From f6c2a9fa75831ac279fe1ee22d91c9db29dc98a8 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 3 Nov 2023 11:07:34 +0100
Subject: [PATCH] Enable Markdown support in display of skill description in
Skill Manager Gui
---
.../SkillManagerPlugin/CMakeLists.txt | 10 +-
.../SkillManagerMonitorWidget.ui | 199 ++++++++++++------
.../SkillManagerMonitorWidgetController.cpp | 48 ++---
.../SkillManagerMonitorWidgetController.h | 3 +
.../widgets/SkillDescriptionWidget.cpp | 72 +++++++
.../widgets/SkillDescriptionWidget.h | 27 +++
6 files changed, 255 insertions(+), 104 deletions(-)
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.cpp
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.h
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
index a6d2ff63c..113ccd870 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
@@ -10,12 +10,13 @@ set(SOURCES
aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
- aronTreeWidget/Data.cpp
aronTreeWidget/widgets/CustomWidget.cpp
aronTreeWidget/widgets/EditMatrixWidget.cpp
aronTreeWidget/widgets/IntEnumWidget.cpp
- aronTreeWidget/ListDictHelper.cpp
aronTreeWidget/widgets/QuaternionWidget.cpp
+ aronTreeWidget/widgets/SkillDescriptionWidget.cpp
+ aronTreeWidget/Data.cpp
+ aronTreeWidget/ListDictHelper.cpp
aronTreeWidget/AronTreeWidgetItem.cpp
aronTreeWidget/AronTreeWidgetController.cpp
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.cpp
@@ -34,13 +35,14 @@ set(HEADERS
aronTreeWidget/visitors/AronTreeWidgetSetter.h
aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
aronTreeWidget/visitors/AronTreeWidgetContextMenu.h
- aronTreeWidget/Data.h
aronTreeWidget/widgets/NDArrayHelper.h
aronTreeWidget/widgets/EditMatrixWidget.h
aronTreeWidget/widgets/CustomWidget.h
aronTreeWidget/widgets/IntEnumWidget.h
- aronTreeWidget/ListDictHelper.h
aronTreeWidget/widgets/QuaternionWidget.h
+ aronTreeWidget/widgets/SkillDescriptionWidget.h
+ aronTreeWidget/Data.h
+ aronTreeWidget/ListDictHelper.h
aronTreeWidget/AronTreeWidgetItem.h
aronTreeWidget/AronTreeWidgetController.h
aronTreeWidget/modal/AronTreeWidgetModal.h
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index b96d3850e..83e522b9d 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -20,6 +20,9 @@
<string>SkillManagerMonitorWidget</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
+ <item row="3" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
+ </item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBoxAutoUpdate">
<property name="text">
@@ -27,16 +30,6 @@
</property>
</widget>
</item>
- <item row="3" column="3">
- <widget class="QPushButton" name="pushButtonRefreshNow">
- <property name="text">
- <string>Refresh Now</string>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
- </item>
<item row="3" column="1">
<widget class="QLabel" name="label">
<property name="text">
@@ -47,6 +40,13 @@
</property>
</widget>
</item>
+ <item row="3" column="3">
+ <widget class="QPushButton" name="pushButtonRefreshNow">
+ <property name="text">
+ <string>Refresh Now</string>
+ </property>
+ </widget>
+ </item>
<item row="4" column="0" colspan="4">
<widget class="QSplitter" name="splitter_2">
<property name="enabled">
@@ -190,72 +190,137 @@
<property name="title">
<string>Skill Details</string>
</property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="8" column="3">
- <widget class="QPushButton" name="pushButtonExecuteSkill">
- <property name="text">
- <string>Request Execution</string>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter_2">
+ <property name="enabled">
+ <bool>true</bool>
</property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QPushButton" name="pushButtonPaste">
- <property name="text">
- <string>Set args from clipboard</string>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- </widget>
- </item>
- <item row="0" column="3">
- <widget class="QPushButton" name="pushButtonReset">
- <property name="text">
- <string>Reset args to profile</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0" colspan="4">
- <widget class="QTreeWidget" name="treeWidgetSkillDetails">
- <property name="contextMenuPolicy">
- <enum>Qt::CustomContextMenu</enum>
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
</property>
- <property name="editTriggers">
- <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
+ <property name="childrenCollapsible">
+ <bool>false</bool>
</property>
- <column>
- <property name="text">
- <string>Key</string>
+ <widget class="QWidget" name="groupBoxSkillDetailsTop" native="true">
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <property name="leftMargin">
+ <number>0</number>
</property>
- </column>
- <column>
- <property name="text">
- <string>Value</string>
+ <property name="topMargin">
+ <number>0</number>
</property>
- </column>
- <column>
- <property name="text">
- <string>Type</string>
+ <property name="rightMargin">
+ <number>0</number>
</property>
- </column>
- <column>
- <property name="text">
- <string>defaultValue (hidden in GUI)</string>
+ <property name="bottomMargin">
+ <number>0</number>
</property>
- </column>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QPushButton" name="pushButtonCopy">
- <property name="text">
- <string>Copy args to clipboard</string>
- </property>
+ <item>
+ <layout class="QGridLayout" name="gridLayout_5">
+ <item row="0" column="0">
+ <widget class="QPushButton" name="pushButtonPaste">
+ <property name="text">
+ <string>Set args from clipboard</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset args to profile</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0" colspan="4">
+ <widget class="QComboBox" name="comboBoxProfiles">
+ <item>
+ <property name="text">
+ <string><No Profile selected. Using root></string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="pushButtonCopy">
+ <property name="text">
+ <string>Copy args to clipboard</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QWidget" name="skillDescription" native="true"/>
+ </item>
+ </layout>
</widget>
- </item>
- <item row="1" column="1" colspan="3">
- <widget class="QComboBox" name="comboBoxProfiles">
- <item>
- <property name="text">
- <string><No Profile selected. Using root></string>
- </property>
- </item>
+ <widget class="QWidget" name="groupBoxSkillDetailsBottom" native="true">
+ <layout class="QVBoxLayout" name="verticalLayout_3">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QTreeWidget" name="treeWidgetSkillDetails">
+ <property name="contextMenuPolicy">
+ <enum>Qt::CustomContextMenu</enum>
+ </property>
+ <property name="editTriggers">
+ <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
+ </property>
+ <column>
+ <property name="text">
+ <string>Key</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Value</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Type</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>defaultValue (hidden in GUI)</string>
+ </property>
+ </column>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pushButtonExecuteSkill">
+ <property name="text">
+ <string>Request Execution</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
</layout>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index b35fb56f3..8b88718f9 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -24,25 +24,22 @@
#include <string>
-#include <RobotAPI/libraries/skills/core/Skill.h>
-
-#include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
-#include "aronTreeWidget/visitors/AronTreeWidgetCreator.h"
-#include "aronTreeWidget/visitors/AronTreeWidgetModalCreator.h"
-
-// modals
-#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
-
-// debug
#include <QClipboard>
#include <QDoubleSpinBox>
+#include <QGridLayout>
+#include <QTextBrowser>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillExecutionRequest.h>
#include "aronTreeWidget/Data.h"
+#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
+#include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
+#include "aronTreeWidget/visitors/AronTreeWidgetCreator.h"
+#include "aronTreeWidget/visitors/AronTreeWidgetModalCreator.h"
+#include "aronTreeWidget/widgets/SkillDescriptionWidget.h"
-//configSk
namespace armarx
{
QPointer<QDialog>
@@ -112,6 +109,12 @@ namespace armarx
widget.doubleSpinBoxUpdateFreq->setSingleStep(0.5);
widget.doubleSpinBoxUpdateFreq->setSuffix(" Hz");
+ skillDescriptionWidget = new SkillDescriptionWidget();
+ widget.skillDescription->parentWidget()->layout()->replaceWidget(widget.skillDescription,
+ skillDescriptionWidget);
+ widget.skillDescription = skillDescriptionWidget;
+
+
refreshSkillsResultTimer = new QTimer(this);
updateTimerFrequency();
refreshSkillsResultTimer->start();
@@ -534,28 +537,7 @@ namespace armarx
ARMARX_CHECK(skills.at(*selectedSkill.skillId.providerId).count(selectedSkill.skillId) > 0);
auto skillDesc = skills.at(*selectedSkill.skillId.providerId).at(selectedSkill.skillId);
- {
- auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Name"),
- QString::fromStdString(skillDesc.skillId.skillName)});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
-
- {
- auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Description"),
- QString::fromStdString(skillDesc.description)});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
-
- {
- auto it = new QTreeWidgetItem(
- widget.treeWidgetSkillDetails,
- {QString::fromStdString("Timeout"),
- QString::fromStdString(std::to_string(skillDesc.timeout.toMilliSeconds())) +
- " ms"});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
+ skillDescriptionWidget->setSkillDescription(skillDesc);
// select root profile
widget.comboBoxProfiles->setCurrentIndex(0);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 1fd2e2f11..9f251bf9e 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -46,6 +46,8 @@
namespace armarx
{
+ class SkillDescriptionWidget;
+
class SkillInfoTreeWidgetItem : public QTreeWidgetItem
{
public:
@@ -166,6 +168,7 @@ namespace armarx
// others
QTimer* refreshSkillsResultTimer;
+ SkillDescriptionWidget* skillDescriptionWidget = nullptr;
// connected flag
std::atomic_bool connected = false;
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.cpp
new file mode 100644
index 000000000..60f5908c7
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.cpp
@@ -0,0 +1,72 @@
+#include "SkillDescriptionWidget.h"
+
+#include <sstream>
+
+#include <QGridLayout>
+#include <QLabel>
+#include <QTextEdit>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/cpp-markdown/markdown.h> // ToDo: Move cpp-markdown to own Axii module.
+
+namespace armarx
+{
+
+ static std::string
+ markdownToHtml(const std::string& markdownText, size_t spacesPerTab = 2)
+ {
+ ::markdown::Document document(spacesPerTab);
+ document.read(markdownText);
+
+ std::stringstream html;
+ document.write(html);
+ return html.str();
+ }
+
+ SkillDescriptionWidget::SkillDescriptionWidget(QWidget* parent) : QWidget{parent}
+ {
+ QGridLayout* layout = new QGridLayout;
+ setLayout(layout);
+
+ layout->setMargin(0);
+
+ int row = 0;
+ int col = 0;
+
+ layout->addWidget(new QLabel("Name:"), row, col++);
+ name = new QLabel;
+ layout->addWidget(name, row, col++);
+
+ // Add some padding.
+ layout->addWidget(new QLabel(), row, col++);
+
+ {
+ QLabel* label = new QLabel("Timeout:");
+ label->setAlignment(Qt::AlignmentFlag::AlignRight);
+ layout->addWidget(label, row, col++);
+ }
+ timeout = new QLabel;
+ timeout->setAlignment(Qt::AlignmentFlag::AlignRight);
+ layout->addWidget(timeout, row, col++);
+
+ ++row;
+ int numCols = col;
+ col = 0;
+
+ description = new QTextEdit;
+ description->setReadOnly(true);
+ layout->addWidget(description, row, col, 1, numCols);
+ ++row;
+ }
+
+ void
+ SkillDescriptionWidget::setSkillDescription(const skills::SkillDescription& desc)
+ {
+ name->setText(QString::fromStdString(desc.skillId.skillName));
+ description->setHtml(QString::fromStdString(markdownToHtml(desc.description)));
+
+ std::stringstream timeoutStr;
+ timeoutStr << desc.timeout;
+ timeout->setText(QString::fromStdString(timeoutStr.str()));
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.h
new file mode 100644
index 000000000..b58f06d0d
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <QWidget>
+
+#include <RobotAPI/libraries/skills/core/SkillDescription.h>
+
+class QLabel;
+class QTextEdit;
+
+namespace armarx
+{
+
+ class SkillDescriptionWidget : public QWidget
+ {
+ public:
+ SkillDescriptionWidget(QWidget* parent = nullptr);
+
+ void setSkillDescription(const skills::SkillDescription& desc);
+
+ private:
+ QLabel* name = nullptr;
+ QTextEdit* description = nullptr;
+ QLabel* timeout = nullptr;
+ };
+
+
+} // namespace armarx
--
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