diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 754e95e7652a3d3c248605b2d3a6a0c7f4f44b7b..35be06032527f3d35d3b50468168842b82c8ab72 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -77,6 +77,7 @@ namespace armarx::armem::gui
connect(memoryGroup->tree(), &armem::gui::MemoryTreeWidget::updated, this, &This::memoryTreeUpdated);
connect(instanceGroup, &armem::gui::InstanceGroupBox::viewUpdated, this, &This::instanceTreeUpdated);
+ connect(instanceGroup->view, &armem::gui::InstanceView::memoryIdResolutionRequested, this, &This::resolveMemoryID);
}
void MemoryViewer::setLogTag(const std::string& tag)
@@ -126,6 +127,27 @@ namespace armarx::armem::gui
emit disconnected();
}
+ const armem::wm::Memory* MemoryViewer::getSingleMemoryData(const std::string& memoryName)
+ {
+ auto it = memoryData.find(memoryName);
+ if (it == memoryData.end())
+ {
+ std::stringstream ss;
+ ss << "Memory name '" << memoryName << "' is unknown. Known are: "
+ << simox::alg::get_keys(memoryData);
+ statusLabel->setText(QString::fromStdString(ss.str()));
+ return nullptr;
+ }
+ else if (not it->second.has_value())
+ {
+ return nullptr;
+ }
+ else
+ {
+ return &it->second.value();
+ }
+ }
+
void MemoryViewer::store()
{
TIMING_START(MemoryStore);
@@ -227,17 +249,7 @@ namespace armarx::armem::gui
void MemoryViewer::updateInstanceTree(const armem::MemoryID& selectedID)
{
- if (memoryData.find(selectedID.memoryName) == memoryData.end())
- {
- std::stringstream ss;
- ss << "Memory name '" << selectedID.memoryName << "' is unknown. Known are: "
- << simox::alg::get_keys(memoryData);
- statusLabel->setText(QString::fromStdString(ss.str()));
- return;
- }
-
- const std::optional<armem::wm::Memory>& data = memoryData.at(selectedID.memoryName);
-
+ const armem::wm::Memory* data = getSingleMemoryData(selectedID.memoryName);
if (data)
{
if (!selectedID.hasEntityName())
@@ -284,6 +296,36 @@ namespace armarx::armem::gui
}
}
+ void MemoryViewer::resolveMemoryID(const MemoryID& id)
+ {
+ ARMARX_IMPORTANT << "Resolving memory ID: " << id;
+
+ try
+ {
+ const wm::Memory* data = getSingleMemoryData(id.memoryName);
+ if (data)
+ {
+ if (id.hasInstanceIndex())
+ {
+ const wm::EntityInstance& instance = data->getEntityInstance(id);
+ }
+ else if (id.hasTimestamp())
+ {
+ const wm::EntitySnapshot& snapshot = data->getEntitySnapshot(id);
+ }
+ else if (id.hasEntityName())
+ {
+ const wm::Entity& entity = data->getEntity(id);
+ }
+ }
+ }
+ catch (const armem::error::ArMemError& e)
+ {
+ ARMARX_WARNING << e.what();
+ statusLabel->setText(e.what());
+ }
+ }
+
void MemoryViewer::updateMemoryTree()
{
std::map<std::string, const armem::wm::Memory*> convMap;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 16a2ddc16453d485a82016629240d0432b984cc1..b184b85960376a2c9ed14c10452ecb70ad548a76 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -65,14 +65,15 @@ namespace armarx::armem::gui
public slots:
+ void updateMemories();
+ void updateInstanceTree(const armem::MemoryID& selectedID);
+
+ void resolveMemoryID(const MemoryID& id);
+
// LTMControlWidget
void store();
void exportHere();
- // Other
- void updateMemories();
- void updateInstanceTree(const armem::MemoryID& selectedID);
-
signals:
@@ -99,6 +100,8 @@ namespace armarx::armem::gui
void onConnect(ManagedIceObject& component);
void onDisconnect(ManagedIceObject& component);
+ const armem::wm::Memory* getSingleMemoryData(const std::string& memoryName);
+
public:
diff --git a/source/RobotAPI/libraries/armem_gui/instance/GroupBox.cpp b/source/RobotAPI/libraries/armem_gui/instance/GroupBox.cpp
index b33c381970dfe3f3eb0ce0b0b7be9e9599f75f7f..187120df303ada4d116ccc1a2dfbd457619469a6 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/GroupBox.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/GroupBox.cpp
@@ -21,8 +21,8 @@ namespace armarx::armem::gui::instance
QHBoxLayout* checkBoxLayout = new QHBoxLayout();
checkBoxLayout->addWidget(useTypeInfoCheckBox);
- layout->addLayout(checkBoxLayout);
layout->addWidget(view);
+ layout->addLayout(checkBoxLayout);
this->setTitle("Instance View (select an entity instance on the left)");
const int margin = 3;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index 429d2f3603967f64728e59113841b85c862b8d46..90ff5082dbf2944593428d92181272889c471f0a 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -19,8 +19,12 @@
#include <RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h>
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+#include <RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
+
#include <RobotAPI/libraries/armem_gui/gui_utils.h>
#include <RobotAPI/libraries/armem_gui/instance/ImageView.h>
+#include <RobotAPI/libraries/armem_gui/instance/sanitize_typename.h>
#include <RobotAPI/libraries/armem_gui/instance/serialize_path.h>
#include <RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.h>
#include <RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h>
@@ -205,15 +209,22 @@ namespace armarx::armem::gui::instance
return;
}
+ auto getPath = [item]()
+ {
+ QStringList qpath = item->data(int(Columns::KEY), Qt::UserRole).toStringList();
+ aron::Path path = deserializePath(qpath);
+ return path;
+ };
+
QMenu menu(this);
+ // Type descriptor based actions
aron::type::Descriptor type = static_cast<aron::type::Descriptor>(item->data(int(Columns::TYPE), Qt::UserRole).toInt());
switch (type)
{
case aron::type::Descriptor::eIVTCByteImage:
{
- QStringList qpath = item->data(int(Columns::KEY), Qt::UserRole).toStringList();
- aron::Path path = deserializePath(qpath);
+ aron::Path path = getPath();
QAction* viewAction = new QAction("Show image");
menu.addAction(viewAction);
@@ -224,10 +235,28 @@ namespace armarx::armem::gui::instance
}
break;
default:
- return;
+ break;
}
- menu.exec(tree->mapToGlobal(pos));
+ // Type name based actions
+ const std::string typeName = item->text(int(Columns::TYPE)).toStdString();
+ if (typeName == instance::sanitizedMemoryIDTypeName)
+ {
+ aron::Path path = getPath();
+
+ QAction* viewAction = new QAction("Resolve Memory ID");
+ menu.addAction(viewAction);
+ connect(viewAction, &QAction::triggered, [this, path]()
+ {
+ this->requestMemoryIdResolution(path);
+ });
+ }
+
+
+ if (menu.actions().size() > 0)
+ {
+ menu.exec(tree->mapToGlobal(pos));
+ }
}
void InstanceView::showImageView(const aron::Path& elementPath)
@@ -251,6 +280,49 @@ namespace armarx::armem::gui::instance
imageView = std::nullopt;
}
+ void InstanceView::requestMemoryIdResolution(const aron::Path& elementPath)
+ {
+ const aron::datanavigator::DictNavigatorPtr& data = currentInstance->data();
+
+ aron::datanavigator::NavigatorPtr element;
+ try
+ {
+ element = data->navigateAbsolute(elementPath);
+ }
+ // This can happen when the underlying entity structure changes (a new entity has been selected).
+ catch (const aron::error::AronException&)
+ {
+ // showErrorMessage(e.what());
+ return;
+ }
+ catch (const armarx::LocalException&)
+ {
+ // showErrorMessage(e.what());
+ return;
+ }
+
+ auto dictElement = std::dynamic_pointer_cast<aron::datanavigator::DictNavigator>(element);
+ if (!dictElement)
+ {
+ return;
+ }
+
+ MemoryID id;
+ try
+ {
+ arondto::MemoryID dto;
+ dto.fromAron(dictElement);
+ armem::fromAron(dto, id);
+ }
+ catch (const armarx::aron::error::AronException&)
+ {
+ return;
+ }
+
+ ARMARX_IMPORTANT << "emit memoryIdResolutionRequested(id = " << id << ")";
+ emit memoryIdResolutionRequested(id);
+ }
+
void InstanceView::updateImageView(const aron::datanavigator::DictNavigatorPtr& data)
{
using aron::datanavigator::NDArrayNavigator;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
index 0b0a0ee2655f506fa09f15b99dd0edc149e88470..dea3580b42d787d9da20ea8f0e98b8b20a39e8e1 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
@@ -43,14 +43,18 @@ namespace armarx::armem::gui::instance
void updated();
void instanceSelected(const MemoryID& id);
+ void memoryIdResolutionRequested(const MemoryID& id);
private slots:
void prepareTreeContextMenu(const QPoint& pos);
+
void showImageView(const aron::Path& elementPath);
void removeImageView();
+ void requestMemoryIdResolution(const aron::Path& elementPath);
+
private:
diff --git a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
index 9db04814561de68c4e7390093a7a7b3659f0219c..d99d2378dcf67dd8e6d8e44a3dca92b8013be85c 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
@@ -8,12 +8,14 @@
static const std::string MemoryIDTypeName = armarx::armem::arondto::MemoryID::toInitialAronType()->getName();
+const std::string armarx::armem::gui::instance::sanitizedMemoryIDTypeName = "MemoryID";
+
std::string armarx::armem::gui::instance::sanitizeTypeName(const std::string& typeName)
{
if (typeName == MemoryIDTypeName)
{
- return "MemoryID";
+ return sanitizedMemoryIDTypeName;
}
namespace s = simox::alg;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.h b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.h
index 80c77acf229ecb6d70b55b6ac1c5b951a0cb89bd..09bd9629bbee6f1381e4ab2a8d61777117db9b0c 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.h
@@ -6,6 +6,8 @@
namespace armarx::armem::gui::instance
{
+ extern const std::string sanitizedMemoryIDTypeName;
+
std::string sanitizeTypeName(const std::string& typeName);
}