From dc67ff595ff947920b5005401d509443f3a5f2fe Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Thu, 14 Dec 2023 15:21:05 +0100
Subject: [PATCH] Implemented update for execution tree
---
.../libraries/skills_gui/CMakeLists.txt | 2 +
.../executions/SkillExecutionTreeWidget.cpp | 106 ++++++------------
.../executions/SkillExecutionTreeWidget.h | 12 ++
.../SkillExecutionTreeWidgetItem.cpp | 30 +++++
.../executions/SkillExecutionTreeWidgetItem.h | 7 +-
.../skills_gui/skills/SkillTreeWidgetItem.cpp | 6 +
.../skills_gui/skills/SkillTreeWidgetItem.h | 10 ++
7 files changed, 95 insertions(+), 78 deletions(-)
create mode 100644 source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp
create mode 100644 source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h
diff --git a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
index 8470d46ab..f3564c12f 100644
--- a/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills_gui/CMakeLists.txt
@@ -56,6 +56,7 @@ set(SOURCES
skills/SkillTreeWidget.cpp
skills/SkillGroupBox.cpp
+ skills/SkillTreeWidgetItem.cpp
skill_details/SkillDetailsGroupBox.cpp
skill_details/ProfileMenuWidget.cpp
@@ -97,6 +98,7 @@ set(HEADERS
skills/SkillTreeWidget.h
skills/SkillGroupBox.h
+ skills/SkillTreeWidgetItem
skill_details/SkillDetailsGroupBox.h
skill_details/ProfileMenuWidget.h
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
index 8e53e9708..f1be93266 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -1,6 +1,11 @@
#include "SkillExecutionTreeWidget.h"
+#include <mutex>
+
#include <QMenu>
+#include <QTreeWidgetItem>
+
+#include "SkillExecutionTreeWidgetItem.h"
namespace armarx::skills::gui
{
@@ -43,101 +48,56 @@ namespace armarx::skills::gui
memory->stopExecution(this->selectedExecution.skillExecutionId);
}
- /*
void
SkillExecutionTreeWidget::refresh()
{
+ auto currentManagerStatuses = memory->getLatestUpdate().statuses;
-
- SkillManagerWrapper::Snapshot snapshot = memory->getLatestSnapshot();
-
- // update tree view. Remove non-existing elements
- int i = 0;
- while (i < this->topLevelItemCount())
+ for (const auto& [k, v] : currentManagerStatuses)
{
- auto* providerItem = this->topLevelItem(i);
- auto providerName = providerItem->text(0).toStdString();
- snapshot.skills::ProviderID providerId{.providerName = providerName};
-
- if (snapshot.skills.find(providerId) == snapshot.skills.end())
- {
- providerItem = nullptr; // reset
- auto remove = this->takeTopLevelItem(i);
- delete remove;
- continue;
- }
+ skills::SkillExecutionID executionId = k;
+ skills::SkillStatusUpdate statusUpdate = v;
- ++i;
- auto& providedSkills = snapshot.skills.at(providerId);
-
- int j = 0;
- while (j < providerItem->childCount())
+ SkillExecutionTreeWidgetItem* found = nullptr;
+ for (int i = 0; i < this->topLevelItemCount(); ++i)
{
- auto* skillItem = providerItem->child(j);
- auto skillName = skillItem->text(0).toStdString();
+ auto c = static_cast<SkillExecutionTreeWidgetItem*>(topLevelItem(i));
- skills::SkillID skillId{
- .providerId = snapshot.skills::ProviderID{.providerName = providerName},
- .skillName = skillName};
+ found = SkillExecutionTreeWidgetItem::SearchRecursiveForMatch(c, executionId);
- if (providedSkills.find(skillId) == providedSkills.end())
+ if (found)
{
- skillItem = nullptr;
- auto remove = providerItem->takeChild(j);
- delete remove;
- continue;
- }
-
- ++j;
- }
- }
-
- // update tree view. Add new elements
- for (const auto& [providerId, providedSkills] : snapshot.skills)
- {
- QTreeWidgetItem* providerItem = nullptr;
- for (int i = 0; i < this->topLevelItemCount(); ++i)
- {
- auto el = this->topLevelItem(i);
- auto providerName = el->text(0).toStdString();
- skills::ProviderID elProviderId{.providerName = providerName};
+ for (std::pair<skills::SkillStatus, std::string> i : EXECUTION_STATUS_TO_STRING)
+ {
+ if (i.first == statusUpdate.status)
+ {
+ found->setText(3, QString::fromStdString(i.second));
+ }
+ }
- if (providerId == elProviderId)
- {
- providerItem = el;
break;
}
}
- if (!providerItem)
+ if (!found)
{
- providerItem = new QTreeWidgetItem(this);
- providerItem->setText(0, QString::fromStdString(providerId.providerName));
- }
-
- for (const auto& [skillId, skill] : providedSkills)
- {
- QTreeWidgetItem* skillItem = nullptr;
- for (int i = 0; i < providerItem->childCount(); ++i)
+ // TODO: Sort to executor!
+ auto item = new SkillExecutionTreeWidgetItem(executionId, memory);
+
+ item->setText(
+ 0, QString::fromStdString(executionId.executionStartedTime.toDateTimeString()));
+ item->setText(1, QString::fromStdString(executionId.executorName));
+ item->setText(2, QString::fromStdString(executionId.skillId.toString()));
+ for (std::pair<skills::SkillStatus, std::string> i : EXECUTION_STATUS_TO_STRING)
{
- auto el = providerItem->child(i);
- auto skillName = el->text(0).toStdString();
- skills::SkillID elSkillId{providerId, skillName};
-
- if (skillId == elSkillId)
+ if (i.first == statusUpdate.status)
{
- skillItem = el;
- break;
+ item->setText(3, QString::fromStdString(i.second));
}
}
- if (!skillItem)
- {
- skillItem = new SkillInfoTreeWidgetItem(skill, providerItem);
- skillItem->setText(0, QString::fromStdString(skillId.skillName));
- }
+ this->insertTopLevelItem(0, item);
}
}
}
-*/
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
index 2dc6b8a3f..211538c64 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.h
@@ -10,6 +10,18 @@
namespace armarx::skills::gui
{
+ static const std::map<skills::SkillStatus, std::string> EXECUTION_STATUS_TO_STRING = {
+ // Main states
+ {skills::SkillStatus::Constructing, "Constructing"},
+ {skills::SkillStatus::Initializing, "Initializing"},
+ {skills::SkillStatus::Preparing, "Preparing"},
+ {skills::SkillStatus::Running, "Running"},
+
+ // Terminating
+ {skills::SkillStatus::Aborted, "Aborted"},
+ {skills::SkillStatus::Failed, "Failed"},
+ {skills::SkillStatus::Succeeded, "Succeeded"}};
+
class SkillExecutionTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
{
public:
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.cpp
index 727a82168..735042b14 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.cpp
@@ -1 +1,31 @@
#include "SkillExecutionTreeWidgetItem.h"
+
+namespace armarx::skills::gui
+{
+ SkillExecutionTreeWidgetItem*
+ SkillExecutionTreeWidgetItem::SearchRecursiveForMatch(SkillExecutionTreeWidgetItem* haystack,
+ const SkillExecutionID& needle)
+ {
+ if (!haystack)
+ {
+ return nullptr;
+ }
+
+ if (needle == haystack->executionId)
+ {
+ return haystack;
+ }
+ for (int i = 0; i < haystack->childCount(); ++i)
+ {
+ auto el = dynamic_cast<SkillExecutionTreeWidgetItem*>(haystack->child(i));
+ if (!el)
+ {
+ // Dynamic casting failed. Skip element...
+ // We assume, that only this type can contain children in the tree.
+ continue;
+ }
+ return SkillExecutionTreeWidgetItem::SearchRecursiveForMatch(el, needle);
+ }
+ return nullptr;
+ }
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h
index 35b133f79..18afc6356 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidgetItem.h
@@ -11,7 +11,7 @@
namespace armarx::skills::gui
{
- class SkillExecutionTreeWidgetItem : QTreeWidgetItem, public MemoryCommunicatorBase
+ class SkillExecutionTreeWidgetItem : public QTreeWidgetItem, public MemoryCommunicatorBase
{
public:
SkillExecutionTreeWidgetItem() = delete;
@@ -24,15 +24,12 @@ namespace armarx::skills::gui
}
static SkillExecutionTreeWidgetItem*
- SearchRecursiveForMatch(SkillExecutionTreeWidgetItem* el,
+ SearchRecursiveForMatch(SkillExecutionTreeWidgetItem* haystack,
const skills::SkillExecutionID& needle);
skills::SkillExecutionID getExecutionID();
void updateItem(skills::SkillStatus status);
- private slots:
- void runContextMenu(const QPoint& pos);
-
protected:
skills::SkillExecutionID executionId;
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp
new file mode 100644
index 000000000..235461cfc
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp
@@ -0,0 +1,6 @@
+#include "SkillTreeWidgetItem.h"
+
+SkillTreeWidgetItem::SkillTreeWidgetItem()
+{
+
+}
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h
new file mode 100644
index 000000000..d56c906bb
--- /dev/null
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include <QTreeWidgetItem>
+
+class SkillTreeWidgetItem : public QTreeWidgetItem
+{
+public:
+ SkillTreeWidgetItem();
+};
+
--
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