SkillManagerMonitorWidgetController.h

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/*
 * This file is part of ArmarX.
 *
 * 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    RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <stack>
#include <thread>
#include <vector>
 
#include <QTimer>
 
#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/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
#include <RobotAPI/libraries/skills/core/ProviderID.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
#include <RobotAPI/libraries/skills_gui/SkillMemoryGui.h>
 
namespace armarx
{
    class ARMARXCOMPONENT_IMPORT_EXPORT SkillManagerMonitorWidgetController :
        public armarx::ArmarXComponentWidgetControllerTemplate<SkillManagerMonitorWidgetController>
    {
        Q_OBJECT
 
    public:
        /// Controller Constructor
        explicit SkillManagerMonitorWidgetController();
        /// Controller destructor
        virtual ~SkillManagerMonitorWidgetController();
 
        void loadSettings(QSettings* settings) override;
        void saveSettings(QSettings* settings) override;
        QPointer<QDialog> getConfigDialog(QWidget* parent) override;
        void configured() override;
 
        /**
         * Returns the Widget name displayed in the ArmarXGui to create an
         * instance of this class.
         */
        static QString
        GetWidgetName()
        {
            return "Skills.Manager";
        }
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent();
 
    signals:
        void disconnectGui();
        void connectGui(std::string observerName);
 
    private:
        armarx::skills::manager::dti::SkillManagerInterfacePrx memory;
        Ui::SkillManagerMonitorWidget widget;
        std::unique_ptr<armarx::skills::gui::SkillMemoryGUI> viewer = nullptr;
        QPointer<SimpleConfigDialog> dialog;
 
        std::string observerName = "SkillManager";
        std::shared_ptr<skills::gui::SkillManagerWrapper> mem_wrapper = nullptr;
 
        void connectSignals();
 
        // connected flag
        std::atomic_bool connected = false;
    };
} // namespace armarx