From e0914bf45aa3b28d03f15c50046051ab9f2a459c Mon Sep 17 00:00:00 2001
From: Peter Albrecht <usnlf@student.kit.edu>
Date: Wed, 12 Feb 2025 15:52:03 +0100
Subject: [PATCH] implement: history saving and loading
---
.../skill_details/ProfileMenuWidget.cpp | 19 ++++++++++++++-----
.../skill_details/ProfileMenuWidget.h | 7 +++++++
.../skill_details/SkillDetailsGroupBox.cpp | 6 ++++++
.../skill_details/SkillDetailsTreeWidget.cpp | 19 +++++++++++++++++++
.../skill_details/SkillDetailsTreeWidget.h | 6 +++++-
5 files changed, 51 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.cpp
index 73a69456d..76a027d86 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.cpp
@@ -22,14 +22,16 @@ namespace armarx::skills::gui
copyArgsToClipboard = new QPushButton();
copySkillIdToClipboard = new QPushButton();
resetArgsToProfile = new QPushButton();
- profileSelector = new QComboBox();
+ //profileSelector = new QComboBox();
+ historySelector = new QPushButton();
// layouting
QVBoxLayout* mainLayout = new QVBoxLayout();
QHBoxLayout* topLayout = new QHBoxLayout();
mainLayout->addLayout(topLayout);
- mainLayout->addWidget(profileSelector);
+ //mainLayout->addWidget(profileSelector);
+ mainLayout->addWidget(historySelector);
topLayout->addWidget(setArgsFromClipboard);
topLayout->addWidget(copyArgsToClipboard);
@@ -46,9 +48,16 @@ namespace armarx::skills::gui
copySkillIdToClipboard->setIcon(getIcon("edit-copy-4.svg"));
resetArgsToProfile->setText(QString::fromStdString(RESET_ARGS_BUTTON_TEXT));
resetArgsToProfile->setIcon(getIcon("refresh-black.svg"));
- profileSelector->addItem(QString::fromStdString(DEFAULT_PROFILE_TEXT));
- profileSelector->setDisabled(true);
- profileSelector->setToolTip(QString::fromStdString(PROFILE_NOT_IMPLEMENTED));
+ //profileSelector->addItem(QString::fromStdString(DEFAULT_PROFILE_TEXT));
+ //profileSelector->setDisabled(true);
+ //profileSelector->setToolTip(QString::fromStdString(PROFILE_NOT_IMPLEMENTED));
+ historySelector->setText(QString::fromStdString(HIST_BUTTON_TEXT));
+ }
+
+ void ProfileMenuWidget::updateHistorySelector(skills::SkillID shownSkill)
+ {
+ auto params = memory->getLatestParametersForSkill(shownSkill);
+ historySelector->setDisabled(not params.has_value());
}
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h
index ad6feab68..d1e7bfaec 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h
@@ -4,6 +4,7 @@
#include <QComboBox>
#include <QPushButton>
#include <QWidget>
+#include <qpushbutton.h>
#include "../memory/MemoryCommunicatorBase.h"
@@ -20,6 +21,7 @@ namespace armarx::skills::gui
static const constexpr char* DEFAULT_PROFILE_TEXT = "<No Profile selected. Using root>";
static const constexpr char* PROFILE_NOT_IMPLEMENTED =
"Profiles other than the root profile are currently not supported.";
+ static const constexpr char* HIST_BUTTON_TEXT = "Load Parameters from Last Execution";
// contents are public, as this class is just a convenience wrapper
QPushButton* setArgsFromClipboard = nullptr;
@@ -27,6 +29,7 @@ namespace armarx::skills::gui
QPushButton* copySkillIdToClipboard = nullptr;
QPushButton* resetArgsToProfile = nullptr;
QComboBox* profileSelector = nullptr;
+ QPushButton* historySelector = nullptr;
ProfileMenuWidget(std::shared_ptr<SkillManagerWrapper> _memory, QWidget* parent = nullptr) :
QWidget(parent), MemoryCommunicatorBase(_memory)
@@ -34,6 +37,10 @@ namespace armarx::skills::gui
setupUi();
}
+ public slots:
+
+ void updateHistorySelector(const skills::SkillID shownSkill);
+
private:
void setupUi();
};
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
index 07fc42bdf..834185f79 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
@@ -1,4 +1,6 @@
#include "SkillDetailsGroupBox.h"
+#include <qpushbutton.h>
+#include "RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h"
namespace armarx::skills::gui
{
@@ -159,6 +161,10 @@ namespace armarx::skills::gui
&QPushButton::clicked,
skillDetailsTreeWidget,
&SkillDetailsTreeWidget::resetCurrentConfig);
+ connect(profileMenuWidget->historySelector,
+ &QPushButton::pressed,
+ skillDetailsTreeWidget,
+ &SkillDetailsTreeWidget::reloadLastParameters);
}
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
index c7ec8c4d9..ef4a98533 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.cpp
@@ -80,6 +80,8 @@ namespace armarx::skills::gui
this->expandAll();
resizeContents();
+ emit updated(skillId);
+
// update the ShownSkill
shownSkill = {skillId, descr, aronTreeWidgetController->convertToAron()};
}
@@ -210,6 +212,23 @@ namespace armarx::skills::gui
this->setColumnWidth(1, dynamicColumnSize);
}
+
+ void SkillDetailsTreeWidget::reloadLastParameters()
+ {
+ if (not shownSkill.has_value())
+ {
+ return;
+ }
+
+ auto params = memory->getLatestParametersForSkill(shownSkill->skillId);
+
+ if (not params.has_value())
+ {
+ return;
+ }
+
+ aronTreeWidgetController->setFromAron(params.value());
+ }
aron::data::DictPtr
SkillDetailsTreeWidget::getConfigAsAron()
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h
index 2cf18976a..92308c098 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsTreeWidget.h
@@ -26,6 +26,9 @@ namespace armarx::skills::gui
void pasteCurrentConfig();
void resetWidget();
+ signals:
+ void updated(const skills::SkillID shownSkill);
+
public slots:
// this will reset the args to the profile defaults
void resetCurrentConfig();
@@ -34,7 +37,8 @@ namespace armarx::skills::gui
void disconnectGui();
void updateGui(SkillManagerWrapper::Snapshot update);
void resizeContents();
-
+ void reloadLastParameters();
+
private:
struct ShownSkill
{
--
GitLab