From c96e887abbf38e04a276e3d18ca648c346b46bba Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 24 Aug 2021 18:00:30 +0200
Subject: [PATCH] Add basic changed tracking and message box when loading while
having changes
---
source/armarx/navigation/graph/Graph.cpp | 17 +-
source/armarx/navigation/graph/Visu.cpp | 48 ++--
source/armarx/navigation/graph/Visu.h | 8 +-
.../LocationGraphEditor/GuiGraph.cpp | 16 ++
.../LocationGraphEditor/GuiGraph.h | 7 +
.../LocationGraphEditorWidgetController.cpp | 220 ++++++++++++++----
.../LocationGraphEditorWidgetController.h | 10 +-
.../widgets/EdgeTableWidget.cpp | 34 ++-
.../widgets/VertexDataWidget.cpp | 62 ++---
.../widgets/VertexDataWidget.h | 1 +
.../widgets/VertexTableWidget.cpp | 78 +++++--
.../widgets/VertexTableWidget.h | 5 +
.../LocationGraphEditor/widgets/utils.cpp | 7 +-
.../LocationGraphEditor/widgets/utils.h | 6 +-
14 files changed, 384 insertions(+), 135 deletions(-)
diff --git a/source/armarx/navigation/graph/Graph.cpp b/source/armarx/navigation/graph/Graph.cpp
index f8086dce..48c0f4dd 100644
--- a/source/armarx/navigation/graph/Graph.cpp
+++ b/source/armarx/navigation/graph/Graph.cpp
@@ -22,13 +22,15 @@
#include "Graph.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
namespace armarx::nav::graph
{
std::string VertexAttribs::getName() const
{
- return aron.locationID.entityName;
+ return aron.locationID.providerSegmentName + "/" + aron.locationID.entityName;
}
Eigen::Matrix4f VertexAttribs::getPose() const
@@ -52,12 +54,18 @@ namespace armarx::nav
dto = {};
for (auto vertex : bo.vertices())
{
- dto.vertices.push_back(vertex.attrib().aron);
+ auto& v = dto.vertices.emplace_back(vertex.attrib().aron);
+ v.vertexID = static_cast<long>(vertex.objectID());
}
+ ARMARX_CHECK_EQUAL(dto.vertices.size(), bo.numVertices());
+
for (auto edge : bo.edges())
{
- dto.edges.push_back(edge.attrib().aron);
+ auto& e = dto.edges.emplace_back(edge.attrib().aron);
+ e.sourceVertexID = static_cast<long>(edge.sourceObjectID());
+ e.targetVertexID = static_cast<long>(edge.targetObjectID());
}
+ ARMARX_CHECK_EQUAL(dto.edges.size(), bo.numEdges());
}
@@ -69,11 +77,14 @@ namespace armarx::nav
auto v = bo.addVertex(semrel::ShapeID(vertex.vertexID));
v.attrib().aron = vertex;
}
+ ARMARX_CHECK_EQUAL(bo.numVertices(), dto.vertices.size());
+
for (const arondto::Edge& edge : dto.edges)
{
auto e = bo.addEdge(semrel::ShapeID(edge.sourceVertexID), semrel::ShapeID(edge.targetVertexID));
e.attrib().aron = edge;
}
+ ARMARX_CHECK_EQUAL(bo.numEdges(), dto.edges.size());
}
}
diff --git a/source/armarx/navigation/graph/Visu.cpp b/source/armarx/navigation/graph/Visu.cpp
index 62ede64f..3d98b5d7 100644
--- a/source/armarx/navigation/graph/Visu.cpp
+++ b/source/armarx/navigation/graph/Visu.cpp
@@ -13,7 +13,6 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
- * @package MemoryX::ArmarXObjects::GraphImportExport
* @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
* @date 2021
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
@@ -33,49 +32,58 @@
namespace armarx::nav::graph
{
- viz::Pose VertexVisu::Pose::draw(Graph::ConstVertex vertex) const
+ viz::Pose VertexVisu::Pose::draw(const VertexAttribs& attribs) const
{
- const arondto::Vertex& aron = vertex.attrib().aron;
- return viz::Pose(aron.locationID.entityName)
- .pose(aron.globalRobotPose)
- .scale(scale);
+ return viz::Pose(attribs.getName()).pose(attribs.getPose()).scale(scale);
}
- viz::Arrow VertexVisu::ForwardArrow::draw(Graph::ConstVertex vertex) const
+ viz::Arrow VertexVisu::ForwardArrow::draw(const VertexAttribs& attribs) const
{
- const arondto::Vertex& aron = vertex.attrib().aron;
- return viz::Arrow(aron.locationID.entityName + " forward")
- .fromTo(simox::math::position(aron.globalRobotPose),
- simox::math::transform_position(aron.globalRobotPose, length * Eigen::Vector3f::UnitY()))
+ return viz::Arrow(attribs.getName() + " forward")
+ .fromTo(simox::math::position(attribs.getPose()),
+ simox::math::transform_position(attribs.getPose(), length * Eigen::Vector3f::UnitY()))
.color(color)
.width(width);
}
void VertexVisu::draw(viz::Layer& layer, Graph::ConstVertex vertex) const
+ {
+ draw(layer, vertex.attrib());
+ }
+
+
+ void VertexVisu::draw(viz::Layer& layer, const VertexAttribs& attribs) const
{
if (pose.has_value())
{
- layer.add(pose->draw(vertex));
+ layer.add(pose->draw(attribs));
}
if (forwardArrow.has_value())
{
- layer.add(forwardArrow->draw(vertex));
+ layer.add(forwardArrow->draw(attribs));
}
}
viz::Arrow EdgeVisu::Arrow::draw(Graph::ConstEdge edge) const
{
- const auto& sourceAron = edge.source().attrib().aron;
- const auto& targetAron = edge.target().attrib().aron;
- return viz::Arrow(sourceAron.locationID.entityName + " -> " +
- targetAron.locationID.entityName)
- .fromTo(simox::math::position(sourceAron.globalRobotPose),
- simox::math::position(targetAron.globalRobotPose))
+ return draw(edge.attrib(), edge.source().attrib(), edge.target().attrib());
+ }
+
+
+ viz::Arrow EdgeVisu::Arrow::draw(
+ const EdgeAttribs& edge,
+ const VertexAttribs& source,
+ const VertexAttribs& target) const
+ {
+ (void) edge;
+ return viz::Arrow(source.getName() + " -> " + target.getName())
+ .fromTo(simox::math::position(source.getPose()),
+ simox::math::position(target.getPose()))
.width(width)
- .color(color);
+ .color(color);
}
diff --git a/source/armarx/navigation/graph/Visu.h b/source/armarx/navigation/graph/Visu.h
index 6e2516bc..f38719a9 100644
--- a/source/armarx/navigation/graph/Visu.h
+++ b/source/armarx/navigation/graph/Visu.h
@@ -13,7 +13,6 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
- * @package MemoryX::ArmarXObjects::GraphImportExport
* @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
* @date 2021
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
@@ -35,7 +34,6 @@ namespace armarx::viz
class Layer;
class Pose;
}
-
namespace armarx::nav::graph
{
@@ -45,7 +43,7 @@ namespace armarx::nav::graph
{
float scale = 1.0;
- viz::Pose draw(Graph::ConstVertex vertex) const;
+ viz::Pose draw(const VertexAttribs& attribs) const;
};
std::optional<Pose> pose = Pose {};
@@ -55,12 +53,13 @@ namespace armarx::nav::graph
float length = 100.0;
simox::Color color = simox::Color::cyan(220);
- viz::Arrow draw(Graph::ConstVertex vertex) const;
+ viz::Arrow draw(const VertexAttribs& attribs) const;
};
std::optional<ForwardArrow> forwardArrow = ForwardArrow {};
void draw(viz::Layer& layer, Graph::ConstVertex vertex) const;
+ void draw(viz::Layer& layer, const VertexAttribs& attribs) const;
};
@@ -72,6 +71,7 @@ namespace armarx::nav::graph
simox::Color color = simox::Color::azure(196);
viz::Arrow draw(Graph::ConstEdge edge) const;
+ viz::Arrow draw(const EdgeAttribs& edge, const VertexAttribs& source, const VertexAttribs& target) const;
};
std::optional<Arrow> arrow = Arrow {};
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.cpp
index 49361f44..7cd38cc0 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.cpp
@@ -29,6 +29,22 @@
namespace armarx::nav::locgrapheditor
{
+ bool GuiGraph::hasChanged() const
+ {
+ if (attrib().edgesChanged)
+ {
+ return true;
+ }
+ for (auto vertex : vertices())
+ {
+ if (vertex.attrib().changed)
+ {
+ return true;
+ }
+ }
+ return false;
+ }
+
std::optional<GuiGraph::Vertex>
GuiGraph::getVertexFromTableItem(QTableWidgetItem* item)
{
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h
index 33f4ddf5..561f4f58 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h
@@ -51,6 +51,9 @@ namespace armarx::nav::locgrapheditor
/// Whether the node is highlighted.
bool highlighted = false;
+
+ /// Whether the vertex was changed since loading or committing.
+ bool changed = false;
};
@@ -73,6 +76,8 @@ namespace armarx::nav::locgrapheditor
struct GraphData : public nav::graph::GraphAttribs
{
+ /// Whether the graph structure was changed since loading or committing.
+ bool edgesChanged = false;
};
@@ -83,6 +88,8 @@ namespace armarx::nav::locgrapheditor
using RelationGraph::RelationGraph;
+ bool hasChanged() const;
+
std::optional<Vertex> getVertexFromTableItem(QTableWidgetItem* item);
std::map<QTableWidgetItem*, Vertex> getTableItemToVertexMap();
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
index 85663ec8..3f4a7113 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
@@ -33,11 +33,12 @@
#include <Navigation/gui-plugins/LocationGraphEditor/ui_LocationGraphEditorWidget.h>
#include <armarx/navigation/location/constants.h>
-#include <armarx/navigation/graph/constants.h>
+#include <armarx/navigation/location/aron/Location.aron.generated.h>
#include <armarx/navigation/graph/constants.h>
#include <armarx/navigation/graph/aron/Graph.aron.generated.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -50,6 +51,7 @@
#include <QLabel>
#include <QLineEdit>
#include <QMenu>
+#include <QMessageBox>
#include <QMouseEvent>
#include <QObject>
#include <QPushButton>
@@ -128,7 +130,7 @@ namespace armarx::nav::locgrapheditor
connect(widget.refreshGraphsButton, &QPushButton::pressed, this, &This::updateGraphList);
connect(widget.loadGraphButton, &QPushButton::pressed, this, &This::loadGraph);
- connect(widget.commitGraphButton, &QPushButton::pressed, this, &This::commitGraph);
+ connect(widget.commitGraphButton, &QPushButton::pressed, this, &This::commit);
// Update views
@@ -212,8 +214,12 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::onConnectComponent()
{
remote.connect(*this);
-
- widget.sceneGroupBox->setEnabled(true);
+ {
+ std::stringstream ss;
+ ss << "Navigation Graphs (Entities from Core Segment " << nav::graph::coreSegmentID << ")";
+ widget.sceneGroupBox->setTitle(QString::fromStdString(ss.str()));
+ widget.sceneGroupBox->setEnabled(true);
+ }
emit connected();
}
@@ -255,11 +261,16 @@ namespace armarx::nav::locgrapheditor
widget.graphsComboBox->clear();
int i = 0;
- int previousIndex = -1;
+ int previousIndex = -1; // To keep selection.
model.memory.forEachEntity([&](const armem::wm::Entity& entity)
{
- QString text = QString::fromStdString(entity.id().str());
- widget.graphsComboBox->addItem(text);
+ bool hasChanged = (entity.id() == model.graphEntityID
+ ? model.graph.hasChanged()
+ : false);
+ QString text = getGraphDisplayName(entity.id(), hasChanged);
+ QString id = QString::fromStdString(entity.id().str());
+
+ widget.graphsComboBox->addItem(text, id);
if (previousIndex < 0 and text == previousText)
{
previousIndex = i;
@@ -276,9 +287,44 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::loadGraph()
{
- const armem::MemoryID entityID = armem::MemoryID::fromString(widget.graphsComboBox->currentText().toStdString());
+ 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);
- queryGraphs(); // Refresh local memory.
+ int ret = msgBox.exec();
+ switch (ret)
+ {
+ case QMessageBox::Discard:
+ // Ok go.
+ break;
+ case QMessageBox::Cancel:
+ // Abort loading.
+ return;
+ }
+ }
+
+ const armem::MemoryID entityID = armem::MemoryID::fromString(
+ widget.graphsComboBox->currentData().toString().toStdString());
+
+ // Refresh local memory.
+ queryGraphs();
const armem::wm::EntityInstance* instance = model.memory.findLatestInstance(entityID);
if (instance)
@@ -305,7 +351,99 @@ namespace armarx::nav::locgrapheditor
}
- void LocationGraphEditorWidgetController::commitGraph()
+ void
+ LocationGraphEditorWidgetController::commit()
+ {
+ armem::CommitResult locResults = commitLocations();
+ armem::EntityUpdateResult graphResult = commitGraph();
+
+ {
+ std::stringstream ss;
+ if (locResults.allSuccess())
+ {
+ ss << "Committed " << locResults.results.size() << " location snapshots";
+ if (graphResult.success)
+ {
+ ss << " and 1 graph snapshot " << graphResult.snapshotID;
+ }
+ else
+ {
+ ss << " but failed to commit graph: \n" << graphResult.errorMessage;
+ }
+ }
+ else
+ {
+ int numLocs = static_cast<int>(locResults.results.size());
+ int numSuccess = 0;
+ for (const auto& r : locResults.results)
+ {
+ numSuccess += int(r.success);
+ }
+ int numFailed = numLocs - numSuccess;
+
+ if (graphResult.success)
+ {
+ ss << "Committed 1 graph snapshot " << graphResult.snapshotID;
+ ss << " and " << numSuccess << " locations, but failed to commit "
+ << numFailed << " locations: \n" << locResults.allErrorMessages();
+ }
+ else
+ {
+ ss << "Failed to commit graph and " << numFailed << " of " << numLocs << " locations: \n";
+ ss << graphResult.errorMessage << "\n";
+ ss << locResults.allErrorMessages();
+ }
+ }
+
+ widget.statusLabel->setText(QString::fromStdString(ss.str()));
+ }
+
+ // `changed` flags may have changed
+ emit graphChanged();
+ }
+
+
+ armem::CommitResult
+ LocationGraphEditorWidgetController::commitLocations()
+ {
+ armem::Commit commit;
+
+ for (auto vertex : model.graph.vertices())
+ {
+ if (vertex.attrib().changed)
+ {
+ armem::EntityUpdate& update = commit.add();
+ fromAron(vertex.attrib().aron.locationID, update.entityID);
+ update.timeCreated = armem::Time::now();
+
+ nav::loc::arondto::Location dto;
+ dto.globalRobotPose = vertex.attrib().getPose();
+ update.instancesData = {dto.toAron()};
+ }
+ }
+
+ armem::CommitResult result = remote.locationWriter.commit(commit);
+ auto it = result.results.begin();
+ for (auto vertex : model.graph.vertices())
+ {
+ if (vertex.attrib().changed)
+ {
+ ARMARX_CHECK(it != result.results.end());
+ if (it->success)
+ {
+ // Only clear dirty flag when update was successful.
+ vertex.attrib().changed = false;
+ }
+ ++it;
+ }
+ }
+
+ return result;
+ }
+
+
+ armem::EntityUpdateResult
+ LocationGraphEditorWidgetController::commitGraph()
{
nav::graph::arondto::Graph dto;
{
@@ -318,37 +456,19 @@ namespace armarx::nav::locgrapheditor
update.timeCreated = armem::Time::now();
update.instancesData = {dto.toAron()};
- armem::EntityUpdateResult result = remote.graphWriter.commit(update);
- if (result.success)
- {
- widget.statusLabel->setText(QString::fromStdString("Committed snapshot " + result.snapshotID.str()));
- }
- else
- {
- widget.statusLabel->setText(QString::fromStdString(result.errorMessage));
- }
+ return remote.graphWriter.commit(update);
}
void LocationGraphEditorWidgetController::setGraph(graph::Graph& nav)
{
-#if 0
- // Store vertex highlighting.
- std::set<std::string> highlightedVertices;
- for (auto vertex : model.graph.vertices())
- {
- if (vertex.attrib().highlighted)
- {
- highlightedVertices.insert(vertex.attrib().getName());
- }
- }
-#endif
-
// Build the gui graph (model).
{
QSignalBlocker blocker(this);
clearGraph();
+ model.graph.attrib().edgesChanged = false;
+
for (auto vertex : nav.vertices())
{
addVertex(vertex);
@@ -357,18 +477,6 @@ namespace armarx::nav::locgrapheditor
{
addEdge(edge);
}
-
-#if 0
- // Restore vertex highlighting.
- for (auto vertex : model.graph.vertices())
- {
- if (highlightedVertices.count(vertex.attrib().getName()))
- {
- vertex.attrib().highlighted = true;
- }
- }
-#endif
-
}
// Trigger a view update.
@@ -441,6 +549,8 @@ namespace armarx::nav::locgrapheditor
}
}
+ model.graph.attrib().edgesChanged = true;
+
emit graphChanged();
}
@@ -448,7 +558,7 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::removeEdges(
QList<QTableWidgetItem*> edgeItems)
{
- if (/* DISABLES CODE */ (true))
+ if (/* DISABLES CODE */ (false))
{
std::stringstream ss;
ss << "Remoiving edges ...";
@@ -458,7 +568,6 @@ namespace armarx::nav::locgrapheditor
}
ARMARX_IMPORTANT << ss.str();
}
-
{
QSignalBlocker blocker(this);
@@ -470,6 +579,8 @@ namespace armarx::nav::locgrapheditor
}
}
+ model.graph.attrib().edgesChanged = true;
+
emit graphChanged();
}
@@ -484,6 +595,13 @@ namespace armarx::nav::locgrapheditor
{
updateEdgeView(edge);
}
+
+ int index = widget.graphsComboBox->findData(QString::fromStdString(model.graphEntityID.str()));
+ if (index >= 0)
+ {
+ widget.graphsComboBox->setItemText(index, getGraphDisplayName(model.graphEntityID, model.graph.hasChanged()));
+ }
+
updateArViz();
}
@@ -710,4 +828,16 @@ namespace armarx::nav::locgrapheditor
view.vertexData->setVertex(vertex);
}
+
+ QString LocationGraphEditorWidgetController::getGraphDisplayName(
+ const armem::MemoryID& entityID, bool changed) const
+ {
+ QString name = QString::fromStdString(entityID.providerSegmentName + "/" + entityID.entityName);
+ if (changed)
+ {
+ name += "*";
+ }
+ return name;
+ }
+
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
index ff1177db..e4de7136 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
@@ -138,7 +138,6 @@ namespace armarx::nav::locgrapheditor
void queryGraphs();
void updateGraphList();
void loadGraph();
- void commitGraph();
void setGraph(graph::Graph& nav);
GuiGraph::Vertex addVertex(graph::Graph::ConstVertex vertex);
@@ -157,6 +156,10 @@ namespace armarx::nav::locgrapheditor
void removeEdges(QList<QTableWidgetItem*> edgeItems);
+ void commit();
+ armem::CommitResult commitLocations();
+ armem::EntityUpdateResult commitGraph();
+
// View & Tables
void updateGraphView();
@@ -175,6 +178,11 @@ namespace armarx::nav::locgrapheditor
void updateEdgeHighlighting();
+ private:
+
+ QString getGraphDisplayName(const armem::MemoryID& entityID, bool changed = false) const;
+
+
private:
/// Widget Form
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
index 21aba203..adecbca4 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
@@ -59,13 +59,21 @@ namespace armarx::nav::locgrapheditor
const graph::VertexAttribs& sourceAttrib,
const graph::VertexAttribs& targetAttrib)
{
- int row = rowCount();
- setRowCount(row + 1);
+ QTableWidgetItem* result = nullptr;
- setItem(row, 0, new QTableWidgetItem {QString::fromStdString(sourceAttrib.getName())});
- setItem(row, 1, new QTableWidgetItem {QString::fromStdString(targetAttrib.getName())});
+ setSortingEnabled(false);
+ {
+ int row = rowCount();
+ setRowCount(row + 1);
+
+ setItem(row, 0, new QTableWidgetItem {QString::fromStdString(sourceAttrib.getName())});
+ setItem(row, 1, new QTableWidgetItem {QString::fromStdString(targetAttrib.getName())});
+
+ result = item(row, 0);
+ }
+ setSortingEnabled(true);
- return item(row, 0);
+ return result;
}
@@ -76,15 +84,19 @@ namespace armarx::nav::locgrapheditor
QFont font;
font.setBold(edge.attrib().highlighted);
- int row = this->row(edge.attrib().tableWidgetItem);
- for (int col = 0; col < 2; ++col)
+ setSortingEnabled(false);
{
- auto* item = this->item(row, col);
- ARMARX_CHECK_NOT_NULL(item);
+ int row = this->row(edge.attrib().tableWidgetItem);
+ for (int col = 0; col < 2; ++col)
+ {
+ auto* item = this->item(row, col);
+ ARMARX_CHECK_NOT_NULL(item);
- item->setData(Qt::BackgroundRole, bgColor);
- item->setFont(font);
+ item->setData(Qt::BackgroundRole, bgColor);
+ item->setFont(font);
+ }
}
+ setSortingEnabled(true);
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
index 7119c030..2aceb2bf 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
@@ -48,6 +48,8 @@ namespace armarx::nav::locgrapheditor
{
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
+ name = new QLineEdit(this);
+ name->setReadOnly(true);
locationID = new QLineEdit(this);
locationID->setReadOnly(true);
@@ -81,7 +83,8 @@ namespace armarx::nav::locgrapheditor
QFormLayout* layout = new QFormLayout();
this->setLayout(layout);
- layout->addRow("Location ID", locationID);
+ layout->addRow("Name", name);
+ layout->addRow("Entity ID", locationID);
layout->addRow("Frame", frame);
layout->addRow("X", x);
layout->addRow("Y", y);
@@ -142,30 +145,6 @@ namespace armarx::nav::locgrapheditor
}
- void VertexDataWidget::_setFromVertex(const GuiGraph::Vertex& vertex)
- {
- const VertexData& attrib = vertex.attrib();
- const Eigen::Matrix4d pose = attrib.getPose().cast<qreal>();
-
- locationID->setText(QString::fromStdString(aron::fromAron<armem::MemoryID>(attrib.aron.locationID).str()));
- frame->setText("<WIP>");
- _setXyz(simox::math::position(pose));
- _setRpyRad(simox::math::mat4f_to_rpy(pose));
- }
-
-
- void VertexDataWidget::_getToVertex(GuiGraph::Vertex& vertex)
- {
- VertexData& attrib = vertex.attrib();
-
- // locationID is read-only
- // frame->setText("<WIP>"); // WIP
-
- Eigen::Matrix4d pose = simox::math::pose(xyz(), simox::math::rpy_to_mat3f(rpyRad()));
- attrib.setPose(pose.cast<float>());
- }
-
-
Eigen::Vector3d VertexDataWidget::xyz() const
{
return { x->value(), y->value(), z->value() };
@@ -200,6 +179,32 @@ namespace armarx::nav::locgrapheditor
}
+ void VertexDataWidget::_setFromVertex(const GuiGraph::Vertex& vertex)
+ {
+ const VertexData& attrib = vertex.attrib();
+ const Eigen::Matrix4d pose = attrib.getPose().cast<qreal>();
+
+ name->setText(QString::fromStdString(attrib.getName()));
+ locationID->setText(QString::fromStdString(aron::fromAron<armem::MemoryID>(attrib.aron.locationID).str()));
+ frame->setText("<WIP>");
+ _setXyz(simox::math::position(pose));
+ _setRpyRad(simox::math::mat4f_to_rpy(pose));
+ }
+
+
+ void VertexDataWidget::_getToVertex(GuiGraph::Vertex& vertex)
+ {
+ VertexData& attrib = vertex.attrib();
+
+ // name is read-only
+ // locationID is read-only
+ // frame->setText("<WIP>"); // WIP
+
+ Eigen::Matrix4d pose = simox::math::pose(xyz(), simox::math::rpy_to_mat3f(rpyRad()));
+ attrib.setPose(pose.cast<float>());
+ }
+
+
void VertexDataWidget::_updateAngleUnit()
{
std::function<double(double)> convertValue;
@@ -230,10 +235,10 @@ namespace armarx::nav::locgrapheditor
};
}
- QList<QSignalBlocker>> blockers;
+ std::vector<QSignalBlocker> blockers;
for (QDoubleSpinBox* angle : _angleSpinBoxes())
{
- blockers.append(QSignalBlocker(angle));
+ blockers.emplace_back(angle);
angle->setSuffix(suffix);
angle->setMinimum(min);
@@ -252,9 +257,10 @@ namespace armarx::nav::locgrapheditor
void VertexDataWidget::_updateVertexAttribs()
{
- if (_vertex.has_value())
+ if (not signalsBlocked() and _vertex.has_value())
{
_getToVertex(_vertex.value());
+ _vertex->attrib().changed = true;
emit vertexDataChanged();
}
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.h
index cb14f0c5..e16c824e 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.h
@@ -89,6 +89,7 @@ namespace armarx::nav::locgrapheditor
std::optional<GuiGraph::Vertex> _vertex;
+ QLineEdit* name = nullptr;
QLineEdit* locationID = nullptr;
QLineEdit* frame = nullptr;
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
index 2d1e965e..908ea14f 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
@@ -22,6 +22,9 @@
#include "VertexTableWidget.h"
#include "utils.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
#include <QAction>
#include <QHeaderView>
#include <QMenu>
@@ -58,20 +61,36 @@ namespace armarx::nav::locgrapheditor
{
(void) vertex;
- int row = rowCount();
- setRowCount(row + 1);
+ // We need to disable sorting to prevent the new row from being moved away.
+ setSortingEnabled(false);
- // Just fill with vanilla items, they will get values in the update.
- for (int col = 0; col < 4; ++col)
- {
- setItem(row, col, new QTableWidgetItem {});
- }
- for (int col = 1; col <= 3; ++col)
+ QTableWidgetItem* result = nullptr;
{
- item(row, col)->setTextAlignment(Qt::AlignRight | Qt::AlignVCenter);
+ int row = rowCount();
+ setRowCount(row + 1);
+
+ for (int col = 0; col < 4; ++col)
+ {
+ // Just fill with vanilla items, they will get values in the update.
+ QTableWidgetItem* item = new QTableWidgetItem {};
+ setItem(row, col, item);
+
+ if (col >= 1)
+ {
+ item->setTextAlignment(Qt::AlignRight | Qt::AlignVCenter);
+ }
+ if (col == 0)
+ {
+ result = item;
+ }
+ }
}
- return item(row, 0);
+ // Enable sorting - `row` could now be moved away.
+ setSortingEnabled(true);
+
+ ARMARX_CHECK_NOT_NULL(result);
+ return result;
}
@@ -82,12 +101,24 @@ namespace armarx::nav::locgrapheditor
char format = 'f';
const int precision = 2;
+ // Changing the values may trigger a re-sort.
+ setSortingEnabled(false);
+
+
int row = this->row(vertex.attrib().tableWidgetItem);
- item(row, 0)->setText(QString::fromStdString(vertex.attrib().getName()));
+
+ QString displayName = QString::fromStdString(vertex.attrib().getName());
+ if (vertex.attrib().changed)
+ {
+ displayName += "*";
+ }
+ item(row, 0)->setText(displayName);
+ item(row, 0)->setData(Qt::UserRole, QString::fromStdString(vertex.attrib().getName()));
item(row, 1)->setText(QString::number(pose(0, 3), format, precision));
item(row, 2)->setText(QString::number(pose(1, 3), format, precision));
item(row, 3)->setText(QString::number(getYawAngleDegree(pose), format, precision));
+ setSortingEnabled(true);
QColor bgColor = vertex.attrib().highlighted ? bgColorSelected : bgColorDefault;
QFont font;
@@ -110,8 +141,13 @@ namespace armarx::nav::locgrapheditor
{
setCurrentItem(nullptr);
}
- this->removeRow(row(vertex.attrib().tableWidgetItem));
+
+ const int numRows = rowCount();
+ int row = this->row(vertex.attrib().tableWidgetItem);
+ removeRow(row);
vertex.attrib().tableWidgetItem = nullptr;
+
+ ARMARX_CHECK_EQUAL(rowCount(), numRows - 1);
}
@@ -122,6 +158,12 @@ namespace armarx::nav::locgrapheditor
}
+ QString VertexTableWidget::_nameOf(QTableWidgetItem* item)
+ {
+ return item->data(Qt::UserRole).toString();
+ }
+
+
void VertexTableWidget::makeContextMenu(QPoint pos)
{
QList<QTableWidgetItem*> items = selectedVertexItems();
@@ -141,22 +183,22 @@ namespace armarx::nav::locgrapheditor
// Generate actions for connecting these two nodes.
std::sort(items.begin(), items.end(), [](QTableWidgetItem* first, QTableWidgetItem* second)
{
- return first->text() < second->text();
+ return _nameOf(first) < _nameOf(second);
});
QTableWidgetItem* first = items[0];
QTableWidgetItem* second = items[1];
- connect(menu.addAction("Add edge '" + first->text() + "' " + utils::arrowRight + " '" + second->text() + "'"),
+ connect(menu.addAction("Add edge '" + _nameOf(first) + "' " + utils::arrowRight + " '" + _nameOf(second) + "'"),
&QAction::triggered, [this, first, second]()
{
emit newEdgesRequested({{first, second}});
});
- connect(menu.addAction("Add edge '" + first->text() + "' " + utils::arrowLeft + " '" + second->text() + "'"),
+ connect(menu.addAction("Add edge '" + _nameOf(first) + "' " + utils::arrowLeft + " '" + _nameOf(second) + "'"),
&QAction::triggered, [this, first, second]()
{
emit newEdgesRequested({{second, first}});
});
- connect(menu.addAction("Add edges '" + first->text() + "' " + utils::arrowBoth + " '" + second->text() + "'"),
+ connect(menu.addAction("Add edges '" + _nameOf(first) + "' " + utils::arrowBoth + " '" + _nameOf(second) + "'"),
&QAction::triggered, [this, first, second]()
{
emit newEdgesRequested({{first, second}, {second, first}});
@@ -170,7 +212,7 @@ namespace armarx::nav::locgrapheditor
? "edge"
: "edges";
QString desc = items.size() == 1
- ? "'" + items[0]->text() + "'"
+ ? "'" + _nameOf(items[0]) + "'"
: QString::number(items.size()) + " locations";
if (items.size() == 1)
@@ -199,7 +241,7 @@ namespace armarx::nav::locgrapheditor
QTableWidgetItem* action = this->item(row, 0);
if (items.count(action) == 0) // Do no generate self-edges
{
- QAction* a = submenu->addAction(action->text());
+ QAction* a = submenu->addAction(_nameOf(action));
connect(a, &QAction::triggered,
[this, &items, action, appendFunc]()
{
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
index de609ce0..e782867f 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
@@ -64,6 +64,11 @@ namespace armarx::nav::locgrapheditor
void makeContextMenu(QPoint pos);
+ private:
+
+ static QString _nameOf(QTableWidgetItem* item);
+
+
public:
QColor bgColorDefault = default_colors::tableBackgroundDefault;
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
index e61b79b9..1a101fff 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
@@ -29,9 +29,12 @@
namespace armarx::nav::locgrapheditor
{
- const QString utils::arrowLeft = QStringLiteral("â†");
+ // <- https://unicode-table.com/de/2190/
+ const QString utils::arrowLeft = QStringLiteral("\u2190");
+ // -> https://unicode-table.com/de/2192/
const QString utils::arrowRight = QStringLiteral("\u2192");
- const QString utils::arrowBoth = QStringLiteral("⇄");
+ // <-> https://unicode-table.com/de/21C4/
+ const QString utils::arrowBoth = QStringLiteral("\u21C4");
QList<QTableWidgetItem*>
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h
index 44eb497a..ad866a66 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h
@@ -33,11 +33,11 @@ namespace armarx::nav::locgrapheditor::utils
QList<QTableWidgetItem*> getSelectedItemsOfColumn(QTableWidget* widget, int column);
- // <- https://unicode-table.com/de/2190/
+ /// <-
extern const QString arrowLeft;
- // -> https://unicode-table.com/de/2192/
+ /// ->
extern const QString arrowRight;
- // <-> https://unicode-table.com/de/21C4/
+ /// <->
extern const QString arrowBoth;
--
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