StatechartEditorController.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, 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
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#include "StatechartEditorController.h"
 
#include <QCoreApplication>
#include <QInputDialog>
#include <QLabel>
#include <QMessageBox>
#include <QTimer>
 
// Qt headers must come before <filesystem>
// https://stackoverflow.com/questions/69407237/qt-moc-errorusr-include-c-10-bits-fs-fwd-39-parse-error-at-std
#include <filesystem>
 
#include <IceUtil/UUID.h>
 
#include <SimoxUtility/algorithm/string/string_tools.h>
 
#include <ArmarXCore/core/application/Application.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/interface/statechart/RemoteStateOffererIce.h>
 
#include <ArmarXGui/gui-plugins/StatechartViewerPlugin/view/StateTabWidget.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/TipDialog.h>
 
#include "../StatechartViewerPlugin/view/StateItem.h"
#include "../StatechartViewerPlugin/view/StatechartView.h"
#include "io/GroupXmlReader.h"
#include "io/GroupXmlWriter.h"
#include "model/StateTreeModel.h"
#include "view/StatechartEditorMainWindow.h"
#include "view/dialogs/EditStatechartGroupDialog.h"
#include "view/dialogs/StatechartEditorSettingsDialog.h"
 
namespace armarx
{
 
    StatechartEditorController::StatechartEditorController() :
        //        editor(NULL)
        watcher(NULL)
    {
        // For jsonobject double/float serilization on german/spanish pcs....
        setlocale(LC_ALL, "C");
 
        QSettings s("KIT", "ArmarXStatechartEditor");
        config.lockRemoteStates = s.value("lockRemoteStates", true).toBool();
        config.searchPaths = s.value("searchPaths").toStringList();
    }
 
    StatechartEditorController::~StatechartEditorController()
    {
        storeAutoSaveSettings();
    }
 
    void
    StatechartEditorController::storeAutoSaveSettings()
    {
        ARMARX_INFO << "Updating auto-storage config";
        QSettings s("KIT", "ArmarXStatechartEditor");
        s.setValue("lockRemoteStates", config.lockRemoteStates);
        s.setValue("searchPaths", config.searchPaths);
    }
 
    QStringList
    StatechartEditorController::findAllStatechartGroupDefinitions(const QString& basePath)
    {
        QStringList result;
        if (basePath.isEmpty())
        {
            return result;
        }
        try
        {
            int i = 0;
 
            for (std::filesystem::recursive_directory_iterator end, dir(basePath.toUtf8().data());
                 dir != end && getState() < eManagedIceObjectExiting;
                 ++dir, i++)
            {
                std::string path(dir->path().c_str());
                // search for all statechart group xml files
                if (dir->path().extension() == ".scgxml")
                {
                    // skip groups in deprecated folders
                    if (path.find("deprecated") != std::string::npos)
                    {
                        ARMARX_INFO << "Skipping deprecated Statechart Group " << path;
                    }
                    else
                    {
                        result << dir->path().c_str();
                    }
                }
 
                if (i % 100 == 0)
                {
                    QCoreApplication::processEvents();
                }
            }
        }
        catch (std::exception& e)
        {
            ARMARX_WARNING << "Invalid filepath: " << e.what();
        }
 
        return result;
    }
 
    void
    StatechartEditorController::onInitComponent()
    {
        packageTool.reset(new ArmarXPackageToolInterface());
    }
 
    void
    StatechartEditorController::onConnectComponent()
    {
        QTimer::singleShot(0, this, SLOT(initWidget()));
        stateWatcher = new StateWatcher();
        getArmarXManager()->addObject(
            stateWatcher, "StateWatcher" + IceUtil::generateUUID(), false);
    }
 
    void
    StatechartEditorController::onDisconnectComponent()
    {
    }
 
    void
    StatechartEditorController::onExitComponent()
    {
        if (executionStatusTask)
        {
            executionStatusTask->stop();
        }
    }
 
    void
    StatechartEditorController::loadSettings(QSettings* settings)
    {
        //        searchPaths = settings->value("paths").toStringList();
        //        int size = settings->beginReadArray("groups");
        //        for(int row = 0; row < size; row++)
        //        {
        //            settings->setArrayIndex(row);
        //            config.groupsToLoad.push_back(settings->value("path").toString());
        //        }
        //        settings->endArray();
        if (!profiles)
        {
            profiles = StatechartProfiles::ReadProfileFiles(
                Application::getInstance()->getArmarXPackageNames());
        }
 
        if (settings->contains("selectedProfile"))
        {
            config.selectedProfile = profiles->getProfileByName(
                settings->value("selectedProfile").toString().toStdString());
        }
        else if (getConfigDialog(getWidget())->exec() == QDialog::Accepted)
        {
            configured();
        }
        else
        {
            config.selectedProfile = profiles->getProfileByName(profiles->GetRootName());
        }
 
        config.openAllStatesWasSelected = settings->value("openAllStatesSelected", false).toBool();
    }
 
    void
    StatechartEditorController::saveSettings(QSettings* settings)
    {
        //        settings->setValue("paths", searchPaths);
        //        if(treeController)
        //        {
        //            settings->beginWriteArray("groups");
        //            for(int row = 0; row < treeController->rowCount(); row++)
        //            {
        //                QModelIndex index = treeController->index(row, 0);
        //                auto node = treeController->getNode(index);
        //
        //                settings->setArrayIndex(row);
        //                settings->setValue("path", node->getGroup()->getDefinitionFilePath());
        //            }
        //            settings->endArray();
        //        }
 
        if (config.selectedProfile)
        {
            settings->setValue("selectedProfile",
                               QString::fromStdString(config.selectedProfile->getName()));
        }
 
        settings->setValue("openAllStatesSelected", config.openAllStatesWasSelected);
    }
 
    void
    StatechartEditorController::treeviewGroupsDoubleClicked(QModelIndex index)
    {
        StateTreeNodePtr node = treeController->getNode(index);
 
        if (node && node->getState())
        {
            int index = editor->getStateTabWidget()->getStateTab(node->getState());
            getTipDialog()->showMessage(
                "You can move states by holding the SHIFT + left click button. You can move the "
                "scene by holding ALT + move mouse.",
                "State Interaction");
 
            if (index < 0)
            {
                editor->getStateTabWidget()->addStateTab(node->getState());
            }
            else
            {
                editor->getStateTabWidget()->setCurrentIndex(index);
            }
        }
    }
 
    void
    StatechartEditorController::requestSave()
    {
        treeController->saveAll();
    }
 
    void
    StatechartEditorController::onStateTabChanged(int index)
    {
        StatechartView* view = editor->getUI()->stateTabWidget->stateview(index);
 
        if (view && view->getStateInstance() && view->getStateInstance()->getStateClass())
        {
            treeController->selectNodeByState(view->getStateInstance()->getStateClass());
            showStateCode(view->getStateInstance());
            view->showSubSubstates(editor->ui->actionShow_Subsubstates->isChecked());
        }
    }
 
    void
    StatechartEditorController::showNewStatechartGroupDialog()
    {
        QList<QString> selectedProxies;
        // enable statechart context generation for new groups by default
        EditStatechartGroupDialog d(EditStatechartGroupDialog::NewGroup,
                                    "",
                                    packageTool,
                                    variantInfo,
                                    selectedProxies,
                                    true,
                                    profiles);
 
        if (d.exec() == QDialog::Accepted)
        {
            StatechartGroupPtr g = treeController->addNewGroup(d.getGroupName(),
                                                               d.getGroupPath(),
                                                               d.getGroupDescription(),
                                                               d.getPackageName(),
                                                               d.getProxies(),
                                                               d.contextGenerationEnabled(),
                                                               d.getConfigurations());
        }
    }
 
    void
    StatechartEditorController::showStatechartEditorSettingsDialog()
    {
        StatechartEditorSettingsDialog d;
        d.setPaths(config.searchPaths);
        d.setRemoteStatesLocked(config.lockRemoteStates);
        if (d.exec() == QDialog::Accepted)
        {
            config.searchPaths = d.getPaths();
            config.searchPaths.removeDuplicates();
            searchAndOpenPaths(config.searchPaths);
            //        d.setPaths(config.searchPaths);
            //        d.setRemoteStatesLocked(config.lockRemoteStates);
            //        if(d.exec() == QDialog::Accepted)
            //        {
            //            config.searchPaths = d.getPaths();
            //            searchAndAddPaths(config.searchPaths);
            config.lockRemoteStates = d.getRemoteStatesLocked();
            stateEditorController->setLockRemoteStatesByDefault(config.lockRemoteStates);
            storeAutoSaveSettings();
        }
    }
 
    void
    StatechartEditorController::openStatechartGroups(QStringList groups)
    {
        editor->getUI()->treeViewProgressBar->show();
        editor->getUI()->treeViewProgressBar->setMaximum(groups.size());
        int i = 1;
        foreach (QString groupPath, groups)
        {
            treeController->onOpenGroup(groupPath);
            editor->getUI()->treeViewProgressBar->setValue(i);
            i++;
            qApp->processEvents(QEventLoop::ExcludeUserInputEvents);
        }
        editor->getUI()->treeViewProgressBar->hide();
    }
 
    void
    StatechartEditorController::searchAndOpenPaths(QStringList paths)
    {
        paths.removeDuplicates();
        QStringList groups;
        foreach (QString path, paths)
        {
            groups.append(findAllStatechartGroupDefinitions(path.trimmed()));
        }
        openStatechartGroups(groups);
    }
 
    void
    StatechartEditorController::connectToView(int tabIndex)
    {
        StatechartView* view = editor->getUI()->stateTabWidget->currentStateview();
 
        if (view)
        {
            connect(view,
                    SIGNAL(selectedStateChanged(statechartmodel::StateInstancePtr)),
                    this,
                    SLOT(showStateCode(statechartmodel::StateInstancePtr)));
        }
    }
 
    void
    StatechartEditorController::showStateCode(statechartmodel::StateInstancePtr stateInstance)
    {
        if (stateInstance && stateInstance->getStateClass())
        {
            StateTreeNodePtr node = treeController->getNodeByState(stateInstance->getStateClass());
 
            if (node)
            {
                std::string filePath = node->getBoostCppFilePath().c_str();
                showCodeFileContent(QString::fromStdString(filePath));
            }
        }
    }
 
    void
    StatechartEditorController::showCodeFileContent(const QString& path)
    {
        watcher->removePath(path);
        std::string fileContent;
 
        if (std::filesystem::exists(path.toUtf8().data()))
        {
            watcher->addPath(path);
            fileContent = RapidXmlReader::ReadFileContents(path.toUtf8().data());
        }
        else
        {
            fileContent = "<cpp missing>";
        }
 
        int line = editor->getUI()->textEditCppCode->textCursor().blockNumber();
        QTextCursor cursor = editor->getUI()->textEditCppCode->textCursor();
        cursor.movePosition(QTextCursor::Down, QTextCursor::MoveAnchor, line);
        editor->getUI()->textEditCppCode->setText(QString::fromUtf8(fileContent.c_str()));
        editor->getUI()->textEditCppCode->setTextCursor(cursor);
    }
 
    void
    StatechartEditorController::showOnEnterFunction()
    {
        editor->getUI()->textEditCppCode->find("::CreateInstance(");
        editor->getUI()->textEditCppCode->find("::onEnter()", QTextDocument::FindBackward);
    }
 
    void
    StatechartEditorController::showRunFunction()
    {
        editor->getUI()->textEditCppCode->find("::CreateInstance(");
        editor->getUI()->textEditCppCode->find("::run()", QTextDocument::FindBackward);
    }
 
    void
    StatechartEditorController::showOnBreakFunction()
    {
        editor->getUI()->textEditCppCode->find("::CreateInstance(");
        editor->getUI()->textEditCppCode->find("::onBreak()", QTextDocument::FindBackward);
    }
 
    void
    StatechartEditorController::showOnExitFunction()
    {
        editor->getUI()->textEditCppCode->find("::CreateInstance(");
        editor->getUI()->textEditCppCode->find("::onExit()", QTextDocument::FindBackward);
    }
 
    void
    StatechartEditorController::openSelectedState()
    {
        statechartmodel::StatePtr state;
 
        if (editor->getUI()->stateTabWidget->currentStateview())
        {
 
            auto selection =
                editor->getUI()->stateTabWidget->currentStateview()->getScene()->selectedItems();
 
            for (QGraphicsItem* item : selection)
            {
                StateItem* stateItem = dynamic_cast<StateItem*>(item);
 
                if (stateItem)
                {
                    if (stateItem->getStateInstance())
                    {
                        state = stateItem->getStateInstance()->getStateClass();
 
                        if (state)
                        {
                            break;
                        }
                    }
                }
            }
        }
 
        if (state)
        {
            auto node = treeController->getNodeByState(state);
 
            if (node && node->isState())
            {
                treeController->openStateCPP(node);
            }
        }
        else
        {
            showMessageBox("No state with a StateClass is selected");
        }
    }
 
    void
    StatechartEditorController::closeAllTabs()
    {
        editor->getStateTabWidget()->clear();
    }
 
    void
    StatechartEditorController::executeOpenedState(bool)
    {
        StatechartView* view = editor->getUI()->stateTabWidget->currentStateview();
        if (!executedOpenedGroup)
        {
            if (view)
            {
                auto node =
                    treeController->getNodeByState(view->getStateInstance()->getStateClass());
                if (node)
                {
                    if (node->isPublic())
                    {
                        treeController->executeGroupWithDependencies(
                            node->getGroup(),
                            view->getStateInstance()->getStateClass()->getStateName());
                        executedOpenedGroup = node->getGroup();
                        editor->getUI()->toolButtonRunState->setIcon(QIcon(":/icons/delete.ico"));
                        editor->getUI()->toolButtonRunState->setToolTip(
                            "Stop the Statechart Group");
                        editor->getUI()->toolButtonWatchStateExecution->setEnabled(false);
                        editor->getUI()->labelExecutionState->setVisible(true);
                        alreadyWatchingState = false;
                        executionStatusTask->start();
                    }
                    else
                    {
                        QMessageBox::warning(
                            editor,
                            "Execution not possible",
                            "You can only execute public state. Right-click on the state in the "
                            "tree view on the left and select 'Public State'.");
                    }
                }
            }
            else
            {
                QMessageBox::warning(
                    editor,
                    "Execution not possible",
                    "You need to open a state before executing it with this button.");
            }
        }
        else
        {
            if (executedOpenedGroup)
            {
                treeController->stopGroupExecutionWithDependencies(executedOpenedGroup);
                executedOpenedGroup.reset();
                executionStatusTask->stop();
                editor->getUI()->labelExecutionState->setVisible(false);
            }
            editor->getUI()->toolButtonRunState->setToolTip("Start the Statechart Group");
            editor->getUI()->toolButtonRunState->setIcon(QIcon(":/icons/run.svg"));
            editor->getUI()->toolButtonWatchStateExecution->setEnabled(true);
            if (view)
            {
                view->getScene()->clearActiveSubstates();
            }
            std::function<void(StateItem * state)> unsubscriptionLamba;
            unsubscriptionLamba = [&](StateItem* state)
            {
                stateWatcher->unsubscribeState(state);
                for (auto stateInstance : state->getSubstateItems())
                {
                    if (stateInstance)
                    {
                        unsubscriptionLamba(stateInstance);
                    }
                }
            };
            unsubscriptionLamba(view->getScene()->getTopLevelStateItem());
        }
    }
 
    void
    StatechartEditorController::updateExecutionButtonStatus()
    {
        bool changeToWaiting = false;
        QString labelText = "";
        if (executedOpenedGroup)
        {
            std::string proxyName =
                executedOpenedGroup->getName().toStdString() + "StateComponentAppManager";
            std::string objName = config.selectedProfile->getName() +
                                  executedOpenedGroup->getName().toStdString() +
                                  "RemoteStateOfferer";
            ArmarXManagerInterfacePrx stateComponentProxy =
                getProxy<ArmarXManagerInterfacePrx>(proxyName, false, "", false);
            try
            {
                if (getArmarXManager()->getIceManager()->isObjectReachable(objName))
                {
                    // Dont need to do anything, the RemoteStateOfferer is already running.
                }
                else if (stateComponentProxy)
                {
                    auto state = stateComponentProxy->getObjectState(objName);
                    if (state != eManagedIceObjectStarted)
                    {
                        Ice::StringSeq deps;
                        for (auto elem :
                             stateComponentProxy->getObjectConnectivity(objName).dependencies)
                        {
                            ManagedIceObjectDependencyBasePtr dep = elem.second;
                            if (!dep->getResolved())
                            {
                                if (deps.size() >= 2)
                                {
                                    deps.push_back("...");
                                    break;
                                }
                                else
                                {
                                    deps.push_back(dep->getName());
                                }
                            }
                        }
                        labelText = "Waiting for dependencies: " +
                                    QString::fromStdString(simox::alg::join(deps, ", "));
                        changeToWaiting = true;
                    }
                }
                else
                {
                    labelText = "Waiting for statechart group to start";
                    changeToWaiting = true;
                }
            }
            catch (const Ice::Exception& e)
            {
                labelText = "Waiting for statechart group to start (ice-exception catched)";
                changeToWaiting = true;
            }
 
            catch (...)
            {
                labelText = "Waiting for statechart group to start (exception catched)";
                changeToWaiting = true;
            }
 
            if (!changeToWaiting)
            {
                labelText = "Statechart group is running";
                if (editor->getUI()->toolButtonWatchStateExecution->isChecked() &&
                    !alreadyWatchingState)
                {
                    watchState(objName);
                }
            }
        }
        QMetaObject::invokeMethod(editor->getUI()->labelExecutionState,
                                  "setText",
                                  Qt::QueuedConnection,
                                  Q_ARG(QString, labelText));
        //        editor->getUI()->labelExecutionState->setText(labelText);
    }
 
    void
    StatechartEditorController::watchState(const std::string& objName)
    {
        RemoteStateOffererInterfacePrx statechartHandler =
            getProxy<RemoteStateOffererInterfacePrx>(objName, false, "", false);
        //                ARMARX_INFO << deactivateSpam(4) << "getting proxy for " << objName;
        StatechartView* view = editor->getUI()->stateTabWidget->currentStateview();
        if (view)
        {
            std::string globalStateName =
                "TopLevel->" +
                view->getStateInstance()->getStateClass()->getStateName().toStdString();
            QMap<QString, StateInstanceData> instanceData =
                view->getScene()->getStateInstanceData();
            auto toplevelPathString = view->getScene()->getTopLevelStateItem()->getFullStatePath();
            auto asyncResult =
                statechartHandler->begin_getStatechartInstanceByGlobalIdStr(globalStateName);
            while (!asyncResult->isCompleted())
            {
                if (getState() >= eManagedIceObjectExiting)
                {
                    return;
                }
                usleep(10000);
                //                    qApp->processEvents();
            }
            armarx::StateIceBasePtr stateptr =
                statechartHandler->end_getStatechartInstanceByGlobalIdStr(asyncResult);
            if (!stateptr)
            {
                //                        ARMARX_WARNING_S << deactivateSpam(4) << "Could not find state with name " << globalStateName;
            }
            else
            {
 
 
                std::function<void(StateIceBasePtr iceState, StateItem * state)> subscriptionLamba;
                subscriptionLamba = [&](StateIceBasePtr iceState, StateItem* state)
                {
                    stateWatcher->subscribeToState(iceState, state);
                    size_t i = 0;
                    for (auto stateInstance : state->getSubstateItems())
                    {
                        if (stateInstance->getStateInstance()->getStateClass() &&
                            iceState->subStateList.size() > i)
                        {
                            subscriptionLamba(
                                StateIceBasePtr::dynamicCast(iceState->subStateList.at(i)),
                                stateInstance);
                        }
                        i++;
                    }
                };
                subscriptionLamba(stateptr, view->getScene()->getTopLevelStateItem());
 
                alreadyWatchingState = true;
            }
        }
    }
 
    QPointer<QWidget>
    StatechartEditorController::getWidget()
    {
        if (!editor)
        {
            //            QWidget* w = qobject_cast<QWidget*>(new StatechartEditorMainWindow());
            editor = new StatechartEditorMainWindow();
        }
 
        return qobject_cast<QWidget*>(editor);
    }
 
    void
    StatechartEditorController::initWidget()
    {
        getWidget()->setFocusPolicy(Qt::WheelFocus);
 
 
        ARMARX_INFO << "selectedProfile: " << config.selectedProfile->getFullName();
        ARMARX_INFO << "profile packages: " << config.selectedProfile->getAllPackages();
        variantInfo = VariantInfo::ReadInfoFiles(
            {"ArmarXCore"},
            true,
            false); // read core variantinfo file in case the root profile is selected
        for (const auto& eventuallyNamespacedPackage : config.selectedProfile->getAllPackages())
        {
            variantInfo = VariantInfo::ReadInfoFilesRecursive(
                eventuallyNamespacedPackage, "", true, variantInfo);
        }
        editor->setCommunicator(getIceManager()->getCommunicator());
        editor->setVariantInfo(variantInfo);
        editor->setCurrentProfile(config.selectedProfile);
        editor->getUI()->toolBarViewControl->addWidget(new QLabel(
            QString::fromStdString("Selected Profile: " + config.selectedProfile->getFullName())));
        editor->getUI()->toolBarViewControl->insertWidget(
            editor->getUI()->actionEdit_State_Properties, new QLabel("Active State:"));
 
        QList<QVariant> header;
        header.push_back(QString("TEST"));
        treeController.reset(new StateTreeController(getIceManager()->getCommunicator(),
                                                     variantInfo,
                                                     header,
                                                     editor->getUI()->treeViewGroups,
                                                     editor->getUI()->lineEditStateSearch,
                                                     packageTool,
                                                     profiles,
                                                     config.selectedProfile,
                                                     this));
 
 
        QStringList searchPaths;
        if (config.openAllStatesWasSelected)
        {
            for (std::string eventuallyNamespacedPackage : config.selectedProfile->getAllPackages())
            {
                // check for namespaced package
                const auto elements = simox::alg::split(eventuallyNamespacedPackage, "::");
                ARMARX_IMPORTANT << VAROUT(elements);
 
                const std::string cmakePackageName =
                    simox::alg::replace_all(eventuallyNamespacedPackage, "::", "_");
 
                for (const auto& includePath :
                     CMakePackageFinder(cmakePackageName).getIncludePathList())
                {
                    ARMARX_IMPORTANT << VAROUT(includePath);
 
                    if (elements.size() == 1) // standard packages
                    {
                        std::filesystem::path packageStatechartPath(includePath.c_str());
                        packageStatechartPath /= cmakePackageName;
                        packageStatechartPath /= "statecharts";
 
                        if (std::filesystem::exists(packageStatechartPath) &&
                            !std::filesystem::exists(
                                packageStatechartPath /
                                "cmake_install.cmake")) // do not add the build dir
                        {
                            ARMARX_VERBOSE << "Adding statechart search path: "
                                           << packageStatechartPath.string();
                            searchPaths.push_back(packageStatechartPath.c_str());
                        }
                    }
 
                    if (elements.size() == 2) // special handling of namespaced packages
                    {
                        std::filesystem::path packageStatechartPathArmarXPackage(
                            includePath.c_str());
 
                        packageStatechartPathArmarXPackage /= elements.at(0);
                        packageStatechartPathArmarXPackage /= elements.at(1);
                        packageStatechartPathArmarXPackage /= "statecharts";
 
                        ARMARX_IMPORTANT << VAROUT(packageStatechartPathArmarXPackage);
 
                        if (std::filesystem::exists(packageStatechartPathArmarXPackage) &&
                            !std::filesystem::exists(
                                packageStatechartPathArmarXPackage /
                                "cmake_install.cmake")) // do not add the build dir
                        {
                            ARMARX_IMPORTANT << "Adding statechart search path: "
                                             << packageStatechartPathArmarXPackage.string();
                            searchPaths.push_back(packageStatechartPathArmarXPackage.c_str());
                        }
                    }
                }
            }
        }
        config.searchPaths.removeDuplicates();
 
 
        connect(editor->getUI()->actionNew_State_Definition,
                SIGNAL(triggered()),
                treeController.get(),
                SLOT(onNewStateDefinition()));
        connect(editor->getUI()->actionDelete_State_Definition,
                SIGNAL(triggered()),
                treeController.get(),
                SLOT(onDeleteNode()));
        connect(editor->getUI()->treeViewGroups,
                SIGNAL(doubleClicked(QModelIndex)),
                SLOT(treeviewGroupsDoubleClicked(QModelIndex)));
        connect(editor->getUI()->actionSave_State, SIGNAL(triggered()), SLOT(requestSave()));
        connect(editor->getUI()->stateTabWidget,
                SIGNAL(currentChanged(int)),
                SLOT(onStateTabChanged(int)));
        connect(editor->getUI()->actionNew_Statechart_Group,
                SIGNAL(triggered()),
                this,
                SLOT(showNewStatechartGroupDialog()));
        connect(editor->getUI()->actionOpenStatechartGroup,
                SIGNAL(triggered()),
                treeController.get(),
                SLOT(onOpenGroup()));
        connect(editor->getUI()->actionSettings,
                SIGNAL(triggered()),
                this,
                SLOT(showStatechartEditorSettingsDialog()));
        connect(editor->getUI()->toolButtonRunState,
                SIGNAL(clicked(bool)),
                this,
                SLOT(executeOpenedState(bool)));
 
        connect(treeController.get(), SIGNAL(closeAllTabsRequested()), this, SLOT(closeAllTabs()));
 
        // setup plugin specific shortcuts
        editor->getUI()->actionOpenStatechartGroup->setShortcutContext(
            Qt::WidgetWithChildrenShortcut);
        editor->getUI()->actionOpenStatechartGroup->setShortcut(tr("Ctrl+O"));
        getWidget()->addAction(editor->getUI()->actionOpenStatechartGroup);
 
 
        stateEditorController.reset(new StateEditorController(editor,
                                                              treeController,
                                                              getIceManager()->getCommunicator(),
                                                              variantInfo,
                                                              config.selectedProfile,
                                                              getTipDialog()));
        stateEditorController->setLockRemoteStatesByDefault(config.lockRemoteStates);
        connect(editor->getUI()->stateTabWidget,
                SIGNAL(currentChanged(int)),
                this,
                SLOT(connectToView(int)),
                Qt::UniqueConnection);
        connect(editor->getUI()->radioOnEnter,
                SIGNAL(clicked()),
                this,
                SLOT(showOnEnterFunction()),
                Qt::UniqueConnection);
        connect(editor->getUI()->radioOnBreak,
                SIGNAL(clicked()),
                this,
                SLOT(showOnBreakFunction()),
                Qt::UniqueConnection);
        connect(editor->getUI()->radioRun,
                SIGNAL(clicked()),
                this,
                SLOT(showRunFunction()),
                Qt::UniqueConnection);
        connect(editor->getUI()->radioOnExit,
                SIGNAL(clicked()),
                this,
                SLOT(showOnExitFunction()),
                Qt::UniqueConnection);
 
 
        connect(
            editor->getUI()->btnOpenCppCode, SIGNAL(clicked()), this, SLOT(openSelectedState()));
 
        watcher = new QFileSystemWatcher(editor);
        connect(watcher, SIGNAL(fileChanged(QString)), this, SLOT(showCodeFileContent(QString)));
 
        searchAndOpenPaths(config.searchPaths + searchPaths);
        //        OpenStatechartGroups(config.groupsToLoad);
        //        config.groupsToLoad.clear();
        treeController->collapseAll();
        executionStatusTask = new PeriodicTask<StatechartEditorController>(
            this, &StatechartEditorController::updateExecutionButtonStatus, 300);
    }
 
    bool
    StatechartEditorController::onClose()
    {
        //        QSettings s("KIT", "ArmarXStatechartEditor");
        //        saveSettings(&s);
        return ArmarXComponentWidgetController::onClose();
    }
 
    void
    StatechartEditorController::configured()
    {
        StatechartEditorConfigDialog* dialog =
            qobject_cast<StatechartEditorConfigDialog*>(getConfigDialog(getWidget()));
        config.selectedProfile = dialog->getSelectedProfile();
        config.openAllStatesWasSelected = dialog->openAllStatesIsSelected();
    }
 
} // namespace armarx
 
QPointer<QDialog>
armarx::StatechartEditorController::getConfigDialog(QWidget* parent)
{
    if (!dialog)
    {
        profiles = StatechartProfiles::ReadProfileFiles(
            Application::getInstance()->getArmarXPackageNames());
        dialog = new StatechartEditorConfigDialog(profiles, parent);
    }
 
    return qobject_cast<StatechartEditorConfigDialog*>(dialog);
}