From 1dd5dc6e25ef8c10a23904578dc8d80d8f62ff86 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 25 Aug 2021 15:12:05 +0200
Subject: [PATCH] Implement adding vertices and creating new graphs; remove
robot pose from graph aron
---
.../GraphImportExport/GraphImportExport.cpp | 3 +-
source/armarx/navigation/graph/Graph.cpp | 34 +-
source/armarx/navigation/graph/Graph.h | 11 +
source/armarx/navigation/graph/aron/Graph.xml | 5 +-
.../LocationGraphEditor/CMakeLists.txt | 2 +
.../LocationGraphEditorWidget.ui | 28 +-
.../LocationGraphEditorWidgetController.cpp | 579 +++++++++++-------
.../LocationGraphEditorWidgetController.h | 104 ++--
.../widgets/EdgeTableWidget.cpp | 13 +-
.../widgets/NewEntityIdDialog.cpp | 129 ++++
.../widgets/NewEntityIdDialog.h | 64 ++
.../widgets/VertexTableWidget.cpp | 58 +-
.../widgets/VertexTableWidget.h | 10 +-
.../LocationGraphEditor/widgets/utils.cpp | 1 +
.../LocationGraphEditor/widgets/utils.h | 12 +-
15 files changed, 748 insertions(+), 305 deletions(-)
create mode 100644 source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.cpp
create mode 100644 source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.h
diff --git a/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp b/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
index 96a69c23..36936fee 100644
--- a/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
+++ b/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
@@ -26,7 +26,6 @@
#include <armarx/navigation/location/aron/Location.aron.generated.h>
#include <armarx/navigation/location/constants.h>
-#include <armarx/navigation/graph/Writer.h>
#include <armarx/navigation/graph/aron/Graph.aron.generated.h>
#include <armarx/navigation/graph/constants.h>
@@ -373,7 +372,7 @@ namespace armarx::nav
nav::graph::Graph::Vertex& vertex = vertexMap.emplace(name, graph.addVertex(nextVertexID)).first->second;
vertex.attrib().aron.vertexID = static_cast<long>(nextVertexID);
toAron(vertex.attrib().aron.locationID, getLocationProviderSegmentID().withEntityName(name));
- vertex.attrib().aron.globalRobotPose = globalNodePose->toEigen();
+ vertex.attrib().setPose(globalNodePose->toEigen());
nextVertexID++;
}
diff --git a/source/armarx/navigation/graph/Graph.cpp b/source/armarx/navigation/graph/Graph.cpp
index 48c0f4dd..f34cb169 100644
--- a/source/armarx/navigation/graph/Graph.cpp
+++ b/source/armarx/navigation/graph/Graph.cpp
@@ -22,8 +22,14 @@
#include "Graph.h"
+#include <armarx/navigation/location/aron/Location.aron.generated.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
+
namespace armarx::nav::graph
{
@@ -33,14 +39,20 @@ namespace armarx::nav::graph
return aron.locationID.providerSegmentName + "/" + aron.locationID.entityName;
}
+ bool VertexAttribs::hasPose() const
+ {
+ return _pose.has_value();
+ }
+
Eigen::Matrix4f VertexAttribs::getPose() const
{
- return aron.globalRobotPose;
+ ARMARX_CHECK(_pose.has_value());
+ return _pose.value();
}
void VertexAttribs::setPose(const Eigen::Matrix4f& pose)
{
- this->aron.globalRobotPose = pose;
+ this->_pose = pose;
}
}
@@ -87,4 +99,22 @@ namespace armarx::nav
ARMARX_CHECK_EQUAL(bo.numEdges(), dto.edges.size());
}
+
+ void graph::resolveLocations(Graph& bo, armem::wm::Memory& locationMemory)
+ {
+ for (graph::Graph::Vertex vertex : bo.vertices())
+ {
+ armem::MemoryID locationID;
+ fromAron(vertex.attrib().aron.locationID, locationID);
+
+ armem::wm::EntityInstance* instance = locationMemory.findLatestInstance(locationID);
+ if (instance)
+ {
+ nav::loc::arondto::Location dto;
+ dto.fromAron(instance->data());
+ vertex.attrib().setPose(dto.globalRobotPose);
+ }
+ }
+ }
+
}
diff --git a/source/armarx/navigation/graph/Graph.h b/source/armarx/navigation/graph/Graph.h
index d895dd63..aa216d69 100644
--- a/source/armarx/navigation/graph/Graph.h
+++ b/source/armarx/navigation/graph/Graph.h
@@ -24,6 +24,8 @@
#include <armarx/navigation/graph/aron/Graph.aron.generated.h>
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+
#include <SemanticObjectRelations/RelationGraph/RelationGraph.h>
@@ -36,13 +38,21 @@ namespace armarx::nav::graph
std::string getName() const;
+ bool hasPose() const;
Eigen::Matrix4f getPose() const;
void setPose(const Eigen::Matrix4f& pose);
+
+ private:
+
+ std::optional<Eigen::Matrix4f> _pose;
+
};
+
struct EdgeAttribs
{
armarx::nav::graph::arondto::Edge aron;
};
+
struct GraphAttribs
{
};
@@ -52,5 +62,6 @@ namespace armarx::nav::graph
void toAron(arondto::Graph& dto, const Graph& bo);
void fromAron(const arondto::Graph& dto, Graph& bo);
+ void resolveLocations(Graph& bo, armem::wm::Memory& locationMemory);
}
diff --git a/source/armarx/navigation/graph/aron/Graph.xml b/source/armarx/navigation/graph/aron/Graph.xml
index 18e1c847..fe09dcc0 100644
--- a/source/armarx/navigation/graph/aron/Graph.xml
+++ b/source/armarx/navigation/graph/aron/Graph.xml
@@ -19,9 +19,10 @@
<armarx::armem::arondto::MemoryID />
</ObjectChild>
- <ObjectChild key='globalRobotPose'>
+ <!-- Only stored in Location -->
+ <!--ObjectChild key='globalRobotPose'>
<Pose />
- </ObjectChild>
+ </ObjectChild-->
</Object>
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt b/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
index 0820ee1b..e345f39d 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
@@ -20,6 +20,7 @@ set(SOURCES
widgets/default_colors.cpp
widgets/utils.cpp
widgets/EdgeTableWidget.cpp
+ widgets/NewEntityIdDialog.cpp
widgets/VertexDataWidget.cpp
widgets/VertexTableWidget.cpp
@@ -37,6 +38,7 @@ set(HEADERS
widgets/default_colors.h
widgets/utils.h
widgets/EdgeTableWidget.h
+ widgets/NewEntityIdDialog.h
widgets/VertexDataWidget.h
widgets/VertexTableWidget.h
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
index 161687fa..88fa0f4c 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
@@ -15,18 +15,28 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
- <widget class="QGroupBox" name="sceneGroupBox">
+ <widget class="QGroupBox" name="graphGroupBox">
<property name="title">
<string>Navigation Graphs from Navigation Graph Segment</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
- <widget class="QPushButton" name="refreshGraphsButton">
+ <widget class="QPushButton" name="createGraphButton">
<property name="toolTip">
<string>Reloads the list of scenes from the memory</string>
</property>
<property name="text">
- <string>Refresh List</string>
+ <string>Create New Graph</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="queryGraphsButton">
+ <property name="toolTip">
+ <string>Reloads the list of scenes from the memory</string>
+ </property>
+ <property name="text">
+ <string>Query</string>
</property>
</widget>
</item>
@@ -110,6 +120,14 @@
</layout>
</widget>
</item>
+ <item>
+ <widget class="QGroupBox" name="robotVisuGroupBox">
+ <property name="title">
+ <string>Robot Visu</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_5"/>
+ </widget>
+ </item>
</layout>
</widget>
<widget class="QWidget" name="verticalLayout_13Widget">
@@ -117,7 +135,7 @@
<item>
<widget class="QGroupBox" name="locationsTableGroupBox">
<property name="title">
- <string>Locations (Graph Vertices)</string>
+ <string>Locations (right click for options)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="leftMargin">
@@ -142,7 +160,7 @@
<item>
<widget class="QGroupBox" name="edgesTableGroupBox">
<property name="title">
- <string>Graph Edges</string>
+ <string>Graph Edges (right click for options)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
<property name="leftMargin">
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
index 3f4a7113..abe9388f 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
@@ -23,8 +23,9 @@
#include <VirtualRobot/VirtualRobot.h>
#include "LocationGraphEditorWidgetController.h"
-#include "Visu.h"
+#include "widgets/utils.h"
#include "widgets/EdgeTableWidget.h"
+#include "widgets/NewEntityIdDialog.h"
#include "widgets/VertexDataWidget.h"
#include "widgets/VertexTableWidget.h"
#include "widgets/graph_scene/Scene.h"
@@ -42,8 +43,7 @@
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <SimoxUtility/color/Color.h>
+#include <ArmarXCore/core/logging/Logging.h>
// Qt headers
#include <QDialog>
@@ -67,30 +67,6 @@ static const QString SETTING_LAST_SCENE = "lastScene";
namespace armarx::nav::locgrapheditor
{
-
- /**
- * @brief Returns the name used on the debug layer.
- * @param edge The edge.
- * @return The name used on the debug layer.
- */
- std::string iceName(const GuiGraph::Edge& edge)
- {
- std::stringstream ss;
- ss << "edge " << std::to_string(edge.sourceObjectID()) << " -> " << std::to_string(edge.targetObjectID());
- return ss.str();
- }
-
- /**
- * @brief iceName Returns the name used on the debug layer.
- * @param vertexName The vertex.
- * @return The name used on the debug layer.
- */
- std::string iceName(const GuiGraph::Vertex& vertex)
- {
- return std::to_string(vertex.objectID());
- }
-
-
QString LocationGraphEditorWidgetController::GetWidgetName()
{
return "Navigation.LocationGraphEditor";
@@ -110,31 +86,49 @@ namespace armarx::nav::locgrapheditor
widget.loadGraphButton->setEnabled(false);
- view.edgeTable = new EdgeTableWidget();
- view.vertexTable = new VertexTableWidget();
view.vertexData = new VertexDataWidget();
view.vertexData->setEnabled(false); // Enable on first selection of vertex.
- widget.edgesTableGroupBox->layout()->addWidget(view.edgeTable);
- widget.locationsTableGroupBox->layout()->addWidget(view.vertexTable);
+ view.vertexTable = new VertexTableWidget();
+ view.edgeTable = new EdgeTableWidget();
+
widget.locationDataGroupBox->layout()->addWidget(view.vertexData);
+ if (QBoxLayout* layout = dynamic_cast<QBoxLayout*>(widget.locationDataGroupBox->layout()))
+ {
+ layout->addStretch();
+ }
+
+ widget.locationsTableGroupBox->layout()->addWidget(view.vertexTable);
+ widget.edgesTableGroupBox->layout()->addWidget(view.edgeTable);
view.graph = new GraphSceneWidget();
widget.graphSceneLayout->addWidget(view.graph);
- // Widgets -> This
-
- // Memory Access
connect(this, &This::connected, this, &This::queryGraphs);
- connect(this, &This::memoryDataChanged, this, &This::updateGraphList);
- connect(widget.refreshGraphsButton, &QPushButton::pressed, this, &This::updateGraphList);
- connect(widget.loadGraphButton, &QPushButton::pressed, this, &This::loadGraph);
- connect(widget.commitGraphButton, &QPushButton::pressed, this, &This::commit);
+ connect(widget.createGraphButton, &QPushButton::pressed,
+ this, &This::createGraphDialog);
+
+ connect(widget.queryGraphsButton, &QPushButton::pressed,
+ this, &This::queryGraphs);
+ connect(this, &This::locationMemoryChanged,
+ this, &This::memoryChanged);
+ connect(this, &This::graphMemoryChanged,
+ this, &This::memoryChanged);
- // Update views
- connect(this, &This::graphChanged, this, &This::updateGraphView);
+ connect(this, &This::graphMemoryChanged,
+ this, &This::updateGraphList);
+
+ connect(widget.loadGraphButton, &QPushButton::pressed,
+ this, &This::loadGraph);
+ connect(widget.commitGraphButton, &QPushButton::pressed,
+ this, &This::commit);
+
+
+ // View updates
+ connect(this, &This::graphChanged,
+ this, &This::updateGraphView);
connect(view.vertexData, &VertexDataWidget::vertexDataChanged,
this, &This::updateGraphView);
@@ -151,8 +145,15 @@ namespace armarx::nav::locgrapheditor
connect(view.edgeTable, &EdgeTableWidget::itemSelectionChanged,
this, &This::updateEdgeHighlighting);
+ // Graph modification
+
+ connect(view.vertexTable, &VertexTableWidget::newVertexRequested,
+ this, &This::createVertexDialog);
connect(view.vertexTable, &VertexTableWidget::newEdgesRequested,
this, &This::addEdges);
+ connect(view.vertexTable, &VertexTableWidget::edgeRemovalRequested,
+ this, &This::removeEdgesOfVertex);
+
connect(view.edgeTable, &EdgeTableWidget::edgeRemovalRequested,
this, &This::removeEdges);
}
@@ -166,18 +167,18 @@ namespace armarx::nav::locgrapheditor
QPointer<QDialog> LocationGraphEditorWidgetController::getConfigDialog(QWidget* parent)
{
- if (not dialog)
+ if (not configDialog)
{
- dialog = new SimpleConfigDialog(parent);
- dialog->addProxyFinder<armem::mns::MemoryNameSystemInterfacePrx>("MemoryNameSystem", "Memory Name System", remote.memoryNameSystemName);
+ configDialog = new SimpleConfigDialog(parent);
+ configDialog->addProxyFinder<armem::mns::MemoryNameSystemInterfacePrx>("MemoryNameSystem", "Memory Name System", remote.memoryNameSystemName);
}
- return qobject_cast<SimpleConfigDialog*>(dialog);
+ return qobject_cast<SimpleConfigDialog*>(configDialog);
}
void LocationGraphEditorWidgetController::configured()
{
- remote.memoryNameSystemName = dialog->getProxyName("MemoryNameSystem");
+ remote.memoryNameSystemName = configDialog->getProxyName("MemoryNameSystem");
}
@@ -217,8 +218,8 @@ namespace armarx::nav::locgrapheditor
{
std::stringstream ss;
ss << "Navigation Graphs (Entities from Core Segment " << nav::graph::coreSegmentID << ")";
- widget.sceneGroupBox->setTitle(QString::fromStdString(ss.str()));
- widget.sceneGroupBox->setEnabled(true);
+ widget.graphGroupBox->setTitle(QString::fromStdString(ss.str()));
+ widget.graphGroupBox->setEnabled(true);
}
emit connected();
@@ -240,18 +241,49 @@ namespace armarx::nav::locgrapheditor
}
- void LocationGraphEditorWidgetController::queryGraphs()
+ void LocationGraphEditorWidgetController::queryMemory()
{
- armem::client::QueryResult result = remote.graphReader.getLatestSnapshotsIn(nav::graph::coreSegmentID);
+ armem::client::QueryResult locResult = queryLocations();
+ armem::client::QueryResult graphResult = queryGraphs();
+
+ if (not (locResult.success and graphResult.success))
+ {
+ QStringList status;
+ std::stringstream ss;
+ if (not locResult.success)
+ {
+ status.append(QString::fromStdString(locResult.errorMessage));
+ }
+ if (not graphResult.success)
+ {
+ status.append(QString::fromStdString(graphResult.errorMessage));
+ }
+ widget.statusLabel->setText(status.join("\n"));
+ }
+ }
+
+
+ armem::client::QueryResult LocationGraphEditorWidgetController::queryLocations()
+ {
+ armem::client::QueryResult result = remote.locationReader.getLatestSnapshotsIn(nav::loc::coreSegmentID);
if (result.success)
{
- model.memory = std::move(result.memory);
- emit memoryDataChanged();
+ model.locationsMemory = std::move(result.memory);
+ emit locationMemoryChanged();
}
- else
+ return result;
+ }
+
+
+ armem::client::QueryResult LocationGraphEditorWidgetController::queryGraphs()
+ {
+ armem::client::QueryResult result = remote.graphReader.getLatestSnapshotsIn(nav::graph::coreSegmentID);
+ if (result.success)
{
- widget.statusLabel->setText(QString::fromStdString(result.errorMessage));
+ model.graphMemory = std::move(result.memory);
+ emit graphMemoryChanged();
}
+ return result;
}
@@ -262,7 +294,7 @@ namespace armarx::nav::locgrapheditor
int i = 0;
int previousIndex = -1; // To keep selection.
- model.memory.forEachEntity([&](const armem::wm::Entity& entity)
+ model.graphMemory.forEachEntity([&](const armem::wm::Entity& entity)
{
bool hasChanged = (entity.id() == model.graphEntityID
? model.graph.hasChanged()
@@ -289,34 +321,9 @@ namespace armarx::nav::locgrapheditor
{
if (model.graph.hasChanged())
{
- QMessageBox msgBox;
- msgBox.setText("The current graph and/or locations have uncommitted changes. ");
- msgBox.setInformativeText("Do you want to discard them?");
- QStringList detailLines;
- if (model.graph.attrib().edgesChanged)
- {
- detailLines.append("Graph edges have changed.");
- }
- for (auto vertex : model.graph.vertices())
- {
- if (vertex.attrib().changed)
- {
- detailLines.append("Location " + QString::fromStdString(vertex.attrib().getName()) + " has changed.");
- }
- }
- msgBox.setDetailedText(detailLines.join("\n"));
- msgBox.setStandardButtons(QMessageBox::Discard | QMessageBox::Cancel);
- msgBox.setDefaultButton(QMessageBox::Cancel);
-
- int ret = msgBox.exec();
- switch (ret)
+ if (not loadGraphDialog())
{
- case QMessageBox::Discard:
- // Ok go.
- break;
- case QMessageBox::Cancel:
- // Abort loading.
- return;
+ return;
}
}
@@ -324,9 +331,9 @@ namespace armarx::nav::locgrapheditor
widget.graphsComboBox->currentData().toString().toStdString());
// Refresh local memory.
- queryGraphs();
+ queryMemory();
- const armem::wm::EntityInstance* instance = model.memory.findLatestInstance(entityID);
+ const armem::wm::EntityInstance* instance = model.graphMemory.findLatestInstance(entityID);
if (instance)
{
widget.statusLabel->setText(QString::fromStdString("Loaded snapshot " + instance->id().getEntitySnapshotID().str()));
@@ -341,9 +348,32 @@ namespace armarx::nav::locgrapheditor
nav::graph::Graph nav;
{
nav::graph::arondto::Graph dto;
+ ARMARX_CHECK_NOT_NULL(instance->data());
dto.fromAron(instance->data());
fromAron(dto, nav);
}
+ // Resolve locations and remove vertices which could not be resolved.
+ {
+ resolveLocations(nav, model.locationsMemory);
+ std::vector<nav::graph::Graph::Vertex> remove;
+ for (nav::graph::Graph::Vertex vertex : nav.vertices())
+ {
+ if (not vertex.attrib().hasPose())
+ {
+ remove.push_back(vertex);
+ }
+ }
+ if (not remove.empty())
+ {
+ for (nav::graph::Graph::Vertex vertex : remove)
+ {
+ nav.removeVertex(vertex.objectID());
+ }
+ std::stringstream ss;
+ ss << "Dropped " << remove.size() << " locations which could not be resolved.";
+ widget.statusLabel->setText(QString::fromStdString(ss.str()));
+ }
+ }
model.graphEntityID = entityID;
ARMARX_VERBOSE << "Loading graph " << nav.str();
@@ -351,6 +381,42 @@ namespace armarx::nav::locgrapheditor
}
+
+ bool LocationGraphEditorWidgetController::loadGraphDialog()
+ {
+ ARMARX_CHECK(model.graph.hasChanged());
+
+ QMessageBox msgBox;
+ msgBox.setText("The current graph and/or locations have uncommitted changes. ");
+ msgBox.setInformativeText("Do you want to discard them?");
+ QStringList detailLines;
+ if (model.graph.attrib().edgesChanged)
+ {
+ detailLines.append("Graph edges have changed.");
+ }
+ for (auto vertex : model.graph.vertices())
+ {
+ if (vertex.attrib().changed)
+ {
+ detailLines.append("Location " + QString::fromStdString(vertex.attrib().getName()) + " has changed.");
+ }
+ }
+ msgBox.setDetailedText(detailLines.join("\n"));
+ msgBox.setStandardButtons(QMessageBox::Discard | QMessageBox::Cancel);
+ msgBox.setDefaultButton(QMessageBox::Cancel);
+
+ switch (msgBox.exec())
+ {
+ case QMessageBox::Discard:
+ return true; // Ok go.
+ case QMessageBox::Cancel:
+ return false; // Abort loading.
+ default:
+ return false; // Something went wrong.
+ }
+ }
+
+
void
LocationGraphEditorWidgetController::commit()
{
@@ -460,7 +526,7 @@ namespace armarx::nav::locgrapheditor
}
- void LocationGraphEditorWidgetController::setGraph(graph::Graph& nav)
+ void LocationGraphEditorWidgetController::setGraph(const graph::Graph& nav)
{
// Build the gui graph (model).
{
@@ -471,11 +537,14 @@ namespace armarx::nav::locgrapheditor
for (auto vertex : nav.vertices())
{
- addVertex(vertex);
+ ARMARX_CHECK(vertex.attrib().hasPose());
+ addVertex(vertex.objectID(), { vertex.attrib() });
}
for (auto edge : nav.edges())
{
- addEdge(edge);
+ addEdge(model.graph.vertex(edge.sourceObjectID()),
+ model.graph.vertex(edge.targetObjectID()),
+ { edge.attrib() });
}
}
@@ -484,25 +553,19 @@ namespace armarx::nav::locgrapheditor
}
- GuiGraph::Vertex
- LocationGraphEditorWidgetController::addVertex(graph::Graph::ConstVertex vertex)
+ GuiGraph::Vertex LocationGraphEditorWidgetController::addVertex(
+ semrel::ShapeID vertexID,
+ const VertexData& defaultAttribs)
{
- ARMARX_CHECK(not model.graph.hasVertex(vertex.objectID()));
+ ARMARX_CHECK(not model.graph.hasVertex(vertexID));
- VertexData attrib { vertex.attrib() };
- attrib.graphicsItem = view.graph->scene()->addVertex(vertex);
- attrib.tableWidgetItem = view.vertexTable->addVertex(vertex);
- return model.graph.addVertex(vertex.objectID(), attrib);
- }
+ GuiGraph::Vertex vertex = model.graph.addVertex(vertexID, defaultAttribs);
+ vertex.attrib().graphicsItem = view.graph->scene()->addVertex(vertex);
+ vertex.attrib().tableWidgetItem = view.vertexTable->addVertex();
+ emit graphChanged();
- GuiGraph::Edge
- LocationGraphEditorWidgetController::addEdge(graph::Graph::ConstEdge edge)
- {
- auto source = model.graph.vertex(edge.sourceObjectID());
- auto target = model.graph.vertex(edge.targetObjectID());
-
- return addEdge(source, target, { edge.attrib() });
+ return vertex;
}
@@ -520,68 +583,10 @@ namespace armarx::nav::locgrapheditor
GuiGraph::Edge edge = model.graph.addEdge(source, target, defaultAttribs);
edge.attrib().tableWidgetItem = view.edgeTable->addEdge(edge);
edge.attrib().graphicsItem = view.graph->scene()->addEdge(edge);
- return edge;
- }
-
-
- void LocationGraphEditorWidgetController::addEdges(
- QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems)
- {
- if (/* DISABLES CODE */ (false))
- {
- std::stringstream ss;
- ss << "Adding edges ...";
- for (const auto& [source, target] : vertexItems)
- {
- ss << "\n- " << source->text() << " to " << target->text();
- }
- ARMARX_IMPORTANT << ss.str();
- }
-
- const auto itemToVertexMap = model.graph.getTableItemToVertexMap();
- for (const auto& [sourceItem, targetItem] : vertexItems)
- {
- GuiGraph::Vertex source = itemToVertexMap.at(sourceItem);
- GuiGraph::Vertex target = itemToVertexMap.at(targetItem);
- if (not model.graph.hasEdge(source, target))
- {
- addEdge(source, target, {});
- }
- }
-
- model.graph.attrib().edgesChanged = true;
emit graphChanged();
- }
-
-
- void LocationGraphEditorWidgetController::removeEdges(
- QList<QTableWidgetItem*> edgeItems)
- {
- if (/* DISABLES CODE */ (false))
- {
- std::stringstream ss;
- ss << "Remoiving edges ...";
- for (const auto& edgeItem : edgeItems)
- {
- ss << "\n- " << edgeItem->text();
- }
- ARMARX_IMPORTANT << ss.str();
- }
- {
- QSignalBlocker blocker(this);
-
- const auto itemToEdgeMap = model.graph.getTableItemToEdgeMap();
- for (const auto& edgeItem : edgeItems)
- {
- GuiGraph::Edge edge = itemToEdgeMap.at(edgeItem);
- removeEdge(edge);
- }
- }
- model.graph.attrib().edgesChanged = true;
-
- emit graphChanged();
+ return edge;
}
@@ -606,8 +611,7 @@ namespace armarx::nav::locgrapheditor
}
- void
- LocationGraphEditorWidgetController::updateVertexView(GuiGraph::Vertex vertex)
+ void LocationGraphEditorWidgetController::updateVertexView(GuiGraph::Vertex vertex)
{
view.graph->scene()->updateVertex(vertex);
view.vertexTable->updateVertex(vertex);
@@ -653,14 +657,68 @@ namespace armarx::nav::locgrapheditor
{
if (remote.arviz)
{
- viz::Layer layer = remote.arviz->layer(widget.graphsComboBox->currentText().toStdString());
- GraphVisu visu;
- visu.draw(layer, model.graph);
+ const QString layerName = getGraphDisplayName(model.graphEntityID, false);
+ viz::Layer layer = remote.arviz->layer(layerName.toStdString());
+ model.visu.draw(layer, model.graph);
remote.arviz->commit(layer);
}
}
+ template <class T>
+ static
+ void updateElementHighlighting(
+ QList<QTableWidgetItem*> selectedItems,
+ std::map<QTableWidgetItem*, T>&& itemToElementMap)
+ {
+ for (QTableWidgetItem* selected : selectedItems)
+ {
+ if (auto it = itemToElementMap.find(selected); it != itemToElementMap.end())
+ {
+ it->second.attrib().highlighted = true;
+ itemToElementMap.erase(it);
+ }
+ }
+ for (auto& [_, unselected] : itemToElementMap)
+ {
+ unselected.attrib().highlighted = false;
+ }
+ }
+
+
+ void LocationGraphEditorWidgetController::updateVertexHighlighting()
+ {
+ updateElementHighlighting(view.vertexTable->selectedVertexItems(), model.graph.getTableItemToVertexMap());
+ emit graphChanged();
+ }
+
+
+ void LocationGraphEditorWidgetController::updateEdgeHighlighting()
+ {
+ updateElementHighlighting(view.edgeTable->selectedEdgeItems(), model.graph.getTableItemToEdgeMap());
+ emit graphChanged();
+ }
+
+
+ void LocationGraphEditorWidgetController::selectVertex(QTableWidgetItem* vertexItem)
+ {
+ if (vertexItem == nullptr)
+ {
+ view.vertexData->clearVertex();
+ }
+ if (auto vertex = model.graph.getVertexFromTableItem(vertexItem))
+ {
+ selectVertex(vertex.value());
+ }
+ }
+
+
+ void LocationGraphEditorWidgetController::selectVertex(GuiGraph::Vertex vertex)
+ {
+ view.vertexData->setVertex(vertex);
+ }
+
+
void LocationGraphEditorWidgetController::clearGraph()
{
{
@@ -681,10 +739,13 @@ namespace armarx::nav::locgrapheditor
{
// Remove in reverse order to be more array-friendly.
std::vector<GuiGraph::Edge> edges { model.graph.edges().begin(), model.graph.edges().end() };
- for (auto it = edges.rbegin(); it != edges.rend(); ++it)
{
- GuiGraph::Edge edge = *it;
- removeEdge(edge);
+ QSignalBlocker blocker(this);
+ for (auto it = edges.rbegin(); it != edges.rend(); ++it)
+ {
+ GuiGraph::Edge edge = *it;
+ removeEdge(edge);
+ }
}
ARMARX_CHECK_EQUAL(view.edgeTable->rowCount(), 0);
@@ -701,10 +762,13 @@ namespace armarx::nav::locgrapheditor
// Remove in reverse order to be more array-friendly.
std::vector<GuiGraph::Vertex> vertices { model.graph.vertices().begin(), model.graph.vertices().end() };
- for (auto it = vertices.rbegin(); it != vertices.rend(); ++it)
{
- GuiGraph::Vertex vertex = *it;
- removeVertex(vertex);
+ QSignalBlocker blocker(this);
+ for (auto it = vertices.rbegin(); it != vertices.rend(); ++it)
+ {
+ GuiGraph::Vertex vertex = *it;
+ removeVertex(vertex);
+ }
}
ARMARX_CHECK_EQUAL(view.vertexTable->rowCount(), 0);
@@ -720,30 +784,35 @@ namespace armarx::nav::locgrapheditor
<< "Cannot remove edge that does not exist.";
// Remove view elements
+ {
+ QSignalBlocker blocker(view.edgeTable);
+ view.edgeTable->removeEdge(edge);
+ }
view.graph->scene()->removeEdge(edge.attrib().graphicsItem);
- const int rows = view.edgeTable->rowCount();
- view.edgeTable->removeEdge(edge);
- ARMARX_CHECK_EQUAL(view.edgeTable->rowCount(), rows - 1);
-
// Remove from model
model.graph.removeEdge(edge);
ARMARX_CHECK(not model.graph.hasEdge(edge.sourceDescriptor(), edge.targetDescriptor()))
<< edge.sourceDescriptor() << " -> " << edge.targetDescriptor();
+
+ emit graphChanged();
}
void LocationGraphEditorWidgetController::removeVertex(GuiGraph::Vertex& vertex)
{
ARMARX_CHECK_EQUAL(vertex.inDegree(), 0)
- << "A vertex may not have any edges before being removed. " << vertex.attrib().getName();
+ << "A vertex must not have any edges before being removed. " << vertex.attrib().getName();
ARMARX_CHECK_EQUAL(vertex.outDegree(), 0)
- << "A vertex may not have any edges before being removed. " << vertex.attrib().getName();
+ << "A vertex must not have any edges before being removed. " << vertex.attrib().getName();
// Remove view elements
+ {
+ QSignalBlocker blocker(view.vertexTable);
+ view.vertexTable->removeVertex(vertex);
+ }
view.graph->scene()->removeVertex(vertex.attrib().graphicsItem);
- view.vertexTable->removeVertex(vertex);
if (view.vertexData->vertex().has_value() and view.vertexData->vertex().value() == vertex)
{
view.vertexData->clearVertex();
@@ -751,81 +820,159 @@ namespace armarx::nav::locgrapheditor
// Remove from model
model.graph.removeVertex(vertex);
+
+ emit graphChanged();
}
- void LocationGraphEditorWidgetController::resetHighlighting()
+ void LocationGraphEditorWidgetController::createVertexDialog()
{
- for (auto vertex : model.graph.vertices())
+ NewEntityIdDialog dialog(nav::loc::coreSegmentID, nullptr);
+ switch (dialog.exec())
{
- if (vertex.attrib().highlighted)
- {
- vertex.attrib().highlighted = false;
- }
+ case QDialog::Accepted:
+ // Ok go.
+ break;
+ case QDialog::Rejected:
+ // Abort creation.
+ return;
}
- for (auto edge : model.graph.edges())
+
+ // Find free vertex ID
+ semrel::ShapeID vertexID { 0 };
+ while (model.graph.hasVertex(vertexID))
{
- if (edge.attrib().highlighted)
- {
- edge.attrib().highlighted = false;
- }
+ ++vertexID;
}
- emit graphChanged();
+ // Initiaize attributes
+ VertexData attribs;
+ toAron(attribs.aron.locationID, dialog.entityID());
+ attribs.setPose(Eigen::Matrix4f::Identity());
+ attribs.changed = true;
+
+ addVertex(vertexID, attribs);
}
- template <class T>
- static
- void updateElementHighlighting(
- QList<QTableWidgetItem*> selectedItems,
- std::map<QTableWidgetItem*, T>&& itemToElementMap)
+ void LocationGraphEditorWidgetController::addEdges(
+ QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems)
{
- for (QTableWidgetItem* selected : selectedItems)
+ const auto itemToVertexMap = model.graph.getTableItemToVertexMap();
{
- if (auto it = itemToElementMap.find(selected); it != itemToElementMap.end())
+ QSignalBlocker blocker(this);
+
+ for (const auto& [sourceItem, targetItem] : vertexItems)
{
- it->second.attrib().highlighted = true;
- itemToElementMap.erase(it);
+ GuiGraph::Vertex source = itemToVertexMap.at(sourceItem);
+ GuiGraph::Vertex target = itemToVertexMap.at(targetItem);
+ if (not model.graph.hasEdge(source, target))
+ {
+ addEdge(source, target, {});
+ }
}
}
- for (auto& [_, unselected] : itemToElementMap)
- {
- unselected.attrib().highlighted = false;
- }
+
+ model.graph.attrib().edgesChanged = true;
+ emit graphChanged();
}
- void LocationGraphEditorWidgetController::updateVertexHighlighting()
+ void LocationGraphEditorWidgetController::removeEdges(
+ QList<QTableWidgetItem*> edgeItems)
{
- updateElementHighlighting(view.vertexTable->selectedVertexItems(), model.graph.getTableItemToVertexMap());
+ const auto itemToEdgeMap = model.graph.getTableItemToEdgeMap();
+ {
+ QSignalBlocker blocker(this);
+
+ for (const auto& edgeItem : edgeItems)
+ {
+ GuiGraph::Edge edge = itemToEdgeMap.at(edgeItem);
+ removeEdge(edge);
+ }
+ }
+
+ model.graph.attrib().edgesChanged = true;
emit graphChanged();
}
- void LocationGraphEditorWidgetController::updateEdgeHighlighting()
+ void LocationGraphEditorWidgetController::removeEdgesOfVertex(
+ QList<QTableWidgetItem*> vertexItems,
+ utils::EdgeDirection direction)
{
- updateElementHighlighting(view.edgeTable->selectedEdgeItems(), model.graph.getTableItemToEdgeMap());
+ auto removeEdges = [this](auto&& range)
+ {
+ for (auto edge : range)
+ {
+ removeEdge(edge);
+ }
+ };
+ {
+ QSignalBlocker blocker(this);
+
+ const auto itemToVertexMap = model.graph.getTableItemToVertexMap();
+ for (const auto& vertexItem : vertexItems)
+ {
+ GuiGraph::Vertex vertex = itemToVertexMap.at(vertexItem);
+ switch (direction)
+ {
+ case utils::EdgeDirection::To:
+ removeEdges(vertex.inEdges());
+ break;
+
+ case utils::EdgeDirection::From:
+ removeEdges(vertex.outEdges());
+ break;
+
+ case utils::EdgeDirection::Bidirectional:
+ removeEdges(vertex.inEdges());
+ removeEdges(vertex.outEdges());
+ break;
+ }
+ }
+ }
+
+ model.graph.attrib().edgesChanged = true;
emit graphChanged();
}
- void LocationGraphEditorWidgetController::selectVertex(QTableWidgetItem* vertexItem)
+ void LocationGraphEditorWidgetController::createGraphDialog()
{
- if (vertexItem == nullptr)
+ NewEntityIdDialog dialog(nav::graph::coreSegmentID, nullptr);
+ switch (dialog.exec())
{
- view.vertexData->clearVertex();
+ case QDialog::Accepted:
+ break;
+ case QDialog::Rejected:
+ return;
}
- if (auto vertex = model.graph.getVertexFromTableItem(vertexItem))
+
+ // Find free vertex ID
+ semrel::ShapeID vertexID { 0 };
+ while (model.graph.hasVertex(vertexID))
{
- selectVertex(vertex.value());
+ ++vertexID;
}
- }
+ const armem::MemoryID entityID = dialog.entityID();
- void LocationGraphEditorWidgetController::selectVertex(GuiGraph::Vertex vertex)
- {
- view.vertexData->setVertex(vertex);
+ const bool hasChanged = true;
+ QString text = getGraphDisplayName(entityID, hasChanged);
+ QString data = QString::fromStdString(entityID.str());
+ widget.graphsComboBox->addItem(text, data);
+ widget.graphsComboBox->setCurrentIndex(widget.graphsComboBox->count() - 1);
+
+ {
+ QSignalBlocker blocker(this);
+ clearEdges();
+ // clearVertices();
+ }
+ model.graph.attrib().edgesChanged = true;
+ model.graphEntityID = entityID;
+
+ emit graphChanged();
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
index e4de7136..32ae0ccd 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
@@ -21,8 +21,8 @@
*/
#pragma once
-#include "FunctionalEventFilter.h"
#include "GuiGraph.h"
+#include "Visu.h"
#include "widgets/graph_scene.h"
#include <armarx/navigation/graph/Graph.h>
@@ -52,6 +52,10 @@ namespace armarx::viz
{
class Client;
}
+namespace armarx::nav::locgrapheditor::utils
+{
+ enum class EdgeDirection;
+}
namespace armarx::nav::locgrapheditor
{
class EdgeTableWidget;
@@ -127,59 +131,73 @@ namespace armarx::nav::locgrapheditor
signals:
void connected();
- void memoryDataChanged();
+
+ void locationMemoryChanged();
+ void graphMemoryChanged();
+ void memoryChanged();
+
void graphChanged();
private slots:
- // Model
+ // Load
+ void queryMemory();
+ armem::client::QueryResult queryLocations();
+ armem::client::QueryResult queryGraphs();
- void queryGraphs();
- void updateGraphList();
void loadGraph();
+ bool loadGraphDialog();
- void setGraph(graph::Graph& nav);
- GuiGraph::Vertex addVertex(graph::Graph::ConstVertex vertex);
- GuiGraph::Edge addEdge(graph::Graph::ConstEdge edge);
- GuiGraph::Edge addEdge(GuiGraph::ConstVertex source, GuiGraph::ConstVertex target,
- const EdgeData& defaultAttribs);
-
- void clearGraph();
- void clearEdges();
- void clearVertices();
-
- void removeEdge(GuiGraph::Edge& edge);
- void removeVertex(GuiGraph::Vertex& vertex);
-
- void addEdges(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems);
- void removeEdges(QList<QTableWidgetItem*> edgeItems);
-
-
+ // Commit
void commit();
armem::CommitResult commitLocations();
armem::EntityUpdateResult commitGraph();
- // View & Tables
+ // View & Tables
+ void updateGraphList();
void updateGraphView();
void updateVertexView(GuiGraph::Vertex vertex);
void updateEdgeView(GuiGraph::Edge edge);
void updateArViz();
- // Selection
-
+ // Selection & Highlighting
void selectVertex(QTableWidgetItem* vertexItem);
void selectVertex(GuiGraph::Vertex vertex);
-
- void resetHighlighting();
void updateVertexHighlighting();
void updateEdgeHighlighting();
+ // Graph modification triggered by user interaction
+ void createVertexDialog();
+
+ void addEdges(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems);
+ void removeEdges(QList<QTableWidgetItem*> edgeItems);
+ void removeEdgesOfVertex(QList<QTableWidgetItem*> vertexItems, utils::EdgeDirection direction);
+
+ void createGraphDialog();
+
+
private:
+ void setGraph(const graph::Graph& nav);
+
+ GuiGraph::Vertex
+ addVertex(semrel::ShapeID vertexID, const VertexData& defaultAttribs);
+
+ GuiGraph::Edge
+ addEdge(GuiGraph::ConstVertex source, GuiGraph::ConstVertex target, const EdgeData& defaultAttribs);
+
+ void removeVertex(GuiGraph::Vertex& vertex);
+ void removeEdge(GuiGraph::Edge& edge);
+
+ void clearGraph();
+ void clearEdges();
+ void clearVertices();
+
+
QString getGraphDisplayName(const armem::MemoryID& entityID, bool changed = false) const;
@@ -187,7 +205,7 @@ namespace armarx::nav::locgrapheditor
/// Widget Form
Ui::LocationGraphEditorWidget widget;
- QPointer<SimpleConfigDialog> dialog;
+ QPointer<SimpleConfigDialog> configDialog;
struct Remote
@@ -210,9 +228,13 @@ namespace armarx::nav::locgrapheditor
struct Model
{
- armem::wm::Memory memory;
+ armem::wm::Memory locationsMemory;
+
+ armem::wm::Memory graphMemory;
armem::MemoryID graphEntityID;
GuiGraph graph;
+
+ GraphVisu visu;
};
Model model;
@@ -228,30 +250,6 @@ namespace armarx::nav::locgrapheditor
View view;
- // Non-refactored
-
-#if 0
- private slots:
-
- void tableWidgetVerticesCustomContextMenu(QPoint pos);
- void tableWidgetEdgesCustomContextMenu(QPoint pos);
-
-
- private slots:
-
- /// Add kitchen graph (H2T Armar3a robot kitchen)
- void addKitchenGraph();
-
- bool addNewEdge(const std::string& from, const std::string& to);
- void addNewEdgeBoth();
- void addNewEdgeStartEnd();
- void addNewEdgeEndStart();
-
- void addNewGraphVertex();
- void editGraphVertex();
-#endif
-
-
private:
QSettings settings;
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
index adecbca4..93d87392 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
@@ -100,9 +100,15 @@ namespace armarx::nav::locgrapheditor
}
- void EdgeTableWidget::removeEdge(GuiGraph::Edge& edge)
+ void
+ EdgeTableWidget::removeEdge(GuiGraph::Edge& edge)
{
- this->removeRow(row(edge.attrib().tableWidgetItem));
+ if (currentItem() == edge.attrib().tableWidgetItem)
+ {
+ setCurrentItem(nullptr);
+ }
+
+ removeRow(row(edge.attrib().tableWidgetItem));
edge.attrib().tableWidgetItem = nullptr;
}
@@ -114,7 +120,8 @@ namespace armarx::nav::locgrapheditor
}
- void EdgeTableWidget::makeContextMenu(QPoint pos)
+ void
+ EdgeTableWidget::makeContextMenu(QPoint pos)
{
QList<QTableWidgetItem*> items = selectedEdgeItems();
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.cpp
new file mode 100644
index 00000000..381556b4
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.cpp
@@ -0,0 +1,129 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "NewEntityIdDialog.h"
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <QDialogButtonBox>
+#include <QGridLayout>
+#include <QLineEdit>
+#include <QLabel>
+#include <QPushButton>
+#include <QVBoxLayout>
+
+
+namespace armarx::nav::locgrapheditor
+{
+
+ NewEntityIdDialog::NewEntityIdDialog(const armem::MemoryID& coreSegmentID, QWidget* parent) :
+ QDialog(parent),
+ coreSegmentID(std::make_unique<armem::MemoryID>(coreSegmentID))
+ {
+ _providerSegmentName = new QLineEdit(this);
+ _entityName = new QLineEdit(this);
+
+ _buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok
+ | QDialogButtonBox::Cancel, this);
+
+ QLabel* instruction = new QLabel("Enter provider segment name and entity name for new entity:");
+ QFont font = instruction->font();
+ font.setBold(true);
+ instruction->setFont(font);
+
+
+ QGridLayout* grid = new QGridLayout();
+ int col = 0;
+
+ grid->addWidget(new QLabel("Core Segment ID"), 0, col);
+ grid->addWidget(new QLabel(QString::fromStdString(coreSegmentID.str()) + "/"), 1, col);
+ ++col;
+
+ grid->addWidget(new QLabel("Provider Segment Name"), 0, col);
+ grid->addWidget(_providerSegmentName, 1, col);
+ ++col;
+
+ grid->addWidget(new QLabel("/"), 1, col);
+ ++col;
+
+ grid->addWidget(new QLabel("Entity Name"), 0, col);
+ grid->addWidget(_entityName, 1, col);
+ ++col;
+
+
+ QVBoxLayout* layout = new QVBoxLayout();
+ setLayout(layout);
+ layout->addWidget(instruction);
+ layout->addLayout(grid);
+ layout->addWidget(_buttonBox);
+
+
+ connect(_buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
+ connect(_buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+
+ auto enableOkIfReady = [this]()
+ {
+ _buttonBox->button(QDialogButtonBox::Ok)
+ ->setEnabled(_providerSegmentName->text().size() > 0 and _entityName->text().size() > 0);
+ };
+ connect(_providerSegmentName, &QLineEdit::textChanged, this, enableOkIfReady);
+ connect(_entityName, &QLineEdit::textChanged, this, enableOkIfReady);
+
+ enableOkIfReady();
+ }
+
+
+ NewEntityIdDialog::~NewEntityIdDialog()
+ {
+ }
+
+
+ QString NewEntityIdDialog::providerSegmentName() const
+ {
+ return _providerSegmentName->text();
+ }
+
+
+ QString NewEntityIdDialog::entityName() const
+ {
+ return _entityName->text();
+ }
+
+
+ armem::MemoryID NewEntityIdDialog::entityIDWithoutCoreSegmentID() const
+ {
+ armem::MemoryID id;
+ id.providerSegmentName = providerSegmentName().toStdString();
+ id.entityName = entityName().toStdString();
+ return id;
+ }
+
+ armem::MemoryID NewEntityIdDialog::entityID() const
+ {
+ armem::MemoryID entityID = entityIDWithoutCoreSegmentID();
+ ARMARX_CHECK_NOT_NULL(coreSegmentID);
+ entityID.setCoreSegmentID(*coreSegmentID);
+ return entityID;
+ }
+
+}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.h
new file mode 100644
index 00000000..18659cda
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.h
@@ -0,0 +1,64 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+
+#include <QDialog>
+
+#include <memory>
+
+
+class QLineEdit;
+class QDialogButtonBox;
+
+
+namespace armarx::nav::locgrapheditor
+{
+ class NewEntityIdDialog : public QDialog
+ {
+ public:
+
+ NewEntityIdDialog(const armem::MemoryID& coreSegmentID, QWidget* parent = nullptr);
+ virtual ~NewEntityIdDialog() override;
+
+ QString providerSegmentName() const;
+ QString entityName() const;
+
+
+ armem::MemoryID entityIDWithoutCoreSegmentID() const;
+ armem::MemoryID entityID() const;
+
+
+ private:
+
+ QLineEdit* _providerSegmentName = nullptr;
+ QLineEdit* _entityName = nullptr;
+
+ QDialogButtonBox* _buttonBox = nullptr;
+
+
+ std::unique_ptr<armem::MemoryID> coreSegmentID;
+
+ };
+
+}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
index 908ea14f..b1a5ceed 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
@@ -57,10 +57,8 @@ namespace armarx::nav::locgrapheditor
QTableWidgetItem*
- VertexTableWidget::addVertex(graph::Graph::ConstVertex vertex)
+ VertexTableWidget::addVertex()
{
- (void) vertex;
-
// We need to disable sorting to prevent the new row from being moved away.
setSortingEnabled(false);
@@ -142,12 +140,8 @@ namespace armarx::nav::locgrapheditor
setCurrentItem(nullptr);
}
- const int numRows = rowCount();
- int row = this->row(vertex.attrib().tableWidgetItem);
- removeRow(row);
+ removeRow(row(vertex.attrib().tableWidgetItem));
vertex.attrib().tableWidgetItem = nullptr;
-
- ARMARX_CHECK_EQUAL(rowCount(), numRows - 1);
}
@@ -158,20 +152,22 @@ namespace armarx::nav::locgrapheditor
}
- QString VertexTableWidget::_nameOf(QTableWidgetItem* item)
+ QString
+ VertexTableWidget::_nameOf(QTableWidgetItem* item)
{
return item->data(Qt::UserRole).toString();
}
- void VertexTableWidget::makeContextMenu(QPoint pos)
+ void
+ VertexTableWidget::makeContextMenu(QPoint pos)
{
QList<QTableWidgetItem*> items = selectedVertexItems();
QMenu menu;
if (items.size() == 0)
{
- QAction* action = menu.addAction("No locations selected");
+ QAction* action = menu.addSection("No locations selected");
action->setEnabled(false);
}
@@ -229,7 +225,7 @@ namespace armarx::nav::locgrapheditor
using ListOfEdges = QList<QPair<Item*, Item*>>;
using AppendFunc = std::function<void(ListOfEdges& edges, Item* selected, Item* action)>;
- auto addBulkActions = [this, &items](QMenu* submenu, AppendFunc appendFunc)
+ auto addBulkAddEdgeActions = [this, &items](QMenu* submenu, AppendFunc appendFunc)
{
if (items.size() == rowCount())
{
@@ -242,8 +238,8 @@ namespace armarx::nav::locgrapheditor
if (items.count(action) == 0) // Do no generate self-edges
{
QAction* a = submenu->addAction(_nameOf(action));
- connect(a, &QAction::triggered,
- [this, &items, action, appendFunc]()
+ connect(a, &QAction::triggered, this,
+ [this, items, action, appendFunc]()
{
QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> edges;
for (auto* selected : items)
@@ -256,24 +252,52 @@ namespace armarx::nav::locgrapheditor
}
};
- addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowRight + " ..."),
+ addBulkAddEdgeActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowRight + " ..."),
[](ListOfEdges& edges, Item* selected, Item* action)
{
edges.append({selected, action});
});
- addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowLeft + " ..."),
+ addBulkAddEdgeActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowLeft + " ..."),
[](ListOfEdges& edges, Item* selected, Item* action)
{
edges.append({action, selected});
});
- addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowBoth + " ..."),
+ addBulkAddEdgeActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowBoth + " ..."),
[](ListOfEdges& edges, Item* selected, Item* action)
{
edges.append({selected, action});
edges.append({action, selected});
});
+
+
+ auto connectBulkRemoveEdgeAction = [this, &items](
+ QAction* action, utils::EdgeDirection edgeDirection)
+ {
+ connect(action, &QAction::triggered, this, [this, items, edgeDirection]()
+ {
+ emit edgeRemovalRequested(items, edgeDirection);
+ });
+ };
+
+ connectBulkRemoveEdgeAction(
+ menu.addAction("Remove all edges " + utils::arrowRight + " " + desc),
+ utils::EdgeDirection::To);
+ connectBulkRemoveEdgeAction(
+ menu.addAction("Remove all edges " + utils::arrowLeft + " " + desc),
+ utils::EdgeDirection::From);
+ connectBulkRemoveEdgeAction(
+ menu.addAction("Remove all edges " + utils::arrowBoth + " " + desc),
+ utils::EdgeDirection::Bidirectional);
}
+
+ menu.addSection("Manage Locations");
+ connect(menu.addAction("Create new location ..."), &QAction::triggered, this,
+ [this]()
+ {
+ emit newVertexRequested();
+ });
+
menu.exec(mapToGlobal(pos));
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
index e782867f..9224c249 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
@@ -30,9 +30,12 @@
#include <QTableWidget>
+namespace armarx::nav::locgrapheditor::utils
+{
+ enum class EdgeDirection;
+}
namespace armarx::nav::locgrapheditor
{
-
class VertexTableWidget : public QTableWidget
{
Q_OBJECT
@@ -44,7 +47,7 @@ namespace armarx::nav::locgrapheditor
VertexTableWidget();
- QTableWidgetItem* addVertex(graph::Graph::ConstVertex vertex);
+ QTableWidgetItem* addVertex();
void updateVertex(GuiGraph::Vertex vertex);
@@ -56,7 +59,10 @@ namespace armarx::nav::locgrapheditor
signals:
+ void newVertexRequested();
+
void newEdgesRequested(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> edges);
+ void edgeRemovalRequested(QList<QTableWidgetItem*> vertexItems, utils::EdgeDirection direction);
public slots:
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
index 1a101fff..80b75d16 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
@@ -37,6 +37,7 @@ namespace armarx::nav::locgrapheditor
const QString utils::arrowBoth = QStringLiteral("\u21C4");
+
QList<QTableWidgetItem*>
utils::getSelectedItemsOfColumn(QTableWidget* widget, int column)
{
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h
index ad866a66..bd1358b3 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h
@@ -22,6 +22,7 @@
#pragma once
#include <QList>
+#include <QString>
class QTableWidget;
class QTableWidgetItem;
@@ -30,9 +31,6 @@ class QTableWidgetItem;
namespace armarx::nav::locgrapheditor::utils
{
- QList<QTableWidgetItem*> getSelectedItemsOfColumn(QTableWidget* widget, int column);
-
-
/// <-
extern const QString arrowLeft;
/// ->
@@ -41,4 +39,12 @@ namespace armarx::nav::locgrapheditor::utils
extern const QString arrowBoth;
+ enum class EdgeDirection
+ {
+ From, To, Bidirectional
+ };
+
+
+ QList<QTableWidgetItem*> getSelectedItemsOfColumn(QTableWidget* widget, int column);
+
}
--
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