
for (auto& [executionId, status] : executions)
{
// select all running executions...
@@ -197,6 +223,18 @@ namespace armarx::skills::gui
}
}
+ void
+ SkillManagerWrapper::updateFromMemory()
+ {
+ std::scoped_lock l(mutex_snapshot);
+
+ snapshot.statuses = fetchExecutionsFromMemory();
+ snapshot.skills = fetchSkillsFromMemory();
+
+ // notify registered widgets of update
+ emit updateAvailable(filterUpdate(snapshot));
+ }
+
const std::optional<ProviderID>
SkillManagerWrapper::findFirstProvider(SkillMap const& map, SkillID const& skillId)
{
@@ -221,6 +259,23 @@ namespace armarx::skills::gui
return std::nullopt;
}
+ SkillMap
+ SkillManagerWrapper::getSkills()
+ {
+ std::scoped_lock l(mutex_snapshot);
+
+ Snapshot filtered = filterUpdate(snapshot);
+
+ return filtered.skills;
+ }
+
+ StatusMap
+ SkillManagerWrapper::getExecutions()
+ {
+ std::scoped_lock l(mutex_snapshot);
+ return snapshot.statuses;
+ }
+
void
SkillManagerWrapper::stopExecution(skills::SkillExecutionID const& executionId,
const unsigned int max_retries)
@@ -295,8 +350,13 @@ namespace armarx::skills::gui
}
std::map<skills::SkillID, skills::SkillDescription> skillDescriptions;
+ if (this->UPDATE_ON_EXECUTION_REQUEST)
+ {
+ skillDescriptions = this->fetchSkillsFromMemory().at(providerId.value());
+ }
+ else
{
- skillDescriptions = this->fetchSkills().at(providerId.value());
+ skillDescriptions = this->getSkills().at(providerId.value());
}
if (skillDescriptions.find(skillId) == skillDescriptions.end())
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
index 22eec04e20bfd499aa444eae74136be6d4c5490f..e191e1f963d82b29abeafe0535fe5f50a384bda3 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
@@ -52,23 +52,36 @@ namespace armarx::skills::gui
void stopExecution(skills::SkillExecutionID const& executionId,
const unsigned int max_retries = 0);
+ static const std::optional<skills::ProviderID> findFirstProvider(SkillMap const& map,
+ SkillID const& skillId);
+
/**
- * @brief Fetches and returns the latest skills update from memory.
- * @return The map representing all skills in memory. Empty, if error occurred.
+ * @brief Returns the latest skills snapshot.
+ * @return The map representing all currently known skills.
*/
- const SkillMap fetchSkills();
+ SkillMap getSkills();
/**
- * @brief Fetches and returns the latest status update from memory.
- * @return The map containing status updates for all execution ids. Empty, if error occurred.
+ * @brief Returns the latest status snapshot.
+ * @return The map containing status updates for all execution ids.
*/
- const StatusMap fetchExecutions();
+ StatusMap getExecutions();
- static const std::optional<skills::ProviderID> findFirstProvider(SkillMap const& map,
- SkillID const& skillId);
+ struct Snapshot
+ {
+ StatusMap statuses;
+ SkillMap skills;
+
+ // default constructor (construct empty)
+ Snapshot() : statuses({}), skills({})
+ {
+ }
+ };
signals:
void connectionUpdate(std::string const& message, std::string const& error);
+ void updateAvailable(Snapshot update);
+ void searchAccepted();
public slots:
/**
@@ -87,17 +100,44 @@ namespace armarx::skills::gui
*/
void stopAllExecutions();
+ /**
+ * @brief Requests this wrapper to overwrite its own state from memory.
+ */
+ void updateFromMemory();
+
private:
mutable std::mutex mutex_memory;
+ mutable std::mutex mutex_snapshot;
armarx::skills::manager::dti::SkillManagerInterfacePrx memory;
std::string currentSkillSearch = "";
+ Snapshot snapshot;
+
+ /**
+ * @brief Fetches and returns the latest skills update from memory.
+ * @return The map representing all skills in memory. Empty, if error occurred.
+ */
+ SkillMap fetchSkillsFromMemory();
+
+ /**
+ * @brief Fetches and returns the latest status update from memory.
+ * @return The map containing status updates for all execution ids. Empty, if error occurred.
+ */
+ StatusMap fetchExecutionsFromMemory();
+
/**
- * @brief Modifies the given map to match the search.
- * @param update The map to modify.
+ * @brief Returns the given snapshot, matching the search.
+ * @param update The snapshot to modify.
*/
- void filterSkillUpdate(std::map<skills::manager::dto::SkillID,
- skills::manager::dto::SkillDescription>& update);
+ Snapshot filterUpdate(Snapshot update);
+
+ // config
+ // TODO: perhaps use proper config file for the gui
+
+ // should we do an ice call to use the latest information when requesting an execution?
+ static constexpr bool UPDATE_ON_EXECUTION_REQUEST = true;
+
+ // ---
};
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
index 137140d252e90e4e6d2fc92c4c3d51cb18ad514e..8eaa3633f7248dcb7c78b91c16874ccc7811a407 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
@@ -8,7 +8,7 @@ namespace armarx::skills::gui
if (_skillId.skillName == SkillID::UNKNOWN)
return;
- auto const& skills = memory->fetchSkills();
+ auto const& skills = memory->getSkills();
std::optional<skills::ProviderID> provider_opt;
// check skillId
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
index f777490cfba0c7d45b83f601ec69ea2d91903728..1723870bc6fb5a0c32c24efad41d17c9baf0fb58 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
@@ -32,14 +32,9 @@ namespace armarx::skills::gui
signals:
void disconnectGui();
- /**
- * @brief Notify widgets to update themselves
- */
- void updateGui();
-
public slots:
/**
- * @brief Update subwidgets of an updated skill selection.
+ * @brief Notify subwidgets of an updated skill selection.
* @param skillId
*/
void updateSkillDetails(skills::SkillID& skillId);
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
index 0287c5468f3a6b1f27e182e88bdbf589f4736af5..57b26011bc7e71920c1f08ade4c0c6434e850877 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
@@ -91,7 +91,7 @@ namespace armarx::skills::gui
ARMARX_CHECK(sid.isFullySpecified());
// maybe the search is empty?
- auto skillsMap = memory->fetchSkills();
+ auto skillsMap = memory->getSkills();
if (skillsMap.count(sid.providerId.value()) == 0 ||
skillsMap.at(sid.providerId.value()).count(sid) == 0)
{
@@ -99,7 +99,7 @@ namespace armarx::skills::gui
return;
}
- auto descr = memory->fetchSkills().at(sid.providerId.value()).at(sid);
+ auto descr = memory->getSkills().at(sid.providerId.value()).at(sid);
this->updateContents(sid, descr);
}
@@ -196,7 +196,7 @@ namespace armarx::skills::gui
return;
}
skills::SkillID& skillId = shownSkill.value().skillId;
- auto& skills = memory->fetchSkills();
+ const auto skills = memory->getSkills();
ARMARX_CHECK(skillId.isProviderSpecified());
// find description
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
index 91fb11c021677e96890a001a0538fc6cf98f4aa0..30b26364853dd4d96fb159847edb575b372ae833 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
@@ -12,12 +12,31 @@ namespace armarx::skills::gui
emit searchRequest(search);
}
+ void
+ SkillGroupBox::filterAndFetch()
+ {
+ memory->updateFromMemory();
+ handleSearch();
+ }
+
void
SkillGroupBox::connectGui(std::string observerName)
{
setTitle(QString::fromStdString(observerName));
}
+ void
+ SkillGroupBox::updateGui(SkillManagerWrapper::Snapshot update)
+ {
+ skillTreeWidget->updateGui(update.skills);
+ }
+
+ void
+ SkillGroupBox::searchCallback()
+ {
+ this->skillTreeWidget->updateGui(memory->getSkills());
+ }
+
void
SkillGroupBox::setupUi()
{
@@ -43,7 +62,12 @@ namespace armarx::skills::gui
// text
this->searchBar->setPlaceholderText(QString::fromStdString("Search ..."));
- this->acceptSearchButton->setText(QString::fromStdString("Search"));
+ this->acceptSearchButton->setText(QString::fromStdString("Update and Search"));
+
+ // some further information to explain the search bar
+ this->searchBar->setToolTip(
+ QString::fromStdString("Accepting the search (with Enter) searches all currently known "
+ "skills. This is not the same as 'Update & Search'!"));
connectSignals();
}
@@ -52,12 +76,16 @@ namespace armarx::skills::gui
SkillGroupBox::connectSignals()
{
connect(
- this->acceptSearchButton, &QPushButton::clicked, this, &SkillGroupBox::handleSearch);
+ this->acceptSearchButton, &QPushButton::clicked, this, &SkillGroupBox::filterAndFetch);
connect(this->searchBar, &QLineEdit::editingFinished, this, &SkillGroupBox::handleSearch);
connect(this,
&SkillGroupBox::searchRequest,
this->memory.get(),
&SkillManagerWrapper::acceptSearchRequest);
+ connect(memory.get(),
+ &SkillManagerWrapper::searchAccepted,
+ this,
+ &SkillGroupBox::searchCallback);
connect(skillTreeWidget,
&SkillTreeWidget::updateSkillDetails,
@@ -67,8 +95,5 @@ namespace armarx::skills::gui
// disconnect
connect(
this, &SkillGroupBox::disconnectGui, skillTreeWidget, &SkillTreeWidget::disconnectGui);
-
- // update cascade
- connect(this, &SkillGroupBox::updateGui, skillTreeWidget, &SkillTreeWidget::updateSkills);
}
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
index 2ac6044ba72807ef300ae48fa19fe53d9230d1f3..7089f01b0e0103592b6eda7ff4f8d5d3571ca915 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
@@ -36,20 +36,25 @@ namespace armarx::skills::gui
void disconnectGui();
- /**
- * @brief Notify widgets to update themselves
- */
- void updateGui();
-
public slots:
void connectGui(std::string observerName);
+ void updateGui(SkillManagerWrapper::Snapshot update);
+
+ // is called, after the search has been accepted in the memory wrapper.
+ void searchCallback();
+
private slots:
/**
* Takes string from line edit and emits the search request.
*/
void handleSearch();
+ /**
+ * @brief Applies the update, and requests an update from memory.
+ */
+ void filterAndFetch();
+
private:
void setupUi();
void connectSignals();
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
index c1b100130e4eef7e0e49e287d163e6f880f4f523..a9ebcdd98cfbde9b54abcb929504dd384e0a7c5f 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
@@ -25,10 +25,9 @@ namespace armarx::skills::gui
}
void
- SkillTreeWidget::updateSkills()
+ SkillTreeWidget::updateGui(SkillMap update)
{
setSortingEnabled(false);
- const auto skills = memory->fetchSkills();
// update tree view. Remove non-existing elements
int i = 0;
@@ -38,7 +37,7 @@ namespace armarx::skills::gui
auto providerName = providerItem->text(0).toStdString();
skills::ProviderID providerId{.providerName = providerName};
- if (skills.find(providerId) == skills.end())
+ if (update.find(providerId) == update.end())
{
providerItem = nullptr; // reset
auto remove = this->takeTopLevelItem(i);
@@ -49,8 +48,8 @@ namespace armarx::skills::gui
++i;
// sanity check
- ARMARX_CHECK(skills.count(providerId) > 0);
- auto& providedSkills = skills.at(providerId);
+ ARMARX_CHECK(update.count(providerId) > 0);
+ auto& providedSkills = update.at(providerId);
int j = 0;
while (j < providerItem->childCount())
@@ -75,7 +74,7 @@ namespace armarx::skills::gui
}
// update tree view. Add new elements
- for (const auto& [providerId, providedSkills] : skills)
+ for (const auto& [providerId, providedSkills] : update)
{
bool newProvider = false;
QTreeWidgetItem* providerItem = nullptr;
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
index 61ec5cc85314d0318a951e8216a620d1f1d9a7c8..f94bdcaae2d62dd45dc10f8a98f6916117a0eb4d 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
@@ -9,6 +9,8 @@
namespace armarx::skills::gui
{
+ using SkillMap =
+ std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>>;
class SkillTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
{
@@ -42,7 +44,8 @@ namespace armarx::skills::gui
public slots:
void disconnectGui();
- void updateSkills();
+
+ void updateGui(SkillMap update);
private slots:
void skillSelectionChanged(QTreeWidgetItem* current, int column);