From ff5b84a751a0d2ee64d3521d5f62f317bb2d73b8 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 23 Apr 2021 17:47:50 +0200
Subject: [PATCH] Tweak MemoryViewer
---
.../libraries/armem_gui/MemoryViewer.cpp | 10 ++++++--
.../armem_gui/instance/sanitize_typename.cpp | 25 +++++++++++++++++++
.../libraries/armem_gui/memory/TreeWidget.cpp | 13 +++-------
.../armem_objects/server/class/Segment.cpp | 12 +++------
4 files changed, 40 insertions(+), 20 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 78097af1a..51137a0db 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -257,7 +257,7 @@ namespace armarx::armem::gui
void MemoryViewer::loadSettings(QSettings* settings)
{
- mnsName = settings->value(QString::fromStdString(CONFIG_KEY_MEMORY), "ArMemMemoryNameSystem").toString().toStdString();
+ mnsName = settings->value(QString::fromStdString(CONFIG_KEY_MEMORY), "MemoryNameSystem").toString().toStdString();
debugObserverName = settings->value(QString::fromStdString(CONFIG_KEY_DEBUG_OBSERVER), "DebugObserver").toString().toStdString();
}
void MemoryViewer::saveSettings(QSettings* settings)
@@ -268,12 +268,18 @@ namespace armarx::armem::gui
void MemoryViewer::writeConfigDialog(SimpleConfigDialog* dialog)
{
- dialog->addProxyFinder<armarx::armem::mns::MemoryNameSystemInterfacePrx>({CONFIG_KEY_MEMORY, "ArMemMemoryNameSystem", "*"});
+ dialog->addProxyFinder<armarx::armem::mns::MemoryNameSystemInterfacePrx>({CONFIG_KEY_MEMORY, "MemoryNameSystem", "*"});
dialog->addProxyFinder<armarx::DebugObserverInterfacePrx>({CONFIG_KEY_DEBUG_OBSERVER, "Debug Observer", "DebugObserver"});
}
void MemoryViewer::readConfigDialog(SimpleConfigDialog* dialog)
{
mnsName = dialog->getProxyName(CONFIG_KEY_MEMORY);
+ ARMARX_IMPORTANT << VAROUT(mnsName);
+ if (mnsName.empty())
+ {
+ mnsName = "MemoryNameSystem";
+ }
+ ARMARX_IMPORTANT << VAROUT(mnsName);
debugObserverName = dialog->getProxyName(CONFIG_KEY_DEBUG_OBSERVER);
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
index ac5494864..9db048145 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
@@ -1,10 +1,21 @@
#include "sanitize_typename.h"
+#include <sstream>
+
#include <SimoxUtility/algorithm/string.h>
+#include <RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>
+
+
+static const std::string MemoryIDTypeName = armarx::armem::arondto::MemoryID::toInitialAronType()->getName();
std::string armarx::armem::gui::instance::sanitizeTypeName(const std::string& typeName)
{
+ if (typeName == MemoryIDTypeName)
+ {
+ return "MemoryID";
+ }
+
namespace s = simox::alg;
std::string n = typeName;
n = s::replace_all(n, "Aron", "");
@@ -16,6 +27,20 @@ std::string armarx::armem::gui::instance::sanitizeTypeName(const std::string& ty
std::string end = ">";
n = n.substr(begin.size(), n.size() - begin.size() - end.size());
}
+
+ if (true)
+ {
+ const std::string del = "::";
+ size_t find = n.rfind(del);
+ if (find != n.npos)
+ {
+ find += del.size(); // include del
+ std::stringstream ss;
+ ss << n.substr(find) << " (" << n.substr(0, find - del.size()) << ")";
+ n = ss.str();
+ }
+ }
+
return n;
}
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
index e622a3a44..44133ed4d 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
@@ -1,5 +1,7 @@
#include "TreeWidget.h"
+#include <RobotAPI/libraries/armem_gui/instance/sanitize_typename.h>
+
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -292,16 +294,7 @@ namespace armarx::armem::gui::memory
if (container.aronType())
{
typeName = container.aronType()->getName();
-
- std::string del = "::";
- size_t find = typeName.rfind(del);
- if (find != typeName.npos)
- {
- find += del.size(); // include del
- std::stringstream ss;
- ss << typeName.substr(find) << " (" << typeName.substr(0, find) << ")";
- typeName = ss.str();
- }
+ typeName = instance::sanitizeTypeName(typeName);
}
else
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index f4fa5e8d1..e4d46ae5e 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -122,14 +122,10 @@ namespace armarx::armem::server::obj::clazz
toAron(data.meshWrlPath, info.file(".wrl"));
}
- if (auto aabb = info.loadAABB())
- {
- toAron(data.aabb, aabb.value());
- }
- if (auto oobb = info.loadOOBB())
- {
- toAron(data.oobb, oobb.value());
- }
+ auto aabb = info.loadAABB();
+ toAron(data.aabb, aabb ? aabb.value() : simox::AxisAlignedBoundingBox());
+ auto oobb = info.loadOOBB();
+ toAron(data.oobb, oobb ? oobb.value() : simox::OrientedBoxf());
if (auto recogNames = info.loadRecognizedNames())
{
--
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