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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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scenarios/ArMemExample/config/ExampleMemory.cfg
View file @ fe04981f
......@@ -143,21 +143,12 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mem.MemoryName = Example
# ArmarX.ExampleMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
# ArmarX.ExampleMemory.mem.ltm.configuration:
# Attributes:
# - Default: 10
# - Default: {}
# - Case sensitivity: yes
# - Required: no
# ArmarX.ExampleMemory.mem.ltm..buffer.storeFreq = 10
# ArmarX.ExampleMemory.mem.ltm.depthImageExtractor.Enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ExampleMemory.mem.ltm.depthImageExtractor.Enabled = true
# ArmarX.ExampleMemory.mem.ltm.configuration = {}
# ArmarX.ExampleMemory.mem.ltm.enabled:
......@@ -169,100 +160,6 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mem.ltm.enabled = false
# ArmarX.ExampleMemory.mem.ltm.exrConverter.Enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ExampleMemory.mem.ltm.exrConverter.Enabled = true
# ArmarX.ExampleMemory.mem.ltm.imageExtractor.Enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ExampleMemory.mem.ltm.imageExtractor.Enabled = true
# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.Enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.Enabled = false
# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
# Attributes:
# - Default: -1
# - Case sensitivity: yes
# - Required: no
# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.WaitingTime = -1
# ArmarX.ExampleMemory.mem.ltm.pngConverter.Enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ExampleMemory.mem.ltm.pngConverter.Enabled = true
# ArmarX.ExampleMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
# Attributes:
# - Default: 1024
# - Case sensitivity: yes
# - Required: no
# ArmarX.ExampleMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.Enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.Enabled = false
# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
# Attributes:
# - Default: -1
# - Case sensitivity: yes
# - Required: no
# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.Enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.Enabled = false
# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
# Attributes:
# - Default: -1
# - Case sensitivity: yes
# - Required: no
# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
# ArmarX.ExampleMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
# Attributes:
# - Default: Default value not mapped.
# - Case sensitivity: yes
# - Required: no
# ArmarX.ExampleMemory.mem.ltm.storagepath = Default value not mapped.
# ArmarX.ExampleMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
......
scenarios/SkillProviderTest/config/SkillsMemory.cfg
View file @ fe04981f
......@@ -167,21 +167,12 @@
# ArmarX.SkillMemory.mem.MemoryName = Skill
# ArmarX.SkillMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
# ArmarX.SkillMemory.mem.ltm.configuration:
# Attributes:
# - Default: 10
# - Default: {}
# - Case sensitivity: yes
# - Required: no
# ArmarX.SkillMemory.mem.ltm..buffer.storeFreq = 10
# ArmarX.SkillMemory.mem.ltm.depthImageExtractor.Enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.SkillMemory.mem.ltm.depthImageExtractor.Enabled = true
# ArmarX.SkillMemory.mem.ltm.configuration = {}
# ArmarX.SkillMemory.mem.ltm.enabled:
......@@ -193,100 +184,6 @@
# ArmarX.SkillMemory.mem.ltm.enabled = false
# ArmarX.SkillMemory.mem.ltm.exrConverter.Enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.SkillMemory.mem.ltm.exrConverter.Enabled = true
# ArmarX.SkillMemory.mem.ltm.imageExtractor.Enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.SkillMemory.mem.ltm.imageExtractor.Enabled = true
# ArmarX.SkillMemory.mem.ltm.memFreqFilter.Enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.SkillMemory.mem.ltm.memFreqFilter.Enabled = false
# ArmarX.SkillMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
# Attributes:
# - Default: -1
# - Case sensitivity: yes
# - Required: no
# ArmarX.SkillMemory.mem.ltm.memFreqFilter.WaitingTime = -1
# ArmarX.SkillMemory.mem.ltm.pngConverter.Enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.SkillMemory.mem.ltm.pngConverter.Enabled = true
# ArmarX.SkillMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
# Attributes:
# - Default: 1024
# - Case sensitivity: yes
# - Required: no
# ArmarX.SkillMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
# ArmarX.SkillMemory.mem.ltm.snapEqFilter.Enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.SkillMemory.mem.ltm.snapEqFilter.Enabled = false
# ArmarX.SkillMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
# Attributes:
# - Default: -1
# - Case sensitivity: yes
# - Required: no
# ArmarX.SkillMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.Enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.Enabled = false
# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
# Attributes:
# - Default: -1
# - Case sensitivity: yes
# - Required: no
# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
# ArmarX.SkillMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
# Attributes:
# - Default: Default value not mapped.
# - Case sensitivity: yes
# - Required: no
# ArmarX.SkillMemory.mem.ltm.storagepath = Default value not mapped.
# ArmarX.SkillMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
......
source/RobotAPI/components/ArViz/Client/Elements.cpp
View file @ fe04981f
......@@ -107,9 +107,9 @@ namespace armarx::viz
float angle = std::acos(naturalDir.dot(dir));
if (cross.squaredNorm() < 1.0e-12f)
{
// Directions are almost colinear ==> Do no rotation
// Directions are almost colinear ==> Angle is either 0 or 180 deg
cross = Eigen::Vector3f::UnitX();
angle = 0.0f;
// Keep angle
}
Eigen::Vector3f axis = cross.normalized();
Eigen::Quaternionf ori(Eigen::AngleAxisf(angle, axis));
......
source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
View file @ fe04981f
......@@ -275,13 +275,18 @@ namespace armarx
void fillExampleLayer(viz::Layer& layer, double timeInSeconds)
{
for (int i = 0; i < 6; ++i)
{
Eigen::Vector3f pos = Eigen::Vector3f::Zero();
pos.z() = +300.0f;
Eigen::Vector3f pos = Eigen::Vector3f(-200.0, 200.0, 300);
pos.x() += -300 * i;
Eigen::Vector3f normal = Eigen::Vector3f::Zero();
normal(i / 2) = (i % 2 == 0 ? 1.0 : -1.0);
viz::ArrowCircle circle = viz::ArrowCircle("circle")
viz::ArrowCircle circle = viz::ArrowCircle("circle " + std::to_string(i))
.position(pos)
.radius(100.0f)
.normal(normal)
.width(10.0f)
.color(viz::Color::fromRGBA(255, 0, 255));
......
source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
View file @ fe04981f
......@@ -20,6 +20,8 @@ namespace armarx::skills::provider
default_params.some_float = 5;
default_params.some_int = 42;
default_params.some_text = "YOLO";
default_params.some_list_of_matrices.push_back(Eigen::Matrix3f::Zero());
//default_params.some_matrix = Eigen::Matrix3f::Zero();
return SkillDescription{
"HelloWorld",
......
source/RobotAPI/components/skills/SkillProviderExample/aron/HelloWorldAcceptedType.xml
View file @ fe04981f
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
<IntEnum name="HelloWorldInteEnum">
<EnumValue key="INT_ENUM_VALUE_0" value="0" />
<EnumValue key="INT_ENUM_VALUE_1" value="1" />
<EnumValue key="INT_ENUM_VALUE_2" value="2" />
<EnumValue key="INT_ENUM_VALUE_3" value="3" />
<EnumValue key="INT_ENUM_VALUE_4" value="4" />
<EnumValue key="INT_ENUM_VALUE_5" value="5" />
<EnumValue key="INT_ENUM_VALUE_6" value="6" />
<EnumValue key="INT_ENUM_VALUE_7" value="7" />
<EnumValue key="INT_ENUM_VALUE_8" value="8" />
</IntEnum>
<Object name='armarx::skills::Example::HelloWorldAcceptedType'>
<ObjectChild key='some_int'>
<Int />
......@@ -11,6 +22,23 @@
<ObjectChild key='some_text'>
<String />
</ObjectChild>
<ObjectChild key='some_list_of_matrices'>
<List>
<Matrix rows="3" cols="3" type="float32" />
</List>
</ObjectChild>
<ObjectChild key='some_dict_of_matrices'>
<Dict>
<Matrix rows="3" cols="3" type="float32" />
</Dict>
</ObjectChild>
<ObjectChild key='some_matrix'>
<Matrix rows="3" cols="3" type="float32" />
</ObjectChild>
</Object>
</GenerateTypes>
......
source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
View file @ fe04981f
......@@ -71,10 +71,18 @@ namespace armarx::RobotUnitModule
"RTLogging_MaxMessageBufferSize", 16 * 1024 * 1024,
"Max number of bytes that can be logged in the control thread");
defineOptionalProperty<bool>(
"RTLogging_EnableBacklog", true,
"Enable/Disable the backlog (SensorValues, ControlTargets, Messages) that is kept"
"and can be dumped in case of an error.");
defineOptionalProperty<std::size_t>(
"RTLogging_KeepIterationsForMs", 60 * 1000,
"All logging data (SensorValues, ControlTargets, Messages) is kept for this duration "
"and can be dumped in case of an error.");
defineOptionalProperty<std::size_t>(
"RTLogging_MaxBacklogSize", 5000,
"Maximum size of the backlog (SensorValues, ControlTargets, Messages) that is kept"
"and can be dumped in case of an error.");
defineOptionalProperty<std::size_t>(
"RTLogging_StreamingDataMaxClientConnectionFailures", 10,
......@@ -301,8 +309,12 @@ namespace armarx::RobotUnitModule
std::size_t messageBufferMaxNumberEntries {0};
/// @brief The logging thread's period
std::size_t rtLoggingTimestepMs {0};
/// @brief The time an entry shold remain in the backlog.
/// @brief The time an entry should remain in the backlog.
IceUtil::Time rtLoggingBacklogRetentionTime;
/// @brief The maximum number of entries in the backlog.
std::size_t rtLoggingBacklogMaxSize;
/// @brief Enable/disable the backlog.
bool rtLoggingBacklogEnabled;
/// @brief
bool logAllEntries = true;
......
source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
View file @ fe04981f
......@@ -31,6 +31,9 @@
#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
#include "ArmarXCore/core/logging/Logging.h"
#include "ArmarXCore/core/util/StringHelpers.h"
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
namespace armarx::RobotUnitModule
......@@ -312,6 +315,7 @@ namespace armarx::RobotUnitModule
SensorDeviceStatus status;
status.deviceName = DevicesAttorneyForPublisher::GetSensorDeviceName(this, sensidx);
ARMARX_TRACE;
if (observerPublishSensorValues && publishToObserver)
{
for (const auto& pair : variants)
......
source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
View file @ fe04981f
......@@ -445,11 +445,13 @@ namespace armarx
messages {other.messages, minimize},
buffer(other.buffer.size(), 0)
{
ARMARX_TRACE;
void* place = buffer.data();
std::size_t space = buffer.size();
auto getAlignedPlace = [&space, &place, this](std::size_t bytes, std::size_t alignment)
{
ARMARX_TRACE;
ARMARX_CHECK_EXPRESSION(std::align(alignment, bytes, place, space));
ARMARX_CHECK_LESS(bytes, space);
const auto resultPlace = place;
......@@ -463,6 +465,7 @@ namespace armarx
sensors.reserve(other.sensors.size());
for (const SensorValueBase* sv : other.sensors)
{
ARMARX_TRACE;
sensors.emplace_back(sv->_placementCopyConstruct(getAlignedPlace(sv->_sizeof(), sv->_alignof())));
}
......@@ -470,6 +473,7 @@ namespace armarx
control.reserve(other.control.size());
for (const auto& cdctargs : other.control)
{
ARMARX_TRACE;
control.emplace_back();
auto& ctargs = control.back();
ctargs.reserve(cdctargs.size());
......
source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
View file @ fe04981f
......@@ -9,15 +9,22 @@ set(SOURCES
aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
aronTreeWidget/Data.cpp
aronTreeWidget/widgets/CustomWidget.cpp
aronTreeWidget/widgets/EditMatrixWidget.cpp
aronTreeWidget/widgets/IntEnumWidget.cpp
aronTreeWidget/ListDictHelper.cpp
aronTreeWidget/widgets/QuaternionWidget.cpp
aronTreeWidget/AronTreeWidgetItem.cpp
aronTreeWidget/AronTreeWidgetController.cpp
aronTreeWidget/modal/AronTreeWidgetModal.cpp
aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.cpp
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.cpp
aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
aronTreeWidget/modal/AronTreeWidgetModal.cpp
ColorPalettes.cpp
SkillManagerMonitorWidgetController.cpp
)
......@@ -26,25 +33,29 @@ set(HEADERS
aronTreeWidget/visitors/AronTreeWidgetConverter.h
aronTreeWidget/visitors/AronTreeWidgetSetter.h
aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
aronTreeWidget/visitors/AronTreeWidgetContextMenu.h
aronTreeWidget/Data.h
aronTreeWidget/widgets/NDArrayHelper.h
aronTreeWidget/widgets/EditMatrixWidget.h
aronTreeWidget/widgets/CustomWidget.h
aronTreeWidget/widgets/IntEnumWidget.h
aronTreeWidget/ListDictHelper.h
aronTreeWidget/widgets/QuaternionWidget.h
aronTreeWidget/AronTreeWidgetItem.h
aronTreeWidget/AronTreeWidgetController.h
aronTreeWidget/modal/AronTreeWidgetModal.h
aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.h
aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
ColorPalettes.h
SkillManagerMonitorWidgetController.h
)
set(GUI_UIS
SkillManagerMonitorWidget.ui
aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
aronTreeWidget/modal/text/AronTreeWidgetTextInputModal.ui
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModal.ui
)
# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
......
source/RobotAPI/gui-plugins/SkillManagerPlugin/ColorPalettes.cpp 0 → 100644
View file @ fe04981f
#include "ColorPalettes.h"
namespace armarx::gui_color_palette
{
QPalette
getErrorPalette()
{
QPalette errorPalette;
errorPalette.setColor(QPalette::Base, Qt::red);
return errorPalette;
}
QPalette
getNormalPalette()
{
QPalette normalPalette;
normalPalette.setColor(QPalette::Base, Qt::white);
return normalPalette;
}
QPalette
getIndirectErrorPalette()
{
QPalette indirectErr;
static QColor orange = QColor::fromRgb(255, 165, 0);
// orange color
indirectErr.setColor(QPalette::Base, orange);
return indirectErr;
}
} // namespace armarx::gui_color_palette
source/RobotAPI/gui-plugins/SkillManagerPlugin/ColorPalettes.h 0 → 100644
View file @ fe04981f
#pragma once
#include <QPalette>
namespace armarx::gui_color_palette
{
QPalette getNormalPalette();
QPalette getErrorPalette();
QPalette getIndirectErrorPalette();
} // namespace armarx::gui_color_palette
source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
View file @ fe04981f
......@@ -6,145 +6,187 @@
<rect>
<x>0</x>
<y>0</y>
<width>1015</width>
<height>498</height>
<width>1060</width>
<height>657</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>SkillManagerMonitorWidget</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QGroupBox" name="groupBoxActiveSkills">
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QSplitter" name="splitter_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Active Skills</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QListWidget" name="listWidgetActiveSkills">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QSplitter" name="splitter">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<enum>Qt::Vertical</enum>
</property>
<property name="childrenCollapsible">
<bool>false</bool>
</property>
<widget class="QGroupBox" name="groupBoxSkills">
<widget class="QGroupBox" name="groupBoxActiveSkills">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Manager</string>
<string>Active Skills</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="2" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Update Frequency:</string>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<widget class="QListWidget" name="listWidgetActiveSkills">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item row="3" column="0" colspan="3">
<widget class="QTreeWidget" name="treeWidgetSkills">
<column>
</layout>
</widget>
<widget class="QSplitter" name="splitter">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<widget class="QGroupBox" name="groupBoxSkills">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Manager</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="2" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Skill</string>
<string>Update Frequency:</string>
</property>
</column>
<column>
<property name="text">
<string>HasType</string>
</widget>
</item>
<item row="3" column="0" colspan="3">
<widget class="QTreeWidget" name="treeWidgetSkills">
<column>
<property name="text">
<string>Skill</string>
</property>
</column>
<column>
<property name="text">
<string>HasType</string>
</property>
</column>
<column>
<property name="text">
<string>State</string>
</property>
</column>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBoxSkillDetails">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Skill Details</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="1" column="0" colspan="4">
<widget class="QTreeWidget" name="treeWidgetSkillDetails">
<property name="contextMenuPolicy">
<enum>Qt::CustomContextMenu</enum>
</property>
<property name="editTriggers">
<set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
</property>
</column>
<column>
<column>
<property name="text">
<string>Key</string>
</property>
</column>
<column>
<property name="text">
<string>Value</string>
</property>
</column>
<column>
<property name="text">
<string>Type</string>
</property>
</column>
<column>
<property name="text">
<string>defaultValue</string>
</property>
</column>
</widget>
</item>
<item row="6" column="3">
<widget class="QPushButton" name="pushButtonExecuteSkill">
<property name="text">
<string>State</string>
<string>Request Execution</string>
</property>
</column>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBoxSkillDetails">
<property name="title">
<string>Skill Details</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="1" column="0" colspan="4">
<widget class="QTreeWidget" name="treeWidgetSkillDetails">
<column>
</widget>
</item>
<item row="0" column="0">
<widget class="QPushButton" name="pushButtonPaste">
<property name="text">
<string>Key</string>
<string>Set from clipboard</string>
</property>
</column>
<column>
</widget>
</item>
<item row="6" column="0">
<widget class="QPushButton" name="pushButtonStopSkill">
<property name="text">
<string>Value</string>
<string>Stop current skill</string>
</property>
</column>
<column>
</widget>
</item>
<item row="0" column="3">
<widget class="QPushButton" name="pushButtonReset">
<property name="text">
<string>Type</string>
<string>Reset args</string>
</property>
</column>
<column>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButtonCopy">
<property name="text">
<string>defaultValue</string>
<string>Copy args to clipboard</string>
</property>
</column>
</widget>
</item>
<item row="6" column="3">
<widget class="QPushButton" name="pushButtonExecuteSkill">
<property name="text">
<string>Request Execution</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QPushButton" name="pushButtonPaste">
<property name="text">
<string>Set from clipboard</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QPushButton" name="pushButtonStopSkill">
<property name="text">
<string>Stop current skill</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QPushButton" name="pushButtonReset">
<property name="text">
<string>Reset args</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButtonCopy">
<property name="text">
<string>Copy args to clipboard</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</widget>
</widget>
</item>
......
source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
View file @ fe04981f
......@@ -20,52 +20,57 @@
* GNU General Public License
*/
#include "SkillManagerMonitorWidgetController.h"
#include <string>
#include "SkillManagerMonitorWidgetController.h"
#include <RobotAPI/libraries/skills/provider/Skill.h>
#include "aronTreeWidget/visitors/AronTreeWidgetCreator.h"
#include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
#include "aronTreeWidget/visitors/AronTreeWidgetCreator.h"
#include "aronTreeWidget/visitors/AronTreeWidgetModalCreator.h"
#include <RobotAPI/libraries/skills/provider/Skill.h>
// modals
#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
// debug
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <QDoubleSpinBox>
#include <QClipboard>
#include <QDoubleSpinBox>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include "aronTreeWidget/Data.h"
//config
namespace armarx
{
QPointer<QDialog> SkillManagerMonitorWidgetController::getConfigDialog(QWidget* parent)
QPointer<QDialog>
SkillManagerMonitorWidgetController::getConfigDialog(QWidget* parent)
{
if (!dialog)
{
dialog = new SimpleConfigDialog(parent);
dialog->addProxyFinder<skills::manager::dti::SkillManagerInterfacePrx>("SkillManager", "", "Skill*");
dialog->addProxyFinder<skills::manager::dti::SkillManagerInterfacePrx>(
"SkillManager", "", "Skill*");
}
return qobject_cast<SimpleConfigDialog*>(dialog);
}
void SkillManagerMonitorWidgetController::configured()
void
SkillManagerMonitorWidgetController::configured()
{
observerName = dialog->getProxyName("SkillManager");
}
void SkillManagerMonitorWidgetController::loadSettings(QSettings* settings)
void
SkillManagerMonitorWidgetController::loadSettings(QSettings* settings)
{
observerName = settings->value("SkillManager", "SkillManager").toString().toStdString();
}
void SkillManagerMonitorWidgetController::saveSettings(QSettings* settings)
void
SkillManagerMonitorWidgetController::saveSettings(QSettings* settings)
{
settings->setValue("SkillManager", QString::fromStdString(observerName));
}
}
} // namespace armarx
// Others
namespace armarx
......@@ -81,29 +86,40 @@ namespace armarx
widget.doubleSpinBoxUpdateFreq->setSuffix(" Hz");
refreshSkillsResultTimer = new QTimer(this);
refreshSkillsResultTimer->setInterval(1000 / 5); // Keep this stable.
refreshSkillsResultTimer->setInterval(1000 / 5); // Keep this stable.
refreshSkillsResultTimer->start();
connect(widget.doubleSpinBoxUpdateFreq, &QDoubleSpinBox::editingFinished,
this, &SkillManagerMonitorWidgetController::updateTimerFrequency);
connect(refreshSkillsResultTimer, &QTimer::timeout,
this, &SkillManagerMonitorWidgetController::refreshSkills);
connect(widget.pushButtonCopy, &QPushButton::clicked,
this, &SkillManagerMonitorWidgetController::copyCurrentConfig);
connect(widget.pushButtonPaste, &QPushButton::clicked,
this, &SkillManagerMonitorWidgetController::pasteCurrentConfig);
connect(widget.pushButtonExecuteSkill, &QPushButton::clicked,
this, &SkillManagerMonitorWidgetController::executeSkill);
connect(widget.pushButtonStopSkill, &QPushButton::clicked,
this, &SkillManagerMonitorWidgetController::stopSkill);
connect(widget.treeWidgetSkills, &QTreeWidget::currentItemChanged,
this, &SkillManagerMonitorWidgetController::skillSelectionChanged);
connect(widget.treeWidgetSkillDetails, &QTreeWidget::itemDoubleClicked,
this, &SkillManagerMonitorWidgetController::onTreeWidgetItemDoubleClicked);
connect(widget.doubleSpinBoxUpdateFreq,
&QDoubleSpinBox::editingFinished,
this,
&SkillManagerMonitorWidgetController::updateTimerFrequency);
connect(refreshSkillsResultTimer,
&QTimer::timeout,
this,
&SkillManagerMonitorWidgetController::refreshSkills);
connect(widget.pushButtonCopy,
&QPushButton::clicked,
this,
&SkillManagerMonitorWidgetController::copyCurrentConfig);
connect(widget.pushButtonPaste,
&QPushButton::clicked,
this,
&SkillManagerMonitorWidgetController::pasteCurrentConfig);
connect(widget.pushButtonExecuteSkill,
&QPushButton::clicked,
this,
&SkillManagerMonitorWidgetController::executeSkill);
connect(widget.pushButtonStopSkill,
&QPushButton::clicked,
this,
&SkillManagerMonitorWidgetController::stopSkill);
connect(widget.treeWidgetSkills,
&QTreeWidget::currentItemChanged,
this,
&SkillManagerMonitorWidgetController::skillSelectionChanged);
}
SkillManagerMonitorWidgetController::~SkillManagerMonitorWidgetController()
......@@ -111,25 +127,38 @@ namespace armarx
}
void SkillManagerMonitorWidgetController::onInitComponent()
void
SkillManagerMonitorWidgetController::reconnectToSkillManager()
{
if (connected)
{
getProxy(manager, observerName, 1000);
}
}
void
SkillManagerMonitorWidgetController::onInitComponent()
{
usingProxy(observerName);
}
void SkillManagerMonitorWidgetController::onConnectComponent()
void
SkillManagerMonitorWidgetController::onConnectComponent()
{
getProxy(manager, observerName);
widget.groupBoxSkills->setTitle(QString::fromStdString(observerName));
widget.treeWidgetSkillDetails->setEditTriggers(QAbstractItemView::EditTrigger::NoEditTriggers);
widget.treeWidgetSkillDetails->setEditTriggers(
QAbstractItemView::EditTrigger::NoEditTriggers);
widget.treeWidgetSkillDetails->setColumnHidden(3, true);
connected = true;
}
void SkillManagerMonitorWidgetController::onDisconnectComponent()
void
SkillManagerMonitorWidgetController::onDisconnectComponent()
{
connected = false;
manager = nullptr;
// reset all
skills.clear();
......@@ -140,25 +169,30 @@ namespace armarx
selectedSkill.skillName = "";
}
void SkillManagerMonitorWidgetController::updateTimerFrequency()
void
SkillManagerMonitorWidgetController::updateTimerFrequency()
{
int f = static_cast<int>(std::round(1000 / widget.doubleSpinBoxUpdateFreq->value()));
refreshSkillsResultTimer->setInterval(f);
}
void SkillManagerMonitorWidgetController::refreshSkills()
void
SkillManagerMonitorWidgetController::refreshSkills()
{
static std::map<skills::provider::dto::Execution::Status, std::string> ExecutionStatus2String = {
{skills::provider::dto::Execution::Status::Aborted, "Aborted"},
{skills::provider::dto::Execution::Status::Failed, "Failed"},
{skills::provider::dto::Execution::Status::Idle, "Not yet started"},
{skills::provider::dto::Execution::Status::Running, "Running"},
{skills::provider::dto::Execution::Status::Scheduled, "Scheduled"},
{skills::provider::dto::Execution::Status::Succeeded, "Succeeded"}
};
if (!connected)
static std::map<skills::provider::dto::Execution::Status, std::string>
ExecutionStatus2String = {
{skills::provider::dto::Execution::Status::Aborted, "Aborted"},
{skills::provider::dto::Execution::Status::Failed, "Failed"},
{skills::provider::dto::Execution::Status::Idle, "Not yet started"},
{skills::provider::dto::Execution::Status::Running, "Running"},
{skills::provider::dto::Execution::Status::Scheduled, "Scheduled"},
{skills::provider::dto::Execution::Status::Succeeded, "Succeeded"}};
if (!manager)
{
reconnectToSkillManager();
return;
}
/* CHECK OWN SKILLS LIST */
// remove non-existing ones
......@@ -196,7 +230,9 @@ namespace armarx
while (i < widget.treeWidgetSkills->topLevelItemCount())
{
QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
if (std::find(removedProviders.begin(), removedProviders.end(), item->text(0).toStdString()) != removedProviders.end())
if (std::find(removedProviders.begin(),
removedProviders.end(),
item->text(0).toStdString()) != removedProviders.end())
{
delete widget.treeWidgetSkills->takeTopLevelItem(i);
}
......@@ -209,7 +245,8 @@ namespace armarx
// add new providers
for (const auto& [providerName, providerSkills] : skills)
{
if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName); it != newProviders.end())
if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName);
it != newProviders.end())
{
auto item = new QTreeWidgetItem(widget.treeWidgetSkills);
item->setText(0, QString::fromStdString(providerName));
......@@ -225,7 +262,7 @@ namespace armarx
// update status and active skills window
std::map<skills::SkillID, std::string> activeSkillsAndPrefixes;
auto managerStatuses = manager->getSkillExecutionStatuses();
for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
{
try
{
......@@ -240,11 +277,15 @@ namespace armarx
skills::SkillID currentSkillId(providerName, skillItem->text(0).toStdString());
auto statusForSkill = allStatusesForProvider.at(currentSkillId.skillName);
skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusForSkill.header.status)));
skillItem->setText(2,
QString::fromStdString(ExecutionStatus2String.at(
statusForSkill.header.status)));
if (not statusForSkill.header.executorName.empty()) // it means that the skill was called by someone
if (not statusForSkill.header.executorName
.empty()) // it means that the skill was called by someone
{
activeSkillsAndPrefixes.insert({currentSkillId, statusForSkill.header.executorName});
activeSkillsAndPrefixes.insert(
{currentSkillId, statusForSkill.header.executorName});
}
}
}
......@@ -261,7 +302,8 @@ namespace armarx
{
auto prefixedStr = id.toString(prefix);
bool longest = true;
for (const auto& [id2, prefix2] : activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
for (const auto& [id2, prefix2] :
activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
{
auto prefixedStr2 = id.toString(prefix2);
if (prefixedStr == prefixedStr2)
......@@ -278,12 +320,14 @@ namespace armarx
if (longest)
{
widget.listWidgetActiveSkills->addItem(QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
widget.listWidgetActiveSkills->addItem(
QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
}
}
}
void SkillManagerMonitorWidgetController::executeSkill()
void
SkillManagerMonitorWidgetController::executeSkill()
{
if (selectedSkill.providerName.empty() or selectedSkill.skillName.empty())
{
......@@ -307,12 +351,14 @@ namespace armarx
exInfo.skillId = {selectedSkill.providerName, selectedSkill.skillName};
exInfo.params = aron::data::Dict::ToAronDictDTO(data);
ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName << ". The data was: " << data;
ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.providerName << "/"
<< selectedSkill.skillName << ". The data was: " << data;
// Note that we execute the skill in a seperate thread so that the GUI thread does not freeze.
manager->begin_executeSkill(exInfo);
}
void SkillManagerMonitorWidgetController::stopSkill()
void
SkillManagerMonitorWidgetController::stopSkill()
{
if (selectedSkill.providerName.empty() or selectedSkill.skillName.empty())
{
......@@ -325,11 +371,14 @@ namespace armarx
return;
}
ARMARX_INFO << "Stopping skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName;
ARMARX_INFO << "Stopping skill from GUI: " << selectedSkill.providerName << "/"
<< selectedSkill.skillName;
manager->abortSkill(selectedSkill.providerName, selectedSkill.skillName);
}
void SkillManagerMonitorWidgetController::skillSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem*)
void
SkillManagerMonitorWidgetController::skillSelectionChanged(QTreeWidgetItem* current,
QTreeWidgetItem*)
{
widget.groupBoxSkillDetails->setEnabled(false);
......@@ -352,10 +401,12 @@ namespace armarx
newSelectedSkill.skillName = current->text(0).toStdString();
// setup groupBox
widget.groupBoxSkillDetails->setTitle(QString::fromStdString(newSelectedSkill.providerName + "/" + newSelectedSkill.skillName));
widget.groupBoxSkillDetails->setTitle(QString::fromStdString(
newSelectedSkill.providerName + "/" + newSelectedSkill.skillName));
widget.groupBoxSkillDetails->setEnabled(true);
if (newSelectedSkill.providerName == selectedSkill.providerName and newSelectedSkill.skillName == selectedSkill.skillName)
if (newSelectedSkill.providerName == selectedSkill.providerName and
newSelectedSkill.skillName == selectedSkill.skillName)
{
return;
}
......@@ -370,37 +421,46 @@ namespace armarx
auto skillDesc = skills.at(selectedSkill.providerName).at(selectedSkill.skillName);
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
{QString::fromStdString("Name"), QString::fromStdString(skillDesc.skillName)});
auto it = new QTreeWidgetItem(
widget.treeWidgetSkillDetails,
{QString::fromStdString("Name"), QString::fromStdString(skillDesc.skillName)});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
{QString::fromStdString("Robot"), QString::fromStdString(simox::alg::join(skillDesc.robots, ", "))});
auto it = new QTreeWidgetItem(
widget.treeWidgetSkillDetails,
{QString::fromStdString("Robot"),
QString::fromStdString(simox::alg::join(skillDesc.robots, ", "))});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
{QString::fromStdString("Description"), QString::fromStdString(skillDesc.description)});
{QString::fromStdString("Description"),
QString::fromStdString(skillDesc.description)});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
{QString::fromStdString("Timeout"), QString::fromStdString(std::to_string(skillDesc.timeoutMs)) + " ms"});
auto it = new QTreeWidgetItem(
widget.treeWidgetSkillDetails,
{QString::fromStdString("Timeout"),
QString::fromStdString(std::to_string(skillDesc.timeoutMs)) + " ms"});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails, {QString::fromStdString("Arguments")});
skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
{QString::fromStdString("Arguments")});
auto aron_args = aron::type::Object::FromAronObjectDTO(skillDesc.acceptedType);
auto default_args = aron::data::Dict::FromAronDictDTO(skillDesc.defaultParams);
aronTreeWidgetController = std::make_shared<AronTreeWidgetController>(widget.treeWidgetSkillDetails, skillsArgumentsTreeWidgetItem, aron_args, default_args);
aronTreeWidgetController = std::make_shared<AronTreeWidgetController>(
widget.treeWidgetSkillDetails, skillsArgumentsTreeWidgetItem, aron_args, default_args);
}
aron::data::DictPtr SkillManagerMonitorWidgetController::getConfigAsAron() const
aron::data::DictPtr
SkillManagerMonitorWidgetController::getConfigAsAron() const
{
// create argument aron (if there is an accepted type set)
if (aronTreeWidgetController)
......@@ -410,7 +470,8 @@ namespace armarx
return nullptr;
}
void SkillManagerMonitorWidgetController::copyCurrentConfig()
void
SkillManagerMonitorWidgetController::copyCurrentConfig()
{
auto data = getConfigAsAron();
if (!data)
......@@ -423,7 +484,8 @@ namespace armarx
clipboard->setText(QString::fromStdString(json.dump(2)));
}
void SkillManagerMonitorWidgetController::pasteCurrentConfig()
void
SkillManagerMonitorWidgetController::pasteCurrentConfig()
{
QClipboard* clipboard = QApplication::clipboard();
std::string s = clipboard->text().toStdString();
......@@ -438,34 +500,10 @@ namespace armarx
aronTreeWidgetController->setFromAron(data);
}
void SkillManagerMonitorWidgetController::resetCurrentConfig()
void
SkillManagerMonitorWidgetController::resetCurrentConfig()
{
// TODO
}
void SkillManagerMonitorWidgetController::onTreeWidgetItemDoubleClicked(QTreeWidgetItem* item, int column)
{
if (!item)
{
return;
}
if (column == 1)
{
if (item->flags() & Qt::ItemIsEditable) // we use the flag to indicate whether the item is editable or not
{
// we assume its aron item
AronTreeWidgetItem* aItem = AronTreeWidgetItem::DynamicCastAndCheck(item);
std::string name = aItem->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME).toStdString();
std::string type = aItem->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE).toStdString();
// why visitor?!?!?
AronTreeWidgetModalCreatorVisitor v(name, aItem, widget.treeWidgetSkillDetails);
aron::type::visit(v, aItem->aronType);
auto modal = v.createdModal;
modal->exec();
}
}
}
}
} // namespace armarx
source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
View file @ fe04981f
......@@ -22,25 +22,24 @@
#pragma once
#include <stack>
#include <vector>
#include <thread>
#include <vector>
#include <QTimer>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
#include "aronTreeWidget/AronTreeWidgetController.h"
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
#include <QTimer>
#include "aronTreeWidget/AronTreeWidgetController.h"
namespace armarx
{
......@@ -71,6 +70,8 @@ namespace armarx
return "Skills.Manager";
}
void reconnectToSkillManager();
void onInitComponent() override;
void onConnectComponent() override;
void onDisconnectComponent() override;
......@@ -88,7 +89,6 @@ namespace armarx
void pasteCurrentConfig();
void resetCurrentConfig();
void onTreeWidgetItemDoubleClicked(QTreeWidgetItem * item, int column);
private:
aron::data::DictPtr getConfigAsAron() const;
......@@ -120,11 +120,13 @@ namespace armarx
AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;
// others
std::atomic_bool connected = false;
QTimer* refreshSkillsResultTimer;
// skillExecutions
std::vector<std::thread> executions;
// connected flag
std::atomic_bool connected = false;
};
}
......
source/RobotAPI/gui-plugins/SkillManagerPlugin/TODO 0 → 100644
View file @ fe04981f
- keep set values around to not loose precision of values that have not been manipulated (in AronTreeWidgetItem, as well as Matrix and Quaternion)
- get rid of any todos present
source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
View file @ fe04981f
#include "AronTreeWidgetController.h"
#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h>
#include "visitors/AronTreeWidgetContextMenu.h"
#include "visitors/AronTreeWidgetConverter.h"
#include "visitors/AronTreeWidgetSetter.h"
namespace armarx
{
AronTreeWidgetController::AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type, const aron::data::DictPtr& data):
parent(parent),
tree(tree),
type(type)
AronTreeWidgetController::AronTreeWidgetController(QTreeWidget* tree,
QTreeWidgetItem* parent,
const aron::type::ObjectPtr& type,
const aron::data::DictPtr& data) :
parent(parent), tree(tree), type(type)
{
if (type) // if there is a type set, we create a tree widget from the typp
connect(tree,
SIGNAL(customContextMenuRequested(const QPoint&)),
this,
SLOT(ShowContextMenu(const QPoint&)));
connect(tree,
&QTreeWidget::itemDoubleClicked,
this,
&AronTreeWidgetController::onTreeWidgetItemDoubleClicked);
if (type) // if there is a type set, we create a tree widget from the type
{
AronTreeWidgetCreatorVisitor v;
AronTreeWidgetCreatorVisitor v(parent);
v.setTopLevelWidget(tree);
aron::type::visit(v, type);
if (v.createdQWidgetItem)
{
parent->addChild(v.createdQWidgetItem);
}
if (data) // check if there is a default argument set. Prefill the GUI with it
{
setFromAron(data);
}
}
else if(data) // there is no type but a default configuration. Prefill the GUI with the default arguments
// there is no type but a default configuration. Prefill the GUI with the default arguments
else if (data)
{
// TODO: There is no visitor for that (yet)...
// create type from data, ...
}
else
{
new QTreeWidgetItem(parent, {QString::fromStdString("No args")});
}
// connect change handling after args init
connect(tree,
&QTreeWidget::itemChanged,
this,
&AronTreeWidgetController::onTreeWidgetItemChanged);
}
aron::data::DictPtr AronTreeWidgetController::convertToAron() const
aron::data::DictPtr
AronTreeWidgetController::convertToAron() const
{
if (parent)
if (parent && type)
{
AronTreeWidgetConverterVisitor v(parent, 0);
aron::type::visit(v, type);
......@@ -48,7 +67,8 @@ namespace armarx
return nullptr;
}
void AronTreeWidgetController::setFromAron(const aron::data::DictPtr& data)
void
AronTreeWidgetController::setFromAron(const aron::data::DictPtr& data)
{
if (parent)
{
......@@ -56,4 +76,87 @@ namespace armarx
aron::data::visit(v, data);
}
}
}
void
AronTreeWidgetController::ShowContextMenu(const QPoint& pos)
{
tree->blockSignals(true);
auto idx = tree->indexAt(pos);
AronTreeWidgetItem* clickedItem = AronTreeWidgetItem::DynamicCast(tree->itemAt(pos));
if (clickedItem)
{
AronTreeWidgetContextMenuVisitor visitor(clickedItem, pos, tree, idx.row());
aron::type::visit(visitor, clickedItem->aronType);
visitor.showMenuAndExecute();
}
tree->blockSignals(false);
}
void
AronTreeWidgetController::onTreeWidgetItemDoubleClicked(QTreeWidgetItem* item, int column)
{
if (!item)
{
return;
}
tree->blockSignals(true);
auto* aronItem = AronTreeWidgetItem::DynamicCast(item);
if (column == 1 && aronItem)
{
std::string name =
aronItem->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME).toStdString();
// depending on aron type, create extra gui element.
AronTreeWidgetModalCreatorVisitor v(name, aronItem, tree);
aron::type::visit(v, aronItem->aronType);
auto modal = v.createdModal;
// if no modal is created, we instead use the edit field directly
if (modal)
{
modal->exec();
}
else if (aronItem->col1Editable)
{
item->treeWidget()->editItem(item, column);
}
}
else if (column == 0 && aronItem && aronItem->col0Editable)
{
item->treeWidget()->editItem(item, column);
}
tree->blockSignals(false);
}
void
AronTreeWidgetController::onTreeWidgetItemChanged(QTreeWidgetItem* item, int column)
{
tree->blockSignals(true);
auto* aronElem = AronTreeWidgetItem::DynamicCast(item);
if (aronElem)
{
aronElem->onUserChange(column);
}
// 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)
{
AronTreeWidgetConverterVisitor v(parent, 0);
aron::type::visit(v, type);
aronTreeRoot->setValueErrorState(v.hasDirectError(), v.onlyChildFailedConversion());
}
}
// else perhaps the GUI was stopped or died.
tree->blockSignals(false);
}
} // namespace armarx
source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h
View file @ fe04981f
#pragma once
#include <stack>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include "Data.h"
#include <QTreeWidget>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <QTreeWidget>
#include "visitors/AronTreeWidgetCreator.h"
#include "AronTreeWidgetItem.h"
#include "Data.h"
#include "visitors/AronTreeWidgetCreator.h"
namespace armarx
{
class AronTreeWidgetController
// Main controller for any AronTreeWidget GUI. It attaches itself to the parent and needs the active widget.
// It's responsible to handle all signals for non-widget fields and click events.
class AronTreeWidgetController : public QObject
{
Q_OBJECT
public:
AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type, const aron::data::DictPtr& data = nullptr);
AronTreeWidgetController(QTreeWidget* tree,
QTreeWidgetItem* parent,
const aron::type::ObjectPtr& type,
const aron::data::DictPtr& data = nullptr);
aron::data::DictPtr convertToAron() const;
void setFromAron(const aron::data::DictPtr&);
......@@ -28,7 +34,19 @@ namespace armarx
QTreeWidget* tree;
aron::type::ObjectPtr type;
private slots:
// allows most primitive fields to be directly editable in the tree
// only String will open up a new widget
void onTreeWidgetItemDoubleClicked(QTreeWidgetItem* item, int column);
// check the new user input. Maybe undo if the field must not be edited.
// Also highlight if the input cannot be parsed. (Or the errors are now fixed)
void onTreeWidgetItemChanged(QTreeWidgetItem* item, int column);
public slots:
// hook for items to show a context menu (add / delete element)
void ShowContextMenu(const QPoint&);
};
using AronTreeWidgetControllerPtr = std::shared_ptr<AronTreeWidgetController>;
}
} // namespace armarx
source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetItem.cpp
View file @ fe04981f
#include "AronTreeWidgetItem.h"
#include <QAction>
#include <QMenu>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include "../ColorPalettes.h"
#include "visitors/AronTreeWidgetConverter.h"
#include "widgets/CustomWidget.h"
namespace armarx
{
AronTreeWidgetItem* AronTreeWidgetItem::DynamicCast(QTreeWidgetItem* i)
AronTreeWidgetItem*
AronTreeWidgetItem::DynamicCast(QTreeWidgetItem* i)
{
return dynamic_cast<AronTreeWidgetItem*>(i);
}
AronTreeWidgetItem* AronTreeWidgetItem::copy()
{
AronTreeWidgetItem* ret = new AronTreeWidgetItem(*this);
return ret;
}
AronTreeWidgetItem* AronTreeWidgetItem::DynamicCastAndCheck(QTreeWidgetItem* i)
AronTreeWidgetItem*
AronTreeWidgetItem::DynamicCastAndCheck(QTreeWidgetItem* i)
{
if (!i)
{
......@@ -25,4 +28,174 @@ namespace armarx
ARMARX_CHECK_NOT_NULL(c);
return c;
}
}
bool
AronTreeWidgetItem::isValueErrorneous()
{
return itemValueError;
}
void
AronTreeWidgetItem::setValueErrorState(bool isErrorSource, bool isTransitiveError)
{
itemValueError |= isErrorSource;
transitiveValueError |= isTransitiveError;
if (CustomWidget::DynamicCast(treeWidget()->itemWidget(this, 1)))
{
// The widgets handle errors themselves
return;
}
auto palette = gui_color_palette::getNormalPalette();
if (itemValueError)
{
palette = gui_color_palette::getErrorPalette();
}
else if (transitiveValueError)
{
palette = gui_color_palette::getIndirectErrorPalette();
}
QTreeWidgetItem::setBackground(1, QBrush(palette.color(QPalette::Base)));
}
void
AronTreeWidgetItem::setKeyErrorState(bool hasError)
{
ARMARX_CHECK(col0Editable); //only editable keys should call this function!
auto palette =
hasError ? gui_color_palette::getErrorPalette() : gui_color_palette::getNormalPalette();
keyValueError = hasError;
QTreeWidgetItem::setBackground(1, QBrush(palette.color(QPalette::Base)));
}
void
AronTreeWidgetItem::resetError()
{
keyValueError = false;
itemValueError = false;
transitiveValueError = false;
// also reset children
for (int i = 0; i < childCount(); ++i)
{
auto* arChild = AronTreeWidgetItem::DynamicCastAndCheck(QTreeWidgetItem::child(i));
arChild->resetError();
}
}
void
AronTreeWidgetItem::checkKeyValidityOfChildren()
{
ARMARX_CHECK(aronType->getDescriptor() == aron::type::Descriptor::DICT);
// return if check failed
if (aronType->getDescriptor() != aron::type::Descriptor::DICT)
{
return;
}
// iterate through children; memorize keys
std::map<QString, std::vector<int>> found_keys;
auto numChildren = childCount();
for (int i = 0; i < numChildren; ++i)
{
auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
if (!casted)
{
// soft error here, we already report it above. - Definetly programming error
continue;
}
auto& vec = found_keys[casted->text(0)];
vec.push_back(i);
}
// highlight keys that conflict
// memorize children that are not ok
std::set<int> errorneous_indices;
for (auto [key, vals] : found_keys)
{
if (vals.size() > 1)
{
for (int i : vals)
{
auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
if (!casted)
{
// soft error here, we already report it above. - Definetly programming error
continue;
}
casted->setKeyErrorState(true);
errorneous_indices.emplace(i);
}
}
}
// clear potential error state of other elements
for (int i = 0; i < numChildren; ++i)
{
if (errorneous_indices.find(i) != errorneous_indices.end())
{
continue;
}
auto* casted = AronTreeWidgetItem::DynamicCastAndCheck(child(i));
if (!casted)
{
// soft error here, we already report it above. - Definetly programming error
continue;
}
casted->setKeyErrorState(false);
}
}
void
AronTreeWidgetItem::onUserChange(int changedColumn)
{
QTreeWidgetItem* qParent = QTreeWidgetItem::parent();
ARMARX_CHECK(qParent);
AronTreeWidgetItem* aronParent = DynamicCast(qParent);
if (changedColumn == 0)
{
if (col0Editable)
{
// Topmost should always be an Object and col0 is not editable in the child then...
// -> aronParent should never be nullptr
ARMARX_CHECK(aronParent);
// check if the element is child of a dict. If so, validate uniqueness of keys
if (aronParent->aronType->getDescriptor() == aron::type::Descriptor::DICT)
{
aronParent->checkKeyValidityOfChildren();
}
}
else
{
// maybe while editing keys, we try to edit a key that should not change by tabbing.
// Catch that here and undo the edit
preventIllegalKeyChange();
}
}
}
void
AronTreeWidgetItem::preventIllegalKeyChange()
{
if (!col0Editable)
{
setText(0, unchangeableKey);
}
}
AronTreeWidgetItem::AronTreeWidgetItem(bool editKey,
bool editVal,
QString key,
aron::type::VariantPtr type) :
aronType(type), col0Editable(editKey), col1Editable(editVal)
{
this->setText(0, key);
// add hook to check for edited keys for children of dictionaries
if (!editKey)
{
unchangeableKey = std::move(key);
}
}
} // namespace armarx