From db82b27607eab33581f914f72b9013c45954859b Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 18 May 2023 17:11:52 +0200
Subject: [PATCH] add sanity checks and refresh button for manager gui
---
.../SkillManagerMonitorWidget.ui | 22 +++++-
.../SkillManagerMonitorWidgetController.cpp | 16 +++-
.../SkillManagerMonitorWidgetController.h | 1 +
.../manager/SkillManagerComponentPlugin.cpp | 74 +++++++++++++------
4 files changed, 84 insertions(+), 29 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 1e80202ef..7c25a1b84 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -78,14 +78,17 @@
<string>Manager</string>
</property>
<layout class="QGridLayout" name="gridLayout">
- <item row="2" column="0">
+ <item row="3" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
+ </item>
+ <item row="3" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Update Frequency:</string>
</property>
</widget>
</item>
- <item row="3" column="0" colspan="3">
+ <item row="4" column="0" colspan="3">
<widget class="QTreeWidget" name="treeWidgetSkills">
<column>
<property name="text">
@@ -104,8 +107,19 @@
</column>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
+ <item row="2" column="0">
+ <widget class="QCheckBox" name="autoUpdateCheckBox">
+ <property name="text">
+ <string>Auto Update</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QPushButton" name="refreshNowPushButton">
+ <property name="text">
+ <string>Refresh Now</string>
+ </property>
+ </widget>
</item>
</layout>
</widget>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 85237f794..f9fa41252 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -99,7 +99,7 @@ namespace armarx
connect(refreshSkillsResultTimer,
&QTimer::timeout,
this,
- &SkillManagerMonitorWidgetController::refreshSkills);
+ &SkillManagerMonitorWidgetController::refreshSkillsPeriodically);
connect(widget.pushButtonCopy,
&QPushButton::clicked,
@@ -123,6 +123,11 @@ namespace armarx
&QTreeWidget::currentItemChanged,
this,
&SkillManagerMonitorWidgetController::skillSelectionChanged);
+
+ connect(widget.refreshNowPushButton,
+ &QPushButton::clicked,
+ this,
+ &SkillManagerMonitorWidgetController::refreshSkills);
}
SkillManagerMonitorWidgetController::~SkillManagerMonitorWidgetController()
@@ -169,6 +174,15 @@ namespace armarx
refreshSkillsResultTimer->setInterval(f);
}
+ void
+ SkillManagerMonitorWidgetController::refreshSkillsPeriodically()
+ {
+ if (widget.autoUpdateCheckBox->isChecked())
+ {
+ refreshSkills();
+ }
+ }
+
void
SkillManagerMonitorWidgetController::refreshSkills()
{
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index e30b00cf0..f1ad1bb72 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -81,6 +81,7 @@ namespace armarx
void updateTimerFrequency();
void refreshSkills();
+ void refreshSkillsPeriodically();
void copyCurrentConfig();
void pasteCurrentConfig();
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index f0171437b..2908d2e77 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -112,24 +112,32 @@ namespace armarx
const auto& n = it->first;
const auto& s = it->second;
- if (s)
+ try
{
- skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
- getProxy(myPrx, -1);
+ if (s)
+ {
+ skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
+ getProxy(myPrx, -1);
- skills::provider::dto::SkillExecutionRequest exInfo;
- exInfo.skillName = info.skillId.skillName;
- exInfo.executorName = info.executorName;
- exInfo.callbackInterface = myPrx;
- exInfo.params = info.params;
+ skills::provider::dto::SkillExecutionRequest exInfo;
+ exInfo.skillName = info.skillId.skillName;
+ exInfo.executorName = info.executorName;
+ exInfo.callbackInterface = myPrx;
+ exInfo.params = info.params;
- return s->executeSkill(exInfo);
+ return s->executeSkill(exInfo);
+ }
+ else
+ {
+ remove = true;
+ }
}
- else
+ catch (...)
{
remove = true;
}
+
if (remove)
{
std::scoped_lock l(skillProviderMapMutex);
@@ -137,8 +145,9 @@ namespace armarx
SkillProviderInterfacePrxMap& skillProviderMap = this->skillProviderMap;
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
- << n << "' during execution. Removing it from skills.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__
+ << ": Found disconnected or buggy skill provider '" << n
+ << "' during execution. Removing it from skills.";
it = skillProviderMap.erase(it);
}
}
@@ -170,14 +179,22 @@ namespace armarx
{
const auto& n = it->first;
const auto& s = it->second;
- if (s)
+ try
{
- s->abortSkill(skillName);
+ if (s)
+ {
+ s->abortSkill(skillName);
+ }
+ else
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << n << "'. Removing it from skills on next execute.";
+ }
}
- else
+ catch (...)
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
- << n << "'. Removing it from skills on next execute.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '" << n
+ << "'. Removing it from skills on next execute.";
}
}
}
@@ -236,16 +253,25 @@ namespace armarx
{
const auto& n = it->first;
const auto& s = it->second;
- if (s)
+ try
{
- skills::provider::dto::SkillStatusUpdateMap m = s->getSkillExecutionStatuses();
- ret.insert({n, m});
- it++;
+ if (s)
+ {
+ skills::provider::dto::SkillStatusUpdateMap m = s->getSkillExecutionStatuses();
+ ret.insert({n, m});
+ it++;
+ }
+ else
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << n << "'. Removing it from skills.";
+ it = skillProviderMap.erase(it);
+ }
}
- else
+ catch (...)
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
- << n << "'. Removing it from skills.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '" << n
+ << "'. Removing it from skills.";
it = skillProviderMap.erase(it);
}
}
--
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