From 51903cf6512860e84ed2197e0aae6ef9b1183e87 Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Thu, 16 Nov 2023 15:32:05 +0100
Subject: [PATCH] Added stop all button, and implemented update widget
---
.../PeriodicUpdateWidget.cpp | 2 +-
.../SkillManagerMonitorWidget.ui | 85 +++++++++++--------
.../SkillManagerMonitorWidgetController.cpp | 63 +++++++-------
.../SkillManagerMonitorWidgetController.h | 15 ++--
4 files changed, 91 insertions(+), 74 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp
index d039d0d54..e23920f1b 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp
@@ -12,7 +12,7 @@ namespace armarx
{
PeriodicUpdateWidget::PeriodicUpdateWidget(double frequency, double maxFrequency)
{
- setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
+ setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Minimum);
QLayout* vlayout = new QVBoxLayout();
QLayout* hlayout = new QHBoxLayout();
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 5ff285285..abc07d96c 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -6,12 +6,12 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1060</width>
- <height>657</height>
+ <width>1126</width>
+ <height>729</height>
</rect>
</property>
<property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -19,41 +19,14 @@
<property name="windowTitle">
<string>SkillManagerMonitorWidget</string>
</property>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="3" column="0">
- <widget class="QCheckBox" name="checkBoxAutoUpdate">
- <property name="text">
- <string>Auto Update</string>
- </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">
- <string>Update Frequency:</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
- </property>
- </widget>
- </item>
- <item row="4" column="0" colspan="4">
+ <layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0">
+ <item row="3" column="0" colspan="2">
<widget class="QSplitter" name="splitter_2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -75,7 +48,7 @@
<string>Executions</string>
</property>
<layout class="QGridLayout" name="gridLayout_4">
- <item row="1" column="0" colspan="3">
+ <item row="0" column="0" colspan="3">
<widget class="QTreeWidget" name="treeWidgetSkillExecutions">
<property name="contextMenuPolicy">
<enum>Qt::CustomContextMenu</enum>
@@ -249,6 +222,50 @@
</widget>
</widget>
</item>
+ <item row="0" column="0" rowspan="3" colspan="2">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetDefaultConstraint</enum>
+ </property>
+ <item>
+ <layout class="QHBoxLayout" name="updateWidgetLayout">
+ <item>
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Expanding</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="stopAllLayout">
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
</layout>
</widget>
<resources/>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 83bfd04d2..fb8a1ba37 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -35,9 +35,6 @@
// modals
-#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
-
-// debug
#include <QAction>
#include <QClipboard>
#include <QDoubleSpinBox>
@@ -47,6 +44,7 @@
#include <RobotAPI/libraries/skills/core/SkillExecutionRequest.h>
#include "aronTreeWidget/Data.h"
+#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
//configSk
namespace armarx
@@ -142,30 +140,25 @@ namespace armarx
SkillManagerMonitorWidgetController::SkillManagerMonitorWidgetController()
{
widget.setupUi(getWidget());
+ this->updateWidget = new PeriodicUpdateWidget(2.0, 60);
+ widget.updateWidgetLayout->insertWidget(0, updateWidget);
- double default_hz = 2;
- widget.doubleSpinBoxUpdateFreq->setValue(default_hz);
- widget.doubleSpinBoxUpdateFreq->setMinimum(0.5);
- widget.doubleSpinBoxUpdateFreq->setMaximum(20);
- widget.doubleSpinBoxUpdateFreq->setSingleStep(0.5);
- widget.doubleSpinBoxUpdateFreq->setSuffix(" Hz");
- this->currentSkillSearch = QString("");
+ this->stopAllButton = new QPushButton("Stop all executions");
+ widget.stopAllLayout->addWidget(stopAllButton);
- refreshSkillsResultTimer = new QTimer(this);
- updateTimerFrequency();
- refreshSkillsResultTimer->start();
+ this->currentSkillSearch = QString("");
+ connect(this->stopAllButton,
+ &QPushButton::clicked,
+ this,
+ &SkillManagerMonitorWidgetController::stopAllExecutions);
connect(widget.treeWidgetSkillExecutions,
&QTreeWidget::customContextMenuRequested,
this,
&SkillManagerMonitorWidgetController::prepareAndRunMenu);
- connect(widget.doubleSpinBoxUpdateFreq,
- &QDoubleSpinBox::editingFinished,
- this,
- &SkillManagerMonitorWidgetController::updateTimerFrequency);
- connect(refreshSkillsResultTimer,
- &QTimer::timeout,
+ connect(updateWidget,
+ &armarx::PeriodicUpdateWidget::update,
this,
&SkillManagerMonitorWidgetController::refreshSkillsAndExecutions);
@@ -193,10 +186,10 @@ namespace armarx
this,
&SkillManagerMonitorWidgetController::skillExecutionSelectionChanged);
- connect(widget.pushButtonRefreshNow,
+ /*connect(widget.pushButtonRefreshNow,
&QPushButton::clicked,
this,
- &SkillManagerMonitorWidgetController::refreshSkills);
+ &SkillManagerMonitorWidgetController::refreshSkills);*/
connect(widget.pushButtonSearch,
&QPushButton::clicked,
this,
@@ -227,6 +220,7 @@ namespace armarx
widget.treeWidgetSkillDetails->setColumnHidden(3, true);
getProxy(memory, observerName, 1000);
+ this->updateWidget->startTimerIfEnabled();
connected = true;
}
@@ -243,13 +237,7 @@ namespace armarx
skillsArgumentsTreeWidgetItem = nullptr;
selectedSkill.skillId.providerId->providerName = "";
selectedSkill.skillId.skillName = "";
- }
-
- void
- SkillManagerMonitorWidgetController::updateTimerFrequency()
- {
- int f = static_cast<int>(std::round(1000 / widget.doubleSpinBoxUpdateFreq->value()));
- refreshSkillsResultTimer->setInterval(f);
+ this->updateWidget->stopTimer();
}
void
@@ -261,11 +249,8 @@ namespace armarx
void
SkillManagerMonitorWidgetController::refreshSkillsAndExecutions()
{
- if (widget.checkBoxAutoUpdate->isChecked())
- {
- refreshSkills();
- refreshExecutions();
- }
+ refreshSkills();
+ refreshExecutions();
}
void
@@ -575,6 +560,18 @@ namespace armarx
memory->begin_executeSkill(req.toManagerIce());
}
+ void
+ SkillManagerMonitorWidgetController::stopAllExecutions()
+ {
+ auto tree = widget.treeWidgetSkillExecutions;
+ for (ssize_t i = 0; i < tree->topLevelItemCount(); ++i)
+ {
+ auto item = static_cast<SkillExecutionInfoTreeWidgetItem*>(
+ widget.treeWidgetSkillExecutions->topLevelItem(i));
+ memory->abortSkill(item->executionId.toManagerIce());
+ }
+ }
+
void
SkillManagerMonitorWidgetController::stopSkill()
{
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 0480e13c6..df6f5b1ef 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -33,6 +33,7 @@
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+#include "RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.h"
#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
@@ -112,16 +113,16 @@ namespace armarx
void onInitComponent() override;
void onConnectComponent() override;
- void onDisconnectComponent() override;
+ void onDisconnectComponent();
private slots:
void skillSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
void skillExecutionSelectionChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous);
- void stopSkill();
+ void stopAllExecutions();
+ void stopSkill(); // TODO: rename
void executeSelectedSkill();
- void updateTimerFrequency();
void refreshSkills();
void refreshExecutions();
void refreshSkillsAndExecutions();
@@ -179,13 +180,15 @@ namespace armarx
void matchSkillUpdateToSearch(std::map<skills::manager::dto::SkillID,
skills::manager::dto::SkillDescription>& update);
+
+ PeriodicUpdateWidget* updateWidget =
+ nullptr; // TODO: this should not be held by the controller!
+ QPushButton* stopAllButton = nullptr; // also this. Oh well...
+
// Helper to get the treeWidgetItem easily
QTreeWidgetItem* skillsArgumentsTreeWidgetItem = nullptr;
AronTreeWidgetControllerPtr aronTreeWidgetController = nullptr;
- // others
- QTimer* refreshSkillsResultTimer;
-
// connected flag
std::atomic_bool connected = false;
};
--
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