From e68b583ed84a914025067b8243df569ed6803062 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 24 Aug 2021 15:03:46 +0200
Subject: [PATCH] Implement edge removal, fix commit
---
.../LocationGraphEditorWidgetController.cpp | 150 +++++++++++++-----
.../LocationGraphEditorWidgetController.h | 1 +
.../widgets/EdgeTableWidget.cpp | 38 +++++
.../widgets/EdgeTableWidget.h | 10 +-
.../widgets/VertexDataWidget.cpp | 16 +-
.../widgets/VertexTableWidget.cpp | 19 +--
.../widgets/VertexTableWidget.h | 5 +-
.../widgets/graph_scene/ControlWidget.cpp | 3 +-
.../LocationGraphEditor/widgets/utils.cpp | 5 +
.../LocationGraphEditor/widgets/utils.h | 9 ++
10 files changed, 188 insertions(+), 68 deletions(-)
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
index 77332863..85663ec8 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
@@ -53,6 +53,7 @@
#include <QMouseEvent>
#include <QObject>
#include <QPushButton>
+#include <QSignalBlocker>
// std
#include <sstream>
@@ -150,6 +151,8 @@ namespace armarx::nav::locgrapheditor
connect(view.vertexTable, &VertexTableWidget::newEdgesRequested,
this, &This::addEdges);
+ connect(view.edgeTable, &EdgeTableWidget::edgeRemovalRequested,
+ this, &This::removeEdges);
}
@@ -210,16 +213,7 @@ namespace armarx::nav::locgrapheditor
{
remote.connect(*this);
- if (/* DISABLES CODE */ (true))
- {
- widget.sceneGroupBox->setEnabled(true);
- widget.sceneGroupBox->setTitle("Scenes from graph memory segment");
- }
- else
- {
- widget.sceneGroupBox->setEnabled(false);
- widget.sceneGroupBox->setTitle("Scenes from graph memory segment (No graph memory segment available)");
- }
+ widget.sceneGroupBox->setEnabled(true);
emit connected();
}
@@ -257,23 +251,41 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::updateGraphList()
{
+ QString previousText = widget.graphsComboBox->currentText();
widget.graphsComboBox->clear();
- bool enable = false;
- model.memory.forEachEntity([this, &enable](const armem::wm::Entity& entity)
+ int i = 0;
+ int previousIndex = -1;
+ model.memory.forEachEntity([&](const armem::wm::Entity& entity)
{
- widget.graphsComboBox->addItem(QString::fromStdString(entity.id().str()));
- enable = true;
+ QString text = QString::fromStdString(entity.id().str());
+ widget.graphsComboBox->addItem(text);
+ if (previousIndex < 0 and text == previousText)
+ {
+ previousIndex = i;
+ }
+ ++i;
});
- widget.loadGraphButton->setEnabled(enable);
+ if (previousIndex >= 0)
+ {
+ widget.graphsComboBox->setCurrentIndex(previousIndex);
+ }
+ widget.loadGraphButton->setEnabled(widget.graphsComboBox->count() > 0);
}
void LocationGraphEditorWidgetController::loadGraph()
{
const armem::MemoryID entityID = armem::MemoryID::fromString(widget.graphsComboBox->currentText().toStdString());
+
+ queryGraphs(); // Refresh local memory.
+
const armem::wm::EntityInstance* instance = model.memory.findLatestInstance(entityID);
- if (not instance)
+ if (instance)
+ {
+ widget.statusLabel->setText(QString::fromStdString("Loaded snapshot " + instance->id().getEntitySnapshotID().str()));
+ }
+ else
{
std::stringstream ss;
ss << "No latest instance of entity " << entityID << " in memory.";
@@ -288,13 +300,33 @@ namespace armarx::nav::locgrapheditor
}
model.graphEntityID = entityID;
+ ARMARX_VERBOSE << "Loading graph " << nav.str();
setGraph(nav);
}
void LocationGraphEditorWidgetController::commitGraph()
{
+ nav::graph::arondto::Graph dto;
+ {
+ nav::graph::Graph nav = fromGuiGraph(model.graph);
+ toAron(dto, nav);
+ }
+ armem::EntityUpdate update;
+ update.entityID = model.graphEntityID;
+ 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));
+ }
}
@@ -313,31 +345,31 @@ namespace armarx::nav::locgrapheditor
#endif
// Build the gui graph (model).
- const bool initialBlocked = this->signalsBlocked();
- blockSignals(true);
-
- clearGraph();
- for (auto vertex : nav.vertices())
- {
- addVertex(vertex);
- }
- for (auto edge : nav.edges())
{
- addEdge(edge);
- }
+ QSignalBlocker blocker(this);
+
+ clearGraph();
+ for (auto vertex : nav.vertices())
+ {
+ addVertex(vertex);
+ }
+ for (auto edge : nav.edges())
+ {
+ addEdge(edge);
+ }
#if 0
- // Restore vertex highlighting.
- for (auto vertex : model.graph.vertices())
- {
- if (highlightedVertices.count(vertex.attrib().getName()))
+ // Restore vertex highlighting.
+ for (auto vertex : model.graph.vertices())
{
- vertex.attrib().highlighted = true;
+ if (highlightedVertices.count(vertex.attrib().getName()))
+ {
+ vertex.attrib().highlighted = true;
+ }
}
- }
#endif
- blockSignals(initialBlocked);
+ }
// Trigger a view update.
emit graphChanged();
@@ -413,6 +445,35 @@ namespace armarx::nav::locgrapheditor
}
+ void LocationGraphEditorWidgetController::removeEdges(
+ QList<QTableWidgetItem*> edgeItems)
+ {
+ if (/* DISABLES CODE */ (true))
+ {
+ 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);
+ }
+ }
+
+ emit graphChanged();
+ }
+
+
void LocationGraphEditorWidgetController::updateGraphView()
{
for (auto vertex : model.graph.vertices())
@@ -484,13 +545,11 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::clearGraph()
{
- const bool initialBlocked = this->signalsBlocked();
- blockSignals(true);
-
- clearEdges();
- clearVertices();
-
- blockSignals(initialBlocked);
+ {
+ QSignalBlocker blocker(this);
+ clearEdges();
+ clearVertices();
+ }
// Clear data structure
ARMARX_CHECK_EQUAL(model.graph.numEdges(), 0);
@@ -539,12 +598,21 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::removeEdge(GuiGraph::Edge& edge)
{
+ ARMARX_CHECK(model.graph.hasEdge(edge.sourceDescriptor(), edge.targetDescriptor()))
+ << "Cannot remove edge that does not exist.";
+
// Remove view elements
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();
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
index 825ea418..ff1177db 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
@@ -154,6 +154,7 @@ namespace armarx::nav::locgrapheditor
void removeVertex(GuiGraph::Vertex& vertex);
void addEdges(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems);
+ void removeEdges(QList<QTableWidgetItem*> edgeItems);
// View & Tables
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
index 081091c5..21aba203 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
@@ -22,7 +22,9 @@
#include "EdgeTableWidget.h"
#include "utils.h"
+#include <QAction>
#include <QHeaderView>
+#include <QMenu>
namespace armarx::nav::locgrapheditor
@@ -47,6 +49,8 @@ namespace armarx::nav::locgrapheditor
setStyleSheet(styleSheet);
setContextMenuPolicy(Qt::CustomContextMenu);
+ connect(this, &This::customContextMenuRequested,
+ this, &This::makeContextMenu);
}
@@ -98,4 +102,38 @@ namespace armarx::nav::locgrapheditor
}
+ void EdgeTableWidget::makeContextMenu(QPoint pos)
+ {
+ QList<QTableWidgetItem*> items = selectedEdgeItems();
+
+ QMenu menu;
+ if (items.size() == 0)
+ {
+ QAction* action = menu.addAction("No edges selected");
+ action->setEnabled(false);
+ }
+ else
+ {
+ QString desc;
+ if (items.size() == 1)
+ {
+ desc = "edge '" + items[0]->text() + "' " + utils::arrowRight
+ + " '" + item(row(items[0]), 1)->text() + "'";
+ }
+ else
+ {
+ desc = QString::number(items.size()) + " edges";
+ }
+
+ menu.addSection("Selected " + desc);
+ connect(menu.addAction("Remove " + desc),
+ &QAction::triggered, [this, &items]()
+ {
+ emit edgeRemovalRequested(items);
+ });
+ }
+
+ menu.exec(mapToGlobal(pos));
+ }
+
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
index 0cd2cbee..2e745a1e 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
@@ -25,6 +25,7 @@
#include <armarx/navigation/gui-plugins/LocationGraphEditor/widgets/default_colors.h>
#include <QColor>
+#include <QList>
#include <QTableWidget>
@@ -63,7 +64,14 @@ namespace armarx::nav::locgrapheditor
QList<QTableWidgetItem*> selectedEdgeItems();
- private slots:
+ signals:
+
+ void edgeRemovalRequested(QList<QTableWidgetItem*> edgeItems);
+
+
+ public slots:
+
+ void makeContextMenu(QPoint pos);
public:
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
index ba63ea0f..7119c030 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexDataWidget.cpp
@@ -30,7 +30,9 @@
#include <QFormLayout>
#include <QHBoxLayout>
#include <QLineEdit>
+#include <QList>
#include <QRadioButton>
+#include <QSignalBlocker>
#include <SimoxUtility/math/convert/deg_to_rad.h>
#include <SimoxUtility/math/convert/mat4f_to_rpy.h>
@@ -125,13 +127,11 @@ namespace armarx::nav::locgrapheditor
void VertexDataWidget::setVertex(GuiGraph::Vertex vertex)
{
- blockSignals(true);
+ QSignalBlocker blocker(this);
_vertex = vertex;
_setFromVertex(vertex);
setEnabled(true);
-
- blockSignals(false);
}
@@ -229,9 +229,11 @@ namespace armarx::nav::locgrapheditor
return simox::math::rad_to_deg(rad);
};
}
+
+ QList<QSignalBlocker>> blockers;
for (QDoubleSpinBox* angle : _angleSpinBoxes())
{
- angle->blockSignals(true);
+ blockers.append(QSignalBlocker(angle));
angle->setSuffix(suffix);
angle->setMinimum(min);
@@ -243,10 +245,8 @@ namespace armarx::nav::locgrapheditor
{
_setRpyRad(simox::math::mat4f_to_rpy(_vertex->attrib().getPose().cast<qreal>()));
}
- for (QDoubleSpinBox* angle : _angleSpinBoxes())
- {
- angle->blockSignals(false);
- }
+
+ // blockers will disable blocking for all spin boxes on destruction.
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
index 6722f828..2d1e965e 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
@@ -133,13 +133,6 @@ namespace armarx::nav::locgrapheditor
action->setEnabled(false);
}
- // <- https://unicode-table.com/de/2190/
- const QString arrowLeft = QStringLiteral("â†");
- // -> https://unicode-table.com/de/2192/
- const QString arrowRight = QStringLiteral("\u2192");
- // <-> https://unicode-table.com/de/21C4/
- const QString arrowBoth = QStringLiteral("⇄");
-
// Partners selected
if (items.size() == 2)
{
@@ -153,17 +146,17 @@ namespace armarx::nav::locgrapheditor
QTableWidgetItem* first = items[0];
QTableWidgetItem* second = items[1];
- connect(menu.addAction("Add edge '" + first->text() + "' " + arrowRight + " '" + second->text() + "'"),
+ connect(menu.addAction("Add edge '" + first->text() + "' " + utils::arrowRight + " '" + second->text() + "'"),
&QAction::triggered, [this, first, second]()
{
emit newEdgesRequested({{first, second}});
});
- connect(menu.addAction("Add edge '" + first->text() + "' " + arrowLeft + " '" + second->text() + "'"),
+ connect(menu.addAction("Add edge '" + first->text() + "' " + utils::arrowLeft + " '" + second->text() + "'"),
&QAction::triggered, [this, first, second]()
{
emit newEdgesRequested({{second, first}});
});
- connect(menu.addAction("Add edges '" + first->text() + "' " + arrowBoth + " '" + second->text() + "'"),
+ connect(menu.addAction("Add edges '" + first->text() + "' " + utils::arrowBoth + " '" + second->text() + "'"),
&QAction::triggered, [this, first, second]()
{
emit newEdgesRequested({{first, second}, {second, first}});
@@ -221,17 +214,17 @@ namespace armarx::nav::locgrapheditor
}
};
- addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + arrowRight + " ..."),
+ addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowRight + " ..."),
[](ListOfEdges& edges, Item* selected, Item* action)
{
edges.append({selected, action});
});
- addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + arrowLeft + " ..."),
+ addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowLeft + " ..."),
[](ListOfEdges& edges, Item* selected, Item* action)
{
edges.append({action, selected});
});
- addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + arrowBoth + " ..."),
+ addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowBoth + " ..."),
[](ListOfEdges& edges, Item* selected, Item* action)
{
edges.append({selected, action});
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
index 379c224d..de609ce0 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
@@ -25,6 +25,8 @@
#include <armarx/navigation/gui-plugins/LocationGraphEditor/widgets/default_colors.h>
#include <QColor>
+#include <QList>
+#include <QPair>
#include <QTableWidget>
@@ -62,9 +64,6 @@ namespace armarx::nav::locgrapheditor
void makeContextMenu(QPoint pos);
- private slots:
-
-
public:
QColor bgColorDefault = default_colors::tableBackgroundDefault;
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.cpp
index 5549b56f..d6dcf9b7 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.cpp
@@ -1,6 +1,6 @@
#include "ControlWidget.h"
-#include <ArmarXCore/core/logging/Logging.h>
+// #include <ArmarXCore/core/logging/Logging.h>
#include <QDoubleSpinBox>
#include <QFrame>
@@ -67,7 +67,6 @@ namespace armarx::nav::locgrapheditor::graph_scene
connect(_angle.turnClockwise, &QPushButton::pressed, [this]()
{
qreal newangle = std::fmod(angle() + _angle.rotateStepSize, 360.0);
- ARMARX_IMPORTANT << VAROUT(newangle);
setAngle(newangle);
});
connect(_angle.turnCounterClockwise, &QPushButton::pressed, [this]()
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
index c81e5509..e61b79b9 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp
@@ -29,6 +29,11 @@
namespace armarx::nav::locgrapheditor
{
+ const QString utils::arrowLeft = QStringLiteral("â†");
+ const QString utils::arrowRight = QStringLiteral("\u2192");
+ const QString utils::arrowBoth = QStringLiteral("⇄");
+
+
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 8c344f01..44eb497a 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h
@@ -32,4 +32,13 @@ 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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