From 5ac53f63065735e4947d87a8d9c03d0a07c8347a Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Wed, 15 Nov 2023 13:10:53 +0100
Subject: [PATCH] Copied and adapted PeriodicUpdateWidget
---
.../SkillManagerPlugin/CMakeLists.txt | 2 +
.../PeriodicUpdateWidget.cpp | 141 ++++++++++++++++++
.../SkillManagerPlugin/PeriodicUpdateWidget.h | 66 ++++++++
3 files changed, 209 insertions(+)
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.h
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
index a6d2ff63c..1ee52e845 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
@@ -26,6 +26,7 @@ set(SOURCES
aronTreeWidget/modal/AronTreeWidgetModal.cpp
ColorPalettes.cpp
SkillManagerMonitorWidgetController.cpp
+ PeriodicUpdateWidget.cpp
)
set(HEADERS
@@ -51,6 +52,7 @@ set(HEADERS
aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
ColorPalettes.h
SkillManagerMonitorWidgetController.h
+ PeriodicUpdateWidget.h
)
set(GUI_UIS
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp
new file mode 100644
index 000000000..d039d0d54
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp
@@ -0,0 +1,141 @@
+#include "PeriodicUpdateWidget.h"
+
+#include <cmath>
+
+#include <QCheckBox>
+#include <QDoubleSpinBox>
+#include <QHBoxLayout>
+#include <QPushButton>
+#include <QTimer>
+
+namespace armarx
+{
+ PeriodicUpdateWidget::PeriodicUpdateWidget(double frequency, double maxFrequency)
+ {
+ setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
+
+ QLayout* vlayout = new QVBoxLayout();
+ QLayout* hlayout = new QHBoxLayout();
+ this->setLayout(vlayout);
+
+ const int margin = 0;
+ hlayout->setContentsMargins(margin, margin, margin, margin);
+
+ _updateButton = new QPushButton("Update", this);
+ _autoCheckBox = new QCheckBox("Auto Update", this);
+ _frequencySpinBox = new QDoubleSpinBox(this);
+ _frequencySpinBox->setValue(frequency);
+ _frequencySpinBox->setMinimum(0);
+ _frequencySpinBox->setMaximum(maxFrequency);
+ _frequencySpinBox->setSingleStep(0.5);
+ _frequencySpinBox->setSuffix(" Hz");
+
+ hlayout->addWidget(_updateButton);
+ hlayout->addWidget(_autoCheckBox);
+ hlayout->addWidget(_frequencySpinBox);
+
+ vlayout->addItem(hlayout);
+
+
+ _timer = new QTimer(this);
+ _updateTimerFrequency();
+ _frequencySpinBox->setEnabled(_autoCheckBox->isChecked());
+
+
+ // Private connections.
+ connect(_autoCheckBox, &QCheckBox::toggled, this, &This::_toggleAutoUpdates);
+ connect(_frequencySpinBox,
+ &QDoubleSpinBox::editingFinished,
+ this,
+ &This::_updateTimerFrequency);
+
+ // Public connections.
+ connect(_updateButton, &QPushButton::pressed, this, &This::updateSingle);
+ connect(_timer, &QTimer::timeout, this, &This::updatePeriodic);
+
+ connect(this, &This::updateSingle, this, &This::update);
+ connect(this, &This::updatePeriodic, this, &This::update);
+
+ // See `startTimerIfEnabled` for the signal reasoning.
+ // qOverload is required because `QTimer::start()` is overloaded.
+ connect(this, &This::startTimerSignal, _timer, qOverload<>(&QTimer::start));
+ connect(this, &This::stopTimerSignal, _timer, &QTimer::stop);
+ }
+
+ QPushButton*
+ PeriodicUpdateWidget::updateButton()
+ {
+ return _updateButton;
+ }
+
+ int
+ PeriodicUpdateWidget::getUpdateIntervalMs() const
+ {
+ return static_cast<int>(std::round(1000 / _frequencySpinBox->value()));
+ }
+
+ void
+ PeriodicUpdateWidget::startTimerIfEnabled()
+ {
+ /* A QTimer can only be started and stopped within its own thread (the thread for which
+ * it has the greatest affinity). Since this method can be called from any thread, we
+ * need to take a detour through these signals, which can be emitted from any thread and
+ * will always be caught in this object's (and thus the timer's) native thread.
+ */
+ if (_autoCheckBox->isChecked())
+ {
+ emit startTimerSignal();
+ }
+ else
+ {
+ emit stopTimerSignal();
+ }
+ }
+
+ void
+ PeriodicUpdateWidget::stopTimer()
+ {
+ // See `startTimerIfEnabled` for the signal reasoning.
+ emit stopTimerSignal();
+ }
+
+ void
+ PeriodicUpdateWidget::_updateTimerFrequency()
+ {
+ _timer->setInterval(getUpdateIntervalMs());
+ }
+
+ void
+ PeriodicUpdateWidget::_toggleAutoUpdates(bool enabled)
+ {
+ // This method is already a slot, so it doesn't need to use the timer signals.
+ _frequencySpinBox->setEnabled(enabled);
+ if (enabled)
+ {
+ _timer->start();
+ }
+ else
+ {
+ _timer->stop();
+ }
+ }
+
+ QCheckBox*
+ PeriodicUpdateWidget::autoCheckBox()
+ {
+ return _autoCheckBox;
+ }
+
+ QDoubleSpinBox*
+ PeriodicUpdateWidget::frequencySpinBox()
+ {
+ return _frequencySpinBox;
+ }
+
+ QTimer*
+ PeriodicUpdateWidget::timer()
+ {
+ return _timer;
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.h
new file mode 100644
index 000000000..9d199db39
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.h
@@ -0,0 +1,66 @@
+#pragma once
+
+#include <QWidget>
+
+
+class QCheckBox;
+class QDoubleSpinBox;
+class QPushButton;
+class QTimer;
+
+namespace armarx
+{
+
+ class PeriodicUpdateWidget : public QWidget
+ {
+ Q_OBJECT
+ using This = PeriodicUpdateWidget;
+
+ public:
+ PeriodicUpdateWidget(double frequency = 2.0, double maxFrequency = 60);
+
+
+ QTimer* timer();
+
+ QCheckBox* autoCheckBox();
+ QDoubleSpinBox* frequencySpinBox();
+ QPushButton* updateButton();
+
+ bool isAutoEnabled() const;
+ double getUpdateFrequency() const;
+ int getUpdateIntervalMs() const;
+
+ void startTimerIfEnabled();
+ void stopTimer();
+
+
+ public slots:
+
+ signals:
+
+ void update();
+
+ void updateSingle();
+ void updatePeriodic();
+
+ private slots:
+
+ void _updateTimerFrequency();
+ void _toggleAutoUpdates(bool enabled);
+
+ signals:
+
+ void startTimerSignal();
+ void stopTimerSignal();
+
+ private:
+ QPushButton* _updateButton;
+ QCheckBox* _autoCheckBox;
+ QDoubleSpinBox* _frequencySpinBox;
+
+ QPushButton* _collapseAllButton;
+
+ QTimer* _timer;
+ };
+
+} // namespace armarx
--
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