SkillTreeWidget.cpp

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#include "SkillTreeWidget.h"
 
#include "RobotAPI/libraries/skills_gui/skills/SkillTreeWidgetItem.h"
 
namespace armarx::skills::gui
{
    void
    SkillTreeWidget::skillSelectionChanged(QTreeWidgetItem* current, int)
    {
        if (!current)
        {
            // gui has died?
            return;
        }
 
        auto c = dynamic_cast<SkillTreeWidgetItem*>(current);
        if (!c)
        {
            // we don't know what to do with the item. Abort...
            return;
        }
 
        selectedSkill.skillId = c->skillId;
        emit updateSkillDetails(selectedSkill.skillId);
    }
 
    void
    SkillTreeWidget::updateGui(SkillMap update)
    {
        setSortingEnabled(false);
 
        // update tree view. Remove non-existing elements
        int i = 0;
        while (i < this->topLevelItemCount())
        {
            auto* providerItem = this->topLevelItem(i);
            auto providerName = providerItem->text(0).toStdString();
            skills::ProviderID providerId{.providerName = providerName};
 
            if (update.find(providerId) == update.end())
            {
                providerItem = nullptr; // reset
                auto remove = this->takeTopLevelItem(i);
                delete remove;
                continue;
            }
 
            ++i;
 
            // sanity check
            ARMARX_CHECK(update.count(providerId) > 0);
            auto& providedSkills = update.at(providerId);
 
            int j = 0;
            while (j < providerItem->childCount())
            {
                auto* skillItem = providerItem->child(j);
                auto skillName = skillItem->text(0).toStdString();
 
                skills::SkillID skillId{.providerId =
                                            skills::ProviderID{.providerName = providerName},
                                        .skillName = skillName};
 
                if (providedSkills.find(skillId) == providedSkills.end())
                {
                    skillItem = nullptr;
                    auto remove = providerItem->takeChild(j);
                    delete remove;
                    continue;
                }
 
                ++j;
            }
        }
 
        // update tree view. Add new elements
        for (const auto& [providerId, providedSkills] : update)
        {
            bool newProvider = false;
            QTreeWidgetItem* providerItem = nullptr;
            for (int i = 0; i < this->topLevelItemCount(); ++i)
            {
                auto el = this->topLevelItem(i);
                auto providerName = el->text(0).toStdString();
                skills::ProviderID elProviderId{.providerName = providerName};
 
                if (providerId == elProviderId)
                {
                    providerItem = el;
                    break;
                }
            }
 
            if (!providerItem)
            {
                providerItem = new QTreeWidgetItem(this);
                providerItem->setText(0, QString::fromStdString(providerId.providerName));
                // expand new items
                newProvider = true;
            }
 
            for (const auto& [skillId, skill] : providedSkills)
            {
                QTreeWidgetItem* skillItem = nullptr;
                for (int i = 0; i < providerItem->childCount(); ++i)
                {
                    auto el = providerItem->child(i);
                    auto skillName = el->text(0).toStdString();
                    skills::SkillID elSkillId{providerId, skillName};
 
                    if (skillId == elSkillId)
                    {
                        skillItem = el;
                        break;
                    }
                }
 
                if (!skillItem)
                {
                    skillItem = new SkillTreeWidgetItem(skillId, providerItem);
                    skillItem->setText(0, QString::fromStdString(skillId.skillName));
                }
            }
 
            if (newProvider && PROVIDER_EXPANDED_DEFAULT)
            {
                providerItem->setExpanded(true);
            }
        }
 
        setSortingEnabled(true);
        sortByColumn(0, Qt::AscendingOrder);
        sortByColumn(1, Qt::AscendingOrder);
    }
 
    void
    SkillTreeWidget::disconnectGui()
    {
        this->clear();
        selectedSkill = SelectedSkill();
    }
 
    void
    SkillTreeWidget::setupUi()
    {
        this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 
        QTreeWidgetItem* qtreewidgetitem = this->headerItem();
 
        qtreewidgetitem->setText(0, "Skill");
 
        connectSignals();
    }
 
    void
    SkillTreeWidget::connectSignals()
    {
        // The selectionChanged signal does not trigger when clicking the active item
        // => we use itemClicked
        connect(this, &QTreeWidget::itemClicked, this, &SkillTreeWidget::skillSelectionChanged);
    }
 
 
} // namespace armarx::skills::gui