From 8b4c82206ab5ce6237b97a7b9454aa04d1950598 Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Mon, 23 Oct 2023 16:02:38 +0200
Subject: [PATCH] Implemented re-running a Skill with similar parameters
---
.../SkillManagerMonitorWidgetController.cpp | 43 +++++++++++++------
.../SkillManagerMonitorWidgetController.h | 7 ++-
2 files changed, 36 insertions(+), 14 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index be7b4593e..4b7833160 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -95,12 +95,17 @@ namespace armarx
currentStatus == skills::SkillStatus::Failed ||
currentStatus == skills::SkillStatus::Succeeded);
- // TODO: re-run with similar params; remove skill entry (if finished)
+ QAction* rerunSkillAction = new QAction("Re-run with similar params", this);
menu->addAction(stopSkillAction);
+ menu->addAction(rerunSkillAction);
connect(stopSkillAction,
&QAction::triggered,
this,
&SkillManagerMonitorWidgetController::stopSkill);
+ connect(rerunSkillAction,
+ &QAction::triggered,
+ this,
+ &SkillManagerMonitorWidgetController::rerunSkillWithSimilarParams);
// open menu
menu->popup(widget.treeWidgetSkillExecutions->viewport()->mapToGlobal(pos));
}
@@ -168,7 +173,7 @@ namespace armarx
connect(widget.pushButtonExecuteSkill,
&QPushButton::clicked,
this,
- &SkillManagerMonitorWidgetController::executeSkill);
+ &SkillManagerMonitorWidgetController::executeSelectedSkill);
connect(widget.treeWidgetSkills,
&QTreeWidget::currentItemChanged,
@@ -396,8 +401,10 @@ namespace armarx
auto executionId = skills::SkillExecutionID::FromIce(k);
auto statusUpdate = skills::SkillStatusUpdate::FromIce(v);
- // update snapshot
+ // update maps
skillStatusUpdates.insert_or_assign(executionId, statusUpdate);
+ skillExecutionParams.insert_or_assign(executionId,
+ statusUpdate.usedParameterization);
SkillExecutionInfoTreeWidgetItem* found = nullptr;
for (int i = 0; i < widget.treeWidgetSkillExecutions->topLevelItemCount(); ++i)
@@ -468,31 +475,41 @@ namespace armarx
}
void
- SkillManagerMonitorWidgetController::executeSkill()
+ SkillManagerMonitorWidgetController::executeSelectedSkill()
{
- if (not selectedSkill.skillId.fullySpecified())
- {
- return;
- }
+ auto data = getConfigAsAron();
+ executeSkillWithParams(selectedSkill.skillId, data);
+ }
+ void
+ SkillManagerMonitorWidgetController::rerunSkillWithSimilarParams()
+ {
+ skills::SkillParameterization selectedExecutionParams =
+ skillExecutionParams.at(selectedSkill.skillExecutionId);
+ executeSkillWithParams(selectedSkill.skillExecutionId.skillId,
+ selectedExecutionParams.parameterization);
+ }
+
+ void
+ SkillManagerMonitorWidgetController::executeSkillWithParams(skills::SkillID skillId,
+ aron::data::DictPtr params)
+ {
std::scoped_lock l(updateMutex);
- auto providerId = skills::ProviderID(selectedSkill.skillId);
+ auto providerId = skills::ProviderID(skillId);
const auto& skillDescriptions = skills.at(providerId);
- if (skillDescriptions.find(selectedSkill.skillId) == skillDescriptions.end())
+ if (skillDescriptions.find(skillId) == skillDescriptions.end())
{
return;
}
- auto data = getConfigAsAron();
-
char hostname[HOST_NAME_MAX];
gethostname(hostname, HOST_NAME_MAX);
skills::SkillExecutionRequest req(selectedSkill.skillId,
"Skills.Manager GUI (hostname: " + std::string(hostname) +
")",
- data);
+ params);
ARMARX_CHECK(selectedSkill.skillId.fullySpecified()); // sanity check
ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.skillId << ".";
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 4a7d0e79e..ce93db4e5 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -119,7 +119,7 @@ namespace armarx
void skillExecutionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
void stopSkill();
- void executeSkill();
+ void executeSelectedSkill();
void updateTimerFrequency();
void refreshSkills();
@@ -131,6 +131,7 @@ namespace armarx
void resetCurrentConfig();
void prepareAndRunMenu(const QPoint& pos);
+ void rerunSkillWithSimilarParams();
private:
@@ -151,6 +152,8 @@ namespace armarx
std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>> skills =
{};
std::map<skills::SkillExecutionID, skills::SkillStatusUpdate> skillStatusUpdates = {};
+ // store copies (!) of skill descriptions
+ std::map<skills::SkillExecutionID, skills::SkillParameterization> skillExecutionParams = {};
// User Input
struct SelectedSkill
@@ -168,6 +171,8 @@ namespace armarx
}
} selectedSkill;
+ void executeSkillWithParams(skills::SkillID skillId, aron::data::DictPtr params);
+
// Helper to get the treeWidgetItem easily
QTreeWidgetItem* skillsArgumentsTreeWidgetItem = nullptr;
AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;
--
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