diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
index 2e42dc474eec6e9ce31bb1ff32ed9b7af9275cff..f173a22913b4d46432eaeebab90ab6ff8e254876 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
@@ -65,7 +65,7 @@ namespace armarx::armem::server::grasp
{
// This function is overloaded to trigger the remote gui rebuild.
armem::data::CommitResult result = ReadWritePluginUser::commit(commit);
- tab.rebuild = true;
+ gui.tab.rebuild = true;
return result;
}
@@ -80,28 +80,188 @@ namespace armarx::armem::server::grasp
void GraspMemory::createRemoteGuiTab()
{
+ //add all instances to map
+ workingMemory().getCoreSegment("GraspCandidate").forEachInstance([this](const auto & instance)
+ {
+ if (gui.candidatesToDraw.find(instance.id().str()) == gui.candidatesToDraw.end()){
+ gui.candidatesToDraw[instance.id().str()] = false;
+ }
+ });
+
using namespace armarx::RemoteGui::Client;
GridLayout root;
{
int row = 0;
-
- workingMemory().getCoreSegment("GraspCandidate").forEachInstance([this](const auto & instance)
{
- if (tab.checkBoxes.find(instance.id().str()) == tab.checkBoxes.end()){
- tab.checkBoxes[instance.id().str()] = CheckBox();
- }
- });
- for(std::pair<std::string, CheckBox> element : tab.checkBoxes )
+ root.add(Label("CoreSegment"), Pos{row, 0});
+ row++;
+ std::vector<std::string> options = workingMemory().getCoreSegmentNames();
+ if (options.empty())
+ {
+ options.push_back("<None>");
+ }
+ gui.tab.selectCoreSegment.setOptions(options);
+ if (gui.coreSegIndex >= 0 && gui.coreSegIndex < static_cast<int>(options.size()))
+ {
+ gui.tab.selectCoreSegment.setIndex(gui.coreSegIndex);
+ gui.coreSegment = options[gui.coreSegIndex];
+ }
+ root.add(gui.tab.selectCoreSegment, Pos{row,0});
+ row++;
+ }
+ if(workingMemory().hasCoreSegment(gui.coreSegment))
{
- root.add(Label(element.first) , Pos{row, 0});
- root.add(element.second, Pos{row, 1});
- row += 1;
+ {
+ root.add(Label("Provider"), Pos{row, 0});
+ row++;
+ std::vector<std::string> options = workingMemory().getCoreSegment(gui.coreSegment).getProviderSegmentNames();
+ if (options.empty())
+ {
+ options.push_back("<None>");
+ }
+ gui.tab.selectProvider.setOptions(options);
+ if (gui.providerIndex >= 0 && gui.providerIndex < static_cast<int>(options.size()))
+ {
+ gui.tab.selectProvider.setIndex(gui.providerIndex);
+ gui.provider = options[gui.providerIndex];
+ }
+ root.add(gui.tab.selectProvider, Pos{row, 0});
+ row++;
+ }
+
+ if(workingMemory().getCoreSegment(gui.coreSegment).hasProviderSegment(gui.provider))
+ {
+ {
+ root.add(Label("Entity"), Pos{row,0});
+ row++;
+ std::vector<std::string> options = workingMemory().getCoreSegment(gui.coreSegment).getProviderSegment(gui.provider).getEntityNames();
+ if (options.empty())
+ {
+ options.push_back("<None>");
+ }
+ gui.tab.selectEntity.setOptions(options);
+ if (gui.entityIndex >= 0 && gui.entityIndex < static_cast<int>(options.size()))
+ {
+ gui.tab.selectEntity.setIndex(gui.entityIndex);
+ gui.entity = options[gui.entityIndex];
+ }
+ root.add(gui.tab.selectEntity, Pos{row, 0});
+ row++;
+ }
+
+ if(workingMemory().getCoreSegment(gui.coreSegment).getProviderSegment(gui.provider).hasEntity(gui.entity))
+ {
+ {
+ root.add(Label("Snapshot"), Pos{row, 0});
+ row++;
+ std::vector<std::string> options;
+ options.reserve(workingMemory().getCoreSegment("GraspCandidate").getProviderSegment(gui.provider).getEntity(gui.entity).getTimestamps().size());
+ workingMemory().getCoreSegment("GraspCandidate").getProviderSegment(gui.provider).getEntity(gui.entity).forEachSnapshot([&options](const auto & snapshot)
+ {
+ options.push_back(armem::toStringMicroSeconds(snapshot.time()));
+ });
+ if (options.empty())
+ {
+ options.push_back("<None>");
+ }
+ gui.tab.selectSnapshot.setOptions(options);
+ if (gui.snapshotIndex >= 0 && gui.snapshotIndex < static_cast<int>(options.size()))
+ {
+ gui.tab.selectSnapshot.setIndex(gui.snapshotIndex);
+ if(options[gui.snapshotIndex] != "<None>")
+ {
+ gui.snapshot = armem::timeFromStringMicroSeconds(options[gui.snapshotIndex]);
+ }
+ }
+ root.add(gui.tab.selectSnapshot, Pos{row, 0});
+ row++;
+
+ }
+
+ if(workingMemory().getCoreSegment(gui.coreSegment).getProviderSegment(gui.provider).getEntity(gui.entity).hasSnapshot(gui.snapshot))
+ {
+ root.add(Label("Instances"), Pos{row,0});
+ row++;
+ gui.tab.checkInstances.clear();
+ workingMemory().getCoreSegment(gui.coreSegment).getProviderSegment(gui.provider).getEntity(gui.entity).getSnapshot(gui.snapshot).forEachInstance([this, &row, &root](const auto & instance)
+ {
+ root.add(Label(instance.id().str()) , Pos{row, 0});
+ gui.tab.checkInstances[instance.id().str()] = CheckBox();
+ if(gui.candidatesToDraw.at(instance.id().str()))
+ {
+ gui.tab.checkInstances.at(instance.id().str()).setValue(true);
+ }
+ root.add(gui.tab.checkInstances[instance.id().str()], Pos{row, 1});
+ row++;
+ });
+ }
+ }
+ else
+ {
+ gui.tab.checkInstances.clear();
+
+ std::vector<std::string> options = {"<None>"};
+
+ gui.tab.selectSnapshot.setOptions(options);
+
+ root.add(Label("Snapshot"), Pos{row, 0});
+ row++;
+ root.add(gui.tab.selectSnapshot, Pos{row, 0});
+ row++;
+ }
+ }
+ else
+ {
+ gui.tab.checkInstances.clear();
+
+ std::vector<std::string> options = {"<None>"};
+
+ gui.tab.selectEntity.setOptions(options);
+
+ root.add(Label("Entity"), Pos{row,0});
+ row++;
+ root.add(gui.tab.selectEntity, Pos{row, 0});
+ row++;
+
+ gui.tab.selectSnapshot.setOptions(options);
+
+ root.add(Label("Snapshot"), Pos{row, 0});
+ row++;
+ root.add(gui.tab.selectSnapshot, Pos{row, 0});
+ row++;
+ }
+ }
+ else {
+ gui.tab.checkInstances.clear();
+
+ std::vector<std::string> options = {"<None>"};
+ gui.tab.selectProvider.setOptions(options);
+
+ root.add(Label("Provider"), Pos{row, 0});
+ row++;
+ root.add(gui.tab.selectProvider, Pos{row, 0});
+ row++;
+
+ gui.tab.selectEntity.setOptions(options);
+
+ root.add(Label("Entity"), Pos{row,0});
+ row++;
+ root.add(gui.tab.selectEntity, Pos{row, 0});
+ row++;
+
+ gui.tab.selectSnapshot.setOptions(options);
+
+ root.add(Label("Snapshot"), Pos{row, 0});
+ row++;
+ root.add(gui.tab.selectSnapshot, Pos{row, 0});
+ row++;
}
}
- RemoteGui_createTab(getName(), root, &tab);
- tab.rebuild = false;
+
+ RemoteGui_createTab(getName(), root, &gui.tab);
+ gui.tab.rebuild = false;
}
@@ -111,10 +271,39 @@ namespace armarx::armem::server::grasp
grasping::GraspCandidateDict candidatesToVisualize;
- for(std::pair<std::string, RemoteGui::Client::CheckBox> element : tab.checkBoxes )
+ if (gui.tab.selectCoreSegment.hasValueChanged() || gui.tab.selectProvider.hasValueChanged() || gui.tab.selectEntity.hasValueChanged() || gui.tab.selectSnapshot.hasValueChanged())
+ {
+ gui.tab.rebuild = true;
+ }
+
+ gui.coreSegment = gui.tab.selectCoreSegment.getValue();
+
+ gui.provider = gui.tab.selectProvider.getValue();
+
+ gui.entity = gui.tab.selectEntity.getValue();
+
+ if(gui.tab.selectSnapshot.getValue() != "<None>" && gui.tab.selectSnapshot.getValue() != "")
+ {
+ gui.snapshot = armem::timeFromStringMicroSeconds(gui.tab.selectSnapshot.getValue());
+ }
+
+ gui.coreSegIndex = gui.tab.selectCoreSegment.getIndex();
+
+ gui.providerIndex = gui.tab.selectProvider.getIndex();
+
+ gui.entityIndex = gui.tab.selectEntity.getIndex();
+
+ gui.snapshotIndex = gui.tab.selectSnapshot.getIndex();
+
+ for(auto & element : gui.tab.checkInstances)
+ {
+ gui.candidatesToDraw.at(element.first) = element.second.getValue();
+ }
+
+ for(auto & element : gui.candidatesToDraw )
{
//draw candidates
- if (element.second.getValue())
+ if (element.second)
{
armarx::grasping::GraspCandidate candidate;
@@ -131,7 +320,7 @@ namespace armarx::armem::server::grasp
}
visu.visualize(candidatesToVisualize, arviz);
- if (tab.rebuild)
+ if (gui.tab.rebuild)
{
createRemoteGuiTab();
}
diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
index 026d22fcc7e20048dae0bfaa1126d525da05cd3b..db09a940f92c343043e788fb9b1f78993573dd70 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
@@ -65,10 +65,31 @@ namespace armarx::armem::server::grasp
{
std::atomic_bool rebuild = false;
- RemoteGui::Client::GroupBox memoryGroup;
- std::map<std::string, RemoteGui::Client::CheckBox> checkBoxes;
+ RemoteGui::Client::ComboBox selectCoreSegment;
+ RemoteGui::Client::ComboBox selectProvider;
+ RemoteGui::Client::ComboBox selectEntity;
+ RemoteGui::Client::ComboBox selectSnapshot;
+ std::map<std::string, RemoteGui::Client::CheckBox> checkInstances;
};
- RemoteGuiTab tab;
+
+
+ struct GuiInfo
+ {
+ int coreSegIndex = 0;
+ int providerIndex = 0;
+ int entityIndex = 0;
+ int snapshotIndex = 0;
+
+ RemoteGuiTab tab;
+
+ std::string coreSegment = "";
+ std::string provider = "";
+ std::string entity = "";
+ Time snapshot;
+
+ std::map<std::string, bool> candidatesToDraw;
+ };
+ GuiInfo gui;
};
}