From d7c295811e510358b3d39e34666cad498b41f34c Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Wed, 20 Jul 2022 16:13:00 +0200
Subject: [PATCH] Fixed error when executing skills from GUI, added visitor to
set skill parameterizations from clipboard, added default parameters for
skills, added special GUIs for ints, floats and bools (still TODO)
---
.../SkillProviderExample.cpp | 27 +++-
.../SkillManagerPlugin/CMakeLists.txt | 11 ++
.../SkillManagerMonitorWidget.ui | 53 ++++---
.../SkillManagerMonitorWidgetController.cpp | 27 ++--
.../SkillManagerMonitorWidgetController.h | 1 +
.../AronTreeWidgetController.cpp | 35 ++++-
.../aronTreeWidget/AronTreeWidgetController.h | 2 +-
.../bool/AronTreeWidgetBoolInputModal.ui | 52 +++++++
...AronTreeWidgetBoolInputModalController.cpp | 27 ++++
.../AronTreeWidgetBoolInputModalController.h | 27 ++++
.../AronTreeWidgetFloatInputModal.ui | 52 +++++++
...ronTreeWidgetFloatInputModalController.cpp | 27 ++++
.../AronTreeWidgetFloatInputModalController.h | 27 ++++
.../int_long/AronTreeWidgetIntInputModal.ui | 52 +++++++
.../AronTreeWidgetIntInputModalController.cpp | 27 ++++
.../AronTreeWidgetIntInputModalController.h | 27 ++++
.../aronTreeWidget/modal/others_are_TODO | 0
.../AronTreeWidgetTextInputModalController.h | 7 -
.../visitors/AronTreeWidgetConverter.cpp | 30 ++--
.../visitors/AronTreeWidgetConverter.h | 54 +++----
.../visitors/AronTreeWidgetCreator.cpp | 7 +-
.../visitors/AronTreeWidgetCreator.h | 53 +++----
.../visitors/AronTreeWidgetModalCreator.cpp | 5 +-
.../visitors/AronTreeWidgetModalCreator.h | 49 +++----
.../visitors/AronTreeWidgetSetter.cpp | 137 ++++++++++++++++++
.../visitors/AronTreeWidgetSetter.h | 64 ++++++++
.../skills/SkillProviderInterface.ice | 5 +-
.../converter/json/NLohmannJSONConverter.cpp | 2 -
.../data/variant/detail/SpecializedVariant.h | 2 +-
.../libraries/skills/provider/Skill.cpp | 14 +-
.../libraries/skills/provider/Skill.h | 7 +-
.../skills/provider/SkillDescription.cpp | 6 +
.../skills/provider/SkillDescription.h | 15 +-
.../provider/SkillProviderComponentPlugin.cpp | 16 +-
.../detail/SkillImplementationWrapper.cpp | 11 +-
.../detail/SkillImplementationWrapper.h | 9 +-
36 files changed, 759 insertions(+), 208 deletions(-)
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
delete mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/others_are_TODO
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.h
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index dc471cdf1..a5e0c8a63 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -10,22 +10,33 @@
namespace armarx::skills::provider
{
- HelloWorldSkill::HelloWorldSkill() :
- Skill(SkillDescription{
+
+ SkillDescription CreateHelloWorldSkillDescription()
+ {
+ armarx::skills::Example::HelloWorldAcceptedType default_params;
+ default_params.some_float = 5;
+ default_params.some_int = 42;
+ default_params.some_text = "YOLO";
+
+ return SkillDescription{
"HelloWorld",
"This skill logs a message on ARMARX_IMPORTANT",
{},
1000,
- armarx::skills::Example::HelloWorldAcceptedType::ToAronType()
- })
+ armarx::skills::Example::HelloWorldAcceptedType::ToAronType(),
+ default_params.toAron()
+ };
+ }
+
+ HelloWorldSkill::HelloWorldSkill() :
+ Skill(CreateHelloWorldSkillDescription())
{}
Skill::Status HelloWorldSkill::main(const aron::data::DictPtr& d, const CallbackT&)
{
-
ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n" <<
- "I received the following data: \n" <<
- aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(d).dump(2) << "\n" <<
- "(executed at: " << IceUtil::Time::now() << ")";
+ "I received the following data: \n" <<
+ aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(d).dump(2) << "\n" <<
+ "(executed at: " << IceUtil::Time::now() << ")";
return Skill::Status::Succeeded;
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
index 1d427101f..89a90ab48 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
@@ -7,11 +7,15 @@ armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
set(SOURCES
aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
+ aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
aronTreeWidget/Data.cpp
aronTreeWidget/AronTreeWidgetItem.cpp
aronTreeWidget/AronTreeWidgetController.cpp
aronTreeWidget/modal/AronTreeWidgetModal.cpp
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.cpp
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.cpp
SkillManagerMonitorWidgetController.cpp
@@ -20,11 +24,15 @@ set(SOURCES
set(HEADERS
aronTreeWidget/visitors/AronTreeWidgetCreator.h
aronTreeWidget/visitors/AronTreeWidgetConverter.h
+ aronTreeWidget/visitors/AronTreeWidgetSetter.h
aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
aronTreeWidget/Data.h
aronTreeWidget/AronTreeWidgetItem.h
aronTreeWidget/AronTreeWidgetController.h
aronTreeWidget/modal/AronTreeWidgetModal.h
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.h
SkillManagerMonitorWidgetController.h
@@ -32,6 +40,9 @@ set(HEADERS
set(GUI_UIS
SkillManagerMonitorWidget.ui
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
aronTreeWidget/modal/text/AronTreeWidgetTextInputModal.ui
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModal.ui
)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 59089db20..00d50db0a 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -60,28 +60,7 @@
<string>Skill Details</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="0">
- <widget class="QPushButton" name="pushButtonPaste">
- <property name="text">
- <string>Set from clipboard</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QPushButton" name="pushButtonStopSkill">
- <property name="text">
- <string>Stop current skill</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QPushButton" name="pushButtonCopy">
- <property name="text">
- <string>Copy args to clipboard</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0" colspan="2">
+ <item row="1" column="0" colspan="4">
<widget class="QTreeWidget" name="treeWidgetSkillDetails">
<column>
<property name="text">
@@ -105,13 +84,41 @@
</column>
</widget>
</item>
- <item row="6" column="1">
+ <item row="6" column="3">
<widget class="QPushButton" name="pushButtonExecuteSkill">
<property name="text">
<string>Request Execution</string>
</property>
</widget>
</item>
+ <item row="0" column="0">
+ <widget class="QPushButton" name="pushButtonPaste">
+ <property name="text">
+ <string>Set from clipboard</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QPushButton" name="pushButtonStopSkill">
+ <property name="text">
+ <string>Stop current skill</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset args</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="pushButtonCopy">
+ <property name="text">
+ <string>Copy args to clipboard</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</widget>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 6ad23607b..4c3e3a983 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -268,9 +268,8 @@ namespace armarx
exInfo.skillName = selectedSkill.skillName;
exInfo.params = aron::data::Dict::ToAronDictDTO(data);
- ARMARX_INFO << "Executing skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName;
+ ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName << ". The data was: " << data;
// Note that we execute the skill in a seperate thread so that the GUI thread does not freeze.
- //executions.emplace_back([&](){ manager->executeSkill(exInfo); });
manager->begin_executeSkill(exInfo);
}
@@ -303,6 +302,7 @@ namespace armarx
if (!current->parent())
{
+ // no parent available. Should not happen
return;
}
@@ -354,20 +354,11 @@ namespace armarx
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
- if (skillDesc.acceptedType)
- {
- auto aron_args = std::make_shared<aron::type::Object>(*skillDesc.acceptedType);
-
- skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Arguments")});
+ skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails, {QString::fromStdString("Arguments")});
+ auto aron_args = aron::type::Object::FromAronObjectDTO(skillDesc.acceptedType);
+ auto default_args = aron::data::Dict::FromAronDictDTO(skillDesc.defaultParams);
- aronTreeWidgetController = std::make_shared<AronTreeWidgetController>(widget.treeWidgetSkillDetails, skillsArgumentsTreeWidgetItem, aron_args);
- }
- else
- {
- auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails, {QString::fromStdString("No args")});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
+ aronTreeWidgetController = std::make_shared<AronTreeWidgetController>(widget.treeWidgetSkillDetails, skillsArgumentsTreeWidgetItem, aron_args, default_args);
}
aron::data::DictPtr SkillManagerMonitorWidgetController::getConfigAsAron() const
@@ -408,6 +399,11 @@ namespace armarx
aronTreeWidgetController->setFromAron(data);
}
+ void SkillManagerMonitorWidgetController::resetCurrentConfig()
+ {
+ // TODO
+ }
+
void SkillManagerMonitorWidgetController::onTreeWidgetItemDoubleClicked(QTreeWidgetItem* item, int column)
{
if (!item)
@@ -424,6 +420,7 @@ namespace armarx
std::string name = aItem->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME).toStdString();
std::string type = aItem->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE).toStdString();
+ // why visitor?!?!?
AronTreeWidgetModalCreatorVisitor v(name, aItem, widget.treeWidgetSkillDetails);
aron::type::visit(v, aItem->aronType);
auto modal = v.createdModal;
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 00e15a756..64256f2d6 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -86,6 +86,7 @@ namespace armarx
void copyCurrentConfig();
void pasteCurrentConfig();
+ void resetCurrentConfig();
void onTreeWidgetItemDoubleClicked(QTreeWidgetItem * item, int column);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
index 1eeaf00ff..0ef63ff50 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
@@ -1,20 +1,37 @@
#include "AronTreeWidgetController.h"
#include "visitors/AronTreeWidgetConverter.h"
+#include "visitors/AronTreeWidgetSetter.h"
namespace armarx
{
- AronTreeWidgetController::AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type):
+ AronTreeWidgetController::AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type, const aron::data::DictPtr& data):
parent(parent),
tree(tree),
type(type)
{
- AronTreeWidgetCreatorVisitor v;
- aron::type::visit(v, type);
+ if (type) // if there is a type set, we create a tree widget from the typp
+ {
+ AronTreeWidgetCreatorVisitor v;
+ aron::type::visit(v, type);
+
+ if (v.createdQWidgetItem)
+ {
+ parent->addChild(v.createdQWidgetItem);
+ }
- if (v.createdQWidgetItem)
+ if (data) // check if there is a default argument set. Prefill the GUI with it
+ {
+ setFromAron(data);
+ }
+ }
+ else if(data) // there is no type but a default configuration. Prefill the GUI with the default arguments
+ {
+ // create type from data, ...
+ }
+ else
{
- parent->addChild(v.createdQWidgetItem);
+ new QTreeWidgetItem(parent, {QString::fromStdString("No args")});
}
}
@@ -31,8 +48,12 @@ namespace armarx
return nullptr;
}
- void AronTreeWidgetController::setFromAron(const aron::data::DictPtr&)
+ void AronTreeWidgetController::setFromAron(const aron::data::DictPtr& data)
{
-
+ if (parent)
+ {
+ AronTreeWidgetSetterVisitor v(parent, 0);
+ aron::data::visit(v, data);
+ }
}
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h
index 4e73deb05..c70b0277b 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h
@@ -18,7 +18,7 @@ namespace armarx
{
public:
- AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type);
+ AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type, const aron::data::DictPtr& data = nullptr);
aron::data::DictPtr convertToAron() const;
void setFromAron(const aron::data::DictPtr&);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
new file mode 100644
index 000000000..69f4a5c99
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetBoolInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetBoolInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
new file mode 100644
index 000000000..7bc282597
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetBoolInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetBoolInputModalController::AronTreeWidgetBoolInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetBoolInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetBoolInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
new file mode 100644
index 000000000..1a1c60a07
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/ui_AronTreeWidgetBoolInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetBoolInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetBoolInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetBoolInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
new file mode 100644
index 000000000..ba3734066
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetFloatInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetFloatInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
new file mode 100644
index 000000000..ae9cbe6aa
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetFloatInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetFloatInputModalController::AronTreeWidgetFloatInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetFloatInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetFloatInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
new file mode 100644
index 000000000..debd50e9f
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/ui_AronTreeWidgetFloatInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetFloatInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetFloatInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetFloatInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
new file mode 100644
index 000000000..538a78e76
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetIntInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetIntInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
new file mode 100644
index 000000000..dd9b19e06
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetIntInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetIntInputModalController::AronTreeWidgetIntInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetIntInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetIntInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
new file mode 100644
index 000000000..1de43a087
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/ui_AronTreeWidgetIntInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetIntInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetIntInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetIntInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/others_are_TODO b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/others_are_TODO
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
index 216451f4a..c86cb5e84 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
@@ -1,12 +1,5 @@
#pragma once
-#include <stack>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
#include "../AronTreeWidgetModal.h"
#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/ui_AronTreeWidgetTextInputModal.h>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
index 04fab49b6..fbdc653ab 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
@@ -22,18 +22,21 @@
#include <string>
+// base class
#include "AronTreeWidgetConverter.h"
-// debug
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+// armarx
+#include <ArmarXCore/core/logging/Logging.h>
+
+// qt
+#include <QTreeWidgetItem>
-//visitors
namespace armarx
{
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
{
- auto createdAronDict = std::make_shared<aron::data::Dict>();
+ auto createdAronDict = std::make_shared<aron::data::Dict>(i->getPath());
createdAron = createdAronDict;
QTreeWidgetItem* el = parentItem->child(index);
@@ -43,17 +46,14 @@ namespace armarx
AronTreeWidgetConverterVisitor v(el, x++);
aron::type::visit(v, value);
- if (v.createdAron)
- {
- createdAronDict->addElement(key, v.createdAron);
- }
+ createdAronDict->addElement(key, v.createdAron);
}
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DictPtr& i)
{
- auto createdAronDict = std::make_shared<aron::data::Dict>();
+ auto createdAronDict = std::make_shared<aron::data::Dict>(i->getPath());
createdAron = createdAronDict;
QTreeWidgetItem* el = parentItem->child(index);
@@ -127,7 +127,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntPtr& i)
{
- auto createdAronInt = std::make_shared<aron::data::Int>();
+ auto createdAronInt = std::make_shared<aron::data::Int>(i->getPath());
createdAron = createdAronInt;
QTreeWidgetItem* el = parentItem->child(index);
@@ -145,7 +145,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::LongPtr& i)
{
- auto createdAronLong = std::make_shared<aron::data::Long>();
+ auto createdAronLong = std::make_shared<aron::data::Long>(i->getPath());
createdAron = createdAronLong;
QTreeWidgetItem* el = parentItem->child(index);
@@ -161,7 +161,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::FloatPtr& i)
{
- auto createdAronFloat = std::make_shared<aron::data::Float>();
+ auto createdAronFloat = std::make_shared<aron::data::Float>(i->getPath());
createdAron = createdAronFloat;
QTreeWidgetItem* el = parentItem->child(index);
@@ -177,7 +177,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DoublePtr& i)
{
- auto createdAronDouble = std::make_shared<aron::data::Double>();
+ auto createdAronDouble = std::make_shared<aron::data::Double>(i->getPath());
createdAron = createdAronDouble;
QTreeWidgetItem* el = parentItem->child(index);
@@ -193,7 +193,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::BoolPtr& i)
{
- auto createdAronBool = std::make_shared<aron::data::Bool>();
+ auto createdAronBool = std::make_shared<aron::data::Bool>(i->getPath());
createdAron = createdAronBool;
QTreeWidgetItem* el = parentItem->child(index);
@@ -209,7 +209,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::StringPtr& i)
{
- auto createdAronString = std::make_shared<aron::data::String>();
+ auto createdAronString = std::make_shared<aron::data::String>(i->getPath());
createdAron = createdAronString;
QTreeWidgetItem* el = parentItem->child(index);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
index a7d071906..eb056cdc2 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
@@ -21,22 +21,14 @@
*/
#pragma once
-#include <stack>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
-#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
-
-#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
-
-
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+// forward declarations of qt
+class QTreeWidgetItem;
+
+
namespace armarx
{
// Conversion from TreeView to aron data
@@ -46,31 +38,31 @@ namespace armarx
public:
QTreeWidgetItem* parentItem;
int index;
- aron::data::VariantPtr createdAron;
+ aron::data::VariantPtr createdAron = nullptr;
AronTreeWidgetConverterVisitor() = delete;
AronTreeWidgetConverterVisitor(QTreeWidgetItem* i, int x) :
parentItem(i), index(x)
{}
- void visitAronVariant(const aron::type::ObjectPtr&) override;
- void visitAronVariant(const aron::type::DictPtr&) override;
- void visitAronVariant(const aron::type::PairPtr&) override;
- void visitAronVariant(const aron::type::TuplePtr&) override;
- void visitAronVariant(const aron::type::ListPtr&) override;
- void visitAronVariant(const aron::type::NDArrayPtr&) override;
- void visitAronVariant(const aron::type::MatrixPtr&) override;
- void visitAronVariant(const aron::type::QuaternionPtr&) override;
- void visitAronVariant(const aron::type::ImagePtr&) override;
- void visitAronVariant(const aron::type::PointCloudPtr&) override;
- void visitAronVariant(const aron::type::IntEnumPtr&) override;
- void visitAronVariant(const aron::type::IntPtr&) override;
- void visitAronVariant(const aron::type::LongPtr&) override;
- void visitAronVariant(const aron::type::FloatPtr&) override;
- void visitAronVariant(const aron::type::DoublePtr&) override;
- void visitAronVariant(const aron::type::BoolPtr&) override;
- void visitAronVariant(const aron::type::StringPtr&) override;
- void visitUnknown(Input&) override;
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr&) final;
+ void visitAronVariant(const aron::type::PairPtr&) final;
+ void visitAronVariant(const aron::type::TuplePtr&) final;
+ void visitAronVariant(const aron::type::ListPtr&) final;
+ void visitAronVariant(const aron::type::NDArrayPtr&) final;
+ void visitAronVariant(const aron::type::MatrixPtr&) final;
+ void visitAronVariant(const aron::type::QuaternionPtr&) final;
+ void visitAronVariant(const aron::type::ImagePtr&) final;
+ void visitAronVariant(const aron::type::PointCloudPtr&) final;
+ void visitAronVariant(const aron::type::IntEnumPtr&) final;
+ void visitAronVariant(const aron::type::IntPtr&) final;
+ void visitAronVariant(const aron::type::LongPtr&) final;
+ void visitAronVariant(const aron::type::FloatPtr&) final;
+ void visitAronVariant(const aron::type::DoublePtr&) final;
+ void visitAronVariant(const aron::type::BoolPtr&) final;
+ void visitAronVariant(const aron::type::StringPtr&) final;
+ void visitUnknown(Input&) final;
};
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
index 5e8cab9ee..ee43334bb 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
@@ -22,14 +22,13 @@
#include <string>
+// base class
#include "AronTreeWidgetCreator.h"
-// debug
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
-
+// data
+#include "../AronTreeWidgetItem.h"
#include "../Data.h"
-//visitors
namespace armarx
{
void
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
index 5a696d52c..63dde7ef0 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
@@ -21,26 +21,15 @@
*/
#pragma once
-#include <stack>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
-#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
-
-#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
-
-#include "../AronTreeWidgetItem.h"
-
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
namespace armarx
{
- // Convert aron type to tree widget
+ class AronTreeWidgetItem;
+
+ // Convert aron type to tree widgets
class AronTreeWidgetCreatorVisitor :
public armarx::aron::type::ConstVariantVisitor
{
@@ -51,24 +40,24 @@ namespace armarx
void createSimpleTreeViewWidget(Input& i, const std::string&);
- void visitAronVariant(const aron::type::ObjectPtr&) override;
- void visitAronVariant(const aron::type::DictPtr& i) override;
- void visitAronVariant(const aron::type::PairPtr& i) override;
- void visitAronVariant(const aron::type::TuplePtr& i) override;
- void visitAronVariant(const aron::type::ListPtr& i) override;
- void visitAronVariant(const aron::type::NDArrayPtr& i) override;
- void visitAronVariant(const aron::type::MatrixPtr& i) override;
- void visitAronVariant(const aron::type::QuaternionPtr& i) override;
- void visitAronVariant(const aron::type::ImagePtr& i) override;
- void visitAronVariant(const aron::type::PointCloudPtr& i) override;
- void visitAronVariant(const aron::type::IntEnumPtr& i) override;
- void visitAronVariant(const aron::type::IntPtr& i) override;
- void visitAronVariant(const aron::type::LongPtr& i) override;
- void visitAronVariant(const aron::type::FloatPtr& i) override;
- void visitAronVariant(const aron::type::DoublePtr& i) override;
- void visitAronVariant(const aron::type::BoolPtr& i) override;
- void visitAronVariant(const aron::type::StringPtr& i) override;
- void visitUnknown(Input&) override;
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr& i) final;
+ void visitAronVariant(const aron::type::PairPtr& i) final;
+ void visitAronVariant(const aron::type::TuplePtr& i) final;
+ void visitAronVariant(const aron::type::ListPtr& i) final;
+ void visitAronVariant(const aron::type::NDArrayPtr& i) final;
+ void visitAronVariant(const aron::type::MatrixPtr& i) final;
+ void visitAronVariant(const aron::type::QuaternionPtr& i) final;
+ void visitAronVariant(const aron::type::ImagePtr& i) final;
+ void visitAronVariant(const aron::type::PointCloudPtr& i) final;
+ void visitAronVariant(const aron::type::IntEnumPtr& i) final;
+ void visitAronVariant(const aron::type::IntPtr& i) final;
+ void visitAronVariant(const aron::type::LongPtr& i) final;
+ void visitAronVariant(const aron::type::FloatPtr& i) final;
+ void visitAronVariant(const aron::type::DoublePtr& i) final;
+ void visitAronVariant(const aron::type::BoolPtr& i) final;
+ void visitAronVariant(const aron::type::StringPtr& i) final;
+ void visitUnknown(Input&) final;
};
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
index 07c0eee7a..7ff248bd5 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
@@ -26,10 +26,13 @@
#include <SimoxUtility/algorithm/string.h>
-// debug
+// modals
#include "../modal/text/AronTreeWidgetTextInputModalController.h"
#include "../modal/dict/AronTreeWidgetDictInputModalController.h"
+// qt
+#include <QTreeWidget>
+
//visitors
namespace armarx
{
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
index 26764e6d2..e22930a10 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
@@ -21,25 +21,12 @@
*/
#pragma once
-#include <stack>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
-#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
-
-#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
-
#include "../modal/AronTreeWidgetModal.h"
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
-#include <QTreeWidget>
-
namespace armarx
{
// Convert aron type to tree widget
@@ -59,24 +46,24 @@ namespace armarx
parent(parent)
{}
- void visitAronVariant(const aron::type::ObjectPtr&) override;
- void visitAronVariant(const aron::type::DictPtr& i) override;
- void visitAronVariant(const aron::type::PairPtr& i) override;
- void visitAronVariant(const aron::type::TuplePtr& i) override;
- void visitAronVariant(const aron::type::ListPtr& i) override;
- void visitAronVariant(const aron::type::NDArrayPtr& i) override;
- void visitAronVariant(const aron::type::MatrixPtr& i) override;
- void visitAronVariant(const aron::type::QuaternionPtr& i) override;
- void visitAronVariant(const aron::type::ImagePtr& i) override;
- void visitAronVariant(const aron::type::PointCloudPtr& i) override;
- void visitAronVariant(const aron::type::IntEnumPtr& i) override;
- void visitAronVariant(const aron::type::IntPtr& i) override;
- void visitAronVariant(const aron::type::LongPtr& i) override;
- void visitAronVariant(const aron::type::FloatPtr& i) override;
- void visitAronVariant(const aron::type::DoublePtr& i) override;
- void visitAronVariant(const aron::type::BoolPtr& i) override;
- void visitAronVariant(const aron::type::StringPtr& i) override;
- void visitUnknown(Input&) override;
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr& i) final;
+ void visitAronVariant(const aron::type::PairPtr& i) final;
+ void visitAronVariant(const aron::type::TuplePtr& i) final;
+ void visitAronVariant(const aron::type::ListPtr& i) final;
+ void visitAronVariant(const aron::type::NDArrayPtr& i) final;
+ void visitAronVariant(const aron::type::MatrixPtr& i) final;
+ void visitAronVariant(const aron::type::QuaternionPtr& i) final;
+ void visitAronVariant(const aron::type::ImagePtr& i) final;
+ void visitAronVariant(const aron::type::PointCloudPtr& i) final;
+ void visitAronVariant(const aron::type::IntEnumPtr& i) final;
+ void visitAronVariant(const aron::type::IntPtr& i) final;
+ void visitAronVariant(const aron::type::LongPtr& i) final;
+ void visitAronVariant(const aron::type::FloatPtr& i) final;
+ void visitAronVariant(const aron::type::DoublePtr& i) final;
+ void visitAronVariant(const aron::type::BoolPtr& i) final;
+ void visitAronVariant(const aron::type::StringPtr& i) final;
+ void visitUnknown(Input&) final;
};
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
new file mode 100644
index 000000000..87d99fe16
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
@@ -0,0 +1,137 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2020
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <string>
+
+#include "AronTreeWidgetSetter.h"
+
+//visitors
+namespace armarx
+{
+ bool AronTreeWidgetSetterVisitor::checkTreeWidgetItemForSimilarName(const std::string& name) const
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ std::string n = el->text(0).toStdString();
+ if (name != n)
+ {
+ ARMARX_WARNING_S << "Could not set a tree widget value for the element with key '" << name << "' because it is different from the expected name '" << n << "'.";
+ return false;
+ }
+ return true;
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DictPtr& i)
+ {
+ if (i->getPath().size() == 0 || checkTreeWidgetItemForSimilarName(i->getPath().getLastElement())) // either it is the root or it has a name
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ unsigned int x = 0;
+ for (const auto& [key, value] : i->getElements())
+ {
+ AronTreeWidgetSetterVisitor v(el, x++);
+ aron::data::visit(v, value);
+ }
+ return;
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::ListPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ unsigned int x = 0;
+ for (const auto& value : i->getElements())
+ {
+ AronTreeWidgetSetterVisitor v(el, x++);
+ aron::data::visit(v, value);
+ }
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::NDArrayPtr& i)
+ {
+
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::IntPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::LongPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::FloatPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DoublePtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::BoolPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::StringPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(i->getValue()));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING_S << "Received an unknown type when trying to set a skill argument type from an aron data object.";
+ }
+}
+
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.h
new file mode 100644
index 000000000..336be31e2
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.h
@@ -0,0 +1,64 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <stack>
+
+#include "../AronTreeWidgetItem.h"
+
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+
+namespace armarx
+{
+ // Conversion from TreeView to aron data
+ class AronTreeWidgetSetterVisitor :
+ public armarx::aron::data::ConstVariantVisitor
+ {
+ public:
+ QTreeWidgetItem* parentItem;
+ int index;
+ AronTreeWidgetItem* qWidgetItem;
+
+ AronTreeWidgetSetterVisitor() = delete;
+ AronTreeWidgetSetterVisitor(QTreeWidgetItem* i, int x) :
+ parentItem(i), index(x)
+ {}
+
+ virtual void visitAronVariant(const aron::data::DictPtr&) final;
+ virtual void visitAronVariant(const aron::data::ListPtr&) final;
+ virtual void visitAronVariant(const aron::data::NDArrayPtr&) final;
+ virtual void visitAronVariant(const aron::data::IntPtr&) final;
+ virtual void visitAronVariant(const aron::data::LongPtr&) final;
+ virtual void visitAronVariant(const aron::data::FloatPtr&) final;
+ virtual void visitAronVariant(const aron::data::DoublePtr&) final;
+ virtual void visitAronVariant(const aron::data::BoolPtr&) final;
+ virtual void visitAronVariant(const aron::data::StringPtr&) final;
+ void visitUnknown(Input&) final;
+
+ private:
+ bool checkTreeWidgetItemForSimilarName(const std::string& name) const;
+ };
+}
+
+
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index b21e5135e..33fbf744f 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -25,6 +25,7 @@
#include <RobotAPI/interface/aron.ice>
+// We need to prototype the interface
module armarx
{
module skills
@@ -56,9 +57,10 @@ module armarx
{
string skillName; // the name of the skill
string description; // a human readable description of what the skill does
- StringList robots; // see above
+ StringList robots; // the names of the robotis that are able to eecute that skill
long timeoutMs; // in milliseconds
aron::type::dto::AronObject acceptedType; // the name of the object is irrelevant and only used in GUI
+ aron::data::dto::Dict defaultParams; // the default parameterization used in GUI. nullptr if not set
};
dictionary<string, SkillDescription> SkillDescriptionMap;
@@ -128,6 +130,7 @@ module armarx
}
}
+
module armarx
{
module skills
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
index 537b389e3..e6429e7fe 100644
--- a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
@@ -11,7 +11,6 @@ namespace armarx::aron::converter
void AronNlohmannJSONConverter::ConvertToNlohmannJSON(const aron::data::VariantPtr& aron, nlohmann::json& j)
{
- aron::data::writer::NlohmannJSONWriter dataWriter;
j = aron::data::readAndWrite<data::FromVariantConverter<data::writer::NlohmannJSONWriter>>(aron);
}
@@ -24,7 +23,6 @@ namespace armarx::aron::converter
void AronNlohmannJSONConverter::ConvertToNlohmannJSON(const aron::type::VariantPtr& aron, nlohmann::json& j)
{
- aron::type::writer::NlohmannJSONWriter typeWriter;
j = aron::type::readAndWrite<type::FromVariantConverter<type::writer::NlohmannJSONWriter>>(aron);
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
index e8a00e47c..4ac67da09 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
@@ -113,7 +113,7 @@ namespace armarx::aron::data::detail
return nullptr;
}
- auto casted = DerivedT::DynamicCast(n);
+ PointerType casted = DerivedT::DynamicCast(n);
ARMARX_CHECK_NOT_NULL(casted) << "The path was: " << n->getPath().toString() << ".\n"
<< "It has the descriptor: '" << data::defaultconversion::string::Descriptor2String.at(n->getDescriptor()) << "'.\n"
<< "And the typeid: " << typeid(n).name() << ". Tried to cast to " << typeid(PointerType).name();
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.cpp b/source/RobotAPI/libraries/skills/provider/Skill.cpp
index c3265710f..23588f899 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/Skill.cpp
@@ -11,6 +11,7 @@ namespace armarx
Logging::setTag("armarx::skills::" + description.skillName);
}
+ // install a local condition via a lambda
void Skill::installCondition(std::function<bool()>&& f, std::function<void()>&& cb)
{
std::lock_guard l(callbacksMutex);
@@ -27,6 +28,7 @@ namespace armarx
stopped = true;
}
+ // reset all local variables
void Skill::reset()
{
started = IceUtil::Time::milliSeconds(-1);
@@ -37,13 +39,13 @@ namespace armarx
timeoutReached = false;
}
+ // always called before execute (should not take longer than 100ms)
void Skill::init(const aron::data::DictPtr& params)
{
(void) params;
ARMARX_IMPORTANT << "Initializing Skill '" << description.skillName << "'";
- // always called before execute (should not take longer than 100ms)
callbacks.clear();
running = true;
started = IceUtil::Time::now();
@@ -54,7 +56,7 @@ namespace armarx
[&](){ notifyTimeoutReached(); }
);
- callbackThread = std::thread([&]()
+ conditionCheckingThread = std::thread([&]()
{
while (running)
{
@@ -70,17 +72,17 @@ namespace armarx
});
}
+ // always called after execute (should not take longer than 100ms)
void Skill::exit(const aron::data::DictPtr& params)
{
(void) params;
ARMARX_IMPORTANT << "Exiting Skill '" << description.skillName << "'";
- // always called after execute (should not take longer than 100ms)
- running = false;
- if (callbackThread.joinable())
+ running = false; // notify all conditions to stop
+ if (conditionCheckingThread.joinable())
{
- callbackThread.join();
+ conditionCheckingThread.join();
}
exited = IceUtil::Time::now();
}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.h b/source/RobotAPI/libraries/skills/provider/Skill.h
index 0ecb43166..1447fdd13 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.h
+++ b/source/RobotAPI/libraries/skills/provider/Skill.h
@@ -8,6 +8,7 @@
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -68,7 +69,7 @@ namespace armarx
std::vector<std::pair<std::function<bool()>, std::function<void()>>> callbacks;
mutable std::mutex callbacksMutex;
- /// running params
+ /// running params. TODO switch to armarx::core::time
IceUtil::Time started = IceUtil::Time::milliSeconds(-1);
IceUtil::Time exited = IceUtil::Time::milliSeconds(-1);
@@ -76,13 +77,13 @@ namespace armarx
manager::dti::SkillManagerInterfacePrx manager = nullptr;
protected:
- /// Use conditions managerme this way
+ /// Use conditions this way
std::atomic_bool running = true;
std::atomic_bool stopped = false;
std::atomic_bool timeoutReached = false;
private:
- std::thread callbackThread;
+ std::thread conditionCheckingThread;
};
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
index 547cb389c..3256f3e11 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
@@ -4,6 +4,11 @@ namespace armarx
{
namespace skills
{
+ SkillDescription::SkillDescription(const std::string& name, const std::string& desc, const std::vector<std::string>& r, long timeoutMs, const aron::type::ObjectPtr& type, const aron::data::DictPtr& def) :
+ skillName(name), description(desc), robots(r), timeoutMs(timeoutMs), acceptedType(type), defaultParams(def)
+ {
+ }
+
provider::dto::SkillDescription SkillDescription::toIce() const
{
provider::dto::SkillDescription ret;
@@ -12,6 +17,7 @@ namespace armarx
ret.skillName = skillName;
ret.robots = robots;
ret.timeoutMs = timeoutMs;
+ ret.defaultParams = aron::data::Dict::ToAronDictDTO(defaultParams);
return ret;
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.h b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
index 70b294b11..14bb86dc3 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
@@ -4,6 +4,7 @@
#include <vector>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
namespace armarx
@@ -12,11 +13,15 @@ namespace armarx
{
struct SkillDescription
{
- std::string skillName;
- std::string description;
- std::vector<std::string> robots;
- long timeoutMs;
- aron::type::ObjectPtr acceptedType;
+ std::string skillName = "";
+ std::string description = "";
+ std::vector<std::string> robots = {};
+ long timeoutMs = -1;
+ aron::type::ObjectPtr acceptedType = nullptr;
+ aron::data::DictPtr defaultParams = nullptr;
+
+ SkillDescription() = default;
+ SkillDescription(const std::string&, const std::string&, const std::vector<std::string>&, long, const aron::type::ObjectPtr&, const aron::data::DictPtr& = nullptr);
provider::dto::SkillDescription toIce() const;
};
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index a17411d10..0691a6f71 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -138,7 +138,14 @@ namespace armarx
// Please not that this method waits until the skill can be scheduled!
void SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionRequest& info, const Ice::Current &)
{
+ // The skill will be executed in a different thread
std::thread execution;
+
+ // setup input args for skill execution
+ skills::SkillParameterization usedParameterization;
+ usedParameterization.usedCallbackInterface = info.callbackInterface;
+ usedParameterization.usedInputParams = aron::data::Dict::FromAronDictDTO(info.params);
+
{
std::shared_lock l(skillsMutex);
std::string skillName = info.skillName;
@@ -147,19 +154,14 @@ namespace armarx
// get reference of the wrapper
auto& wrapper = skillImplementations.at(skillName);
- // setup input args
- skills::SkillParameterization usedParameterization;
- usedParameterization.usedCallbackInterface = info.callbackInterface;
- usedParameterization.usedInputParams = aron::data::Dict::FromAronDictDTO(info.params);
-
// async start execution. But we wait for the execution to finish at the end of this method
- execution = std::thread([&](){
+ execution = std::thread([&wrapper, &usedParameterization](){
// execute waits until the previous execution finishes.
wrapper.execute(usedParameterization);
});
} // release lock. We don't know how long the skill needs to finish and we have to releasethe lock for being able to abort the execution
- if(execution.joinable())
+ if (execution.joinable())
{
execution.join();
}
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 15cc6af55..50d95cade 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -4,6 +4,12 @@ namespace armarx
{
namespace skills::detail
{
+ SkillImplementationWrapper::SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill) :
+ skill(std::move(skill))
+ {
+ ARMARX_CHECK_NOT_NULL(this->skill);
+ }
+
void SkillImplementationWrapper::execute(const skills::SkillParameterization parameterization)
{
std::unique_lock l(executingMutex);
@@ -54,7 +60,10 @@ namespace armarx
updateStatus(skills::provider::dto::Execution::Status::Running);
skill->init(aron_params);
- auto ret = skill->main(aron_params, [&](const aron::data::DictPtr& update) { updateStatus(statusUpdate.status, update); });
+ auto ret = skill->main(aron_params, [&](const aron::data::DictPtr& update)
+ {
+ updateStatus(statusUpdate.status, update);
+ });
skill->exit(aron_params);
switch (ret)
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index 1c70a14e5..f06420a2f 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -26,15 +26,10 @@ namespace armarx
mutable std::shared_mutex skillStatusMutex;
SkillStatusUpdate statusUpdate;
- // Task information. task is recreated every time the skill restarts
+ // Task information
mutable std::shared_mutex executingMutex;
- std::thread task;
- SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill) :
- skill(std::move(skill))
- {
- ARMARX_CHECK_NOT_NULL(this->skill);
- }
+ SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill);
// execute a skill. The parameterization is copied
void execute(const skills::SkillParameterization);
--
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