From d0e0efc0b963122cdf46c328047503f846c276ab Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 24 Aug 2021 13:44:09 +0200
Subject: [PATCH] Fix re-loading
---
.../LocationGraphEditorWidget.ui | 15 ++-
.../LocationGraphEditorWidgetController.cpp | 110 ++++++++++++++----
.../LocationGraphEditorWidgetController.h | 8 +-
.../widgets/EdgeTableWidget.cpp | 7 ++
.../widgets/EdgeTableWidget.h | 2 +-
.../widgets/VertexDataWidget.cpp | 11 ++
.../widgets/VertexDataWidget.h | 1 +
.../widgets/VertexTableWidget.cpp | 12 ++
.../widgets/VertexTableWidget.h | 2 +
.../widgets/graph_scene/Scene.cpp | 3 +-
10 files changed, 144 insertions(+), 27 deletions(-)
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
index 63dbb942..161687fa 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
@@ -50,6 +50,16 @@
</property>
</widget>
</item>
+ <item>
+ <widget class="QPushButton" name="commitGraphButton">
+ <property name="toolTip">
+ <string>Draws the selected scene</string>
+ </property>
+ <property name="text">
+ <string>Commit</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</item>
@@ -161,8 +171,7 @@
</item>
</layout>
</widget>
-
- <widget class="QFrame" name="graphFrame">
+ <widget class="QFrame" name="graphFrame">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
@@ -186,7 +195,7 @@
<layout class="QVBoxLayout" name="graphSceneLayout"/>
</item>
</layout>
- </widget>
+ </widget>
</widget>
</item>
<item>
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
index 50e45488..77332863 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
@@ -127,6 +127,7 @@ 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);
// Update views
@@ -286,12 +287,20 @@ namespace armarx::nav::locgrapheditor
fromAron(dto, nav);
}
+ model.graphEntityID = entityID;
setGraph(nav);
}
+ void LocationGraphEditorWidgetController::commitGraph()
+ {
+
+ }
+
+
void LocationGraphEditorWidgetController::setGraph(graph::Graph& nav)
{
+#if 0
// Store vertex highlighting.
std::set<std::string> highlightedVertices;
for (auto vertex : model.graph.vertices())
@@ -301,8 +310,12 @@ namespace armarx::nav::locgrapheditor
highlightedVertices.insert(vertex.attrib().getName());
}
}
+#endif
+
+ // Build the gui graph (model).
+ const bool initialBlocked = this->signalsBlocked();
+ blockSignals(true);
- // Build graph.
clearGraph();
for (auto vertex : nav.vertices())
{
@@ -313,6 +326,7 @@ namespace armarx::nav::locgrapheditor
addEdge(edge);
}
+#if 0
// Restore vertex highlighting.
for (auto vertex : model.graph.vertices())
{
@@ -321,7 +335,11 @@ namespace armarx::nav::locgrapheditor
vertex.attrib().highlighted = true;
}
}
+#endif
+
+ blockSignals(initialBlocked);
+ // Trigger a view update.
emit graphChanged();
}
@@ -464,43 +482,89 @@ namespace armarx::nav::locgrapheditor
}
+ void LocationGraphEditorWidgetController::clearGraph()
+ {
+ const bool initialBlocked = this->signalsBlocked();
+ blockSignals(true);
+
+ clearEdges();
+ clearVertices();
+
+ blockSignals(initialBlocked);
+
+ // Clear data structure
+ ARMARX_CHECK_EQUAL(model.graph.numEdges(), 0);
+ ARMARX_CHECK_EQUAL(model.graph.numVertices(), 0);
+
+ emit graphChanged();
+ }
+
+
void LocationGraphEditorWidgetController::clearEdges()
{
- // Remove from graphics scene
- for (auto edge : model.graph.edges())
+ // 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)
{
- view.graph->scene()->removeEdge(edge.attrib().graphicsItem);
+ GuiGraph::Edge edge = *it;
+ removeEdge(edge);
}
- // Clear table widget
- view.edgeTable->clearContents();
- view.edgeTable->setRowCount(0);
+ ARMARX_CHECK_EQUAL(view.edgeTable->rowCount(), 0);
+ ARMARX_CHECK_EQUAL(model.graph.numEdges(), 0);
- // Clear data structure
- while (model.graph.edges().begin() != model.graph.edges().end())
+ emit graphChanged();
+ }
+
+
+ void LocationGraphEditorWidgetController::clearVertices()
+ {
+ ARMARX_CHECK_EQUAL(model.graph.numEdges(), 0)
+ << "The graph may not have any edges when clearing the vertices.";
+
+ // 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)
{
- model.graph.removeEdge(*model.graph.edges().begin());
+ GuiGraph::Vertex vertex = *it;
+ removeVertex(vertex);
}
+ ARMARX_CHECK_EQUAL(view.vertexTable->rowCount(), 0);
+ ARMARX_CHECK_EQUAL(model.graph.numVertices(), 0);
+
emit graphChanged();
}
- void LocationGraphEditorWidgetController::clearGraph()
+ void LocationGraphEditorWidgetController::removeEdge(GuiGraph::Edge& edge)
{
- // Clear scene
- view.graph->scene()->clear();
+ // Remove view elements
+ view.graph->scene()->removeEdge(edge.attrib().graphicsItem);
+ view.edgeTable->removeEdge(edge);
- // Clear table widgets
- view.edgeTable->clearContents();
- view.edgeTable->setRowCount(0);
- view.vertexTable->clearContents();
- view.vertexTable->setRowCount(0);
+ // Remove from model
+ model.graph.removeEdge(edge);
+ }
- // Clear data structure
- model.graph.clear();
- 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();
+ ARMARX_CHECK_EQUAL(vertex.outDegree(), 0)
+ << "A vertex may not have any edges before being removed. " << vertex.attrib().getName();
+
+ // Remove view elements
+ 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();
+ }
+
+ // Remove from model
+ model.graph.removeVertex(vertex);
}
@@ -562,6 +626,10 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::selectVertex(QTableWidgetItem* vertexItem)
{
+ if (vertexItem == nullptr)
+ {
+ view.vertexData->clearVertex();
+ }
if (auto vertex = model.graph.getVertexFromTableItem(vertexItem))
{
selectVertex(vertex.value());
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
index 3a7d9dd3..825ea418 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
@@ -138,6 +138,7 @@ namespace armarx::nav::locgrapheditor
void queryGraphs();
void updateGraphList();
void loadGraph();
+ void commitGraph();
void setGraph(graph::Graph& nav);
GuiGraph::Vertex addVertex(graph::Graph::ConstVertex vertex);
@@ -145,8 +146,12 @@ namespace armarx::nav::locgrapheditor
GuiGraph::Edge addEdge(GuiGraph::ConstVertex source, GuiGraph::ConstVertex target,
const EdgeData& defaultAttribs);
- void clearEdges();
void clearGraph();
+ void clearEdges();
+ void clearVertices();
+
+ void removeEdge(GuiGraph::Edge& edge);
+ void removeVertex(GuiGraph::Vertex& vertex);
void addEdges(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems);
@@ -197,6 +202,7 @@ namespace armarx::nav::locgrapheditor
struct Model
{
armem::wm::Memory memory;
+ armem::MemoryID graphEntityID;
GuiGraph graph;
};
Model model;
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
index 9e7a16ff..081091c5 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
@@ -84,6 +84,13 @@ namespace armarx::nav::locgrapheditor
}
+ void EdgeTableWidget::removeEdge(GuiGraph::Edge& edge)
+ {
+ this->removeRow(row(edge.attrib().tableWidgetItem));
+ edge.attrib().tableWidgetItem = nullptr;
+ }
+
+
QList<QTableWidgetItem*>
EdgeTableWidget::selectedEdgeItems()
{
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
index 296e6a6f..0cd2cbee 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
@@ -55,7 +55,7 @@ namespace armarx::nav::locgrapheditor
void updateEdge(GuiGraph::Edge edge);
- void removeEdge(GuiGraph::Edge edge);
+ void removeEdge(GuiGraph::Edge& edge);
void clearEdges();
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
index d34dab04..ba63ea0f 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
@@ -125,9 +125,20 @@ namespace armarx::nav::locgrapheditor
void VertexDataWidget::setVertex(GuiGraph::Vertex vertex)
{
+ blockSignals(true);
+
_vertex = vertex;
_setFromVertex(vertex);
setEnabled(true);
+
+ blockSignals(false);
+ }
+
+
+ void VertexDataWidget::clearVertex()
+ {
+ _vertex = std::nullopt;
+ setEnabled(false);
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.h
index 64b7971e..cb14f0c5 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.h
@@ -49,6 +49,7 @@ namespace armarx::nav::locgrapheditor
std::optional<GuiGraph::Vertex> vertex();
void setVertex(GuiGraph::Vertex vertex);
+ void clearVertex();
Eigen::Vector3d xyz() const;
Eigen::Vector3d rpyDeg() const;
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
index 692e18b8..6722f828 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
@@ -103,6 +103,18 @@ namespace armarx::nav::locgrapheditor
}
+ void
+ VertexTableWidget::removeVertex(GuiGraph::Vertex& vertex)
+ {
+ if (currentItem() == vertex.attrib().tableWidgetItem)
+ {
+ setCurrentItem(nullptr);
+ }
+ this->removeRow(row(vertex.attrib().tableWidgetItem));
+ vertex.attrib().tableWidgetItem = nullptr;
+ }
+
+
QList<QTableWidgetItem*>
VertexTableWidget::selectedVertexItems()
{
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
index 6d9a227f..379c224d 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
@@ -46,6 +46,8 @@ namespace armarx::nav::locgrapheditor
void updateVertex(GuiGraph::Vertex vertex);
+ void removeVertex(GuiGraph::Vertex& vertex);
+
QList<QTableWidgetItem*> selectedVertexItems();
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp
index cfa598c2..330a15dc 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp
@@ -79,7 +79,8 @@ namespace armarx::nav::locgrapheditor::graph_scene
void Scene::updateEdge(GuiGraph::Edge& edge)
{
QGraphicsLineItem* item = edge.attrib().graphicsItem;
- ARMARX_CHECK_NOT_NULL(item);
+ ARMARX_CHECK_NOT_NULL(item)
+ << edge.source().attrib().getName() << " -> " << edge.target().attrib().getName();
Eigen::Matrix4d sourcePose = edge.source().attrib().getPose().cast<qreal>();
Eigen::Matrix4d targetPose = edge.target().attrib().getPose().cast<qreal>();
--
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