Merge branch 'master' of https://gitlab.com/ArmarX/RobotAPI

source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp

@@ -174,6 +174,10 @@ namespace armarx
         {
             //commitExampleImages();
         }
+        if (true)
+        {
+            commitExamplesWithUntypedData();
+        }
 
         CycleUtil c(static_cast<int>(1000 / p.commitFrequency));
         while (!task->isStopped())
@@ -602,6 +606,37 @@ namespace armarx
         }
     }
 
+    void ExampleMemoryClient::commitExamplesWithUntypedData()
+    {
+        const armem::Time time = armem::Time::now();
+
+        armem::Commit commit;
+        {
+            armem::EntityUpdate& update = commit.add();
+            update.entityID = exampleDataProviderID.withEntityName("unexpected_data");
+            update.timeCreated = time;
+
+            armem::example::ExampleData data;
+            toAron(data.memoryLink, armem::MemoryID()); // ////1/1
+
+            aron::data::DictPtr aron = data.toAron();
+            aron->addElement("unexpectedString", std::make_shared<aron::data::String>("unexpected value"));
+            aron->addElement("unexpectedDict", std::make_shared<aron::data::Dict>(
+                                 std::map<std::string, aron::data::VariantPtr>{
+                                    { "key43", std::make_shared<aron::data::Int>(43) },
+                                    { "keyABC", std::make_shared<aron::data::String>("ABC") },
+                                 }
+                                 ));
+            update.instancesData = { aron };
+        }
+
+        armem::CommitResult commitResult = memoryWriter.commit(commit);
+        if (!commitResult.allSuccess())
+        {
+            ARMARX_WARNING << commitResult.allErrorMessages();
+        }
+    }
+
 
     void ExampleMemoryClient::processExampleEntityUpdate(
         const armem::MemoryID& subscriptionID, const std::vector<armem::MemoryID>& snapshotIDs)

source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h

@@ -102,6 +102,8 @@ namespace armarx
 
         void commitExampleImages();
 
+        void commitExamplesWithUntypedData();
+
 
     private:
 

source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp

@@ -12,6 +12,7 @@
 #include <RobotAPI/libraries/armem_gui/instance/sanitize_typename.h>
 #include <RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h>
 #include <RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.h>
+#include <RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.h>
 
 
 namespace armarx::armem::gui::instance
@@ -28,21 +29,18 @@ namespace armarx::armem::gui::instance
         const aron::data::Dict& data)
     {
         auto childType = type.getAcceptedType();
-        if (childType)
+        DictBuilder builder = getDictBuilder();
+        builder.setUpdateItemFn([this, &childType, &data](const std::string & key, QTreeWidgetItem * item)
         {
-            DictBuilder builder = getDictBuilder();
-            builder.setUpdateItemFn([this, &childType, &data](const std::string & key, QTreeWidgetItem * item)
+            auto childData = data.getElement(key);
+            if (childData)
             {
-                auto childData = data.getElement(key);
-                if (childData)
-                {
-                    this->update(item, key, childType, childData);
-                }
-                return true;
-            });
-
-            builder.updateTreeWithContainer(parent, data.getAllKeys());
-        }
+                this->updateDispatch(item, key, childType, childData);
+            }
+            return true;
+        });
+
+        builder.updateTreeWithContainer(parent, data.getAllKeys());
     }
 
 
@@ -54,7 +52,8 @@ namespace armarx::armem::gui::instance
         DictBuilder builder = getDictBuilder();
         builder.setMakeItemFn([this, &type](const std::string & key) -> QTreeWidgetItem*
         {
-            if (type.getMemberType(key)->getFullName() == instance::rawMemoryIDTypeName)
+            if (type.hasMemberType(key)
+               && type.getMemberType(key)->getFullName() == instance::rawMemoryIDTypeName)
             {
                 MemoryIDTreeWidgetItem* item = new MemoryIDTreeWidgetItem({QString::fromStdString(key)});
                 item->addKeyChildren();
@@ -67,17 +66,22 @@ namespace armarx::armem::gui::instance
         });
         builder.setUpdateItemFn([this, &type, &data](const std::string & key, QTreeWidgetItem * item)
         {
-            auto childType = type.getMemberType(key);
             auto childData = data.getElement(key);
 
-            if (childType)
+            // We need this check here because getMemberType(key) throws
+            // instead of returning nullptr if the type doesn't have the key.
+            if (type.hasMemberType(key))
             {
-                this->update(item, key, childType, childData);
+                this->updateDispatch(item, key, type.getMemberType(key), childData);
+            }
+            else
+            {
+                this->updateDispatch(item, key, nullptr, childData);
             }
             return true;
         });
 
-        builder.updateTreeWithContainer(parent, type.getAllKeys());
+        builder.updateTreeWithContainer(parent, data.getAllKeys());
     }
 
 
@@ -86,22 +90,19 @@ namespace armarx::armem::gui::instance
                                           const aron::data::List& data)
     {
         auto childType = type.getAcceptedType();
-        if (childType)
-        {
-            auto children = data.getChildren();
+        auto children = data.getChildren();
 
-            ListBuilder builder = getListBuilder();
-            builder.setUpdateItemFn([this, &children, &childType](size_t key, QTreeWidgetItem * item)
+        ListBuilder builder = getListBuilder();
+        builder.setUpdateItemFn([this, &children, &childType](size_t key, QTreeWidgetItem * item)
+        {
+            if (auto childData = children.at(key))
             {
-                if (auto childData = children.at(key))
-                {
-                    this->update(item, std::to_string(key), childType, childData);
-                }
-                return true;
-            });
-
-            builder.updateTreeWithContainer(parent, getIndex(children.size()));
-        }
+                this->updateDispatch(item, std::to_string(key), childType, childData);
+            }
+            return true;
+        });
+
+        builder.updateTreeWithContainer(parent, getIndex(children.size()));
     }
 
 
@@ -119,10 +120,7 @@ namespace armarx::armem::gui::instance
             auto childType = i == 0 ? childTypes.first : childTypes.second;
             auto childData = data.getElement(static_cast<unsigned int>(i));
 
-            if (childType)
-            {
-                this->update(item, std::to_string(i), childType, childData);
-            }
+            this->updateDispatch(item, std::to_string(i), childType, childData);
             return true;
         });
 
@@ -135,22 +133,43 @@ namespace armarx::armem::gui::instance
         const aron::type::Tuple& type,
         const aron::data::List& data)
     {
+        // Allows tuples where the data list is longer than the type tuple -
+        // is that desired behavior?
+
         auto childTypes = type.getAcceptedTypes();
 
         ListBuilder builder = getListBuilder();
         builder.setUpdateItemFn([this, &data, &childTypes](size_t i, QTreeWidgetItem * item)
         {
-            auto childType = childTypes.at(i);
+            auto childType = (i < childTypes.size()) ? childTypes.at(i) : nullptr;
             auto childData = data.getElement(static_cast<unsigned int>(i));
 
-            if (childType)
-            {
-                this->update(item, std::to_string(i), childType, childData);
-            }
+            this->updateDispatch(item, std::to_string(i), childType, childData);
             return true;
         });
 
-        builder.updateTreeWithContainer(parent, getIndex(type.getAcceptedTypes().size()));
+        builder.updateTreeWithContainer(parent, getIndex(data.childrenSize()));
+    }
+
+
+    /*! Used so that elements in the data that don't appear in the type
+     *  can still be shown in the GUI if type information is enabled
+     *  (otherwise, they would be hidden).
+     */
+    void TypedDataTreeBuilder::updateDispatch(
+        QTreeWidgetItem* item,
+        const std::string& key,
+        const aron::type::VariantPtr& type,
+        const aron::data::VariantPtr& data)
+    {
+        if (type)
+        {
+            this->update(item, key, type, data);
+        }
+        else
+        {
+            this->update(item, key, data);
+        }
     }
 
 
@@ -217,6 +236,33 @@ namespace armarx::armem::gui::instance
                 _updateTree(item, *t, *d);
             }
             // else???
+            // phesch: else we stop here, since there's no container to recurse into.
+        }
+    }
+
+    
+    void TypedDataTreeBuilder::update(QTreeWidgetItem* item,
+        const std::string& key,
+        const aron::data::VariantPtr& data)
+    {
+        if (data)
+        {
+            this->setRowTexts(item, key, data);
+
+            if (auto cast = aron::data::Dict::DynamicCast(data))
+            {
+                DataTreeBuilder builder;
+                builder.updateTree(item, cast);
+            }
+            else if (auto cast = aron::data::List::DynamicCast(data))
+            {
+                DataTreeBuilder builder;
+                builder.updateTree(item, cast);
+            }
+        }
+        else
+        {
+            this->setRowTexts(item, key, "(none)");
         }
     }
 

source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h

@@ -49,11 +49,20 @@ namespace armarx::armem::gui::instance
 
     protected:
 
+        void updateDispatch(QTreeWidgetItem* item,
+                    const std::string& key,
+                    const aron::type::VariantPtr& type,
+                    const aron::data::VariantPtr& data);
+
         void update(QTreeWidgetItem* item,
                     const std::string& key,
                     const aron::type::VariantPtr& type,
                     const aron::data::VariantPtr& data);
 
+        void update(QTreeWidgetItem* item,
+                    const std::string& key,
+                    const aron::data::VariantPtr& data);
+
         template <class DataT, class TypeT>
         void _updateTree(QTreeWidgetItem* item, TypeT& type, DataT& data);
 

source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp

@@ -105,7 +105,7 @@ namespace armarx::aron::type
 
     VariantPtr Object::getMemberType(const std::string& s) const
     {
-        if (memberTypes.find(s) == memberTypes.end() and !extends->hasMemberType(s))
+        if (memberTypes.find(s) == memberTypes.end() and not (extends and extends->hasMemberType(s)))
         {
             throw error::ValueNotValidException("ObjectNavigator", "getMemberType", "Member not set. The list of all members is: " + simox::alg::to_string(simox::alg::get_keys(memberTypes)), s);
         }