diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
index 9450ff9ebb1ace95ca7a96d8bc631ecde8a2a145..749f70029b0271c47594e703193e1f49f725d261 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
@@ -11,13 +11,15 @@ set(SOURCES
aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
aronTreeWidget/Data.cpp
- aronTreeWidget/NDArrayHelper.cpp
- aronTreeWidget/EditMatrixWidget.cpp
- aronTreeWidget/QuaternionWidget.cpp
+ aronTreeWidget/widgets/EditMatrixWidget.cpp
+ aronTreeWidget/widgets/IntEnumWidget.cpp
+ aronTreeWidget/ListDictHelper.cpp
+ aronTreeWidget/widgets/QuaternionWidget.cpp
aronTreeWidget/AronTreeWidgetItem.cpp
aronTreeWidget/AronTreeWidgetController.cpp
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.cpp
aronTreeWidget/modal/AronTreeWidgetModal.cpp
+ ColorPalettes.cpp
SkillManagerMonitorWidgetController.cpp
)
@@ -28,13 +30,16 @@ set(HEADERS
aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
aronTreeWidget/visitors/AronTreeWidgetContextMenu.h
aronTreeWidget/Data.h
- aronTreeWidget/NDArrayHelper.h
- aronTreeWidget/EditMatrixWidget.h
- aronTreeWidget/QuaternionWidget.h
+ aronTreeWidget/widgets/NDArrayHelper.h
+ aronTreeWidget/widgets/EditMatrixWidget.h
+ aronTreeWidget/widgets/IntEnumWidget.h
+ aronTreeWidget/ListDictHelper.h
+ aronTreeWidget/widgets/QuaternionWidget.h
aronTreeWidget/AronTreeWidgetItem.h
aronTreeWidget/AronTreeWidgetController.h
aronTreeWidget/modal/AronTreeWidgetModal.h
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
+ ColorPalettes.h
SkillManagerMonitorWidgetController.h
)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/ColorPalettes.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/ColorPalettes.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d263456d71c8fbfb2179b9ca6fbabb963699fa7a
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/ColorPalettes.cpp
@@ -0,0 +1,23 @@
+#include "ColorPalettes.h"
+
+namespace armarx::gui_color_palette
+{
+ QPalette
+ getErrorPalette()
+ {
+ QPalette errorPalette;
+ errorPalette.setColor(QPalette::Base, Qt::red);
+ errorPalette.setColor(QPalette::Text, Qt::black);
+ return errorPalette;
+ }
+ QPalette
+ getNormalPalette()
+ {
+
+ QPalette normalPalette;
+
+ normalPalette.setColor(QPalette::Base, Qt::white);
+ normalPalette.setColor(QPalette::Text, Qt::black);
+ return normalPalette;
+ }
+} // namespace armarx::gui_color_palette
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/ColorPalettes.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/ColorPalettes.h
new file mode 100644
index 0000000000000000000000000000000000000000..ade58f4319d6c65db21ae66895a4ec758d113d7e
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/ColorPalettes.h
@@ -0,0 +1,9 @@
+#pragma once
+#include <QPalette>
+
+namespace armarx::gui_color_palette
+{
+ QPalette getNormalPalette();
+
+ QPalette getErrorPalette();
+} // namespace armarx::gui_color_palette
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/ListDictHelper.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/ListDictHelper.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9866e8bc9f8c35a00e6411331461511e4c031e9f
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/ListDictHelper.cpp
@@ -0,0 +1,28 @@
+#include "ListDictHelper.h"
+
+namespace armarx::misc
+{
+ QString
+ generateNumElementsText(int num)
+ {
+ QString numElemsText = "<";
+ if (num == 0)
+ {
+ numElemsText.append("no");
+ }
+ else
+ {
+ numElemsText.append(QString::number(num));
+ }
+ if (num > 1 || num == 0)
+ {
+ numElemsText.append(" elements>");
+ }
+ else
+ {
+ numElemsText.append(" element>");
+ }
+ return numElemsText;
+ }
+
+} // namespace armarx::misc
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/ListDictHelper.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/ListDictHelper.h
new file mode 100644
index 0000000000000000000000000000000000000000..c5d991ad2861aef5c32fc82c033c9090070f13b5
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/ListDictHelper.h
@@ -0,0 +1,8 @@
+#include <QString>
+
+
+namespace armarx::misc
+{
+ // helper that generates a string on how many items are available
+ QString generateNumElementsText(int num);
+} // namespace armarx::misc
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
index 76c38e9a27d686d40e7dce7d29380074957f5dde..e7843221f89365ff113e3eb0cc444bb9aa7ed812 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
@@ -6,6 +6,7 @@
#include <QTreeWidgetItem>
#include "../AronTreeWidgetItem.h"
+#include "../ListDictHelper.h"
#include "AronTreeWidgetCreator.h"
namespace armarx
@@ -19,29 +20,6 @@ namespace armarx
{
}
- QString
- AronTreeWidgetContextMenuVisitor::generateNumElementsText(int num)
- {
- QString numElemsText = "<";
- if (num == 0)
- {
- numElemsText.append("no");
- }
- else
- {
- numElemsText.append(QString::number(num));
- }
- if (num > 1 || num == 0)
- {
- numElemsText.append(" elements>");
- }
- else
- {
- numElemsText.append(" element>");
- }
- return numElemsText;
- }
-
void
AronTreeWidgetContextMenuVisitor::addDeleteAction()
{
@@ -78,7 +56,7 @@ namespace armarx
castedContainer->child(i)->setText(0, numberString.c_str());
}
// This displays the number of children also when the list is collapsed
- QString numElemsText = generateNumElementsText(castedContainer->childCount());
+ QString numElemsText = misc::generateNumElementsText(castedContainer->childCount());
containerPtr->setText(1, numElemsText);
// set italic
auto currFont = castedContainer->font(1);
@@ -126,7 +104,7 @@ namespace armarx
castedContainer->aronType->getDescriptor() == aron::type::Descriptor::LIST)
{
// This displays the number of children also when the list is collapsed
- auto numElemsText = generateNumElementsText(castedContainer->childCount());
+ auto numElemsText = misc::generateNumElementsText(castedContainer->childCount());
castedContainer->setText(1, numElemsText);
// set italic
auto currFont = castedContainer->font(1);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.h
index bc35df3cb66a78a97640f0b29ae945d59697c9d6..510f68292b91bf9934dcecd4300d698e64d516b3 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetContextMenu.h
@@ -15,17 +15,17 @@ namespace armarx
class AronTreeWidgetItem;
+ // Visitor on aron types. It creates a context menu dependent on the type of the AronTreeWidgetItem.
+ // Its only used for Lists and Dicts.
class AronTreeWidgetContextMenuVisitor : public armarx::aron::type::ConstVariantVisitor
{
- public:
+
AronTreeWidgetItem* parentItem;
QTreeWidget* contextMenuParent;
const QPoint& pos;
int index;
- // helper that generates a string on how many items are available
- // its used most often in this class, that's why its defined here
- static QString generateNumElementsText(int num);
+ public:
AronTreeWidgetContextMenuVisitor() = delete;
AronTreeWidgetContextMenuVisitor(AronTreeWidgetItem* i,
const QPoint& pos,
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
index 10fa387251f71fefbacfd95b39d1510ce7163db7..d390959415dc319ee5f63786573f52951c6ee5dd 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
@@ -35,8 +35,9 @@
// qt
#include <QTreeWidgetItem>
-#include "../EditMatrixWidget.h"
-#include "../QuaternionWidget.h"
+#include "../widgets/EditMatrixWidget.h"
+#include "../widgets/IntEnumWidget.h"
+#include "../widgets/QuaternionWidget.h"
namespace armarx
@@ -269,42 +270,17 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
{
- auto crAron = std::make_shared<aron::data::Int>(i->getPath());
- createdAron = crAron;
- auto valueMap = i->getAcceptedValueMap();
QTreeWidgetItem* el = parentItem->child(index);
- std::string toParse = el->text(1).toStdString();
- auto searchRes = valueMap.find(toParse);
- if (searchRes != valueMap.end())
+ auto* genericWidget = el->treeWidget()->itemWidget(el, 1);
+ auto* intEnumWidget = IntEnumWidget::DynamicCastAndCheck(genericWidget);
+ if (!intEnumWidget)
{
- crAron->setValue(searchRes->second);
+ // already reporting error; continue here
return;
}
- // maybe its the number directly
- auto accVals = i->getAcceptedValues();
- int res;
- try
- {
- res = simox::alg::to_<int>(toParse);
- }
- catch (const simox::error::SimoxError& err)
- {
- errorOccured = true;
- ARMARX_VERBOSE << "Failed to parse IntEnum: Could not convert \'" << toParse
- << "\' to an int. It also was not one of the accepted strings.";
- return;
- }
- if (std::find(accVals.begin(), accVals.end(), res) != accVals.end())
- {
-
- crAron->setValue(res);
- }
- else
- {
- errorOccured = true;
- ARMARX_VERBOSE << "Parsed int " << res
- << "but this int is not part of the accepted values.";
- }
+ bool success;
+ std::tie(success, createdAron) = intEnumWidget->parseToAron();
+ errorOccured &= success;
}
void
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
index e7dde099a79a7bab378e82b71270e8ec090dcee2..02abb5c7ac440e7f5b0508c2004425aa724fb3bf 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
@@ -22,15 +22,19 @@
#include <string>
-#include "../EditMatrixWidget.h"
-#include "../QuaternionWidget.h"
+#include "../widgets/EditMatrixWidget.h"
+#include "../widgets/IntEnumWidget.h"
+#include "../widgets/QuaternionWidget.h"
// base class
#include "AronTreeWidgetCreator.h"
// data
+#include <QComboBox>
+
#include "../AronTreeWidgetItem.h"
#include "../Data.h"
+#include "../ListDictHelper.h"
#include "AronTreeWidgetContextMenu.h"
namespace armarx
@@ -186,7 +190,7 @@ namespace armarx
{
insertNewTreeViewWidget(i, "");
// TODO: Move to external helper class
- auto txt = AronTreeWidgetContextMenuVisitor::generateNumElementsText(0);
+ auto txt = misc::generateNumElementsText(0);
createdQWidgetItem->setText(1, txt);
}
void
@@ -235,7 +239,11 @@ namespace armarx
ARMARX_CHECK_NOT_NULL(i);
ARMARX_CHECK_GREATER(i->getAcceptedValueNames().size(), 0);
- insertNewTreeViewWidget(i, i->getAcceptedValueNames()[0]);
+ insertNewTreeViewWidget(i, "");
+ // TODO set combobox widget with correct content
+ IntEnumWidget* widget = new IntEnumWidget(i);
+ //widget->postCtorCall();
+ createdQWidgetItem->treeWidget()->setItemWidget(createdQWidgetItem, 1, widget);
}
void
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::IntPtr& i)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
index 6c03126d63948bd1f89446dc6fabea89755d25e5..279e8bf0870704623f58a3a9ef4b988686f8bd65 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
@@ -24,8 +24,10 @@
#include <string>
-#include "../EditMatrixWidget.h"
-#include "../QuaternionWidget.h"
+#include "../ListDictHelper.h"
+#include "../widgets/EditMatrixWidget.h"
+#include "../widgets/IntEnumWidget.h"
+#include "../widgets/QuaternionWidget.h"
#include "AronTreeWidgetContextMenu.h"
#include "AronTreeWidgetCreator.h"
@@ -145,8 +147,7 @@ namespace armarx
++x;
}
// This displays the number of children also when the list is collapsed
- QString numElemsText =
- AronTreeWidgetContextMenuVisitor::generateNumElementsText(i->getElements().size());
+ QString numElemsText = misc::generateNumElementsText(i->getElements().size());
aronTreeWidget->setText(1, numElemsText);
// set italic
auto currFont = aronTreeWidget->font(1);
@@ -157,107 +158,121 @@ namespace armarx
void
- AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::NDArrayPtr& arr)
+ visitMatrix(EditMatrixWidget* matrixWidget,
+ const std::shared_ptr<armarx::aron::type::Matrix>& matrixType,
+ const aron::data::NDArrayPtr& arr)
{
- // Matrices are handled as NDArray. Raw ndarrays cannot be created currently
- auto* castedEl = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
- ARMARX_CHECK(castedEl);
- auto matrixCast = aron::type::Matrix::DynamicCast(castedEl->aronType);
- auto quaternionCast = aron::type::Quaternion::DynamicCast(castedEl->aronType);
- auto* rootWidget = castedEl->treeWidget();
- ARMARX_CHECK(rootWidget);
- EditMatrixWidget* matrixWidget =
- EditMatrixWidget::DynamicCast(rootWidget->itemWidget(castedEl, 1));
- QuaternionWidget* quaternionWidget =
- QuaternionWidget::DynamicCast(rootWidget->itemWidget(castedEl, 1));
-
- if (matrixCast && matrixWidget)
+ auto elemType = matrixType->getElementType();
+ auto* rawData = arr->getData();
+ // string can convert any item
+ auto toString = [elemType, rawData](size_t elementNr) -> std::string
{
- auto elemType = matrixCast->getElementType();
- auto* rawData = arr->getData();
- // string can convert any item
- auto toString = [elemType, rawData](size_t elementNr) -> std::string
+ switch (elemType)
{
- switch (elemType)
+ case aron::type::matrix::ElementType::FLOAT32:
+ {
+ static_assert(sizeof(float) == 4);
+ float* interpreted = reinterpret_cast<float*>(rawData);
+ float laundered = std::launder(interpreted)[elementNr];
+ return usString<float>(laundered);
+ }
+ case aron::type::matrix::ElementType::FLOAT64:
+ {
+ static_assert(sizeof(double) == 8);
+ double* interpreted = reinterpret_cast<double*>(rawData);
+ float laundered = std::launder(interpreted)[elementNr];
+ return usString<double>(laundered);
+ }
+ case aron::type::matrix::ElementType::INT16:
{
- case aron::type::matrix::ElementType::FLOAT32:
- {
- static_assert(sizeof(float) == 4);
- float* interpreted = reinterpret_cast<float*>(rawData);
- float laundered = std::launder(interpreted)[elementNr];
- return usString<float>(laundered);
- }
- case aron::type::matrix::ElementType::FLOAT64:
- {
- static_assert(sizeof(double) == 8);
- double* interpreted = reinterpret_cast<double*>(rawData);
- float laundered = std::launder(interpreted)[elementNr];
- return usString<double>(laundered);
- }
- case aron::type::matrix::ElementType::INT16:
- {
- int16_t* interpreted = reinterpret_cast<int16_t*>(rawData);
- int16_t laudered = std::launder(interpreted)[elementNr];
- return usString<int16_t>(laudered);
- }
- case aron::type::matrix::ElementType::INT32:
- {
- int32_t* interpreted = reinterpret_cast<int32_t*>(rawData);
- int32_t laudered = std::launder(interpreted)[elementNr];
- return usString<int32_t>(laudered);
- }
- case aron::type::matrix::ElementType::INT64:
- {
- int64_t* interpreted = reinterpret_cast<int64_t*>(rawData);
- int64_t laudered = std::launder(interpreted)[elementNr];
- return usString<int64_t>(laudered);
- }
+ int16_t* interpreted = reinterpret_cast<int16_t*>(rawData);
+ int16_t laudered = std::launder(interpreted)[elementNr];
+ return usString<int16_t>(laudered);
}
- return "Error!";
- };
+ case aron::type::matrix::ElementType::INT32:
+ {
+ int32_t* interpreted = reinterpret_cast<int32_t*>(rawData);
+ int32_t laudered = std::launder(interpreted)[elementNr];
+ return usString<int32_t>(laudered);
+ }
+ case aron::type::matrix::ElementType::INT64:
+ {
+ int64_t* interpreted = reinterpret_cast<int64_t*>(rawData);
+ int64_t laudered = std::launder(interpreted)[elementNr];
+ return usString<int64_t>(laudered);
+ }
+ }
+ return "Error!";
+ };
- for (size_t row = 0; (int)row < matrixCast->getRows(); ++row)
+ for (size_t row = 0; (int)row < matrixType->getRows(); ++row)
+ {
+ for (size_t col = 0; (int)col < matrixType->getCols(); ++col)
{
- for (size_t col = 0; (int)col < matrixCast->getCols(); ++col)
- {
- matrixWidget->setText(row, col, toString(col * matrixCast->getRows() + row));
- }
+ matrixWidget->setText(row, col, toString(col * matrixType->getRows() + row));
}
}
- else if (quaternionCast && quaternionWidget)
+ }
+ void
+ visitQuaternion(QuaternionWidget* quatWidget,
+ std::shared_ptr<armarx::aron::type::Quaternion>& quatType,
+ const aron::data::NDArrayPtr& arr)
+ {
+ auto elemType = quatType->getElementType();
+ auto rawData = arr->getData();
+ auto shape = arr->getShape();
+ // string can convert any item
+ auto toString = [elemType, rawData](size_t elementNr) -> std::string
{
- auto elemType = quaternionCast->getElementType();
- auto rawData = arr->getData();
- auto shape = arr->getShape();
- // string can convert any item
- auto toString = [elemType, rawData](size_t elementNr) -> std::string
+ switch (elemType)
{
- switch (elemType)
+ case aron::type::quaternion::ElementType::FLOAT32:
{
- case aron::type::quaternion::ElementType::FLOAT32:
- {
- static_assert(sizeof(float) == 4);
- float* interpreted = reinterpret_cast<float*>(rawData);
- float laundered = std::launder(interpreted)[elementNr];
- return usString<float>(laundered);
- }
- case aron::type::quaternion::ElementType::FLOAT64:
- {
- static_assert(sizeof(double) == 8);
- double* interpreted = reinterpret_cast<double*>(rawData);
- //TODO: Note to future Tobi: Fix pls. Does not find correct number. May also be export error from component!
- // also: skill execution crashes. See into Skill provider
- float laundered = std::launder(interpreted)[elementNr];
- return usString<double>(laundered);
- }
+ static_assert(sizeof(float) == 4);
+ float* interpreted = reinterpret_cast<float*>(rawData);
+ float laundered = std::launder(interpreted)[elementNr];
+ return usString<float>(laundered);
+ }
+ case aron::type::quaternion::ElementType::FLOAT64:
+ {
+ static_assert(sizeof(double) == 8);
+ double* interpreted = reinterpret_cast<double*>(rawData);
+
+ float laundered = std::launder(interpreted)[elementNr];
+ return usString<double>(laundered);
}
- return "Error!";
- };
- for (size_t i = 0; i < 4; ++i)
- {
- quaternionWidget->setText((QuaternionWidget::QuaternionComponents)i, toString(i));
}
+ return "Error!";
+ };
+ for (size_t i = 0; i < 4; ++i)
+ {
+ quatWidget->setText((QuaternionWidget::QuaternionComponents)i, toString(i));
+ }
+ }
+
+ void
+ AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::NDArrayPtr& arr)
+ {
+ // Matrices are handled as NDArray. Raw ndarrays cannot be created currently
+ auto* castedEl = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+ ARMARX_CHECK(castedEl);
+
+ auto matrixCast = aron::type::Matrix::DynamicCast(castedEl->aronType);
+ auto quaternionCast = aron::type::Quaternion::DynamicCast(castedEl->aronType);
+
+ auto* rootWidget = castedEl->treeWidget();
+ ARMARX_CHECK(rootWidget);
+ auto* matrixWidget = EditMatrixWidget::DynamicCast(rootWidget->itemWidget(castedEl, 1));
+ auto* quaternionWidget = QuaternionWidget::DynamicCast(rootWidget->itemWidget(castedEl, 1));
+
+ if (matrixCast && matrixWidget)
+ {
+ visitMatrix(matrixWidget, matrixCast, arr);
+ }
+ else if (quaternionCast && quaternionWidget)
+ {
+ visitQuaternion(quaternionWidget, quaternionCast, arr);
}
else
{
@@ -272,7 +287,18 @@ namespace armarx
if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
{
QTreeWidgetItem* el = parentItem->child(index);
- el->setText(1, QString::fromStdString(usString<int>(i->getValue())));
+ auto* enumWidget = IntEnumWidget::DynamicCast(el->treeWidget()->itemWidget(el, 1));
+ auto newText = QString::fromStdString(usString<int>(i->getValue()));
+ if (enumWidget)
+ {
+ // Its an IntEnum! -> Ask the custom widget
+ enumWidget->setText(newText);
+ }
+ else
+ {
+ // Its just an int. -> do the QTreeWidgetItem call
+ el->setText(1, newText);
+ }
}
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.cpp
similarity index 93%
rename from source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.cpp
rename to source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.cpp
index 223e5e8d9f71bfa03938c87d20862d1c58c1959a..de5f5c3314b61f0beadeada4a4c0a00f03dcf85a 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.cpp
@@ -6,8 +6,9 @@
#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
#include "ArmarXCore/core/logging/Logging.h"
+#include "../../ColorPalettes.h"
+#include "../visitors/AronTreeWidgetCreator.h"
#include "NDArrayHelper.h"
-#include "visitors/AronTreeWidgetCreator.h"
namespace armarx
{
@@ -147,14 +148,6 @@ namespace armarx
void
EditMatrixWidget::highlightUnparsableEntries()
{
- QPalette normalPalette;
- normalPalette.setColor(QPalette::Base, Qt::white);
- normalPalette.setColor(QPalette::Text, Qt::black);
-
- QPalette errorPalette;
- errorPalette.setColor(QPalette::Base, Qt::red);
- errorPalette.setColor(QPalette::Text, Qt::black);
-
auto dispRows = getDisplayedRows();
auto dispCols = getDisplayedCols();
for (size_t row = 0; row < dispRows; ++row)
@@ -164,11 +157,13 @@ namespace armarx
auto parsed = parseElement(row, col);
if (parsed.empty())
{
- dispElements.at(row * dispCols + col)->setPalette(errorPalette);
+ dispElements.at(row * dispCols + col)
+ ->setPalette(gui_color_palette::getErrorPalette());
}
else
{
- dispElements.at(row * dispCols + col)->setPalette(normalPalette);
+ dispElements.at(row * dispCols + col)
+ ->setPalette(gui_color_palette::getNormalPalette());
}
}
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.h
similarity index 83%
rename from source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h
rename to source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.h
index 3c3f9f5140d4a9820cc964fd98acf36927d9806b..5948d0c27f990c7e3a0edbbd2c74cb5546f202d4 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/EditMatrixWidget.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.h
@@ -11,6 +11,9 @@
namespace armarx
{
+ // Custom Widget used to display Matrices
+ // MAX_ROWS_DISPLAY and MAX_COLS_DISPLAY are the maximal number of elements displayable
+ // everything else will not be displayed. However, there can still be made changes to this data with setText()
class EditMatrixWidget : public QWidget
{
Q_OBJECT
@@ -20,12 +23,12 @@ namespace armarx
static EditMatrixWidget* DynamicCast(QWidget*);
static EditMatrixWidget* DynamicCastAndCheck(QWidget*);
- // Sets the text on all visible rows and cols. Does nothing for invisible ones.
+ // Sets the text on all visible rows and cols.
void setText(size_t row, size_t col, const std::string& str);
std::string getText(size_t row, size_t col);
void highlightUnparsableEntries();
bool hasParseErrors();
- // returns an empty vector if parsing failed. else, contains the individual bytes.
+ // returns an empty vector if parsing failed. Else, contains the individual bytes.
std::vector<unsigned char> parseElement(size_t row, size_t col);
private:
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..578a65acb51696dbafc815e576c92021127371f1
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.cpp
@@ -0,0 +1,133 @@
+#include "IntEnumWidget.h"
+
+#include <QHBoxLayout>
+
+#include "RobotAPI/libraries/aron/core/type/variant/All.h"
+
+#include "../../ColorPalettes.h"
+#include "../visitors/AronTreeWidgetConverter.h"
+
+namespace armarx
+{
+ IntEnumWidget::IntEnumWidget(const aron::type::IntEnumPtr& enumPtr) : element_type(enumPtr)
+ {
+ auto names = enumPtr->getAcceptedValueNames();
+ auto outerLayout = new QHBoxLayout();
+ outerLayout->setContentsMargins(0, 0, 0, 0);
+ innerWidget = new QComboBox();
+ outerLayout->addWidget(innerWidget);
+
+ for (const auto& n : names)
+ {
+ innerWidget->addItem(n.c_str());
+ }
+ innerWidget->setInsertPolicy(QComboBox::NoInsert);
+ innerWidget->setEditable(true);
+ innerWidget->setCurrentIndex(0);
+
+ setLayout(outerLayout);
+ ARMARX_CHECK(connect(innerWidget,
+ SIGNAL(currentTextChanged(const QString&)),
+ this,
+ SLOT(textChanged(const QString&))));
+ }
+
+ IntEnumWidget*
+ IntEnumWidget::DynamicCast(QWidget* widget)
+ {
+ return dynamic_cast<IntEnumWidget*>(widget);
+ }
+
+ IntEnumWidget*
+ IntEnumWidget::DynamicCastAndCheck(QWidget* elem)
+ {
+ if (!elem)
+ {
+ return nullptr;
+ }
+ auto* casted = DynamicCast(elem);
+ ARMARX_CHECK_NOT_NULL(casted);
+ return casted;
+ }
+
+ bool
+ IntEnumWidget::hasParseErrors()
+ {
+ return parseToAron().first;
+ }
+
+ void
+ IntEnumWidget::setText(const QString& text)
+ {
+ innerWidget->setEditText(text);
+ highlightUnparsableEntries();
+ }
+
+ QString
+ IntEnumWidget::getText()
+ {
+ return innerWidget->currentText();
+ }
+
+ std::pair<bool, aron::data::IntPtr>
+ IntEnumWidget::parseToAron()
+ {
+ auto crAron = std::make_shared<aron::data::Int>(element_type->getPath());
+
+ // first look for strings in value map
+ auto valueMap = element_type->getAcceptedValueMap();
+ std::string toParse = getText().toStdString();
+
+ auto searchRes = valueMap.find(toParse);
+ if (searchRes != valueMap.end())
+ {
+ crAron->setValue(searchRes->second);
+ return {true, crAron};
+ }
+ // maybe its the number directly
+ auto accVals = element_type->getAcceptedValues();
+ int res;
+ try
+ {
+ res = simox::alg::to_<int>(toParse);
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ ARMARX_VERBOSE << "Failed to parse IntEnum: Could not convert \'" << toParse
+ << "\' to an int. It also was not one of the accepted strings.";
+ return {false, nullptr};
+ }
+ if (std::find(accVals.begin(), accVals.end(), res) != accVals.end())
+ {
+
+ crAron->setValue(res);
+ }
+ else
+ {
+ ARMARX_VERBOSE << "Parsed int " << res
+ << "but this int is not part of the accepted values.";
+ return {false, nullptr};
+ }
+ return {true, crAron};
+ }
+
+ void
+ IntEnumWidget::highlightUnparsableEntries()
+ {
+ auto parsed = parseToAron().first;
+ if (parsed)
+ {
+ innerWidget->setPalette(gui_color_palette::getNormalPalette());
+ }
+ else
+ {
+ innerWidget->setPalette(gui_color_palette::getErrorPalette());
+ }
+ }
+
+ void
+ IntEnumWidget::textChanged(const QString&)
+ {
+ highlightUnparsableEntries();
+ }
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..72e568f2a645a2e5e18d0ab3f013110bc280dad5
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <QComboBox>
+#include <QWidget>
+
+#include "RobotAPI/libraries/aron/core/data/variant/primitive/Int.h"
+#include "RobotAPI/libraries/aron/core/type/variant/forward_declarations.h"
+
+#include "../AronTreeWidgetItem.h"
+
+namespace armarx
+{
+ // Custom wrapper around the QComboBox widget to represent IntEnums
+ // This class handles parsing once the user edited the field and is also responsible
+ // to parse the according aron data from text
+ class IntEnumWidget : public QWidget
+ {
+ Q_OBJECT
+ public:
+ IntEnumWidget(const aron::type::IntEnumPtr&);
+ // needs to be called after the constructor, because qt needs the meta object to be fully constructed at this point
+ void postCtorCall();
+
+ static IntEnumWidget* DynamicCast(QWidget*);
+ static IntEnumWidget* DynamicCastAndCheck(QWidget*);
+
+ bool hasParseErrors();
+ void setText(const QString& text);
+ QString getText();
+ std::pair<bool, aron::data::IntPtr> parseToAron();
+
+ private:
+ const aron::type::IntEnumPtr element_type;
+ QComboBox* innerWidget;
+ bool noParseErrors = true;
+
+ void highlightUnparsableEntries();
+ private slots:
+ void textChanged(const QString&);
+ };
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/NDArrayHelper.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/NDArrayHelper.h
new file mode 100644
index 0000000000000000000000000000000000000000..ed91b874cc5f91ee24cf95eb6b46013da7b9d590
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/NDArrayHelper.h
@@ -0,0 +1,30 @@
+#pragma once
+#include <string>
+#include <vector>
+
+#include <SimoxUtility/algorithm/string.h>
+
+class NDArrayHelper
+{
+public:
+ // Uses the simox utility to parse floatingpoint and fixed precision types
+ // it then writes the result into a byte vector
+ // an empty byte vector encodes a parsing error.
+ template <typename T>
+ std::vector<unsigned char> static toByteVector(const std::string& str)
+ {
+ try
+ {
+ auto val = simox::alg::to_<T>(str);
+ std::vector<unsigned char> res(sizeof(val), 0);
+ T* reinterpPtr = reinterpret_cast<T*>(res.data());
+ T* laundered = std::launder(reinterpPtr);
+ *laundered = val;
+ return res;
+ }
+ catch (const simox::error::SimoxError& err)
+ {
+ return {};
+ }
+ }
+};
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.cpp
similarity index 90%
rename from source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.cpp
rename to source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.cpp
index 67a5a62a19c25f2c3b15058f8e3b0e9472fad1c5..39f80e503b264008a4a07bd206101ff7c7f1f652 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.cpp
@@ -4,6 +4,7 @@
#include <QLabel>
#include <QLineEdit>
+#include "../../ColorPalettes.h"
#include "NDArrayHelper.h"
namespace armarx
{
@@ -85,14 +86,6 @@ namespace armarx
void
QuaternionWidget::highlightUnparsableEntries()
{
- QPalette normalPalette;
- normalPalette.setColor(QPalette::Base, Qt::white);
- normalPalette.setColor(QPalette::Text, Qt::black);
-
- QPalette errorPalette;
- errorPalette.setColor(QPalette::Base, Qt::red);
- errorPalette.setColor(QPalette::Text, Qt::black);
-
noParseErrors = true;
for (size_t i = 0; i < 4; ++i)
{
@@ -115,11 +108,11 @@ namespace armarx
}
if (ok)
{
- xyzw_components.at(i)->setPalette(normalPalette);
+ xyzw_components.at(i)->setPalette(gui_color_palette::getNormalPalette());
}
else
{
- xyzw_components.at(i)->setPalette(errorPalette);
+ xyzw_components.at(i)->setPalette(gui_color_palette::getErrorPalette());
noParseErrors = false;
}
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.h
similarity index 88%
rename from source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.h
rename to source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.h
index c75e0fad87b50c8a1225dbdcc4fc901b7c088650..869ff7ce76319f5c98a8a7877744c65b74e139b9 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/QuaternionWidget.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.h
@@ -11,6 +11,8 @@
namespace armarx
{
+ // Custom Widget which represents a Quaternion - This class does not normalize the inputs
+ // It can parse its data to NDArray and also handles user edit signals itself. (And also the highlighting if errors occur)
class QuaternionWidget : public QWidget
{
Q_OBJECT