From 3e18af4a8ebbc75c10e9ad8706e37c695da16e04 Mon Sep 17 00:00:00 2001
From: Malte Laurin Matthey <malte.matthey@student.kit.edu>
Date: Wed, 18 Dec 2024 10:23:31 -0300
Subject: [PATCH] move UI logic out of TaskManager and LearnEnvironment, adjust
resource location
---
.devcontainer/devcontainer.json | 2 +-
.../src/learn_environment/CMakeLists.txt | 2 +-
.../folder_structure_constants.hpp | 18 +++
.../learn_environment/learn_environment.hpp | 13 --
.../learn_environment/subtask_item.hpp | 1 +
.../learn_environment/task_manager.hpp | 38 +++---
.../include/learn_environment/task_ui.hpp | 50 ++++++-
.../resource/learn_environment.ui | 4 +-
.../learn_environment/resource/resources.qrc | 17 +++
catkin_ws/src/learn_environment/resources.qrc | 17 ---
.../src/learn_environment.cpp | 52 ++------
.../learn_environment/src/subtask_item.cpp | 14 +-
.../learn_environment/src/task_manager.cpp | 95 ++------------
.../src/learn_environment/src/task_ui.cpp | 124 ++++++++++++++++--
14 files changed, 245 insertions(+), 202 deletions(-)
create mode 100644 catkin_ws/src/learn_environment/resource/resources.qrc
delete mode 100644 catkin_ws/src/learn_environment/resources.qrc
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 21caed4..6a760ec 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -34,7 +34,7 @@
"ms-vscode.cmake-tools",
"ms-python.python",
- // remove to not show cell tags in editor
+ // remove VS Code plugin to not show cell tags in editor
"-ms-toolsai.vscode-jupyter-cell-tags"
]
}
diff --git a/catkin_ws/src/learn_environment/CMakeLists.txt b/catkin_ws/src/learn_environment/CMakeLists.txt
index 31ba730..bac241f 100644
--- a/catkin_ws/src/learn_environment/CMakeLists.txt
+++ b/catkin_ws/src/learn_environment/CMakeLists.txt
@@ -80,7 +80,7 @@ set(${PROJECT_NAME}_UIS
)
set(${PROJECT_NAME}_QRC
- resources.qrc
+ resource/resources.qrc
)
# Create header from ui file (uic)
diff --git a/catkin_ws/src/learn_environment/include/learn_environment/folder_structure_constants.hpp b/catkin_ws/src/learn_environment/include/learn_environment/folder_structure_constants.hpp
index 2ab3417..73d8029 100644
--- a/catkin_ws/src/learn_environment/include/learn_environment/folder_structure_constants.hpp
+++ b/catkin_ws/src/learn_environment/include/learn_environment/folder_structure_constants.hpp
@@ -26,6 +26,24 @@ namespace FolderStructureConstants {
*/
inline const QString RESET_ROBOT_SCRIPT_PATH = "/task_pool/reset_robot.py";
+ /**
+ * @var FolderStructureConstants::TASK_DEFINITIONS_PATH
+ * @brief Path to the task definitions json.
+ */
+ inline const QString TASK_DEFINITIONS_PATH = ":/task_pool/task_definitions.json";
+
+ /**
+ * @var FolderStructureConstants::TOPIC_DEFINITIONS_PATH
+ * @brief Path to the topic definitions json.
+ */
+ inline const QString TOPIC_DEFINITIONS_PATH = ":/task_pool/topic_definitions.json";
+
+ /**
+ * @var FolderStructureConstants::TOPIC_DEFINITIONS_PATH
+ * @brief Path to the difficulty definitions json.
+ */
+ inline const QString DIFFICULTY_LEVELS_DEFINITION_PATH = ":/task_pool/difficulty_levels.json";
+
/**
* @var FolderStructureConstants::SOLUTION_SCRIPTS_SOURCE_PATH
* @brief Path to the solution scripts source directory.
diff --git a/catkin_ws/src/learn_environment/include/learn_environment/learn_environment.hpp b/catkin_ws/src/learn_environment/include/learn_environment/learn_environment.hpp
index c10c46e..a1af02a 100644
--- a/catkin_ws/src/learn_environment/include/learn_environment/learn_environment.hpp
+++ b/catkin_ws/src/learn_environment/include/learn_environment/learn_environment.hpp
@@ -3,7 +3,6 @@
#include <rviz/panel.h>
#include <ui_learn_environment.h>
-#include "sidebar.hpp"
#include "task_manager.hpp"
#include "task_ui.hpp"
#include "notebook_converter.hpp"
@@ -54,15 +53,8 @@ public:
*/
virtual void save(rviz::Config config) const override;
-private Q_SLOTS:
- /**
- * @brief Toggles the visibility of the sidebar.
- */
- void toggleSidebarVisibility();
-
private:
Ui::LearnEnvironment *ui; ///< Pointer to the UI object.
- Sidebar *sidebar; ///< Pointer to the Sidebar object.
TaskManager *taskManager; ///< Pointer to the TaskManager object.
TaskUI *taskUI; ///< Pointer to the TaskUI object.
QProcess *process; ///< Pointer to the QProcess object.
@@ -74,11 +66,6 @@ private:
* @brief Initializes the UI and the startup logic.
*/
void initialize();
-
- /**
- * @brief Sets up the splitter and layout for the main window.
- */
- void setupSplitterAndLayout();
};
#endif // LEARN_ENVIRONMENT_HPP
\ No newline at end of file
diff --git a/catkin_ws/src/learn_environment/include/learn_environment/subtask_item.hpp b/catkin_ws/src/learn_environment/include/learn_environment/subtask_item.hpp
index 4010fbd..139b144 100644
--- a/catkin_ws/src/learn_environment/include/learn_environment/subtask_item.hpp
+++ b/catkin_ws/src/learn_environment/include/learn_environment/subtask_item.hpp
@@ -3,6 +3,7 @@
#include "task.hpp"
#include "task_manager.hpp"
+#include "execute_frame.hpp"
#include <QWidget>
#include <QPushButton>
diff --git a/catkin_ws/src/learn_environment/include/learn_environment/task_manager.hpp b/catkin_ws/src/learn_environment/include/learn_environment/task_manager.hpp
index 2c441c3..78d4ae3 100644
--- a/catkin_ws/src/learn_environment/include/learn_environment/task_manager.hpp
+++ b/catkin_ws/src/learn_environment/include/learn_environment/task_manager.hpp
@@ -3,11 +3,8 @@
#include "task.hpp"
#include "task_executor.hpp"
-#include "execute_frame.hpp"
#include <QObject>
-#include <QPushButton>
-#include <QFrame>
#include <QVector>
#include <QSharedPointer>
@@ -28,11 +25,9 @@ public:
/**
* @brief Constructs a TaskManager object.
* @param taskUI Pointer to the TaskUI object.
- * @param nextButton Pointer to the next button.
- * @param previousButton Pointer to the previous button.
* @param parent Pointer to the parent QObject.
*/
- TaskManager(TaskUI *taskUI, QPushButton *nextButton, QPushButton *previousButton, QFrame *resetRobotFrame, QObject *parent = nullptr);
+ TaskManager(TaskUI *taskUI, QObject *parent = nullptr);
/**
* @brief Starts or stops a subtask.
@@ -49,32 +44,33 @@ public:
public Q_SLOTS:
/**
- * @brief Starts or stops a subtask.
- * @param subtask Reference to the subtask to be started or stopped.
+ * @brief Slot for changing to the next task.
*/
- void startStopSubtask(const Subtask &subtask);
+ void nextTask();
/**
- * @brief Forces the reset of the robot to its initial state.
+ * @brief Slot for changing to the previous task.
*/
- void forceResetRobot();
+ void previousTask();
-private Q_SLOTS:
/**
- * @brief Slot for handling the next button click event.
+ * @brief Selects a task by its index.
+ * @param index The index of the task to be selected.
*/
- void onNextButtonClicked();
+ void selectTask(int index);
/**
- * @brief Slot for handling the previous button click event.
+ * @brief Starts or stops a subtask.
+ * @param subtask Reference to the subtask to be started or stopped.
*/
- void onPreviousButtonClicked();
+ void startStopSubtask(const Subtask &subtask);
/**
- * @brief Selects a task by its index.
- * @param index The index of the task to be selected.
+ * @brief Forces the reset of the robot to its initial state.
*/
- void selectTask(int index);
+ void forceResetRobot();
+
+private Q_SLOTS:
/**
* @brief Slot for handling the task execution started event.
@@ -111,10 +107,6 @@ private Q_SLOTS:
private:
TaskUI *taskUI; ///< Pointer to the TaskUI object.
TaskExecutor *taskExecutor; ///< Pointer to the TaskExecutor object.
- QPushButton *nextButton; ///< Pointer to the next button.
- QPushButton *previousButton; ///< Pointer to the previous button.
- QFrame *resetRobotFrame; ///< Pointer to the reset robot frame.
- ExecuteFrame *executeResetRobotFrame; ///< Pointer to the execute reset robot frame.
QVector<QSharedPointer<Task>> tasks; ///< Vector of tasks.
QVector<Subtask*> queued_and_running_subtasks; ///< Vector of queued and running subtasks.
int currentQueueStartSolution = false; ///< Flag indicating whether to start the solution or the users script.
diff --git a/catkin_ws/src/learn_environment/include/learn_environment/task_ui.hpp b/catkin_ws/src/learn_environment/include/learn_environment/task_ui.hpp
index 120d8d8..4e2d939 100644
--- a/catkin_ws/src/learn_environment/include/learn_environment/task_ui.hpp
+++ b/catkin_ws/src/learn_environment/include/learn_environment/task_ui.hpp
@@ -4,11 +4,14 @@
#include "sidebar.hpp"
#include "task.hpp"
#include "task_manager.hpp"
+#include "execute_frame.hpp"
#include <QObject>
#include <QVBoxLayout>
#include <QLabel>
+#include <QToolButton>
#include <QPushButton>
+#include <QFrame>
/**
* @class TaskUI
@@ -18,8 +21,7 @@
* related to tasks and subtasks. It interacts with the TaskManager and Sidebar
* to provide a cohesive user experience.
*/
-class TaskUI : public QObject
-{
+class TaskUI : public QWidget {
Q_OBJECT
public:
@@ -31,13 +33,16 @@ public:
* @param folderLabel Pointer to the QLabel for displaying the folder information.
* @param nextButton Pointer to the QPushButton for navigating to the next task.
* @param previousButton Pointer to the QPushButton for navigating to the previous task.
- * @param sidebar Reference to the Sidebar object.
+ * @param menuButton Pointer to the QToolButton for opening the sidebar.
+ * @param resetRobotStartButton Pointer to the QToolButton for resetting the robot.
+ * @param resetRobotFrame Pointer to the QFrame displaying the reset of the robot.
+ * @param centralWidget Pointer to the central QWidget for the plugin.
* @param parent Pointer to the parent QObject.
*/
TaskUI(QVBoxLayout *subtaskListLayout, QLabel *mainTitleLabel,
QLabel *difficultyLabel, QLabel *folderLabel, QLabel *topicLabel,
- QPushButton *nextButton, QPushButton *previousButton,
- Sidebar &sidebar, QObject *parent = nullptr);
+ QPushButton *nextButton, QPushButton *previousButton, QToolButton *menuButton,
+ QToolButton *resetRobotStartButton, QFrame *resetRobotFrame, QWidget *centralwidget, QWidget *parent = nullptr);
/**
* @brief Initializes the UI with the loaded tasks.
@@ -62,6 +67,23 @@ public:
*/
void setTaskManager(TaskManager *manager);
+ /**
+ * @brief Update the UI to show that the robot reset has been started.
+ * @param noSubtasksLeft indicator, if subtasks are running after the rest or not.
+ */
+ void startedRobotResetUI(bool noSubtasksLeft);
+
+ /**
+ * @brief Update the UI to show that the robot reset has finished.
+ */
+ void finishedRobotResetUI();
+
+ /**
+ * @brief Update the UI to show that the robot reset has failed.
+ * @param error the error that occured while resetting the robot.
+ */
+ void failedRobotResetUI(const QString &error);
+
Q_SIGNALS:
/**
* @brief Signal emitted when a task is selected.
@@ -69,8 +91,14 @@ Q_SIGNALS:
*/
void taskSelected(int index);
+private Q_SLOTS:
+ /**
+ * @brief Toggles the visibility of the sidebar.
+ */
+ void toggleSidebarVisibility();
+
private:
- Sidebar &sidebar; ///< Reference to the Sidebar object.
+ Sidebar *sidebar; ///< Pointer to the Sidebar object.
QVBoxLayout *subtaskListLayout; ///< Pointer to the QVBoxLayout for displaying subtasks.
QLabel *mainTitleLabel; ///< Pointer to the QLabel for displaying the main title.
QLabel *difficultyLabel; ///< Pointer to the QLabel for displaying the difficulty level.
@@ -78,6 +106,11 @@ private:
QLabel *topicLabel; ///< Pointer to the QLabel for displaying the topic of the task.
QPushButton *nextButton; ///< Pointer to the QPushButton for navigating to the next task.
QPushButton *previousButton; ///< Pointer to the QPushButton for navigating to the previous task.
+ QToolButton *menuButton; ///< Pointer to the QToolButton for opening the sidebar.
+ QToolButton *resetRobotStartButton; ///< Pointer to the QToolButton for resetting the robot.
+ QFrame *resetRobotFrame; ///< Pointer to the reset robot frame.
+ ExecuteFrame *executeResetRobotFrame; ///< Pointer to the execute reset robot frame.
+ QWidget *centralwidget; ///< Pointer to the central QWidget for the plugin.
QVector<QSharedPointer<Task>> tasks; ///< Vector of loaded tasks.
TaskManager *taskManager; ///< Pointer to the TaskManager object.
@@ -91,6 +124,11 @@ private:
* @brief Adds a line between subtask widgets in the QListWidget.
*/
void addLineBetweenWidgets();
+
+ /**
+ * @brief Sets up the splitter and layout for the main window.
+ */
+ void setupSplitterAndLayout();
};
#endif // TASKUI_HPP
\ No newline at end of file
diff --git a/catkin_ws/src/learn_environment/resource/learn_environment.ui b/catkin_ws/src/learn_environment/resource/learn_environment.ui
index fc12258..d89ea16 100644
--- a/catkin_ws/src/learn_environment/resource/learn_environment.ui
+++ b/catkin_ws/src/learn_environment/resource/learn_environment.ui
@@ -139,7 +139,7 @@ QToolButton:hover { background: white; border-radius: 8px; }</string>
</property>
<property name="icon">
<iconset resource="resources.qrc">
- <normaloff>:/resource/icons/menu.png</normaloff>:/resource/icons/menu.png</iconset>
+ <normaloff>:/icons/menu.png</normaloff>:/icons/menu.png</iconset>
</property>
<property name="iconSize">
<size>
@@ -336,7 +336,7 @@ QToolButton:hover { background: #e6e6e6; border-radius: 8px; }</string>
</property>
<property name="icon">
<iconset resource="resources.qrc">
- <normaloff>:/resource/icons/play.png</normaloff>:/resource/icons/play.png</iconset>
+ <normaloff>:/icons/play.png</normaloff>:/icons/play.png</iconset>
</property>
<property name="iconSize">
<size>
diff --git a/catkin_ws/src/learn_environment/resource/resources.qrc b/catkin_ws/src/learn_environment/resource/resources.qrc
new file mode 100644
index 0000000..ce61f86
--- /dev/null
+++ b/catkin_ws/src/learn_environment/resource/resources.qrc
@@ -0,0 +1,17 @@
+<!DOCTYPE RCC><RCC version="1.0">
+ <qresource>
+ <file>icons/menu.png</file>
+ <file>icons/close.png</file>
+ <file>icons/help.png</file>
+ <file>icons/play.png</file>
+ <file>icons/stop.png</file>
+ <file>icons/failed.png</file>
+ <file>icons/succeeded.png</file>
+ <file>icons/loading.gif</file>
+ <file>icons/queued.gif</file>
+
+ <file>../task_pool/task_definitions.json</file>
+ <file>../task_pool/difficulty_levels.json</file>
+ <file>../task_pool/topic_definitions.json</file>
+ </qresource>
+ </RCC>
diff --git a/catkin_ws/src/learn_environment/resources.qrc b/catkin_ws/src/learn_environment/resources.qrc
deleted file mode 100644
index 6e23edd..0000000
--- a/catkin_ws/src/learn_environment/resources.qrc
+++ /dev/null
@@ -1,17 +0,0 @@
-<!DOCTYPE RCC><RCC version="1.0">
- <qresource>
- <file>resource/icons/menu.png</file>
- <file>resource/icons/close.png</file>
- <file>resource/icons/help.png</file>
- <file>resource/icons/play.png</file>
- <file>resource/icons/stop.png</file>
- <file>resource/icons/failed.png</file>
- <file>resource/icons/succeeded.png</file>
- <file>resource/icons/loading.gif</file>
- <file>resource/icons/queued.gif</file>
-
- <file>task_pool/task_definitions.json</file>
- <file>task_pool/difficulty_levels.json</file>
- <file>task_pool/topic_definitions.json</file>
- </qresource>
- </RCC>
diff --git a/catkin_ws/src/learn_environment/src/learn_environment.cpp b/catkin_ws/src/learn_environment/src/learn_environment.cpp
index 97a3133..5df964a 100644
--- a/catkin_ws/src/learn_environment/src/learn_environment.cpp
+++ b/catkin_ws/src/learn_environment/src/learn_environment.cpp
@@ -4,13 +4,6 @@
#include <pluginlib/class_list_macros.hpp>
#include <QMainWindow>
-#include <QSplitter>
-#include <QHBoxLayout>
-
-namespace {
- const char* CLOSE_ICON_PATH = ":/resource/icons/close.png";
- const char* MENU_ICON_PATH = ":/resource/icons/menu.png";
-}
LearnEnvironment::LearnEnvironment(QWidget *parent)
: rviz::Panel(parent),
@@ -36,7 +29,6 @@ LearnEnvironment::~LearnEnvironment()
}
void LearnEnvironment::initialize() {
- sidebar = new Sidebar(this);
taskUI = new TaskUI(
ui->subtaskListVLayout,
ui->mainTitleLabel,
@@ -45,17 +37,18 @@ void LearnEnvironment::initialize() {
ui->topicLabel,
ui->nextButton,
ui->previousButton,
- *sidebar,
+ ui->menuButton,
+ ui->resetRobotStartButton,
+ ui->resetRobotFrame,
+ ui->centralwidget,
this
);
- taskManager = new TaskManager(taskUI, ui->nextButton, ui->previousButton, ui->resetRobotFrame, this);
-
- setupSplitterAndLayout();
+ taskManager = new TaskManager(taskUI, this);
- sidebar->setVisible(false);
-
- connect(ui->menuButton, &QPushButton::clicked, this, &LearnEnvironment::toggleSidebarVisibility);
- connect(ui->resetRobotStartButton, &QToolButton::clicked, taskManager, &TaskManager::forceResetRobot);
+ QHBoxLayout *mainPanelLayout = new QHBoxLayout(this);
+ mainPanelLayout->addWidget(taskUI);
+ mainPanelLayout->setContentsMargins(0, 0, 0, 0);
+ setLayout(mainPanelLayout);
notebookConverter->moveToThread(notebookThread);
connect(notebookThread, &QThread::started, notebookConverter, &NotebookConverter::processTaskPool);
@@ -63,33 +56,6 @@ void LearnEnvironment::initialize() {
notebookThread->start();
}
-void LearnEnvironment::setupSplitterAndLayout() {
- QSplitter *splitter = new QSplitter(Qt::Horizontal, this);
-
- splitter->addWidget(sidebar);
- splitter->addWidget(ui->centralwidget);
-
- QList<int> sizes;
- sizes << 200 << 600;
- splitter->setSizes(sizes);
-
- // Set the layout to the main widget
- QHBoxLayout *mainLayout = new QHBoxLayout(this);
- mainLayout->addWidget(splitter);
- setLayout(mainLayout);
-}
-
-void LearnEnvironment::toggleSidebarVisibility() {
- bool isVisible = sidebar->isVisible();
- sidebar->setVisible(!isVisible);
-
- if (sidebar->isVisible()) {
- ui->menuButton->setIcon(QIcon(CLOSE_ICON_PATH));
- } else {
- ui->menuButton->setIcon(QIcon(MENU_ICON_PATH));
- }
-}
-
void LearnEnvironment::load(const rviz::Config &config) {
// Implement loading of user-specific settings
}
diff --git a/catkin_ws/src/learn_environment/src/subtask_item.cpp b/catkin_ws/src/learn_environment/src/subtask_item.cpp
index 830454b..de37eb4 100644
--- a/catkin_ws/src/learn_environment/src/subtask_item.cpp
+++ b/catkin_ws/src/learn_environment/src/subtask_item.cpp
@@ -17,13 +17,13 @@ namespace {
const char* LINK_STYLE = "font-family:'monospace'; font-size:10pt; color:'#444444'; vertical-align:bottom;";
const char* BODY_STYLE = "color:#444444;";
- const char* START_ICON_PATH = ":/resource/icons/play.png";
- const char* STOP_ICON_PATH = ":/resource/icons/stop.png";
- const char* HELP_ICON_PATH = ":/resource/icons/help.png";
- const char* LOADING_GIF_PATH = ":/resource/icons/loading.gif";
- const char* QUEUED_GIF_PATH = ":/resource/icons/queued.gif";
- const char* FAILED_ICON_PATH = ":/resource/icons/failed.png";
- const char* SUCCEEDED_ICON_PATH = ":/resource/icons/succeeded.png";
+ const char* START_ICON_PATH = ":/icons/play.png";
+ const char* STOP_ICON_PATH = ":/icons/stop.png";
+ const char* HELP_ICON_PATH = ":/icons/help.png";
+ const char* LOADING_GIF_PATH = ":/icons/loading.gif";
+ const char* QUEUED_GIF_PATH = ":/icons/queued.gif";
+ const char* FAILED_ICON_PATH = ":/icons/failed.png";
+ const char* SUCCEEDED_ICON_PATH = ":/icons/succeeded.png";
const char* ICON_BUTTON_STYLE =
"QToolButton { border: 0; padding: 0; }"
diff --git a/catkin_ws/src/learn_environment/src/task_manager.cpp b/catkin_ws/src/learn_environment/src/task_manager.cpp
index a70cf54..8ab2e9d 100644
--- a/catkin_ws/src/learn_environment/src/task_manager.cpp
+++ b/catkin_ws/src/learn_environment/src/task_manager.cpp
@@ -3,40 +3,21 @@
#include "learn_environment/task_parser.hpp"
#include "learn_environment/task_executor.hpp"
#include "learn_environment/notebook_converter.hpp"
+#include "learn_environment/folder_structure_constants.hpp"
#include <QDebug>
#include <QToolButton>
-namespace {
- const char* TASK_DEFINITIONS_PATH = ":/task_pool/task_definitions.json";
- const char* TOPIC_DEFINITIONS_PATH = ":/task_pool/topic_definitions.json";
- const char* DIFFICULTY_LEVELS_DEFINITION_PATH = ":/task_pool/difficulty_levels.json";
- const char* LOADING_GIF_PATH = ":/resource/icons/loading.gif";
- const char* START_ICON_PATH = ":/resource/icons/play.png";
- const char* STOP_ICON_PATH = ":/resource/icons/stop.png";
- const char* FAILED_ICON_PATH = ":/resource/icons/failed.png";
- const char* SUCCEEDED_ICON_PATH = ":/resource/icons/succeeded.png";
- const char* RESET_ROBOT_TEXT = "Resetting the robot to its default state...";
- const char* RESET_ROBOT_TEXT_SCRIPTS = "Resetting the robot before script execution...";
- const char* RESET_ROBOT_TEXT_SUCCESS = "Robot successfully reset!";
- const char* RESET_ROBOT_TEXT_FAILED = "<b>Robot reset failed!</b>";
- const char* STOP_RESET_ROBOT_TOOLTIP = "Cancel reset process";
- const char* RESET_ROBOT_TOOLTIP = "Reset robot to default state";
- const char* RESET_ROBOT_START_BUTTON_NAME = "resetRobotStartButton";
-}
-
-TaskManager::TaskManager(TaskUI *taskUI, QPushButton *nextButton, QPushButton *previousButton, QFrame *resetRobotFrame, QObject *parent)
+TaskManager::TaskManager(TaskUI *taskUI, QObject *parent)
: QObject(parent),
taskUI(taskUI),
taskExecutor(new TaskExecutor(this)),
- nextButton(nextButton),
- previousButton(previousButton),
- resetRobotFrame(resetRobotFrame),
- executeResetRobotFrame(nullptr),
currentTaskIndex(0)
{
TaskParser parser;
- tasks = parser.loadTasks(TASK_DEFINITIONS_PATH, DIFFICULTY_LEVELS_DEFINITION_PATH, TOPIC_DEFINITIONS_PATH);
+ tasks = parser.loadTasks(FolderStructureConstants::TASK_DEFINITIONS_PATH,
+ FolderStructureConstants::DIFFICULTY_LEVELS_DEFINITION_PATH,
+ FolderStructureConstants::TOPIC_DEFINITIONS_PATH);
if (tasks.isEmpty()) {
qCritical() << "No tasks loaded. Exiting TaskManager initialization.";
@@ -56,12 +37,6 @@ TaskManager::TaskManager(TaskUI *taskUI, QPushButton *nextButton, QPushButton *p
taskUI->initializeUI(tasks);
selectTask(currentTaskIndex);
-
- connect(nextButton, &QPushButton::clicked, this, &TaskManager::onNextButtonClicked);
- connect(previousButton, &QPushButton::clicked, this, &TaskManager::onPreviousButtonClicked);
-
- // Connect TaskUI's taskSelected signal to the selectTask slot
- connect(taskUI, &TaskUI::taskSelected, this, &TaskManager::selectTask);
}
void TaskManager::startStopSubtask(Subtask &subtask, bool startSolution)
@@ -132,14 +107,14 @@ void TaskManager::selectTask(int index)
}
}
-void TaskManager::onNextButtonClicked()
+void TaskManager::nextTask()
{
if (currentTaskIndex < tasks.size() - 1) {
selectTask(currentTaskIndex + 1);
}
}
-void TaskManager::onPreviousButtonClicked()
+void TaskManager::previousTask()
{
if (currentTaskIndex > 0) {
selectTask(currentTaskIndex - 1);
@@ -317,58 +292,19 @@ void TaskManager::onResetRobotStarted()
return;
}
- QString message = "Robot reset started.";
resetRobotInProgress = true;
-
- QToolButton* resetRobotStartButton = resetRobotFrame->findChild<QToolButton*>(RESET_ROBOT_START_BUTTON_NAME);
- if (resetRobotStartButton) {
- resetRobotStartButton->setIcon(QIcon(STOP_ICON_PATH));
- resetRobotStartButton->setToolTip(STOP_RESET_ROBOT_TOOLTIP);
- } else {
- qCritical() << "Reset robot start button not found.";
- }
- if (!executeResetRobotFrame) {
- executeResetRobotFrame = new ExecuteFrame(resetRobotFrame);
- QVBoxLayout *resetLayout = qobject_cast<QVBoxLayout*>(resetRobotFrame->layout());
- if (!resetLayout) {
- resetLayout = new QVBoxLayout(resetRobotFrame);
- resetRobotFrame->setLayout(resetLayout);
- }
- if (!resetLayout) {
- qCritical() << "Reset layout not found.";
- return;
- }
- resetLayout->addWidget(executeResetRobotFrame);
- }
- if (!executeResetRobotFrame) {
- qCritical() << "Execute reset robot frame not found.";
- return;
- }
- executeResetRobotFrame->setImage(LOADING_GIF_PATH);
- if (queued_and_running_subtasks.isEmpty()) {
- executeResetRobotFrame->setText(RESET_ROBOT_TEXT);
- } else {
- executeResetRobotFrame->setText(RESET_ROBOT_TEXT_SCRIPTS);
- }
- logWithHashes(message);
+ bool noSubtasksLeft = queued_and_running_subtasks.isEmpty();
+ taskUI->startedRobotResetUI(noSubtasksLeft);
+
+ logWithHashes("Robot reset started.");
}
void TaskManager::onResetRobotFinished()
{
resetRobotInProgress = false;
- // update UI
- QToolButton* resetRobotStartButton = resetRobotFrame->findChild<QToolButton*>(RESET_ROBOT_START_BUTTON_NAME);
- if (resetRobotStartButton) {
- resetRobotStartButton->setIcon(QIcon(START_ICON_PATH));
- resetRobotStartButton->setToolTip(RESET_ROBOT_TOOLTIP);
- }
- if (executeResetRobotFrame) {
- if (!executeResetRobotFrame->getText().contains(RESET_ROBOT_TEXT_FAILED)) {
- executeResetRobotFrame->setImage(SUCCEEDED_ICON_PATH);
- executeResetRobotFrame->setText(RESET_ROBOT_TEXT_SUCCESS);
- }
- }
+
+ taskUI->finishedRobotResetUI();
initiateFirstSubtask();
}
@@ -379,10 +315,7 @@ void TaskManager::onResetRobotFailed(const QString &error)
resetRobotInProgress = false;
- if (executeResetRobotFrame) {
- executeResetRobotFrame->setImage(FAILED_ICON_PATH);
- executeResetRobotFrame->setText(QString(RESET_ROBOT_TEXT_FAILED) + "<br>" + error);
- }
+ taskUI->failedRobotResetUI(error);
onTaskExecutionFailed(error);
}
diff --git a/catkin_ws/src/learn_environment/src/task_ui.cpp b/catkin_ws/src/learn_environment/src/task_ui.cpp
index fb3d1d7..26375ed 100644
--- a/catkin_ws/src/learn_environment/src/task_ui.cpp
+++ b/catkin_ws/src/learn_environment/src/task_ui.cpp
@@ -2,7 +2,9 @@
#include "learn_environment/subtask_item.hpp"
#include <QRegExp>
+#include <QSplitter>
#include <QDebug>
+#include <QHBoxLayout>
namespace {
const char* FOLDER_HTML_TEMPLATE = R"(
@@ -13,26 +15,48 @@ namespace {
<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px;
-qt-block-indent:0; text-indent:0px;"><span style="font-family:'monospace';
color:'#444444';">)";
+ const char* CLOSE_ICON_PATH = ":/icons/close.png";
+ const char* MENU_ICON_PATH = ":/icons/menu.png";
+ const char* LOADING_GIF_PATH = ":/icons/loading.gif";
+ const char* START_ICON_PATH = ":/icons/play.png";
+ const char* STOP_ICON_PATH = ":/icons/stop.png";
+ const char* FAILED_ICON_PATH = ":/icons/failed.png";
+ const char* SUCCEEDED_ICON_PATH = ":/icons/succeeded.png";
+ const char* RESET_ROBOT_TEXT = "Resetting the robot to its default state...";
+ const char* RESET_ROBOT_TEXT_SCRIPTS = "Resetting the robot before script execution...";
+ const char* RESET_ROBOT_TEXT_SUCCESS = "Robot successfully reset!";
+ const char* RESET_ROBOT_TEXT_FAILED = "<b>Robot reset failed!</b>";
+ const char* STOP_RESET_ROBOT_TOOLTIP = "Cancel reset process";
+ const char* RESET_ROBOT_TOOLTIP = "Reset robot to default state";
}
TaskUI::TaskUI(QVBoxLayout *subtaskListLayout, QLabel *mainTitleLabel,
QLabel *difficultyLabel, QLabel *folderLabel, QLabel *topicLabel,
- QPushButton *nextButton, QPushButton *previousButton,
- Sidebar &sidebar, QObject *parent)
- : QObject(parent),
- sidebar(sidebar),
+ QPushButton *nextButton, QPushButton *previousButton, QToolButton *menuButton,
+ QToolButton *resetRobotStartButton, QFrame *resetRobotFrame, QWidget *centralwidget, QWidget *parent)
+ : QWidget(parent),
+ sidebar(new Sidebar(this)),
subtaskListLayout(subtaskListLayout),
mainTitleLabel(mainTitleLabel),
difficultyLabel(difficultyLabel),
folderLabel(folderLabel),
topicLabel(topicLabel),
nextButton(nextButton),
- previousButton(previousButton)
+ previousButton(previousButton),
+ menuButton(menuButton),
+ resetRobotStartButton(resetRobotStartButton),
+ resetRobotFrame(resetRobotFrame),
+ executeResetRobotFrame(nullptr),
+ centralwidget(centralwidget)
{ }
void TaskUI::setTaskManager(TaskManager *manager)
{
taskManager = manager;
+ connect(resetRobotStartButton, &QToolButton::clicked, taskManager, &TaskManager::forceResetRobot);
+ connect(nextButton, &QPushButton::clicked, taskManager, &TaskManager::nextTask);
+ connect(previousButton, &QPushButton::clicked, taskManager, &TaskManager::previousTask);
+ connect(this, &TaskUI::taskSelected, taskManager, &TaskManager::selectTask);
}
void TaskUI::initializeUI(const QVector<QSharedPointer<Task>> &loadedTasks)
@@ -43,9 +67,13 @@ void TaskUI::initializeUI(const QVector<QSharedPointer<Task>> &loadedTasks)
return;
}
- sidebar.fillSidebarWithTasks(tasks);
+ sidebar->fillSidebarWithTasks(tasks);
+ sidebar->setVisible(false);
- connect(&sidebar, &Sidebar::taskSelected, this, &TaskUI::taskSelected);
+ setupSplitterAndLayout();
+
+ connect(menuButton, &QPushButton::clicked, this, &TaskUI::toggleSidebarVisibility);
+ connect(sidebar, &Sidebar::taskSelected, this, &TaskUI::taskSelected);
}
void TaskUI::setTaskUI(int currentTaskIndex)
@@ -72,7 +100,7 @@ void TaskUI::setTaskUI(int currentTaskIndex)
setSubtaskItems(currentTaskIndex);
- sidebar.selectTask(currentTaskIndex);
+ sidebar->selectTask(currentTaskIndex);
}
void TaskUI::setSubtaskItems(int currentTaskIndex)
@@ -137,4 +165,84 @@ void TaskUI::addLineBetweenWidgets()
layout->addWidget(line);
subtaskListLayout->addWidget(container);
+}
+
+void TaskUI::setupSplitterAndLayout() {
+ QSplitter *splitter = new QSplitter(Qt::Horizontal, this);
+
+ centralwidget->setStyleSheet("border: 0; margin: 0;");
+
+ splitter->addWidget(sidebar);
+ splitter->addWidget(centralwidget);
+ splitter->setStyleSheet("border: 0; margin: 0;");
+ splitter->setContentsMargins(0, 0, 0, 0);
+
+ QList<int> sizes;
+ sizes << 200 << 600;
+ splitter->setSizes(sizes);
+
+ // Set the layout to the main widget
+ QHBoxLayout *mainLayout = new QHBoxLayout(this);
+ mainLayout->addWidget(splitter);
+ mainLayout->setContentsMargins(0, 0, 0, 0);
+ setLayout(mainLayout);
+}
+
+void TaskUI::toggleSidebarVisibility() {
+ bool isVisible = sidebar->isVisible();
+ sidebar->setVisible(!isVisible);
+
+ if (sidebar->isVisible()) {
+ menuButton->setIcon(QIcon(CLOSE_ICON_PATH));
+ } else {
+ menuButton->setIcon(QIcon(MENU_ICON_PATH));
+ }
+}
+
+void TaskUI::startedRobotResetUI(bool noSubtasksLeft) {
+ resetRobotStartButton->setIcon(QIcon(STOP_ICON_PATH));
+ resetRobotStartButton->setToolTip(STOP_RESET_ROBOT_TOOLTIP);
+
+
+ if (!executeResetRobotFrame) {
+ executeResetRobotFrame = new ExecuteFrame(resetRobotFrame);
+ QVBoxLayout *resetLayout = qobject_cast<QVBoxLayout*>(resetRobotFrame->layout());
+ if (!resetLayout) {
+ resetLayout = new QVBoxLayout(resetRobotFrame);
+ resetRobotFrame->setLayout(resetLayout);
+ }
+ if (!resetLayout) {
+ qCritical() << "Reset layout not found.";
+ return;
+ }
+ resetLayout->addWidget(executeResetRobotFrame);
+ }
+ if (!executeResetRobotFrame) {
+ qCritical() << "Execute reset robot frame not found.";
+ return;
+ }
+ executeResetRobotFrame->setImage(LOADING_GIF_PATH);
+ if (noSubtasksLeft) {
+ executeResetRobotFrame->setText(RESET_ROBOT_TEXT);
+ } else {
+ executeResetRobotFrame->setText(RESET_ROBOT_TEXT_SCRIPTS);
+ }
+}
+
+void TaskUI::finishedRobotResetUI() {
+ resetRobotStartButton->setIcon(QIcon(START_ICON_PATH));
+ resetRobotStartButton->setToolTip(RESET_ROBOT_TOOLTIP);
+ if (executeResetRobotFrame) {
+ if (!executeResetRobotFrame->getText().contains(RESET_ROBOT_TEXT_FAILED)) {
+ executeResetRobotFrame->setImage(SUCCEEDED_ICON_PATH);
+ executeResetRobotFrame->setText(RESET_ROBOT_TEXT_SUCCESS);
+ }
+ }
+}
+
+void TaskUI::failedRobotResetUI(const QString &error) {
+ if (executeResetRobotFrame) {
+ executeResetRobotFrame->setImage(FAILED_ICON_PATH);
+ executeResetRobotFrame->setText(QString(RESET_ROBOT_TEXT_FAILED) + "<br>" + error);
+ }
}
\ No newline at end of file
--
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