SkillManagerMonitorWidgetController.h

/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once

#include <stack>
#include <thread>
#include <vector>

#include <QTimer>

#include <ArmarXCore/core/system/ImportExportComponent.h>

#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>

#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
#include <RobotAPI/libraries/skills/core/ProviderID.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>

#include "aronTreeWidget/AronTreeWidgetController.h"

namespace armarx
{
    class SkillDescriptionWidget;

    class SkillInfoTreeWidgetItem : public QTreeWidgetItem
    {
    public:
        SkillInfoTreeWidgetItem(const skills::SkillDescription& desc, QTreeWidgetItem* parent) :
            QTreeWidgetItem(parent), skillDescription(desc)
        {
        }

        SkillInfoTreeWidgetItem(const skills::SkillDescription& desc, QTreeWidget* parent) :
            QTreeWidgetItem(parent), skillDescription(desc)
        {
        }

        skills::SkillDescription skillDescription;
    };

    class SkillExecutionInfoTreeWidgetItem : public QTreeWidgetItem
    {
        //Q_OBJECT
    public:
        SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id,
                                         QTreeWidgetItem* parent) :
            QTreeWidgetItem(parent), executionId(id)
        {
        }

        SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id, QTreeWidget* parent) :
            QTreeWidgetItem(parent), executionId(id)
        {
        }

        static SkillExecutionInfoTreeWidgetItem*
        SearchRecursiveForMatch(SkillExecutionInfoTreeWidgetItem* el,
                                const skills::SkillExecutionID& needle);

        skills::SkillExecutionID executionId;
    };

    class ARMARXCOMPONENT_IMPORT_EXPORT SkillManagerMonitorWidgetController :
        public armarx::ArmarXComponentWidgetControllerTemplate<SkillManagerMonitorWidgetController>
    {
        Q_OBJECT

    public:
        /// Controller Constructor
        explicit SkillManagerMonitorWidgetController();
        /// Controller destructor
        virtual ~SkillManagerMonitorWidgetController();

        void loadSettings(QSettings* settings) override;
        void saveSettings(QSettings* settings) override;
        QPointer<QDialog> getConfigDialog(QWidget* parent) override;
        void configured() override;

        /**
         * Returns the Widget name displayed in the ArmarXGui to create an
         * instance of this class.
         */
        static QString
        GetWidgetName()
        {
            return "Skills.Manager";
        }

        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;

    private slots:
        void skillSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
        void skillExecutionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);

        void stopSkill();
        void executeSelectedSkill();

        void updateTimerFrequency();
        void refreshSkills();
        void refreshExecutions();
        void refreshSkillsAndExecutions();

        void copyCurrentConfig();
        void pasteCurrentConfig();
        void resetCurrentConfig();

        void prepareAndRunMenu(const QPoint& pos);
        void rerunSkillWithSimilarParams();

        void searchSkills();


    private:
        aron::data::DictPtr getConfigAsAron() const;

    private:
        /**
         * Widget Form
         */
        Ui::SkillManagerMonitorWidget widget;
        QPointer<SimpleConfigDialog> dialog;
        QString currentSkillSearch;

        std::string observerName = "SkillManager";
        skills::dti::SkillMemoryInterfacePrx memory = nullptr;

        // Data taken from observer (snapshot of it)
        mutable std::mutex updateMutex;
        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
        {
            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())
            {
            }
        } selectedSkill;

        void executeSkillWithParams(skills::SkillID skillId, aron::data::DictPtr params);
        void matchSkillUpdateToSearch(std::map<skills::manager::dto::SkillID,
                                               skills::manager::dto::SkillDescription>& update);

        // Helper to get the treeWidgetItem easily
        QTreeWidgetItem* skillsArgumentsTreeWidgetItem = nullptr;
        AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;

        // others
        QTimer* refreshSkillsResultTimer;
        SkillDescriptionWidget* skillDescriptionWidget = nullptr;

        // connected flag
        std::atomic_bool connected = false;
    };
} // namespace armarx