Merge of all branches of Fabian PK (related to skills)

• Merge improved SkillManagerGUI from Tobias Bodmer
• Fix aron code generation for classes without members

@reister. YOu only need to review the changes to aron (Generator.cpp)

Depends on MR armarx-core!246 (merged)

Includes MR !285 (closed) and !320 (closed)

source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp

@@ -45,9 +45,44 @@ namespace armarx
     bool
     AronTreeWidgetConverterVisitor::isConversionSuccessful()
     {
-        return !errorOccured;
+        return !isDirectError && !hasTransitiveError;
+    }
+
+    bool
+    AronTreeWidgetConverterVisitor::onlyChildFailedConversion()
+    {
+        return hasTransitiveError;
+    }
+
+    bool
+    AronTreeWidgetConverterVisitor::hasDirectError() const
+    {
+        return isDirectError;
     }
 
+    void
+    AronTreeWidgetConverterVisitor::handleErrors(AronTreeWidgetConverterVisitor childV,
+                                                 bool ownFault)
+    {
+        // TODO debug this. Make target back to debugabble
+        isDirectError |= ownFault;
+        hasTransitiveError |= childV.isDirectError || childV.hasTransitiveError;
+
+        auto* aronItem = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+        ARMARX_CHECK(aronItem);
+        aronItem->setValueErrorState(isDirectError, hasTransitiveError);
+    }
+
+    void
+    AronTreeWidgetConverterVisitor::handleErrors(bool ownFault)
+    {
+        isDirectError = ownFault;
+        auto* aronItem = AronTreeWidgetItem::DynamicCast(parentItem->child(index));
+        ARMARX_CHECK(aronItem);
+        aronItem->setValueErrorState(isDirectError, false);
+    }
+
+
     void
     AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
     {
@@ -61,11 +96,8 @@ namespace armarx
             AronTreeWidgetConverterVisitor v(el, x++);
             aron::type::visit(v, value);
 
-            if (v.errorOccured || !v.createdAron.get())
-            {
-                errorOccured = true;
-            }
-            else
+            handleErrors(v);
+            if (v.isConversionSuccessful())
             {
                 createdAronDict->addElement(key, v.createdAron);
             }
@@ -84,23 +116,12 @@ namespace armarx
             auto it = el->child(x);
             AronTreeWidgetConverterVisitor v(el, x);
             aron::type::visit(v, i->getAcceptedType());
-
-            if (v.createdAron && !v.errorOccured)
+            auto key = it->text(0).toStdString();
+            // TODO: handle key errors more elegantly / separately
+            handleErrors(v, createdAronDict->hasElement(key));
+            if (v.createdAron && v.isConversionSuccessful() && !createdAronDict->hasElement(key))
             {
-                // TODO find more elegant solution that does not crash aron code
-                auto key = it->text(0).toStdString();
-                if (createdAronDict->hasElement(key))
-                {
-                    errorOccured = true;
-                }
-                else
-                {
-                    createdAronDict->addElement(key, v.createdAron);
-                }
-            }
-            else
-            {
-                errorOccured = true;
+                createdAronDict->addElement(key, v.createdAron);
             }
         }
     }
@@ -117,14 +138,12 @@ namespace armarx
         {
             AronTreeWidgetConverterVisitor convVisitor(elem, j);
             aron::type::visit(convVisitor, childrenTypes[0]);
-            if (convVisitor.createdAron && !convVisitor.errorOccured)
+            handleErrors(convVisitor);
+
+            if (convVisitor.createdAron && convVisitor.isConversionSuccessful())
             {
                 createdAronList->addElement(convVisitor.createdAron);
             }
-            else
-            {
-                errorOccured = true;
-            }
         }
     }
 
@@ -139,14 +158,11 @@ namespace armarx
         for (int j = 0; j < 2; ++j)
         {
             AronTreeWidgetConverterVisitor convVisitor(elem, j);
-            if (convVisitor.createdAron && !convVisitor.errorOccured)
+            handleErrors(convVisitor);
+            if (convVisitor.createdAron && convVisitor.isConversionSuccessful())
             {
                 createdAronPair->addElement(convVisitor.createdAron);
             }
-            else
-            {
-                errorOccured = true;
-            }
         }
     }
 
@@ -162,15 +178,12 @@ namespace armarx
         {
             AronTreeWidgetConverterVisitor convVisitor(currElem, j);
             aron::type::visit(convVisitor, i);
+            handleErrors(convVisitor);
 
-            if (convVisitor.createdAron && !convVisitor.errorOccured)
+            if (convVisitor.createdAron && convVisitor.isConversionSuccessful())
             {
                 createdAronTuple->addElement(convVisitor.createdAron);
             }
-            else
-            {
-                errorOccured = true;
-            }
         }
     }
 
@@ -209,11 +222,13 @@ namespace armarx
         ARMARX_CHECK(rootWidget);
         auto* widget = rootWidget->itemWidget(currElem, 1);
         auto* matrixWidget = EditMatrixWidget::DynamicCastAndCheck(widget);
+
+        handleErrors(matrixWidget->hasParseErrors());
         if (matrixWidget->hasParseErrors())
         {
-            errorOccured = true;
             return;
         }
+        // write to aron data
         std::vector<unsigned char> elems;
         elems.reserve(totalByteSize);
         // CAUTION: Raw data has column based storage
@@ -241,11 +256,15 @@ namespace armarx
         auto* currTreeElem = parentItem->child(index);
         auto* itemWidget = currTreeElem->treeWidget()->itemWidget(currTreeElem, 1);
         auto* quatWidget = QuaternionWidget::DynamicCastAndCheck(itemWidget);
+
+        // error handling
+        handleErrors(quatWidget->hasParseErrors());
         if (quatWidget->hasParseErrors())
         {
-            errorOccured = true;
             return;
         }
+
+        // write to aron data
         auto serialized = quatWidget->parseAllToNDArray();
         if ((int)serialized.size() != dataSize * 4)
         {
@@ -280,7 +299,8 @@ namespace armarx
         }
         bool success;
         std::tie(success, createdAron) = intEnumWidget->parseToAron();
-        errorOccured &= success;
+
+        handleErrors(!success);
     }
 
     void
@@ -303,12 +323,12 @@ namespace armarx
         }
         catch (const simox::error::SimoxError& err)
         {
-
-
-            errorOccured = true;
+            handleErrors();
             ARMARX_VERBOSE << "Conversion from String to Int failed. Error:\"" << err.what()
                            << "\"";
+            return;
         }
+        handleErrors(false);
     }
 
     void
@@ -321,6 +341,7 @@ namespace armarx
         std::string str = el->text(1).toStdString();
         if (str.empty())
         {
+            //TODO: similar behaviour for rest?
             str = el->text(3).toStdString();
         }
         try
@@ -329,10 +350,12 @@ namespace armarx
         }
         catch (const simox::error::SimoxError& err)
         {
-            errorOccured = true;
+            handleErrors();
             ARMARX_VERBOSE << "Conversion from String to Long failed. Error:\"" << err.what()
                            << "\"";
+            return;
         }
+        handleErrors(false);
     }
 
     void
@@ -353,10 +376,12 @@ namespace armarx
         }
         catch (const simox::error::SimoxError& err)
         {
-            errorOccured = true;
+            handleErrors();
             ARMARX_VERBOSE << "Conversion from String to Float failed. Error:\"" << err.what()
                            << "\"";
+            return;
         }
+        handleErrors(false);
     }
 
     void
@@ -377,10 +402,12 @@ namespace armarx
         }
         catch (const simox::error::SimoxError& err)
         {
-            errorOccured = true;
+            handleErrors();
             ARMARX_VERBOSE << "Conversion from String to Double failed. Error:\"" << err.what()
                            << "\"";
+            return;
         }
+        handleErrors(false);
     }
 
     void
@@ -401,10 +428,12 @@ namespace armarx
         }
         catch (const simox::error::SimoxError& err)
         {
-            errorOccured = true;
+            handleErrors();
             ARMARX_VERBOSE << "Conversion from String to Bool failed. Error:\"" << err.what()
                            << "\"";
+            return;
         }
+        handleErrors(false);
     }
 
     void