SkillDashboardWidgetController.h

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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    ArmarXGui::gui-plugins::OperatorViewWidgetController
 * @author     Leonie Leven
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <thread>
#include <unordered_set>
 
#include <QApplication>
#include <QClipboard>
#include <QLabel>
#include <QMainWindow>
#include <QMap>
#include <QPushButton>
#include <QString>
#include <QTimer>
#include <QToolBar>
#include <QVBoxLayout>
#include <QWidget>
 
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
 
#include <RobotAPI/gui-plugins/ui_SkillDashboardWidget.h>
#include <RobotAPI/interface/components/SkillDashboardInterface.h>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 
#include "SkillDashboardConfigWindow.h"
 
namespace armarx
{
 
    class SkillDashboardGuiPlugin : public ArmarXGuiPlugin
    {
        Q_OBJECT
        Q_INTERFACES(ArmarXGuiInterface)
        Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
    public:
        SkillDashboardGuiPlugin();
 
        QString
        getPluginName() override
        {
            return "SkillDashboardWidget";
        }
    };
 
    /*!
     * \page RobotAPI-GuiPlugins-HandUnitWidget HandUnitGuiPlugin
     * \brief With this widget the HandUnit can be controlled.
     * \image html HandUnitGUI.png
     * You can either select a preshape from the drop-down-menu on top or set each
     * joint individually.
     * When you add the widget to the Gui, you need to specify the following parameters:
     *
     * Parameter Name   | Example Value     | Required?     | Description
     *  :----------------  | :-------------:   | :-------------- |:--------------------
     * Proxy     | LeftHandUnit   | Yes | The hand unit you want to control.
     */
    class SkillDashboardWidget :
        public ArmarXComponentWidgetControllerTemplate<SkillDashboardWidget>
    {
        Q_OBJECT
    public:
        explicit SkillDashboardWidget();
 
        virtual ~SkillDashboardWidget()
        {
        }
 
        // inherited from Component
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
        // inherited of ArmarXWidget
        static QString
        GetWidgetName()
        {
            return "Skills.Dashboard";
        }
 
        void loadSettings(QSettings* settings) override;
        void saveSettings(QSettings* settings) override;
        QPointer<QDialog> getConfigDialog(QWidget* parent) override;
        QPointer<QWidget> getCustomTitlebarWidget(QWidget* parent) override;
 
 
        void configured() override;
 
    protected:
        Ui::SkillDashboardWidget ui;
 
 
    signals:
        void loadButtonInit();
        void skillFinished(const std::string& name);
 
    private slots:
        void openConfigWindow(const std::string& name = "",
                              const std::string& id = "",
                              const std::string& args = "");
        void loadButtons();
        void editShortcut(const std::string& name);
        void deleteShortcut(const std::string& name);
        void executeSkill(const std::string& name);
        void exportButtons();
        void activateButton(const std::string& name);
        void onShortcutNameChanged();
        void editMode(bool edit);
 
    private:
        SkillDashboardConfigWindow* configWindow;
        QVBoxLayout* shortcutLayout;
        const std::string DEFAULT_SETTINGS_PLUGIN_NAME;
        const std::string DEFAULT_SETTINGS_CUSTOM_TEXT;
        QPointer<armarx::SimpleConfigDialog> m_config_dialog;
        std::string dashboardManagerName;
        std::string skillManagerOberserverName = "SkillManager";
        SkillDashboardInterfacePrx dashboardPrx;
        void clearLayout(QLayout* layout);
        armarx::skills::manager::dti::SkillManagerInterfacePrx managerPrx;
        std::thread exampleTask;
        void exampleThreadMethod();
        std::atomic_bool connected = false;
        std::map<std::string, QPushButton*> shortcutButtons;
        std::map<std::string, QToolButton*> deleteButtons;
        std::map<std::string, QToolButton*> configButtons;
        std::map<std::string, skills::manager::dto::SkillExecutionID> runningSkills;
        SkillDashboardConfigWindow* dialog;
        std::string currentShortcutName;
        QAction* editModeAction;
        QPointer<QToolBar> customToolbar;
    };
} // namespace armarx