diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Timeout.cpp b/source/RobotAPI/components/skills/SkillProviderExample/Timeout.cpp
index 31dc03ae05caf0e2be256487e3a6a4294243e9d0..ddfc284c36e3da15ca34fdb657a9eeb6cc885f33 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/Timeout.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Timeout.cpp
@@ -14,7 +14,7 @@ namespace armarx::skills::provider
{
return SkillDescription{.skillId = SkillID{.skillName = "Timeout"},
.description = "This fails with timeout reached",
- .timeout = armarx::core::time::Duration::MilliSeconds(2000)};
+ .timeout = armarx::core::time::Duration::Seconds(10)};
}
PeriodicSkill::StepResult
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
index 79d606639c320ffeba73918967d9a832de446e68..4cdccadf87864a3ab4147b9cb867f7fac2d9ae11 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.cpp
@@ -136,6 +136,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetController::onTreeWidgetItemChanged(QTreeWidgetItem* item, int column)
{
+ ARMARX_INFO << "Enter onTreeWidgetItemChanged";
tree->blockSignals(true);
auto* aronElem = AronTreeWidgetItem::DynamicCast(item);
@@ -143,21 +144,26 @@ namespace armarx::skills::gui
{
aronElem->onUserChange(column);
}
+
+ ARMARX_INFO << "After onUserChange";
// start conversion for entire tree -- this also sets the highlighting
if (parent->childCount() == 1)
{
auto* aronTreeRoot = AronTreeWidgetItem::DynamicCast(parent->child(0));
- aronTreeRoot->resetError();
if (aronTreeRoot)
{
+ ARMARX_INFO << "Looking at aronTreeRoot";
+ aronTreeRoot->resetError();
AronTreeWidgetConverterVisitor v(parent, 0);
aron::type::visit(v, type);
+ ARMARX_INFO << "After visiting";
aronTreeRoot->setValueErrorState(v.hasDirectError(), v.onlyChildFailedConversion());
}
}
// else perhaps the GUI was stopped or died.
tree->blockSignals(false);
+ ARMARX_INFO << "Exit onTreeWidgetItemChanged";
}
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
index d76cee191fda8cb927548a795b53291875ae14e6..6f8b2f63e4f9daf3406c8f3d92420634aecd3606 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetItem.cpp
@@ -149,6 +149,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetItem::onUserChange(int changedColumn)
{
+ ARMARX_INFO << "Enter onUserChange";
QTreeWidgetItem* qParent = QTreeWidgetItem::parent();
ARMARX_CHECK(qParent);
AronTreeWidgetItem* aronParent = DynamicCast(qParent);
@@ -172,6 +173,7 @@ namespace armarx::skills::gui
preventIllegalKeyChange();
}
}
+ ARMARX_INFO << "Exit onUserChange";
}
void
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
index 832258ea2c1083742ae9c0f13192e9f6903169ef..9ab53296e103fe40246f2b1ef67aca3d96a3d8d8 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetConverter.cpp
@@ -63,6 +63,7 @@ namespace armarx::skills::gui
AronTreeWidgetConverterVisitor::handleErrors(AronTreeWidgetConverterVisitor childV,
bool ownFault)
{
+ ARMARX_INFO << "Enter HandleErrors1";
ARMARX_TRACE;
isDirectError |= ownFault;
hasTransitiveError |= childV.isDirectError || childV.hasTransitiveError;
@@ -70,21 +71,25 @@ namespace armarx::skills::gui
auto* aronItem = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
ARMARX_CHECK(aronItem);
aronItem->setValueErrorState(isDirectError, hasTransitiveError);
+ ARMARX_INFO << "Exit HandleErrors1";
}
void
AronTreeWidgetConverterVisitor::handleErrors(bool ownFault)
{
+ ARMARX_INFO << "Enter HandleErrors2";
ARMARX_TRACE;
isDirectError = ownFault;
auto* aronItem = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
ARMARX_CHECK(aronItem);
aronItem->setValueErrorState(isDirectError, false);
+ ARMARX_INFO << "Exit HandleErrors2";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
{
+ ARMARX_INFO << "Enter Object Converter";
ARMARX_TRACE;
auto createdAronDict = std::make_shared<aron::data::Dict>(i->getPath());
createdAron = createdAronDict;
@@ -113,11 +118,13 @@ namespace armarx::skills::gui
createdAronDict->addElement(key, v.createdAron);
}
}
+ ARMARX_INFO << "Exit Object Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DictPtr& i)
{
+ ARMARX_INFO << "Enter Dict Converter";
ARMARX_TRACE;
auto createdAronDict = std::make_shared<aron::data::Dict>(i->getPath());
createdAron = createdAronDict;
@@ -146,11 +153,13 @@ namespace armarx::skills::gui
createdAronDict->addElement(key, v.createdAron);
}
}
+ ARMARX_INFO << "Exit Dict Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ListPtr& i)
{
+ ARMARX_INFO << "Enter List Converter";
ARMARX_TRACE;
auto createdAronList = std::make_shared<aron::data::List>(i->getPath());
createdAron = createdAronList;
@@ -179,11 +188,13 @@ namespace armarx::skills::gui
createdAronList->addElement(convVisitor.createdAron);
}
}
+ ARMARX_INFO << "Exit List Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::PairPtr& i)
{
+ ARMARX_INFO << "Enter Pair Converter";
ARMARX_TRACE;
auto createdAronPair = std::make_shared<aron::data::List>(i->getPath());
createdAron = createdAronPair;
@@ -208,11 +219,13 @@ namespace armarx::skills::gui
createdAronPair->addElement(convVisitor.createdAron);
}
}
+ ARMARX_INFO << "Exit Pair Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::TuplePtr& i)
{
+ ARMARX_INFO << "Enter Tuple Converter";
ARMARX_TRACE;
auto createdAronList = std::make_shared<aron::data::List>(i->getPath());
createdAron = createdAronList;
@@ -240,6 +253,7 @@ namespace armarx::skills::gui
createdAronList->addElement(v.createdAron);
}
}
+ ARMARX_INFO << "Exit Tuple Converter";
}
void
@@ -252,6 +266,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
{
+ ARMARX_INFO << "Enter Matrix Converter";
ARMARX_TRACE;
auto createdMatrix = std::make_shared<aron::data::NDArray>(i->getPath());
int dataSize = 0;
@@ -276,6 +291,8 @@ namespace armarx::skills::gui
break;
};
+ ARMARX_INFO << "Matrix: 1";
+
// UGLY HACK: FIX ME!!!
switch (i->getElementType())
{
@@ -308,6 +325,8 @@ namespace armarx::skills::gui
break;
};
+ ARMARX_INFO << "Matrix: 2";
+
createdMatrix->setShape({i->getRows(), i->getCols(), dataSize});
int totalByteSize = i->getRows() * i->getCols() * dataSize;
createdAron = createdMatrix;
@@ -323,17 +342,23 @@ namespace armarx::skills::gui
}
}
+ ARMARX_INFO << "Matrix: 3";
auto* rootWidget = el->treeWidget();
ARMARX_CHECK(rootWidget);
auto* widget = rootWidget->itemWidget(el, 1);
+ ARMARX_CHECK(rootWidget);
auto* matrixWidget = EditMatrixWidget::DynamicCastAndCheck(widget);
+ ARMARX_CHECK(matrixWidget);
handleErrors(matrixWidget->hasParseErrors());
if (matrixWidget->hasParseErrors())
{
return;
}
+
+ ARMARX_INFO << "Matrix: 4";
+
// write to aron data
std::vector<unsigned char> elems;
elems.reserve(totalByteSize);
@@ -349,11 +374,13 @@ namespace armarx::skills::gui
}
}
createdMatrix->setData(totalByteSize, elems.data());
+ ARMARX_INFO << "Exit Matrix Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
{
+ ARMARX_INFO << "Enter Quat Converter";
ARMARX_TRACE;
auto createdQuat = std::make_shared<aron::data::NDArray>(i->getPath());
createdAron = createdQuat;
@@ -390,6 +417,7 @@ namespace armarx::skills::gui
<< "serialized quaternions did not return byte sequence of correct length!";
}
createdQuat->setData(serialized.size(), serialized.data());
+ ARMARX_INFO << "Exit Quat Converter";
}
void
@@ -409,6 +437,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
{
+ ARMARX_INFO << "Enter IntEnum Converter";
ARMARX_TRACE;
QTreeWidgetItem* el = parentItem->child(index);
@@ -433,11 +462,13 @@ namespace armarx::skills::gui
std::tie(success, createdAron) = intEnumWidget->parseToAron();
handleErrors(!success);
+ ARMARX_INFO << "Exit IntEnum Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntPtr& i)
{
+ ARMARX_INFO << "Enter Int Converter";
ARMARX_TRACE;
auto createdAronInt = std::make_shared<aron::data::Int>(i->getPath());
createdAron = createdAronInt;
@@ -472,11 +503,13 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+ ARMARX_INFO << "Exit Int Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::LongPtr& i)
{
+ ARMARX_INFO << "Enter Long Converter";
ARMARX_TRACE;
auto createdAronLong = std::make_shared<aron::data::Long>(i->getPath());
createdAron = createdAronLong;
@@ -510,11 +543,13 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+ ARMARX_INFO << "Exit Long Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::FloatPtr& i)
{
+ ARMARX_INFO << "Enter Float Converter";
ARMARX_TRACE;
auto createdAronFloat = std::make_shared<aron::data::Float>(i->getPath());
createdAron = createdAronFloat;
@@ -547,11 +582,13 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+ ARMARX_INFO << "Exit Float Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DoublePtr& i)
{
+ ARMARX_INFO << "Enter Double Converter";
ARMARX_TRACE;
auto createdAronDouble = std::make_shared<aron::data::Double>(i->getPath());
createdAron = createdAronDouble;
@@ -584,11 +621,13 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+ ARMARX_INFO << "Exit Double Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::BoolPtr& i)
{
+ ARMARX_INFO << "Enter Bool Converter";
ARMARX_TRACE;
auto createdAronBool = std::make_shared<aron::data::Bool>(i->getPath());
createdAron = createdAronBool;
@@ -621,16 +660,28 @@ namespace armarx::skills::gui
return;
}
handleErrors(false);
+ ARMARX_INFO << "Exit Bool Converter";
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::StringPtr& i)
{
+ ARMARX_INFO << "Enter String Converter";
ARMARX_TRACE;
auto createdAronString = std::make_shared<aron::data::String>(i->getPath());
createdAron = createdAronString;
QTreeWidgetItem* el = parentItem->child(index);
+ if (el == nullptr)
+ {
+ return;
+ }
+
+ ARMARX_INFO << "el = " << el;
+ ARMARX_INFO << "index = " << index;
+
+ ARMARX_INFO << "String: 1";
+
if (i->getMaybe() != armarx::aron::type::Maybe::NONE)
{
// its a maybetype. We have to check the state
@@ -641,8 +692,12 @@ namespace armarx::skills::gui
}
}
+ ARMARX_INFO << "String: 2";
+
std::string str = el->text(1).toStdString();
+ ARMARX_INFO << "createdAronString = " << createdAronString;
createdAronString->setValue(str);
+ ARMARX_INFO << "Exit String Converter";
}
void
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
index 4951555344ee891df2919466a43453cfbfb6d278..26378f0ca9e24e3285233706aed7256a7d3ff390 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/visitors/AronTreeWidgetSetter.cpp
@@ -35,11 +35,14 @@ template <typename T>
std::string
usString(T number, size_t precision = 3)
{
+ ARMARX_INFO << "Enter usString";
std::stringstream ss;
const char* locale = "C";
ss.imbue(std::locale(locale));
+ ARMARX_INFO << "Building StringStream";
ss << std::fixed << std::setprecision(precision) << number;
+ ARMARX_INFO << "Exit usString";
return ss.str();
}
@@ -102,6 +105,7 @@ namespace armarx::skills::gui
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DictPtr& i)
{
+ ARMARX_INFO << "Enter DictPtr Setter Visitor";
// either it is the root or it has a name
if (i->getPath().size() == 0 ||
checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
@@ -126,17 +130,24 @@ namespace armarx::skills::gui
el->setCheckState(1, Qt::CheckState::Checked);
}
}
+ ARMARX_INFO << "Exit DictPtr Setter Visitor";
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::ListPtr& i)
{
+ ARMARX_INFO << "Enter ListPtr Setter Visitor";
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
+ ARMARX_INFO << "Marker 0";
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ ARMARX_INFO << "el: " << el;
auto* aronTreeWidget = AronTreeWidgetItem::DynamicCastAndCheck(el);
+ ARMARX_INFO << "aronTreeWidget: " << aronTreeWidget;
adjustNumberOfChildren(aronTreeWidget, i->childrenSize());
+ ARMARX_INFO << "Marker 1";
+
unsigned int x = 0;
for (const auto& value : i->getElements())
{
@@ -148,6 +159,7 @@ namespace armarx::skills::gui
++x;
}
+ ARMARX_INFO << "Marker 2";
// This displays the number of children also when the list is collapsed
QString numElemsText = misc::generateNumElementsText(i->getElements().size());
aronTreeWidget->setText(1, numElemsText);
@@ -161,6 +173,7 @@ namespace armarx::skills::gui
el->setCheckState(1, Qt::CheckState::Checked);
}
}
+ ARMARX_INFO << "Exit ListPtr Setter Visitor";
}
void
@@ -168,6 +181,7 @@ namespace armarx::skills::gui
const std::shared_ptr<armarx::aron::type::Matrix>& matrixType,
const aron::data::NDArrayPtr& arr)
{
+ ARMARX_INFO << "Enter Matrix Setter Visitor";
auto elemType = matrixType->getElementType();
auto* rawData = arr->getData();
// string can convert any item
@@ -250,6 +264,7 @@ namespace armarx::skills::gui
std::shared_ptr<armarx::aron::type::Quaternion>& quatType,
const aron::data::NDArrayPtr& arr)
{
+ ARMARX_INFO << "Enter Quat Setter Visitor";
auto elemType = quatType->getElementType();
auto rawData = arr->getData();
auto shape = arr->getShape();
@@ -280,11 +295,13 @@ namespace armarx::skills::gui
{
quatWidget->setText((QuaternionWidget::QuaternionComponents)i, toString(i));
}
+ ARMARX_INFO << "Exit Quat Setter Visitor";
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::NDArrayPtr& arr)
{
+ ARMARX_INFO << "Enter NDArray Setter Visitor";
// Matrices are handled as NDArray. Raw ndarrays cannot be created currently
auto* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
ARMARX_CHECK(el);
@@ -315,11 +332,13 @@ namespace armarx::skills::gui
{
el->setCheckState(1, Qt::CheckState::Checked);
}
+ ARMARX_INFO << "Exit NDArray Setter Visitor";
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::IntPtr& i)
{
+ ARMARX_INFO << "Enter IntPtr Setter Visitor";
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -341,11 +360,13 @@ namespace armarx::skills::gui
el->setCheckState(1, Qt::CheckState::Checked);
}
}
+ ARMARX_INFO << "Exit IntPtr Setter Visitor";
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::LongPtr& i)
{
+ ARMARX_INFO << "Enter LongPtr Setter Visitor";
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -356,26 +377,40 @@ namespace armarx::skills::gui
el->setCheckState(1, Qt::CheckState::Checked);
}
}
+ ARMARX_INFO << "Exit LongPtr Setter Visitor";
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::FloatPtr& i)
{
+ ARMARX_INFO << "Enter FloatPtr Setter Visitor";
+ ARMARX_INFO << "path: " << i->getPath().toString();
+ ARMARX_INFO << "value: " << i->getValue();
+ ARMARX_INFO << "test: " << usString<float>(i->getValue());
+
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
- el->setText(1, QString::fromStdString(usString<float>(i->getValue())));
-
+ ARMARX_INFO << "el = " << el;
+ std::string repr = usString<float>(i->getValue());
+ ARMARX_INFO << "repr = " << repr;
+ QString qstr = QString::fromStdString(repr);
+ ARMARX_INFO << "qstr = " << qstr;
+ el->setText(1, qstr);
+ ARMARX_INFO << "After SetText";
if (el->aronType && el->aronType->getMaybe() != armarx::aron::type::Maybe::NONE)
{
+ ARMARX_INFO << "What?";
el->setCheckState(1, Qt::CheckState::Checked);
}
}
+ ARMARX_INFO << "Exit FloatPtr Setter Visitor";
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DoublePtr& i)
{
+ ARMARX_INFO << "Enter DoublePtr Setter Visitor";
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -386,11 +421,13 @@ namespace armarx::skills::gui
el->setCheckState(1, Qt::CheckState::Checked);
}
}
+ ARMARX_INFO << "Exit DoublePtr Setter Visitor";
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::BoolPtr& i)
{
+ ARMARX_INFO << "Enter BoolPtr Setter Visitor";
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -401,11 +438,13 @@ namespace armarx::skills::gui
el->setCheckState(1, Qt::CheckState::Checked);
}
}
+ ARMARX_INFO << "Exit BoolPtr Setter Visitor";
}
void
AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::StringPtr& i)
{
+ ARMARX_INFO << "Enter StringPtr Setter Visitor";
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
AronTreeWidgetItem* el = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
@@ -416,6 +455,7 @@ namespace armarx::skills::gui
el->setCheckState(1, Qt::CheckState::Checked);
}
}
+ ARMARX_INFO << "Exit StringPtr Setter Visitor";
}
void