From e42d780e96f93f2ce0d3bd0eb4a6f2e74d98ac2b Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Wed, 15 Nov 2023 08:03:49 +0100
Subject: [PATCH] fix designated initializers. Readd missing method from MR
---
.../SkillManagerMonitorWidgetController.cpp | 50 +++++++++++++++++--
.../SkillManagerMonitorWidgetController.h | 14 ++++--
.../provider/SkillProviderComponentPlugin.cpp | 7 +--
3 files changed, 58 insertions(+), 13 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 72a1aff30..4a6b6d898 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -22,9 +22,12 @@
#include "SkillManagerMonitorWidgetController.h"
+#include <optional>
#include <regex>
#include <string>
+#include <SimoxUtility/algorithm/string.h>
+
#include <RobotAPI/libraries/skills/core/Skill.h>
#include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
@@ -35,9 +38,11 @@
#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
// debug
+#include <QAction>
#include <QClipboard>
#include <QDoubleSpinBox>
#include <QGridLayout>
+#include <QMenu>
#include <QTextBrowser>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
@@ -54,6 +59,9 @@
//configSk
namespace armarx
{
+ const skills::SkillID SkillManagerMonitorWidgetController::SelectedSkill::UNK_SKILL_ID =
+ skills::SkillID{.providerId = ::std::nullopt, .skillName = skills::SkillID::UNKNOWN};
+
QPointer<QDialog>
SkillManagerMonitorWidgetController::getConfigDialog(QWidget* parent)
{
@@ -88,6 +96,38 @@ namespace armarx
// Others
namespace armarx
{
+ void
+ SkillManagerMonitorWidgetController::prepareAndRunMenu(const QPoint& pos)
+ {
+ QMenu* menu = new QMenu();
+
+ // Stop skill
+ QAction* stopSkillAction = new QAction("Stop Skill", this);
+ skills::SkillStatus currentStatus =
+ skillStatusUpdates.at(selectedSkill.skillExecutionId).status;
+ stopSkillAction->setDisabled(currentStatus == skills::SkillStatus::Aborted ||
+ currentStatus == skills::SkillStatus::Failed ||
+ currentStatus == skills::SkillStatus::Succeeded);
+
+ 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);
+
+ // Temporarily disable rerun-skill-Action
+ rerunSkillAction->setDisabled(true);
+
+ // open menu
+ menu->popup(widget.treeWidgetSkillExecutions->viewport()->mapToGlobal(pos));
+ }
+
SkillExecutionInfoTreeWidgetItem*
SkillExecutionInfoTreeWidgetItem::SearchRecursiveForMatch(
SkillExecutionInfoTreeWidgetItem* haystack,
@@ -255,7 +295,7 @@ namespace armarx
for (auto it = update.begin(); it != update.end();)
{
- if (boost::algorithm::to_lower_copy(skills::SkillID::FromIce(it->first).skillName)
+ if (simox::alg::to_lower(skills::SkillID::FromIce(it->first).skillName)
.find(this->currentSkillSearch.toLower().toStdString()))
{
update.erase(it++);
@@ -540,10 +580,10 @@ namespace armarx
char hostname[HOST_NAME_MAX];
gethostname(hostname, HOST_NAME_MAX);
- skills::SkillExecutionRequest req(selectedSkill.skillId,
- "Skills.Manager GUI (hostname: " + std::string(hostname) +
- ")",
- params);
+ skills::SkillExecutionRequest req{
+ .skillId = selectedSkill.skillId,
+ .executorName = "Skills.Manager GUI (hostname: " + std::string(hostname) + ")",
+ .parameters = params};
ARMARX_CHECK(selectedSkill.skillId.isFullySpecified()); // 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 318ef468b..d20cb0835 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -164,18 +164,22 @@ namespace armarx
// User Input
struct SelectedSkill
{
+ static const skills::SkillID UNK_SKILL_ID;
+
skills::SkillID skillId;
skills::SkillExecutionID skillExecutionId;
// make default constructable
SelectedSkill() :
- skillId({}, skills::SkillID::UNKNOWN),
- skillExecutionId({{}, skills::SkillID::UNKNOWN},
- skills::SkillExecutionID::UNKNOWN,
- armarx::core::time::DateTime::Invalid())
+ skillId(UNK_SKILL_ID),
+ skillExecutionId{.skillId = UNK_SKILL_ID,
+ .executorName = skills::SkillExecutionID::UNKNOWN,
+ .executionStartedTime = armarx::core::time::DateTime::Invalid()}
{
}
- } selectedSkill;
+ }
+
+ selectedSkill;
void executeSkillWithParams(skills::SkillID skillId, aron::data::DictPtr params);
void matchSkillUpdateToSearch(std::map<skills::manager::dto::SkillID,
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index e4d3235a3..a42d78082 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -190,9 +190,10 @@ namespace armarx::plugins
{
ARMARX_CHECK(executionRequest.skillId.isFullySpecified());
- skills::SkillExecutionID executionId(executionRequest.skillId,
- executionRequest.executorName,
- armarx::core::time::DateTime::Now());
+ skills::SkillExecutionID executionId{.skillId = executionRequest.skillId,
+ .executorName = executionRequest.executorName,
+ .executionStartedTime =
+ armarx::core::time::DateTime::Now()};
skills::SkillStatusUpdate ret{
{executionId, executionRequest.parameters, executionRequest.callbackInterface}};
--
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