source/RobotAPI/components/units/RobotUnit/CMakeLists.txt

@@ -78,6 +78,7 @@ set(LIB_HEADERS
     util/introspection/ClassMemberInfo.h
     util/RtLogging.h
     util/RtTiming.h
+    util/NonRtTiming.h
     util/CtrlUtil.h
 
     #robot unit modules need to be added to the list below (but not here)

source/RobotAPI/components/units/RobotUnit/README.md

-# RobotUnit
+# RobotUnit  {#RobotUnit}
+
 The RobotUnit can be used for real-time control.
 The central principle is that all controllers are executed synchronously.
 The controllers are arranged in a 2-layer architecture.

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp

@@ -853,7 +853,7 @@ namespace armarx::RobotUnitModule
         }
 
         SensorAndControl& sc = _module<ControlThreadDataBuffer>().rtGetSensorAndControlBuffer();
-        sc.writeTimestamp = IceUtil::Time::now(); // this has to be in real time
+        sc.writeTimestamp = armarx::rtNow(); // this has to be in real time
         sc.sensorValuesTimestamp = sensorValuesTimestamp;
         sc.timeSinceLastIteration = timeSinceLastIteration;
         ARMARX_CHECK_EQUAL(rtGetSensorDevices().size(), sc.sensors.size());

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp

@@ -95,8 +95,11 @@ namespace armarx::RobotUnitModule
             std::stringstream ss;
             ss << "Requested controller class '" << className
                << "' unknown! Known classes:" << NJointControllerRegistry::getKeys()
-               << " (If this class exists in a different lib then load it via "
-                  "loadLibFromPath(path) or loadLibFromPackage(package, lib))";
+               << " (If this class exists in a different lib then load it in the property "
+                  "definitions of the RT-unit. DO NOT load it via "
+                  "loadLibFromPath(path) or loadLibFromPackage(package, lib)) (see "
+                  "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/"
+                  "issues/85)";
             ARMARX_ERROR << ss.str();
             throw InvalidArgumentException{ss.str()};
         }
@@ -303,6 +306,9 @@ namespace armarx::RobotUnitModule
     ControllerManagement::loadLibFromPath(const std::string& path, const Ice::Current&)
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
+        ARMARX_WARNING << "Do not use this function as it has implications on the RT thread (see "
+                        "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/"
+                        "documentation/-/issues/85)";
         const bool result = getArmarXManager()->loadLibFromPath(path);
         ARMARX_INFO << "loadLibFromPath('" << path << "') -> " << result;
         return result;
@@ -314,6 +320,9 @@ namespace armarx::RobotUnitModule
                                              const Ice::Current&)
     {
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
+        ARMARX_WARNING << "Do not use this function as it has implications on the RT thread (see "
+                        "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/"
+                        "documentation/-/issues/85)";
         const bool result = getArmarXManager()->loadLibFromPackage(package, lib);
         ARMARX_INFO << "loadLibFromPackage('" << package << "', '" << lib << "') -> " << result;
         return result;

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp

@@ -35,6 +35,7 @@
 #include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h>
 #include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h>
 #include <RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h>
+#include <RobotAPI/components/units/RobotUnit/util/NonRtTiming.h>
 
 namespace armarx::RobotUnitModule
 {
@@ -255,7 +256,7 @@ namespace armarx::RobotUnitModule
     {
         ARMARX_TRACE;
         throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-        const auto beg = TimeUtil::GetTime(true);
+        const auto beg = armarx::rtNow();
 
 
         StringVariantBaseMap ctrlDevMap;
@@ -314,7 +315,7 @@ namespace armarx::RobotUnitModule
             }
         }
 
-        const auto end = TimeUtil::GetTime(true);
+        const auto end = armarx::rtNow();
         return new TimedVariant{TimestampVariant{end - beg}, lastControlThreadTimestamp};
     }
 
@@ -476,6 +477,7 @@ namespace armarx::RobotUnitModule
             getProperty<std::string>("DebugDrawerUpdatesTopicName").getValue();
         debugObserverTopicName = getProperty<std::string>("DebugObserverTopicName").getValue();
 
+        observerEnablePublishing = getProperty<bool>("ObserverEnablePublishing").getValue();
         observerPublishSensorValues = getProperty<bool>("ObserverPublishSensorValues").getValue();
         observerPublishControlTargets =
             getProperty<bool>("ObserverPublishControlTargets").getValue();
@@ -575,7 +577,10 @@ namespace armarx::RobotUnitModule
             [&] { publish({}); }, publishPeriodMs, false, getName() + "_PublisherTask");
         ARMARX_INFO << "starting publisher with timestep " << publishPeriodMs;
         publisherTask->setDelayWarningTolerance(10 * publishPeriodMs);
-        publisherTask->start();
+        if (observerEnablePublishing)
+        {
+            publisherTask->start();
+        }
     }
 
     void
@@ -628,7 +633,10 @@ namespace armarx::RobotUnitModule
         const auto requestedJointControllers =
             _module<ControlThreadDataBuffer>().copyRequestedJointControllers();
 
-        lastControlThreadTimestamp = controlThreadOutputBuffer.sensorValuesTimestamp;
+        // controlThreadOutputBuffer.sensorValuesTimestamp is in MONOTONIC_RAW (not relative to epoch).
+        // We have to map it to be relative to epoch (REAL_TIME).
+        lastControlThreadTimestamp =
+            armarx::mapRtTimestampToNonRtTimestamp(controlThreadOutputBuffer.sensorValuesTimestamp);
 
         const bool publishToObserver = !(publishIterationCount % debugObserverSkipIterations);
         //publish publishing meta state

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h

@@ -58,6 +58,10 @@ namespace armarx::RobotUnitModule
             defineOptionalProperty<std::size_t>(
                 "PublishPeriodMs", 10, "Milliseconds between each publish");
 
+            defineOptionalProperty<bool>("ObserverEnablePublishing",
+                                         true,
+                                         "Whether the publishing thread is started or not",
+                                         PropertyDefinitionBase::eModifiable);
             defineOptionalProperty<bool>("ObserverPublishSensorValues",
                                          true,
                                          "Whether sensor values are send to the observer",
@@ -271,6 +275,8 @@ namespace armarx::RobotUnitModule
 
         /// @brief Whether \ref SensorValueBase "SensorValues" should be published to the observers
         std::atomic_bool observerPublishSensorValues;
+        /// @brief Whether the publishing thread should be started or not
+        std::atomic_bool observerEnablePublishing;
         /// @brief Whether \ref ControlTargetBase "ControlTargets" should be published to the observers
         std::atomic_bool observerPublishControlTargets;
         /// @brief Whether \ref Timing information should be published to the observers

source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp

@@ -362,7 +362,7 @@ namespace armarx
             const auto numExcessEntries =
                 std::max(requiredAdditionalEntries, numEntries - entries.size());
             const auto requiredSize = entries.size() + numExcessEntries;
-            ARMARX_WARNING << "Iteration " << iterationCount << " required "
+            ARMARX_VERBOSE << "Iteration " << iterationCount << " required "
                            << requiredAdditionalEntries << " | " << numExcessEntries
                            << " additional message entries. \n"
                            << "The requested total number of entries is " << requiredSize << ". \n"
@@ -371,7 +371,7 @@ namespace armarx
                            << getMaximalNumberOfBufferEntries();
             if (requiredSize > getMaximalNumberOfBufferEntries())
             {
-                ARMARX_WARNING << deactivateSpam(1, to_string(requiredSize)) << "Iteration "
+                ARMARX_VERBOSE << deactivateSpam(1, to_string(requiredSize)) << "Iteration "
                                << iterationCount << " would require " << requiredSize
                                << " message entries, but the maximal number of entries is "
                                << getMaximalNumberOfBufferEntries();

source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h

@@ -34,6 +34,7 @@
 #include "../Devices/SensorDevice.h"
 #include "../SensorValues/SensorValueBase.h"
 #include "HeterogenousContinuousContainer.h"
+#include "RtTiming.h"
 
 namespace armarx
 {
@@ -50,7 +51,7 @@ namespace armarx::detail
 {
     struct RtMessageLogEntryBase
     {
-        RtMessageLogEntryBase() : time{IceUtil::Time::now()}
+        RtMessageLogEntryBase() : time{armarx::rtNow()}
         {
         }
 

source/RobotAPI/components/units/RobotUnit/util/NonRtTiming.h

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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    ArmarX
+ * @author     Mirko Waechter( mirko.waechter at kit dot edu)
+ * @date       2018
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+#pragma once
+
+#include <time.h>
+
+#include <IceUtil/Time.h>
+
+#include "RtTiming.h"
+
+namespace armarx
+{
+    inline IceUtil::Time
+    nonRtNow()
+    {
+        using namespace rt_timing::constants;
+
+        struct timespec ts;
+        clock_gettime(CLOCK_REALTIME, &ts);
+        return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
+                                           ts.tv_nsec / nanoSeconds2MicroSeconds);
+    }
+
+    inline IceUtil::Time
+    mapRtTimestampToNonRtTimestamp(const IceUtil::Time& time_monotic_raw)
+    {
+        // This is the "real time" clock, i.e. NTP-synchronized and relative to epoch.
+        IceUtil::Time now_real_time = armarx::nonRtNow();
+        // This is not relative to epoch and not NTP-synchronized.
+        IceUtil::Time now_monotonic_raw = armarx::rtNow();
+
+        /*
+             * Assumption for small very small time deltas (i.e. "time" is close to "now"):
+             *
+             * time_real_time - now_real_time == time_monotic_raw - now_monotonic_raw
+             * =>
+             * time_real_time = time_monotic_raw - now_monotonic_raw + now_real_time
+             */
+        //
+        IceUtil::Time time_real_time = time_monotic_raw - now_monotonic_raw + now_real_time;
+        ARMARX_DEBUG << VAROUT(time_monotic_raw) << " vs. " << VAROUT(time_real_time);
+        return time_real_time;
+    }
+
+} // namespace armarx

source/RobotAPI/components/units/RobotUnit/util/RtTiming.h

@@ -23,19 +23,27 @@
  */
 #pragma once
 
-#include <chrono>
-//#include <ArmarXCore/core/time/TimeUtil.h>
-#include "ControlThreadOutputBuffer.h"
+#include <time.h>
+
+#include <IceUtil/Time.h>
 
 namespace armarx
 {
+    namespace rt_timing::constants
+    {
+        inline constexpr const std::int64_t seconds2MicroSeconds = 1e6;
+
+        static constexpr const std::int64_t nanoSeconds2MicroSeconds = 1000;
+    } // namespace rt_timing::constants
 
     inline IceUtil::Time
     rtNow()
     {
+        using namespace rt_timing::constants;
         struct timespec ts;
-        clock_gettime(CLOCK_MONOTONIC, &ts);
-        return IceUtil::Time::microSeconds(ts.tv_sec * 1e6 + ts.tv_nsec / 1000);
+        clock_gettime(CLOCK_MONOTONIC_RAW, &ts);
+        return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
+                                           ts.tv_nsec / nanoSeconds2MicroSeconds);
     }
 } // namespace armarx
 
@@ -43,16 +51,14 @@ namespace armarx
 //! \ingroup VirtualTime
 //! Prints duration with comment in front of it, yet only once per second.
 #define RT_TIMING_END_COMMENT(name, comment)                                                       \
-    ARMARX_RT_LOGF_INFO(                                                                           \
-        "%s - duration: %.3f ms", comment, (armarx::rtNow() - name).toMilliSecondsDouble())        \
-        .deactivateSpam(1);
+    printf("%s - duration: %.3f ms \n", comment, (armarx::rtNow() - name).toMilliSecondsDouble());
 //! \ingroup VirtualTime
 //! Prints duration
 #define RT_TIMING_END(name) RT_TIMING_END_COMMENT(name, #name)
 //! \ingroup VirtualTime
 //! Prints duration with comment in front of it if it took longer than threshold
 #define RT_TIMING_CEND_COMMENT(name, comment, thresholdMs)                                         \
-    if ((armarx::rtNow() - name).toMilliSeconds() >= thresholdMs)                                  \
+    if ((armarx::rtNow() - name).toMilliSecondsDouble() >= thresholdMs)                            \
     RT_TIMING_END_COMMENT(name, comment)
 //! \ingroup VirtualTime
 //! Prints duration if it took longer than thresholdMs

source/RobotAPI/drivers/GamepadUnit/README.md

-# GamepadUnit
+# GamepadUnit  {#GamepadUnit}
 
 This component is used to control the robot with a gamepad.
 

source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

@@ -651,7 +651,8 @@ namespace armarx
         {
             if (currentNode)
             {
-                if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint())
+                if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or
+                    currentNode->isFourBarJoint())
                 {
                     const bool isDeg = ui.checkBoxUseDegree->isChecked();
                     const auto factor =
@@ -728,7 +729,8 @@ namespace armarx
         {
             const QString unit = [&]() -> QString
             {
-                if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint())
+                if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or
+                    currentNode->isFourBarJoint())
                 {
                     if (ui.checkBoxUseDegree->isChecked())
                     {
@@ -751,7 +753,8 @@ namespace armarx
 
             const auto [factor, conversionFactor] = [&]() -> std::pair<float, float>
             {
-                if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint())
+                if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or
+                    currentNode->isFourBarJoint())
                 {
                     const bool isDeg = ui.checkBoxUseDegree->isChecked();
                     if (isDeg)
@@ -841,7 +844,8 @@ namespace armarx
 
             const QString unit = [&]() -> QString
             {
-                if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint())
+                if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or
+                    currentNode->isFourBarJoint())
                 {
                     if (ui.checkBoxUseDegree->isChecked())
                     {
@@ -865,7 +869,8 @@ namespace armarx
                         << currentNode->getName() << flush;
 
             const bool isDeg = ui.checkBoxUseDegree->isChecked();
-            const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint();
+            const bool isRot = currentNode->isRotationalJoint() or
+                               currentNode->isHemisphereJoint() or currentNode->isFourBarJoint();
 
             const float lo = isRot ? (isDeg ? -90 : -M_PI * 100) : -1000;
             const float hi = isRot ? (isDeg ? +90 : +M_PI * 100) : 1000;
@@ -1186,7 +1191,8 @@ namespace armarx
         const ControlMode currentControlMode = getSelectedControlMode();
 
         const bool isDeg = ui.checkBoxUseDegree->isChecked();
-        const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint();
+        const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or
+                           currentNode->isFourBarJoint();
 
         if (currentControlMode == ePositionControl)
         {
@@ -1347,8 +1353,8 @@ namespace armarx
             auto it = reportedJointStatuses.find(rn[i]->getName());
             if (it == reportedJointStatuses.end())
             {
-                ARMARX_WARNING << deactivateSpam(5) << "Joint Status for " << rn[i]->getName()
-                               << " was not reported!";
+                ARMARX_VERBOSE << deactivateSpam(5, rn[i]->getName()) << "Joint Status for "
+                               << rn[i]->getName() << " was not reported!";
                 continue;
             }
             JointStatus currentStatus = it->second;
@@ -1441,11 +1447,11 @@ namespace armarx
             const float currentValue = it->second;
 
             QModelIndex index = ui.tableJointList->model()->index(i, eTabelColumnAngleProgressbar);
-            float conversionFactor =
-                ui.checkBoxUseDegree->isChecked() &&
-                        (node->isRotationalJoint() or node->isHemisphereJoint() or node->isFourBarJoint())
-                    ? 180.0 / M_PI
-                    : 1;
+            float conversionFactor = ui.checkBoxUseDegree->isChecked() &&
+                                             (node->isRotationalJoint() or
+                                              node->isHemisphereJoint() or node->isFourBarJoint())
+                                         ? 180.0 / M_PI
+                                         : 1;
             ui.tableJointList->model()->setData(
                 index,
                 (int)(cutJitter(currentValue * conversionFactor) * 100) / 100.0f,
@@ -1486,7 +1492,8 @@ namespace armarx
 
             float currentValue = it->second;
             if (ui.checkBoxUseDegree->isChecked() &&
-                (rn[i]->isRotationalJoint() or rn[i]->isHemisphereJoint() or rn[i]->isFourBarJoint()))
+                (rn[i]->isRotationalJoint() or rn[i]->isHemisphereJoint() or
+                 rn[i]->isFourBarJoint()))
             {
                 currentValue *= 180.0 / M_PI;
             }

source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt

@@ -27,6 +27,7 @@ set(SOURCES
     aronTreeWidget/modal/AronTreeWidgetModal.cpp
     ColorPalettes.cpp
     SkillManagerMonitorWidgetController.cpp
+    PeriodicUpdateWidget.cpp
 )
 
 set(HEADERS
@@ -53,6 +54,7 @@ set(HEADERS
     aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
     ColorPalettes.h
     SkillManagerMonitorWidgetController.h
+    PeriodicUpdateWidget.h
 )
 
 set(GUI_UIS

source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.cpp

+#include "PeriodicUpdateWidget.h"
+
+#include <cmath>
+
+#include <QCheckBox>
+#include <QDoubleSpinBox>
+#include <QHBoxLayout>
+#include <QPushButton>
+#include <QTimer>
+
+namespace armarx
+{
+    PeriodicUpdateWidget::PeriodicUpdateWidget(double frequency, double maxFrequency)
+    {
+        setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Minimum);
+
+        QLayout* vlayout = new QVBoxLayout();
+        QLayout* hlayout = new QHBoxLayout();
+        this->setLayout(vlayout);
+
+        const int margin = 0;
+        hlayout->setContentsMargins(margin, margin, margin, margin);
+
+        _updateButton = new QPushButton("Update", this);
+        _autoCheckBox = new QCheckBox("Auto Update", this);
+        _frequencySpinBox = new QDoubleSpinBox(this);
+        _frequencySpinBox->setValue(frequency);
+        _frequencySpinBox->setMinimum(0);
+        _frequencySpinBox->setMaximum(maxFrequency);
+        _frequencySpinBox->setSingleStep(0.5);
+        _frequencySpinBox->setSuffix(" Hz");
+
+        hlayout->addWidget(_updateButton);
+        hlayout->addWidget(_autoCheckBox);
+        hlayout->addWidget(_frequencySpinBox);
+
+        vlayout->addItem(hlayout);
+
+
+        _timer = new QTimer(this);
+        _updateTimerFrequency();
+        _frequencySpinBox->setEnabled(_autoCheckBox->isChecked());
+
+
+        // Private connections.
+        connect(_autoCheckBox, &QCheckBox::toggled, this, &This::_toggleAutoUpdates);
+        connect(_frequencySpinBox,
+                &QDoubleSpinBox::editingFinished,
+                this,
+                &This::_updateTimerFrequency);
+
+        // Public connections.
+        connect(_updateButton, &QPushButton::pressed, this, &This::updateSingle);
+        connect(_timer, &QTimer::timeout, this, &This::updatePeriodic);
+
+        connect(this, &This::updateSingle, this, &This::update);
+        connect(this, &This::updatePeriodic, this, &This::update);
+
+        // See `startTimerIfEnabled` for the signal reasoning.
+        // qOverload is required because `QTimer::start()` is overloaded.
+        connect(this, &This::startTimerSignal, _timer, qOverload<>(&QTimer::start));
+        connect(this, &This::stopTimerSignal, _timer, &QTimer::stop);
+    }
+
+    QPushButton*
+    PeriodicUpdateWidget::updateButton()
+    {
+        return _updateButton;
+    }
+
+    int
+    PeriodicUpdateWidget::getUpdateIntervalMs() const
+    {
+        return static_cast<int>(std::round(1000 / _frequencySpinBox->value()));
+    }
+
+    void
+    PeriodicUpdateWidget::startTimerIfEnabled()
+    {
+        /* A QTimer can only be started and stopped within its own thread (the thread for which
+         * it has the greatest affinity). Since this method can be called from any thread, we
+         * need to take a detour through these signals, which can be emitted from any thread and
+         * will always be caught in this object's (and thus the timer's) native thread.
+         */
+        if (_autoCheckBox->isChecked())
+        {
+            emit startTimerSignal();
+        }
+        else
+        {
+            emit stopTimerSignal();
+        }
+    }
+
+    void
+    PeriodicUpdateWidget::stopTimer()
+    {
+        // See `startTimerIfEnabled` for the signal reasoning.
+        emit stopTimerSignal();
+    }
+
+    void
+    PeriodicUpdateWidget::_updateTimerFrequency()
+    {
+        _timer->setInterval(getUpdateIntervalMs());
+    }
+
+    void
+    PeriodicUpdateWidget::_toggleAutoUpdates(bool enabled)
+    {
+        // This method is already a slot, so it doesn't need to use the timer signals.
+        _frequencySpinBox->setEnabled(enabled);
+        if (enabled)
+        {
+            _timer->start();
+        }
+        else
+        {
+            _timer->stop();
+        }
+    }
+
+    QCheckBox*
+    PeriodicUpdateWidget::autoCheckBox()
+    {
+        return _autoCheckBox;
+    }
+
+    QDoubleSpinBox*
+    PeriodicUpdateWidget::frequencySpinBox()
+    {
+        return _frequencySpinBox;
+    }
+
+    QTimer*
+    PeriodicUpdateWidget::timer()
+    {
+        return _timer;
+    }
+
+} // namespace armarx

source/RobotAPI/gui-plugins/SkillManagerPlugin/PeriodicUpdateWidget.h

+#pragma once
+
+#include <QWidget>
+
+
+class QCheckBox;
+class QDoubleSpinBox;
+class QPushButton;
+class QTimer;
+
+namespace armarx
+{
+
+    class PeriodicUpdateWidget : public QWidget
+    {
+        Q_OBJECT
+        using This = PeriodicUpdateWidget;
+
+    public:
+        PeriodicUpdateWidget(double frequency = 2.0, double maxFrequency = 60);
+
+
+        QTimer* timer();
+
+        QCheckBox* autoCheckBox();
+        QDoubleSpinBox* frequencySpinBox();
+        QPushButton* updateButton();
+
+        bool isAutoEnabled() const;
+        double getUpdateFrequency() const;
+        int getUpdateIntervalMs() const;
+
+        void startTimerIfEnabled();
+        void stopTimer();
+
+
+    public slots:
+
+    signals:
+
+        void update();
+
+        void updateSingle();
+        void updatePeriodic();
+
+    private slots:
+
+        void _updateTimerFrequency();
+        void _toggleAutoUpdates(bool enabled);
+
+    signals:
+
+        void startTimerSignal();
+        void stopTimerSignal();
+
+    private:
+        QPushButton* _updateButton;
+        QCheckBox* _autoCheckBox;
+        QDoubleSpinBox* _frequencySpinBox;
+
+        QPushButton* _collapseAllButton;
+
+        QTimer* _timer;
+    };
+
+} // namespace armarx

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="2">
-    <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
-   </item>
-   <item row="3" column="0">
-    <widget class="QCheckBox" name="checkBoxAutoUpdate">
-     <property name="text">
-      <string>Auto Update</string>
-     </property>
-    </widget>
-   </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="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">
+  <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>
@@ -75,11 +48,14 @@
        <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>
+         </property>
          <column>
           <property name="text">
-           <string>ExecutionID</string>
+           <string>Timestamp</string>
           </property>
          </column>
          <column>
@@ -94,27 +70,7 @@
          </column>
          <column>
           <property name="text">
-           <string>IsConstructing</string>
-          </property>
-         </column>
-         <column>
-          <property name="text">
-           <string>IsInitializing</string>
-          </property>
-         </column>
-         <column>
-          <property name="text">
-           <string>IsPreparing</string>
-          </property>
-         </column>
-         <column>
-          <property name="text">
-           <string>IsRunning</string>
-          </property>
-         </column>
-         <column>
-          <property name="text">
-           <string>Finished</string>
+           <string>Status</string>
           </property>
          </column>
         </widget>
@@ -171,6 +127,9 @@
         <item row="4" column="0">
          <widget class="QLineEdit" name="lineEditSearch">
           <property name="text">
+           <string/>
+          </property>
+          <property name="placeholderText">
            <string>Search...</string>
           </property>
          </widget>
@@ -209,65 +168,65 @@
            <bool>false</bool>
           </property>
           <widget class="QWidget" name="groupBoxSkillDetailsTop" native="true">
-          <layout class="QVBoxLayout" name="verticalLayout_2">
-           <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>
-            <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>
+           <layout class="QVBoxLayout" name="verticalLayout_2">
+            <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>
+             <layout class="QGridLayout" name="gridLayout_5">
+              <item row="0" column="0">
+               <widget class="QPushButton" name="pushButtonPaste">
                 <property name="text">
-                 <string>&lt;No Profile selected. Using root&gt;</string>
+                 <string>Set args from clipboard</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>
+               </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>&lt;No Profile selected. Using root&gt;</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>
           <widget class="QWidget" name="groupBoxSkillDetailsBottom" native="true">
            <layout class="QVBoxLayout" name="verticalLayout_3">
             <property name="leftMargin">
@@ -328,6 +287,50 @@
      </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/>

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>
@@ -66,6 +67,7 @@ namespace armarx
 
     class SkillExecutionInfoTreeWidgetItem : public QTreeWidgetItem
     {
+        //Q_OBJECT
     public:
         SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id,
                                          QTreeWidgetItem* parent) :
@@ -73,6 +75,12 @@ namespace armarx
         {
         }
 
+        // After constructing an item, it must be manually inserted into the tree!
+        SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id) : executionId(id)
+        {
+        }
+
+        // When using this constructor, the new item will be appended to the bottom of the tree!
         SkillExecutionInfoTreeWidgetItem(const skills::SkillExecutionID& id, QTreeWidget* parent) :
             QTreeWidgetItem(parent), executionId(id)
         {
@@ -113,15 +121,16 @@ 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 executeSkill();
+        void stopAllExecutions();
+        void stopSkill(); // TODO: rename
+        void executeSelectedSkill();
 
-        void updateTimerFrequency();
         void refreshSkills();
         void refreshExecutions();
         void refreshSkillsAndExecutions();
@@ -130,6 +139,11 @@ namespace armarx
         void pasteCurrentConfig();
         void resetCurrentConfig();
 
+        void prepareAndRunMenu(const QPoint& pos);
+        void rerunSkillWithSimilarParams();
+
+        void searchSkills();
+
 
     private:
         aron::data::DictPtr getConfigAsAron() const;
@@ -140,6 +154,7 @@ namespace armarx
          */
         Ui::SkillManagerMonitorWidget widget;
         QPointer<SimpleConfigDialog> dialog;
+        QString currentSkillSearch;
 
         std::string observerName = "SkillManager";
         skills::dti::SkillMemoryInterfacePrx memory = nullptr;
@@ -150,24 +165,41 @@ namespace armarx
             {};
         std::map<skills::SkillExecutionID, skills::SkillStatusUpdate> skillStatusUpdates = {};
 
+        // store copies (!) of skill descriptions
+        //std::map<skills::SkillExecutionID, skills::SkillParameterization> skillExecutionParams = {};
+
         // User Input
         struct SelectedSkill
         {
+            static const skills::SkillID UNK_SKILL_ID;
+
             skills::SkillID skillId;
+            skills::SkillExecutionID skillExecutionId;
 
             // make default constructable
             SelectedSkill() :
-                skillId{.providerId = skills::ProviderID{.providerName = ""}, .skillName = ""}
+                skillId(UNK_SKILL_ID),
+                skillExecutionId{.skillId = UNK_SKILL_ID,
+                                 .executorName = skills::SkillExecutionID::UNKNOWN,
+                                 .executionStartedTime = armarx::core::time::DateTime::Invalid()}
             {
             }
-        } selectedSkill;
+        }
+
+        selectedSkill;
+
+        void executeSkillWithParams(skills::SkillID skillId, aron::data::DictPtr params);
+        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;
         SkillDescriptionWidget* skillDescriptionWidget = nullptr;
 
         // connected flag

source/RobotAPI/interface/robot_name_service/RobotNameServiceInterface.ice

@@ -27,10 +27,12 @@
 
 #include <RobotAPI/interface/armem/mns.ice>
 #include <RobotAPI/interface/skills/SkillManagerInterface.ice>
+#include <RobotAPI/interface/units/ForceTorqueUnit.ice>
 #include <RobotAPI/interface/units/HandUnitInterface.ice>
 #include <RobotAPI/interface/units/KinematicUnitInterface.ice>
 #include <RobotAPI/interface/units/LocalizationUnitInterface.ice>
 #include <RobotAPI/interface/units/PlatformUnitInterface.ice>
+#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice>
 
 module armarx
 {
@@ -39,24 +41,38 @@ module armarx
         module dto
         {
 
-            struct Hand
+            module location
+            {
+                enum Side
+                {
+                    LEFT,
+                    RIGHT,
+                    UNKNOWN
+                };
+            };
+
+            struct TCPInfo
             {
                 string name;
                 string ft_name;
+                location::Side side;
                 HandUnitInterface* handUnitInterface;
             };
 
-            dictionary<string, Hand> Hands;
+            // maps tcp name to tcp
+            dictionary<string, TCPInfo> TCPInfos;
 
-            struct Arm
+            struct ArmInfo
             {
                 string kinematicChainName;
-                Hand hand;
+                location::Side side;
+                TCPInfo tcpInfo;
             };
 
-            dictionary<string, Arm> Arms;
+            // maps kinematic chain name to arm
+            dictionary<string, ArmInfo> ArmInfos;
 
-            struct Robot
+            struct RobotInfo
             {
                 string name;
                 armarx::data::PackagePath xmlPackagePath;
@@ -66,12 +82,10 @@ module armarx
                 armarx::skills::manager::dti::SkillManagerInterface* skillManager;
 
                 // kinematic stuff. MAY BE EMPTY
-                Arms arms;
+                ArmInfos armInfos;
 
-                // units. MAY BE NULL
-                armarx::KinematicUnitInterface* kinematicUnitInterface;
-                armarx::PlatformUnitInterface* platformUnitInterface;
-                armarx::LocalizationUnitInterface* localizationUnitInterface;
+                // RobotUnit
+                armarx::RobotUnitInterface* robotUnit;
 
                 // TODO: Feel free to extend!
             };
@@ -81,9 +95,9 @@ module armarx
         {
             interface RobotNameServiceInterface
             {
-                bool registerRobot(dto::Robot robot);
-                void unregisterRobot(string name);
-                optional(1) dto::Robot getRobot(string name);
+                bool registerRobotInfo(dto::RobotInfo robot);
+                void unregisterRobotInfo(string name);
+                optional(1) dto::RobotInfo getRobotInfo(string name);
             };
         };
     };