diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
index 878b44b6d08f22f6a7ad17f2adb22c4fb75a6b0f..5c25312a56f2cf17b31c5641bb09f7efaa8170a5 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.cpp
@@ -76,6 +76,10 @@ namespace armarx::skills::gui
void
SkillMemoryGUI::connectSignals()
{
+ connect(skillGroupBox,
+ &SkillGroupBox::updateSkillDetails,
+ skillDetailGroupBox,
+ &SkillDetailGroupBox::updateSkillDetails);
/*
// connect update widget to memory update
connect(this->updateWidget,
diff --git a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
index 07ec971daaaa2eb94de2dff82f2cf434f1d1e5aa..db87ee40bd958256cb35b16dee8d727197cdfa31 100644
--- a/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
+++ b/source/RobotAPI/libraries/skills_gui/SkillMemoryGui.h
@@ -20,7 +20,6 @@ namespace armarx::skills::gui
class SkillMemoryGUI : public QObject, public armarx::Logging
{
Q_OBJECT
- using This = SkillMemoryGUI;
public:
SkillMemoryGUI(QTreeWidget* _skillExecutionTreeWidget,
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
index 53cf0c86805ab7fa3a38798fc22137b9c44a776d..db960fca7e97882af0170a9d4677e1c279d45915 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -75,6 +75,14 @@ namespace armarx::skills::gui
SkillExecutionTreeWidget::setupUi()
{
this->setColumnCount(4);
+
+ this->setContextMenuPolicy(Qt::CustomContextMenu);
+
+ QTreeWidgetItem* ___qtreewidgetitem = this->headerItem();
+ ___qtreewidgetitem->setText(3, "Status");
+ ___qtreewidgetitem->setText(2, "SkillID");
+ ___qtreewidgetitem->setText(1, "Executor");
+ ___qtreewidgetitem->setText(0, "Timestamp");
}
inline bool
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index ec99668e6678fec4877898d7be9a637688cf6e67..85bfdc8c0a0db1831f9582c36cf97806d4ebfdf8 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -130,6 +130,30 @@ namespace armarx::skills::gui
return snapshot;
}
+ const std::optional<ProviderID>
+ SkillManagerWrapper::Snapshot::findFirstProvider(SkillID& skillId)
+ {
+ // check if id already contains a provider. If so, this function should not have been called!
+ if (skillId.isProviderSpecified())
+ {
+ ARMARX_WARNING << "The memory snapshot was searched for any provider, when a provider "
+ "was specified.";
+ // we continue, but this might result in unexpected behaviour...
+ }
+
+ for (auto& [prov, skillMap] : skills)
+ {
+ for (auto& [skill, desc] : skillMap)
+ {
+ if (skill == skillId)
+ {
+ return prov;
+ }
+ }
+ }
+ return std::nullopt;
+ }
+
void
SkillManagerWrapper::stopExecution(skills::SkillExecutionID const& executionId,
unsigned int max_retries)
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
index 7b1a2cb92a1f4a61156ba63325eff91dc3930aba..68060e730f4607441e26a3d834614b42c0a574b4 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
@@ -46,6 +46,13 @@ namespace armarx::skills::gui
Snapshot() : statuses({}), skills({})
{
}
+
+ /**
+ * @brief Finds the first provider which provides the given skill id in the snapshot. The skill id should not contains a provider.
+ * @param skillId the incomplete skill id.
+ * @return the first provider to match. Nullopt if none was found.
+ */
+ const std::optional<ProviderID> findFirstProvider(skills::SkillID& skillId);
};
// Basic functions to work with. These will produce Ice calls!
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h
index 26f6a490a0007ebb4ebce3a533d406e5146f4f3f..2041c2e9fc72e1b0a0e340e085ae3940b73cb57a 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/ProfileMenuWidget.h
@@ -18,6 +18,12 @@ namespace armarx::skills::gui
static const constexpr char* RESET_ARGS_BUTTON_TEXT = "Reset Args to Profile";
static const constexpr char* DEFAULT_PROFILE_TEXT = "<No Profile selected. Using root>";
+ // contents are public, as this class is just a convenience wrapper
+ QPushButton* setArgsFromClipboard = nullptr;
+ QPushButton* copyArgsToClipboard = nullptr;
+ QPushButton* resetArgsToProfile = nullptr;
+ QComboBox* profileSelector = nullptr;
+
ProfileMenuWidget(std::shared_ptr<SkillManagerWrapper> _memory, QWidget* parent = nullptr) :
QWidget(parent), MemoryCommunicatorBase(_memory)
{
@@ -26,11 +32,6 @@ namespace armarx::skills::gui
private:
void setupUi();
-
- QPushButton* setArgsFromClipboard = nullptr;
- QPushButton* copyArgsToClipboard = nullptr;
- QPushButton* resetArgsToProfile = nullptr;
- QComboBox* profileSelector = nullptr;
};
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
index 733be87143cb26768378fdb314e3eb70d4b6e2ae..e64e3f78d5439354c94393e024354331d1686389 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.cpp
@@ -4,11 +4,131 @@
namespace armarx::skills::gui
{
+ void
+ SkillDetailGroupBox::lock()
+ {
+ this->executeSkillButton->setDisabled(true);
+ this->skillDetailsTreeWidget->setDisabled(true);
+ this->descriptionWidget->setDisabled(true);
+ this->profileMenuWidget->setDisabled(true);
+ }
+
+ void
+ SkillDetailGroupBox::unlock()
+ {
+ this->executeSkillButton->setDisabled(false);
+ this->skillDetailsTreeWidget->setDisabled(false);
+ this->descriptionWidget->setDisabled(false);
+ this->profileMenuWidget->setDisabled(false);
+ }
+
+ void
+ SkillDetailGroupBox::updateSkillDetails(SkillID& _skillId)
+ {
+ if (_skillId.skillName == SkillID::UNKNOWN)
+ return;
+
+ SkillManagerWrapper::Snapshot snapshot = memory->getLatestUpdate();
+
+ std::optional<skills::ProviderID> provider_opt;
+ // check skillId
+ if (_skillId.isProviderSpecified())
+ {
+ provider_opt = _skillId.providerId;
+ }
+ else
+ {
+ // find first provider to provide the skill
+ provider_opt = snapshot.findFirstProvider(_skillId);
+ }
+
+ if (provider_opt == std::nullopt)
+ {
+ // skill was not found in snapshot. Abort...
+ return;
+ }
+
+ // construct skill id (with guaranteed valid provider)
+ skills::SkillID skillId = {provider_opt, _skillId.skillName};
+
+ // We assert that the skill exists
+ ARMARX_CHECK(snapshot.skills.count(skillId.providerId.value()) > 0);
+ ARMARX_CHECK(snapshot.skills.at(skillId.providerId.value()).count(skillId) > 0);
+
+ // get skill description
+ skills::SkillDescription descr = snapshot.skills[skillId.providerId.value()][skillId];
+
+ // ------------ update widgets ------------
+
+ this->lock();
+
+ // setup groupBox
+ this->setTitle(QString::fromStdString(skillId.toString()));
+
+ // setup table view
+ this->skillDetailsTreeWidget->clear();
+ aronTreeWidgetController = nullptr;
+ skillsArgumentsTreeWidgetItem = nullptr;
+
+
+ {
+ auto it = new QTreeWidgetItem(
+ skillDetailsTreeWidget,
+ {QString::fromStdString("Name"), QString::fromStdString(skillId.skillName)});
+ skillDetailsTreeWidget->addTopLevelItem(it);
+ }
+
+ {
+ auto it = new QTreeWidgetItem(
+ skillDetailsTreeWidget,
+ {QString::fromStdString("Description"), QString::fromStdString(descr.description)});
+ skillDetailsTreeWidget->addTopLevelItem(it);
+ }
+
+ {
+ auto it = new QTreeWidgetItem(
+ skillDetailsTreeWidget,
+ {QString::fromStdString("Timeout"),
+ QString::fromStdString(std::to_string(descr.timeout.toMilliSeconds())) + " ms"});
+ skillDetailsTreeWidget->addTopLevelItem(it);
+ }
+
+ // select root profile
+ profileMenuWidget->profileSelector->setCurrentIndex(0);
+
+ // remove any profile
+ while (profileMenuWidget->profileSelector->count() > 1)
+ {
+ profileMenuWidget->profileSelector->removeItem(1);
+ }
+
+ // add new profiles for this skill
+ // TODO: Where stored?
+
+ skillsArgumentsTreeWidgetItem =
+ new QTreeWidgetItem(skillDetailsTreeWidget, {QString::fromStdString("Arguments")});
+ auto aron_args = descr.parametersType;
+ auto default_args_of_profile = descr.rootProfileDefaults;
+
+ aronTreeWidgetController =
+ std::make_shared<AronTreeWidgetController>(skillDetailsTreeWidget,
+ skillsArgumentsTreeWidgetItem,
+ aron_args,
+ default_args_of_profile);
+
+ // automatically expand args
+ skillsArgumentsTreeWidgetItem->setExpanded(true);
+
+ this->unlock();
+ }
+
void
SkillDetailGroupBox::setupUi()
{
this->setTitle(QString::fromStdString(GROUP_BOX_TITLE));
+ this->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+
// construct all sub widgets
this->executeSkillButton = new QPushButton();
this->profileMenuWidget = new ProfileMenuWidget(this->memory, this);
diff --git a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
index ef258f32b9816c3ec4858c4fce4f863183f29cf2..0d599bf86e304ee303aa766fe9a692674d41925c 100644
--- a/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
+++ b/source/RobotAPI/libraries/skills_gui/skill_details/SkillDetailsGroupBox.h
@@ -5,6 +5,7 @@
#include <QPushButton>
#include <QVBoxLayout>
+#include "RobotAPI/libraries/skills_gui/aron_tree_widget/AronTreeWidgetController.h"
#include "RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/SkillDescriptionWidget.h"
#include "../memory/MemoryCommunicatorBase.h"
@@ -26,12 +27,31 @@ namespace armarx::skills::gui
setupUi();
}
+ public slots:
+ /**
+ * @brief Update subwidgets of an updated skill selection.
+ * @param skillId
+ */
+ void updateSkillDetails(skills::SkillID& skillId);
+
private:
void setupUi();
+ /**
+ * @brief locks this widget.
+ */
+ void lock();
+ /**
+ * @brief unlocks this widget.
+ */
+ void unlock();
QVBoxLayout* layout = nullptr;
QPushButton* executeSkillButton = nullptr;
SkillDetailsTreeWidget* skillDetailsTreeWidget = nullptr;
SkillDescriptionWidget* descriptionWidget = nullptr;
+
+ // Helper to get the treeWidgetItem easily
+ QTreeWidgetItem* skillsArgumentsTreeWidgetItem = nullptr;
+ AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;
ProfileMenuWidget* profileMenuWidget = nullptr;
};
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
index c53d3ed28f14da26b35963673a4d89aa8126f124..0f17f047d13af3f8aae8e797c4fec61e303743a8 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.cpp
@@ -15,6 +15,11 @@ namespace armarx::skills::gui
void
SkillGroupBox::setupUi()
{
+ this->setTitle(QString::fromStdString(GROUP_BOX_TITLE));
+
+ this->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+
+
// construct widgets
this->searchBar = new QLineEdit();
this->acceptSearchButton = new QPushButton();
@@ -40,7 +45,6 @@ namespace armarx::skills::gui
void
SkillGroupBox::connectSignals()
{
- /*
connect(
this->acceptSearchButton, &QPushButton::clicked, this, &SkillGroupBox::handleSearch);
connect(this->searchBar, &QLineEdit::editingFinished, this, &SkillGroupBox::handleSearch);
@@ -48,6 +52,10 @@ namespace armarx::skills::gui
&SkillGroupBox::searchRequest,
this->memory.get(),
&SkillManagerWrapper::acceptSearchRequest);
-*/
+
+ connect(skillTreeWidget,
+ &SkillTreeWidget::updateSkillDetails,
+ this,
+ &SkillGroupBox::updateSkillDetails);
}
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
index 3fd83e8833775db41b77845cadce0d0fc673075a..2cad20ecbb3a84776922eabe3ac5e12506c89905 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillGroupBox.h
@@ -14,6 +14,8 @@ namespace armarx::skills::gui
{
Q_OBJECT
public:
+ static const constexpr char* GROUP_BOX_TITLE = "Skills";
+
SkillGroupBox(std::shared_ptr<SkillManagerWrapper> _memory, QWidget* parent = nullptr) :
QGroupBox(parent), MemoryCommunicatorBase(_memory)
{
@@ -22,9 +24,15 @@ namespace armarx::skills::gui
signals:
/**
- * Output signal to controller.
+ * @brief Output signal to controller.
*/
void searchRequest(std::string search);
+
+ /**
+ * @brief Notify the skill description widget of an updated selection.
+ * @param skillId
+ */
+ void updateSkillDetails(skills::SkillID& skillId);
private slots:
/**
* Takes string from line edit and emits the search request.
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
index 029ada8af353dc5dfd5ce4485d9aa5f1e2d30945..b5a8fe1f1dcfa9024c19d46524c7e97c2bf9f18e 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.cpp
@@ -1,13 +1,58 @@
#include "SkillTreeWidget.h"
+#include "RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h"
+
namespace armarx::skills::gui
{
+ void
+ SkillTreeWidget::skillSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous)
+ {
+ if (!current)
+ {
+ // gui has died?
+ return;
+ }
+
+ auto c = dynamic_cast<SkillTreeWidgetItem*>(current);
+ if (!c)
+ {
+ // we don't know what to do with the item. Abort...
+ return;
+ }
+
+ if (selectedSkill.skillId == c->skillId)
+ {
+ // no change
+ return;
+ }
+
+ selectedSkill.skillId = c->skillId;
+
+ emit updateSkillDetails(c->skillId);
+ }
+
+ void
+ SkillTreeWidget::updateSkills()
+ {
+ }
+
void
SkillTreeWidget::setupUi()
{
+ this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+
QTreeWidgetItem* ___qtreewidgetitem1 = this->headerItem();
___qtreewidgetitem1->setText(2, "HasOutputType");
___qtreewidgetitem1->setText(1, "HasInputType");
___qtreewidgetitem1->setText(0, "Skill");
+
+ connectSignals();
+ }
+
+ void
+ SkillTreeWidget::connectSignals()
+ {
}
+
+
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
index 7b37646775218fca63eb677941966db2fc617768..ea70846da279d55d43933bce4344fd88f4c1029d 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidget.h
@@ -11,6 +11,7 @@ namespace armarx::skills::gui
{
class SkillTreeWidget : public QTreeWidget, public MemoryCommunicatorBase
{
+ Q_OBJECT
public:
SkillTreeWidget(std::shared_ptr<SkillManagerWrapper> _memory, QWidget* parent = nullptr) :
QTreeWidget(parent), MemoryCommunicatorBase(_memory)
@@ -31,6 +32,13 @@ namespace armarx::skills::gui
SelectedSkill& getSelectedSkill();
+ signals:
+ /**
+ * @brief Notify the skill description widget of an updated selection.
+ * @param skillId
+ */
+ void updateSkillDetails(skills::SkillID& skillId);
+
private slots:
void skillSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
void updateSkills();
@@ -39,6 +47,7 @@ namespace armarx::skills::gui
SelectedSkill selectedSkill;
void setupUi();
+ void connectSignals();
};
} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp
index 235461cfc09404bbffd2ef035fc228689a5e16c7..e4845c11d5bc6264a0f4200d412eb6eb28198b19 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.cpp
@@ -1,6 +1,6 @@
#include "SkillTreeWidgetItem.h"
-SkillTreeWidgetItem::SkillTreeWidgetItem()
+namespace armarx::skills::gui
{
-}
+} // namespace armarx::skills::gui
diff --git a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h
index d56c906bbcf26cfcc284d7c82d19e2009627df91..2a2ae418e4f546027753a4faf62daf7693ee0f7a 100644
--- a/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h
+++ b/source/RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h
@@ -1,10 +1,26 @@
#pragma once
#include <QTreeWidgetItem>
+#include "RobotAPI/libraries/skills/core/SkillID.h"
-class SkillTreeWidgetItem : public QTreeWidgetItem
+
+
+namespace armarx::skills::gui
{
-public:
- SkillTreeWidgetItem();
-};
+ class SkillTreeWidgetItem : public QTreeWidgetItem
+ {
+ public:
+ SkillTreeWidgetItem(const skills::SkillID& desc, QTreeWidgetItem* parent) :
+ QTreeWidgetItem(parent), skillId(desc)
+ {
+ }
+
+ SkillTreeWidgetItem(const skills::SkillID& desc, QTreeWidget* parent) :
+ QTreeWidgetItem(parent), skillId(desc)
+ {
+ }
+
+ skills::SkillID skillId;
+ };
+}