PeriodicUpdateController.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2025, 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    RobotStateComponent::
 * @author     Samet Soenmez (uewtt at student dot kit dot edu)
 * @date       2025t
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "PeriodicUpdateController.h"
 
#include <iomanip>
 
#include <QLabel>
#include <QTimer>
#include <QLayout>
#include <QBoxLayout>
#include <QGroupBox>
#include <QCheckBox>
#include <QDoubleSpinBox>
#include <QThread>
 
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/observers/variant/Variant.h>
 
namespace armarx::armem::gui::controller
{
    PeriodicUpdateController::PeriodicUpdateController(
        MemoryViewerUIContext& uiContext,
        std::shared_ptr<armem::gui::model::MemoryViewerModel> model)
    {
        _model = std::move(model);
        _statusLabel = uiContext.statusLabel;
        _memoryGroupBoxController = std::make_unique<MemoryGroupBoxController>(
            uiContext,
            _model
        );
 
        _periodicUpdateView = new armem::gui::view::PeriodicUpdateView();
        uiContext.periodicUpdateViewLayout->insertWidget(0, _periodicUpdateView);
 
        connect(_periodicUpdateView,
                &armem::gui::view::PeriodicUpdateView::update,
                this,
                [this]()
                {
                    if (_model->connected()) {
                        _periodicUpdateView->showUpdatingLabel();
                    }
                    emit update();
                });
 
        connect(_periodicUpdateView,
                &armem::gui::view::PeriodicUpdateView::collapseAll,
                this,
                &This::onCollapseAll);
        
        connect(_periodicUpdateView,
                &armem::gui::view::PeriodicUpdateView::splitBox,
                this,
                &This::onSplitBox);
 
        connect(_periodicUpdateView,
                &armem::gui::view::PeriodicUpdateView::timerFrequencyChanged,
                this,
                &This::onTimerFrequencyChanged);
 
        connect(_periodicUpdateView,
                &armem::gui::view::PeriodicUpdateView::toggleAutoUpdates,
                this,
                &This::onToggleAutoUpdates);
 
        connect(_memoryGroupBoxController->memoryGroupBoxView(),
                &armem::gui::view::MemoryGroupBoxView::toggleSplitButton,
                this,
                [this]()
                {
                    _periodicUpdateView->toggleSplitButton();
                });
 
        startWorker();
 
    }
 
    PeriodicUpdateController::~PeriodicUpdateController()
    {
        if (_periodicUpdateWorkerThread)
        {
            _periodicUpdateWorkerThread->quit();
            _periodicUpdateWorkerThread->wait();
        }
    }
 
    void PeriodicUpdateController::startWorker()
    {
        _periodicUpdateWorkerThread = new QThread();
        _periodicUpdateWorker = new PeriodicUpdateWorker(_model);
        _periodicUpdateWorker->moveToThread(_periodicUpdateWorkerThread);
 
        connect(_periodicUpdateWorkerThread, 
                &QThread::started, 
                _periodicUpdateWorker, 
                &PeriodicUpdateWorker::init);
 
        connect(_periodicUpdateWorkerThread, 
                &QThread::finished, 
                _periodicUpdateWorker, 
                &PeriodicUpdateWorker::cleanup);
 
        connect(_periodicUpdateWorkerThread, 
                &QThread::finished, 
                _periodicUpdateWorker, 
                &QObject::deleteLater);
 
        connect(_periodicUpdateWorkerThread, 
                &QThread::finished, 
                _periodicUpdateWorkerThread, 
                &QObject::deleteLater);
 
        connect(_periodicUpdateWorker,
                &PeriodicUpdateWorker::updateLabelAndTree,
                this,
                &This::updateStatusLabelAndMemoryTree);
 
        connect(_periodicUpdateWorker,
                &PeriodicUpdateWorker::showLoadingLabel,
                this,
                [this](){
                    if (_model->connected()) {
                        _periodicUpdateView->showUpdatingLabel();
                    }
                });
 
        connect(_periodicUpdateWorker,
                &PeriodicUpdateWorker::updateQueryWidget,
                this,
                &This::updateListOfActiveMemories);
 
        connect(this,
                &This::startPeriodicTimerSignal,
                _periodicUpdateWorker,
                &PeriodicUpdateWorker::startPeriodicTimer);
 
        connect(this,
                &This::stopPeriodicTimerSignal,
                _periodicUpdateWorker,
                &PeriodicUpdateWorker::stopPeriodicTimer);
 
        connect(this,
                &This::startAutoUpdateTimerSignal,
                _periodicUpdateWorker,
                &PeriodicUpdateWorker::startAutoUpdateTimer);
 
        connect(this,
                &This::stopAutoUpdateTimerSignal,
                _periodicUpdateWorker,
                &PeriodicUpdateWorker::stopAutoUpdateTimer);
 
        connect(this,
                &This::autoUpdateTimerIntervalSignal,
                _periodicUpdateWorker,
                &PeriodicUpdateWorker::setAutoUpdateTimerInterval);
 
        connect(_periodicUpdateWorkerThread,
                &QThread::started,
                this,
                &This::onTimerFrequencyChanged);
 
        connect(this,
                &This::update,
                _periodicUpdateWorker,
                &PeriodicUpdateWorker::onUpdate);
 
        _periodicUpdateWorkerThread->start();
 
    }
 
    void PeriodicUpdateController::startAutoUpdateTimerIfEnabled()
    {
        /* 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 the timer's native thread.
         */
        if (_periodicUpdateView->autoCheckBox()->isChecked())
        {
            emit startAutoUpdateTimerSignal();
        }
    }
 
    void PeriodicUpdateController::onCollapseAll()
    {
        _memoryGroupBoxController->memoryGroupBoxView()->tree()->collapseAll();
    }
 
    void PeriodicUpdateController::onSplitBox()
    {
        _periodicUpdateView->toggleSplitButton();
        _memoryGroupBoxController->memoryGroupBoxView()->splitBox();
    }
 
    void PeriodicUpdateController::onTimerFrequencyChanged()
    {
        emit autoUpdateTimerIntervalSignal(_periodicUpdateView->getUpdateIntervalMs());
    }
 
    void PeriodicUpdateController::onToggleAutoUpdates(bool enabled)
    {
        _periodicUpdateView->frequencySpinBox()->setEnabled(enabled);
        if (enabled)
        {
            emit startAutoUpdateTimerSignal();
        }
        else
        {
            emit stopAutoUpdateTimerSignal();
        }
    }
 
    void
    PeriodicUpdateController::updateStatusLabelAndMemoryTree(int errorCount)
    {
        updateStatusLabel(errorCount);
        _memoryGroupBoxController->updateMemoryTree();
 
        _periodicUpdateView->hideUpdatingLabel();
    }
 
    void
    PeriodicUpdateController::updateStatusLabel(int errorCount)
    {
        // Code to output status label information
        if (_statusLabel and errorCount > 0)
        {
            auto now = std::chrono::system_clock::now();
            auto in_time_t = std::chrono::system_clock::to_time_t(now);
 
            std::stringstream ss;
            ss << "Last update: " << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d %X");
            ss << "\nThe query produced " << errorCount << " errors! Please check log.";
 
            _statusLabel->setText(QString::fromStdString(ss.str()));
        }
    }
 
    void
    PeriodicUpdateController::updateListOfActiveMemories(QStringList activeMemoryNames)
    {
        std::vector<std::string> activeMemoryNamesVec;
        activeMemoryNamesVec.reserve(activeMemoryNames.size());
        for (const QString& s : activeMemoryNames) {
            activeMemoryNamesVec.push_back(s.toStdString());
        }
 
        TIMING_START(GuiUpdateAvailableMemories);
        _memoryGroupBoxController
            ->memoryGroupBoxView()
            ->queryWidget()
            ->update(activeMemoryNamesVec);
 
        _memoryGroupBoxController
            ->memoryGroupBoxView()
            ->ltmWidget()
            ->update(activeMemoryNamesVec);
        TIMING_END_STREAM(GuiUpdateAvailableMemories, ARMARX_VERBOSE);
    }
 
    MemoryGroupBoxController* PeriodicUpdateController::memoryGroupBoxController() const
    {
        return _memoryGroupBoxController.get();
    }
}