YARP
Yet Another Robot Platform
 
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applicationviewwidget.cpp
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: LGPL-2.1-or-later
4 */
5
6#include "applicationviewwidget.h"
7#include "ui_applicationviewwidget.h"
8#include <QMessageBox>
9#include <QMenu>
10#include <QFileDialog>
11#include <yarp/os/Log.h>
12#include <yarp/os/LogStream.h>
13#include <yarp/os/Bottle.h>
14#include <yarp/os/Carriers.h>
15#include <yarp/manager/localbroker.h>
16#include "yscopewindow.h"
17#include <QTreeWidgetItem>
18#include <QMainWindow>
19#include <QMdiArea>
20
21
22ApplicationViewWidget::ApplicationViewWidget(yarp::manager::Application *app,
23 yarp::manager::Manager *lazyManager,
24 yarp::os::Property* config,
25 bool editingMode,
26 QWidget *parent) :
27 GenericViewWidget(parent), ApplicationEvent(),
28 ui(new Ui::ApplicationViewWidget),
29 modRunAction(nullptr),
30 modStopAction(nullptr),
31 modkillAction(nullptr),
32 modSeparator(nullptr),
33 modRefreshAction(nullptr),
34 modSelectAllAction(nullptr),
35 modAttachAction(nullptr),
36 modAssignAction(nullptr),
37 connContex(nullptr),
38 connSubMenu(nullptr),
39 connConnectAction(nullptr),
40 connDisconnectAction(nullptr),
41 connSeparatorAction(nullptr),
42 connRefreshAction(nullptr),
43 connSelectAllAction(nullptr),
44 conn1SeparatorAction(nullptr),
45 connInspectAction(nullptr),
46 connYARPViewAction(nullptr),
47 connYARPReadAction(nullptr),
48 connYARPHearAction(nullptr),
49 connYARPScopeAction(nullptr),
50 resRefreshAction(nullptr),
51 resSelectAllAction(nullptr)
52{
53 ui->setupUi(this);
54 lazy = lazyManager;
55 this->app = app;
56 m_pConfig = config;
57 this->editingMode = editingMode;
58 this->m_modified = false;
59 type = yarp::manager::APPLICATION;
60
61 QGridLayout *l;
62
63 if (!editingMode) {
64 prepareManagerFrom(lazy);
65
66 ui->moduleList->resizeColumnToContents(0);
67 ui->moduleList->resizeColumnToContents(1);
68 ui->moduleList->resizeColumnToContents(2);
69 ui->moduleList->resizeColumnToContents(3);
70 ui->moduleList->resizeColumnToContents(4);
71 ui->moduleList->resizeColumnToContents(5);
72 ui->moduleList->resizeColumnToContents(6);
73 ui->moduleList->resizeColumnToContents(7);
74
75 ui->resourcesList->resizeColumnToContents(0);
76 ui->resourcesList->resizeColumnToContents(1);
77 ui->resourcesList->resizeColumnToContents(2);
78 ui->resourcesList->resizeColumnToContents(3);
79
80
81 ui->connectionList->resizeColumnToContents(0);
82 ui->connectionList->resizeColumnToContents(1);
83 ui->connectionList->resizeColumnToContents(2);
84 ui->connectionList->resizeColumnToContents(3);
85 ui->connectionList->resizeColumnToContents(4);
86 ui->connectionList->resizeColumnToContents(5);
87
88 connect(ui->moduleList,SIGNAL(itemSelectionChanged()),this,SLOT(onModuleItemSelectionChanged()));
89 connect(ui->moduleList,SIGNAL(itemDoubleClicked(QTreeWidgetItem*,int)),this,SLOT(onItemDoubleClicked(QTreeWidgetItem*,int)));
90
91 connect(ui->resourcesList,SIGNAL(itemSelectionChanged()),this,SLOT(onResourceItemSelectionChanged()));
92 connect(ui->resourcesList,SIGNAL(itemDoubleClicked(QTreeWidgetItem*,int)),this,SLOT(onItemDoubleClicked(QTreeWidgetItem*,int)));
93
94 connect(ui->connectionList,SIGNAL(itemSelectionChanged()),this,SLOT(onConnectionItemSelectionChanged()));
95 connect(ui->connectionList,SIGNAL(itemDoubleClicked(QTreeWidgetItem*,int)),this,SLOT(onItemDoubleClicked(QTreeWidgetItem*,int)));
96
97 connect(this,SIGNAL(selfSafeLoadBolance()),this,SLOT(onSelfSafeLoadBalance()),Qt::QueuedConnection);
98 connect(this,SIGNAL(selfConnect(int)),this,SLOT(onSelfConnect(int)),Qt::QueuedConnection);
99 connect(this,SIGNAL(selfDisconnect(int)),this,SLOT(onSelfDisconnect(int)),Qt::QueuedConnection);
100 connect(this,SIGNAL(selfResAvailable(int)),this,SLOT(onSelfResAvailable(int)),Qt::QueuedConnection);
101 connect(this,SIGNAL(selfResUnavailable(int)),this,SLOT(onSelfResUnavailable(int)),Qt::QueuedConnection);
102 connect(this,SIGNAL(selfStart(int)),this,SLOT(onSelfStart(int)),Qt::QueuedConnection);
103 connect(this,SIGNAL(selfStop(int)),this,SLOT(onSelfStop(int)),Qt::QueuedConnection);
104
105 createModulesViewContextMenu();
106 createConnectionsViewContextMenu();
107 createResourcesViewContextMenu();
108
109 l = new QGridLayout(ui->builderContainer);
110 ui->builderContainer->setLayout(l);
111
112
113 } else {
114 layout()->removeWidget(ui->mainSplietter);
115 delete ui->mainSplietter;
116 l = (QGridLayout*)layout();
117
118 }
119
120
121 l->setMargin(0);
122
123
124 builderWindowContainer = new QMainWindow(nullptr,Qt::Widget);
125 builderWindowContainer->setDockNestingEnabled(true);
126 l->addWidget(builderWindowContainer);
127
128 builderWidget = new QDockWidget("YARP Builder",builderWindowContainer);
129 builderWindowContainer->addDockWidget(Qt::TopDockWidgetArea,builderWidget);
130 builder = YarpBuilderLib::getBuilder(this->app,lazyManager,&safeManager,editingMode);
131 builderWidget->setWidget(builder);
132 //builderWidget->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable);
133 builderWidget->setFeatures(QDockWidget::NoDockWidgetFeatures);
134 connect(builderWidget,SIGNAL(topLevelChanged(bool)),this,SLOT(onBuilderFloatChanged(bool)));
135
136 //builderWidget->pos()
137
138 if (!editingMode) {
139 //builder->addAction(modRunAction);
140 //builder->addAction(modStopAction);
141 //builder->addAction(modkillAction);
142 //builder->addAction(modSeparator);
143 //builder->addAction(modRefreshAction);
144 builder->addAction(modSelectAllAction);
145 //builder->addAction(modAttachAction);
146 //builder->addAction(modAssignAction);
147 builder->addAction(modSeparator);
148 //builder->addAction(connConnectAction);
149 //builder->addAction(connDisconnectAction);
150 //builder->addAction(connSeparatorAction);
151 //builder->addAction(connRefreshAction);
152 builder->addAction(connSelectAllAction);
153 //builder->addAction(conn1SeparatorAction);
154
155
156 builder->addModulesAction(modRunAction);
157 builder->addModulesAction(modStopAction);
158 builder->addModulesAction(modkillAction);
159 builder->addModulesAction(modSeparator);
160 builder->addModulesAction(modRefreshAction);
161 builder->addModulesAction(modSelectAllAction);
162 builder->addModulesAction(modAttachAction);
163 builder->addModulesAction(modAssignAction);
164
165 builder->addConnectionsAction(connConnectAction);
166 builder->addConnectionsAction(connDisconnectAction);
167 builder->addConnectionsAction(connSeparatorAction);
168 builder->addConnectionsAction(connRefreshAction);
169 builder->addConnectionsAction(connSelectAllAction);
170 builder->addConnectionsAction(conn1SeparatorAction);
171
172
173 connect(builder,SIGNAL(refreshApplication()),
174 this,SLOT(onRefreshApplication()),Qt::DirectConnection);
175 connect(builder,SIGNAL(setModuleSelected(QList<int>)),this,SLOT(onModuleSelected(QList<int>)));
176 connect(builder,SIGNAL(setConnectionSelected(QList<int>)),this,SLOT(onConnectionSelected(QList<int>)));
177
178 } else {
179 connect(builder,SIGNAL(modified(bool)),this,SLOT(onModified(bool)));
180 }
181
182
183 builder->load();
184 builderToolBar = builder->getToolBar();
185}
186
187bool ApplicationViewWidget::save()
188{
189 bool ret = true;
190 if (builder) {
191 ret = builder->save();
192 }
193 return ret;
194}
195
196QString ApplicationViewWidget::getFileName()
197{
198 if (builder) {
199 return builder->getFileName();
200 } else {
201 return {};
202 };
203}
204
205void ApplicationViewWidget::setFileName(QString filename)
206{
207 if (builder) {
208 builder->setFileName(filename);
209 }
210 return;
211}
212
213QString ApplicationViewWidget::getAppName()
214{
215 if (builder) {
216 return builder->getAppName();
217 } else {
218 return {};
219 };
220}
221
222void ApplicationViewWidget::setAppName(QString appName)
223{
224 if (builder) {
225 builder->setAppName(appName);
226 }
227 return;
228}
229
234
235void ApplicationViewWidget::showBuilder(bool show)
236{
237 builderWidget->setVisible(show);
238}
239
240bool ApplicationViewWidget::anyModuleSelected()
241{
242 return !ui->moduleList->selectedItems().isEmpty();
243}
244bool ApplicationViewWidget::anyConnectionSelected()
245{
246 return !ui->connectionList->selectedItems().isEmpty();
247}
248
249CustomTreeWidget* ApplicationViewWidget::getModuleList()
250{
251 return ui->moduleList;
252}
253
254CustomTreeWidget* ApplicationViewWidget::getConnectionList()
255{
256 return ui->connectionList;
257}
258
259QToolBar* ApplicationViewWidget::getBuilderToolBar()
260{
261 return builderToolBar;
262}
263
265void ApplicationViewWidget::createModulesViewContextMenu()
266{
267 modRunAction = new QAction("Run",this);
268 modStopAction = new QAction("Stop",this);
269 modkillAction = new QAction("Kill",this);
270 modSeparator = new QAction(this);
271 modSeparator->setSeparator(true);
272 modRefreshAction = new QAction("Refresh Status",this);
273 modSelectAllAction = new QAction("Select All Modules",this);
274 modAttachAction = new QAction("Attach to stdout",this);
275 modAssignAction = new QAction("Assign Hosts",this);
276
277 modRunAction->setIcon(QIcon(":/play22.svg"));
278 modStopAction->setIcon(QIcon(":/stop22.svg"));
279 modkillAction->setIcon(QIcon(":/kill22.svg"));
280 modRefreshAction->setIcon(QIcon(":/refresh22.svg"));
281 modSelectAllAction->setIcon(QIcon(":/select-all22.svg"));
282 modAssignAction->setIcon(QIcon(":/computer-available22.svg"));
283
284
285 ui->moduleList->addAction(modRunAction);
286 ui->moduleList->addAction(modStopAction);
287 ui->moduleList->addAction(modkillAction);
288 ui->moduleList->addAction(modSeparator);
289 ui->moduleList->addAction(modRefreshAction);
290 ui->moduleList->addAction(modSelectAllAction);
291 ui->moduleList->addAction(modAttachAction);
292 ui->moduleList->addAction(modAssignAction);
293
294 connect(modRunAction,SIGNAL(triggered()),this,SLOT(onRun()));
295 connect(modStopAction,SIGNAL(triggered()),this,SLOT(onStop()));
296 connect(modkillAction,SIGNAL(triggered()),this,SLOT(onKill()));
297 connect(modRefreshAction,SIGNAL(triggered()),this,SLOT(onRefresh()));
298 connect(modSelectAllAction,SIGNAL(triggered()),this,SLOT(selectAllModule()));
299 connect(modAttachAction,SIGNAL(triggered()),this,SLOT(onAttachStdout()));
300 connect(modAssignAction,SIGNAL(triggered()),this,SLOT(onAssignHost()));
301
302 onModuleItemSelectionChanged();
303}
304
306void ApplicationViewWidget::createConnectionsViewContextMenu()
307{
308 connContex = new QMenu(ui->connectionList);
309 connSubMenu = new QMenu("Inspect",connContex);
310
311 connConnectAction = new QAction("Connect",connContex);
312 connDisconnectAction = new QAction("Disconnect",connContex);
313 connSeparatorAction = new QAction(connContex);
314 connSeparatorAction->setSeparator(true);
315 connRefreshAction = new QAction("Refresh Status",connContex);
316 connSelectAllAction = new QAction("Select All Connections",connContex);
317 conn1SeparatorAction = new QAction(connContex);
318 conn1SeparatorAction->setSeparator(connContex);
319
320 connYARPViewAction = new QAction("yarpview",connSubMenu);
321 connYARPReadAction = new QAction("yarpread",connSubMenu);
322 connYARPHearAction = new QAction("yarphear",connSubMenu);
323 connYARPScopeAction = new QAction("yarpscope",connSubMenu);
324
325 connSelectAllAction->setIcon(QIcon(":/select-all22.svg"));
326 connRefreshAction->setIcon(QIcon(":/refresh22.svg"));
327 connConnectAction->setIcon(QIcon(":/connect22.svg"));
328 connDisconnectAction->setIcon(QIcon(":/disconnect22.svg"));
329
330 connect(connConnectAction,SIGNAL(triggered()),this,SLOT(onConnect()));
331 connect(connDisconnectAction,SIGNAL(triggered()),this,SLOT(onDisconnect()));
332 connect(connRefreshAction,SIGNAL(triggered()),this,SLOT(onRefresh()));
333 connect(connSelectAllAction,SIGNAL(triggered()),this,SLOT(selectAllConnections()));
334
335 connect(connYARPViewAction,SIGNAL(triggered()),this,SLOT(onYARPView()));
336 connect(connYARPReadAction,SIGNAL(triggered()),this,SLOT(onYARPRead()));
337 connect(connYARPHearAction,SIGNAL(triggered()),this,SLOT(onYARPHear()));
338 connect(connYARPScopeAction,SIGNAL(triggered()),this,SLOT(onYARPScope()));
339
340 connContex->addAction(connConnectAction);
341 connContex->addAction(connDisconnectAction);
342 connContex->addAction(connSeparatorAction);
343 connContex->addAction(connRefreshAction);
344 connContex->addAction(connSelectAllAction);
345 connContex->addAction(conn1SeparatorAction);
346 connContex->addMenu(connSubMenu);
347
348 connSubMenu->addAction(connYARPViewAction);
349 connSubMenu->addAction(connYARPReadAction);
350 connSubMenu->addAction(connYARPHearAction);
351 connSubMenu->addAction(connYARPScopeAction);
352
353
354 ui->connectionList->setContextMenu(connContex);
355
356 onConnectionItemSelectionChanged();
357
358}
359
361void ApplicationViewWidget::createResourcesViewContextMenu()
362{
363 resRefreshAction = new QAction("Refresh Status", this);
364 resSelectAllAction = new QAction("Select All Resources", this);
365
366 resRefreshAction->setIcon(QIcon(":/refresh22.svg"));
367 resSelectAllAction->setIcon(QIcon(":/select-all22.svg"));
368
369 ui->resourcesList->addAction(resRefreshAction);
370 ui->resourcesList->addAction(resSelectAllAction);
371
372 connect(resRefreshAction,SIGNAL(triggered()),this,SLOT(onRefresh()));
373 connect(resSelectAllAction,SIGNAL(triggered()),this,SLOT(selectAllResources()));
374}
375
377void ApplicationViewWidget::onConnectionItemSelectionChanged()
378{
379 if (ui->connectionList->selectedItems().isEmpty()) {
380 connConnectAction->setEnabled(false);
381 connDisconnectAction->setEnabled(false);
382 connSeparatorAction->setEnabled(false);
383 connRefreshAction->setEnabled(false);
384 } else {
385 connConnectAction->setEnabled(true);
386 connDisconnectAction->setEnabled(true);
387 connSeparatorAction->setEnabled(true);
388 connRefreshAction->setEnabled(true);
389 }
390
391 if (ui->connectionList->hasFocus()) {
392 QList<int>selectedIds;
393 QList<QTreeWidgetItem*> selectedItems = ui->connectionList->selectedItems();
394 foreach(QTreeWidgetItem *it,selectedItems) {
395 QString id = it->text(1);
396 selectedIds.append(id.toInt());
397 }
398
399 builder->setSelectedConnections(selectedIds);
400 }
401}
402
404void ApplicationViewWidget::onModuleItemSelectionChanged()
405{
406
407 if (ui->moduleList->selectedItems().isEmpty()) {
408 modRunAction->setEnabled(false);
409 modStopAction->setEnabled(false);
410 modkillAction->setEnabled(false);
411 modAttachAction->setEnabled(false);
412 modAssignAction->setEnabled(false);
413 modRefreshAction->setEnabled(false);
414 } else {
415 modRunAction->setEnabled(true);
416 modStopAction->setEnabled(true);
417 modkillAction->setEnabled(true);
418
419 bool all = true;
420 foreach (QTreeWidgetItem *it, ui->moduleList->selectedItems()) {
421 if (it->text(3) != "localhost") {
422 modAttachAction->setEnabled(false);
423 all = false;
424 break;
425 }
426 }
427 if (all) {
428 modAttachAction->setEnabled(true);
429 }
430
431 modAssignAction->setEnabled(true);
432 modRefreshAction->setEnabled(true);
433
434
435
436 if (ui->moduleList->hasFocus()) {
437
438 QList<int>selectedIds;
439 QList<QTreeWidgetItem*> selectedItems = ui->moduleList->selectedItems();
440 foreach(QTreeWidgetItem *it,selectedItems) {
441 if (it->data(0,Qt::UserRole).toInt() == APPLICATION) {
442 for(int j=0;j<it->childCount();j++) {
443 QTreeWidgetItem *child = it->child(j);
444 child->setSelected(true);
445 }
446
447 }
448
449 }
450 selectedItems = ui->moduleList->selectedItems();
451 foreach(QTreeWidgetItem *it,selectedItems) {
452 if (it->data(0,Qt::UserRole).toInt() == APPLICATION) {
453 continue;
454 }
455 QString id = it->text(1);
456 selectedIds.append(id.toInt());
457 }
458
459 builder->setSelectedModules(selectedIds);
460 }
461 }
462
463
464}
465
467void ApplicationViewWidget::onResourceItemSelectionChanged()
468{
469 if (ui->resourcesList->currentItem() == nullptr) {
470 resRefreshAction->setEnabled(false);
471 } else {
472 resRefreshAction->setEnabled(true);
473 }
474}
475
476void ApplicationViewWidget::prepareManagerFrom(yarp::manager::Manager* lazy)
477{
478
479 safeManager.prepare(lazy, m_pConfig,dynamic_cast<ApplicationEvent*>(this));
480
481 // loading application
482 if (safeManager.loadApplication(app->getName())) {
483 updateApplicationWindow();
484 }
485
486 reportErrors();
487}
488
489void ApplicationViewWidget::onRefreshApplication()
490{
491 //manager.close();
492
493 // loading application
494
495 if (safeManager.loadApplication(app->getName())) {
496 updateApplicationWindow();
497 }
498
499 reportErrors();
500}
501
502
503
504void ApplicationViewWidget::onConnectionSelected(QList<int> id)
505{
506 disconnect(ui->connectionList,SIGNAL(itemSelectionChanged()),this,SLOT(onConnectionItemSelectionChanged()));
507 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
508 ui->connectionList->topLevelItem(i)->setSelected(false);
509 }
510 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
511 for(int j=0;j<id.count();j++) {
512 if (ui->connectionList->topLevelItem(i)->text(1).toInt() == id.at(j)) {
513 ui->connectionList->topLevelItem(i)->setSelected(true);
514 }
515 }
516
517 }
518 onConnectionItemSelectionChanged();
519 connect(ui->connectionList,SIGNAL(itemSelectionChanged()),this,SLOT(onConnectionItemSelectionChanged()));
520}
521
522void ApplicationViewWidget::onModuleSelected(QList<int> id)
523{
524 disconnect(ui->moduleList,SIGNAL(itemSelectionChanged()),this,SLOT(onModuleItemSelectionChanged()));
525 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
526 ui->moduleList->topLevelItem(i)->setSelected(false);
527 if (ui->moduleList->topLevelItem(i)->data(0,Qt::UserRole) == APPLICATION ) {
528 for(int k=0;k<ui->moduleList->topLevelItem(i)->childCount();k++) {
529 ui->moduleList->topLevelItem(i)->child(k)->setSelected(false);
530 }
531 }
532 }
533
534 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
535 if (ui->moduleList->topLevelItem(i)->data(0,Qt::UserRole) == APPLICATION ) {
536 for(int k=0;k<ui->moduleList->topLevelItem(i)->childCount();k++) {
537 for(int j=0;j<id.count();j++) {
538 if (ui->moduleList->topLevelItem(i)->child(k)->text(1).toInt() == id.at(j)) {
539 ui->moduleList->topLevelItem(i)->child(k)->setSelected(true);
540 }
541 }
542
543
544 }
545
546 } else {
547 for(int j=0;j<id.count();j++) {
548 if (ui->moduleList->topLevelItem(i)->text(1).toInt() == id.at(j)) {
549 ui->moduleList->topLevelItem(i)->setSelected(true);
550 }
551 }
552 }
553
554
555 }
556 onModuleItemSelectionChanged();
557 connect(ui->moduleList,SIGNAL(itemSelectionChanged()),this,SLOT(onModuleItemSelectionChanged()));
558}
559
561void ApplicationViewWidget::updateApplicationWindow()
562{
563 ui->moduleList->clear();
564 ui->connectionList->clear();
565 ui->resourcesList->clear();
566 listOfResourceNames.clear();
567
568 disconnect(ui->moduleList,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onModuleItemChanged(QTreeWidgetItem*,int)));
569
570 yarp::manager::ExecutablePContainer modules = safeManager.getExecutables();
571 yarp::manager::CnnContainer connections = safeManager.getConnections();
572 yarp::manager::ExecutablePIterator moditr;
573 yarp::manager::CnnIterator cnnitr;
574
575 int id = 0;
576 for(moditr=modules.begin(); moditr<modules.end(); moditr++)
577 {
578
579 Module *mod = (*moditr)->getModule();
580 CustomTreeWidgetItem *appNode = nullptr;
581 QString modLabel = mod->owner()->getLabel();
582 QString appLabel = app->getLabel();
583 if (modLabel != appLabel) {
584
585 for(int i=0; i < ui->moduleList->topLevelItemCount();i++) {
586 if (ui->moduleList->topLevelItem(i)->data(0,Qt::UserRole + 1).toString() == modLabel) {
587 appNode = (CustomTreeWidgetItem*) ui->moduleList->topLevelItem(i);
588 break;
589 }
590 }
591 if (!appNode) {
592 QStringList l;
593 l << ((Application*)mod->owner())->getName();
594
595 appNode = new CustomTreeWidgetItem(ui->moduleList,l);
596 appNode->setData(0,Qt::UserRole + 1,modLabel);
597 appNode->setData(0,Qt::UserRole,APPLICATION);
598 appNode->setExpanded(true);
599 appNode->setIcon(0,QIcon(":/run22.svg"));
600 }
601 }
602 QString id = QString("%1").arg((*moditr)->getID());
603 QString command = QString("%1").arg((*moditr)->getCommand());
604 QString host = QString("%1").arg((*moditr)->getHost());
605 QString param = QString("%1").arg((*moditr)->getParam());
606 QString stdio = QString("%1").arg((*moditr)->getStdio());
607 QString workDir = QString("%1").arg((*moditr)->getWorkDir());
608 QString env = QString("%1").arg((*moditr)->getEnv());
609
610 // The default host is "localhost" if the <node> is not specified.
611 if(host.isEmpty())
612 {
613 host = "localhost";
614 }
615
616 QStringList l;
617 l << command << id << "stopped" << host << param << stdio << workDir << env;
618
619 CustomTreeWidgetItem *it;
620 if (!appNode) {
621 it = new CustomTreeWidgetItem(ui->moduleList,l);
622 } else {
623 it = new CustomTreeWidgetItem(appNode, l);
624 }
625
626 //it->setFlags(it->flags() | Qt::ItemIsEditable);
627 it->setData(0,Qt::UserRole,yarp::manager::MODULE);
628 it->setIcon(0,QIcon(":/close.svg"));
629 it->setForeground(2,QColor("#BF0303"));
630 ui->moduleList->addTopLevelItem(it);
631 }
632
633 id = 0;
634 for(cnnitr=connections.begin(); cnnitr<connections.end(); cnnitr++)
635 {
636 QString type;
637 if ((*cnnitr).isPersistent()) {
638 type = "Persistent";
639 } else {
640 if ((*cnnitr).isExternalFrom() || (*cnnitr).isExternalTo()) {
641 type = "External";
642 } else {
643 type = "Internal";
644 }
645 }
646 QString sId = QString("%1").arg(id);
647 QString from = QString("%1").arg((*cnnitr).from());
648 QString to = QString("%1").arg((*cnnitr).to());
649 QString carrier = QString("%1").arg((*cnnitr).carrier());
650 QString status = "disconnected";
651 QString modifier="";
652 // The default carrier is "tcp" if <protocol> is not specified.
653 if(carrier.isEmpty())
654 {
655 carrier = "tcp";
656 }
657 size_t pos = carrier.toStdString().find('+');
658 if(pos != std::string::npos)
659 {
660 modifier = carrier.mid(pos);
661 QStringList myStringList = carrier.split('+');
662 carrier = myStringList.first();
663 }
664
665
666 QStringList l;
667 l << type << sId << status << from << to << carrier << modifier;
668 auto* it = new CustomTreeWidgetItem(ui->connectionList,l);
669 ui->moduleList->addTopLevelItem(it);
670
671 //scanning available carriers:
672 scanAvailableCarriers(carrier,false);
673
674 auto* comboBox = new QComboBox(this);
675 comboBox->addItems(stringLst);
676 comboBox->setEditable(true);
677 ui->connectionList->setItemWidget((QTreeWidgetItem *) it,5, comboBox);
678 it->setData(0,Qt::UserRole,yarp::manager::INOUTD);
679 it->setIcon(0,QIcon(":/disconnect22.svg"));
680 it->setForeground(2,QColor("#BF0303"));
681 id++;
682 }
683
684 id = 0;
685 yarp::manager::ResourcePIterator itrS;
686 for(itrS=safeManager.getResources().begin(); itrS!=safeManager.getResources().end(); itrS++)
687 {
688 //m_resRow = *(m_refTreeResModel->append());
689 QString sId = QString("%1").arg(id);
690 QString type;
691 if (dynamic_cast<yarp::manager::Computer*>(*itrS))
692 {
693 type = "computer";
694 }
695 else if (dynamic_cast<yarp::manager::ResYarpPort*>(*itrS))
696 {
697 type = "port";
698 }
699 QString res = QString("%1").arg((*itrS)->getName());
700 if (std::find(listOfResourceNames.begin(),
701 listOfResourceNames.end(),
702 res.toStdString()) == listOfResourceNames.end())
703 {
704 listOfResourceNames.push_back(res.toStdString());
705 }
706 else
707 {
708 // The resource has been already added
709 continue;
710 }
711 QString status = "unknown";
712 //m_resRow[m_resColumns.m_col_color] = Gdk::Color("#00000");
713
714 QStringList l;
715 l << res << sId << type << status ;
716 auto* it = new CustomTreeWidgetItem(ui->resourcesList,l);
717 ui->moduleList->addTopLevelItem(it);
718 it->setData(0,Qt::UserRole,yarp::manager::RESOURCE);
719 if (type == "computer") {
720 it->setIcon(0,QIcon(":/computer-unavailable22.svg"));
721 it->setForeground(3,QColor("#BF0303"));
722 } else {
723 it->setIcon(0,QIcon(":/port-unavailable22.svg"));
724 it->setForeground(3,QColor("#BF0303"));
725 }
726 id++;
727 }
728 connect(ui->moduleList,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onModuleItemChanged(QTreeWidgetItem*,int)));
729}
730
731void ApplicationViewWidget::onModuleItemChanged(QTreeWidgetItem *it,int col)
732{
733 Qt::ItemFlags tmp = it->flags();
734 if (!(tmp & Qt::ItemIsEditable)) {
735 return;
736 }
737}
738
740void ApplicationViewWidget::onItemDoubleClicked(QTreeWidgetItem *it,int col)
741{
742 Qt::ItemFlags tmp = it->flags();
743 if (isEditable(it, col)) {
744 it->setFlags(tmp | Qt::ItemIsEditable);
745 disconnect(ui->connectionList,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onItemChanged(QTreeWidgetItem*,int)));
746 connect(ui->connectionList,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onItemChanged(QTreeWidgetItem*,int)));
747 } else if (tmp & Qt::ItemIsEditable) {
748 it->setFlags(tmp ^ Qt::ItemIsEditable);
749 disconnect(ui->connectionList,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onItemChanged(QTreeWidgetItem*,int)));
750 connect(ui->connectionList,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onItemChanged(QTreeWidgetItem*,int)));
751 }
752}
753
755void ApplicationViewWidget::onItemChanged(QTreeWidgetItem *it,int col)
756{
757 yarp::manager::NodeType type = (yarp::manager::NodeType)it->data(0,Qt::UserRole).toInt();
758 switch (type) {
759 case yarp::manager::INOUTD:{
760 ui->connectionList->blockSignals(true);
761 if (col == 3) {
762 updateConnectionItem(it);
763 bool res = safeManager.existPortFrom(it->text(1).toInt());
764 it->setForeground(3,QColor(res ? "#008C00" : "#BF0303"));
765 if (!res)
766 {
767 reportErrors();
768 }
769 }
770 if (col == 4) {
771 updateConnectionItem(it);
772 bool res = safeManager.existPortTo(it->text(1).toInt());
773 it->setForeground(3,QColor(res ? "#008C00" : "#BF0303"));
774 if (!res)
775 {
776 reportErrors();
777 }
778 }
779 ui->connectionList->blockSignals(false);
780 disconnect(ui->connectionList,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onItemChanged(QTreeWidgetItem*,int)));
781 break;
782 }
783 case yarp::manager::MODULE:
784 case yarp::manager::RESOURCE:
785 default:
786 break;
787 }
788}
789
794bool ApplicationViewWidget::isEditable(QTreeWidgetItem *it,int col)
795{
796 yarp::manager::NodeType type = (yarp::manager::NodeType)it->data(0,Qt::UserRole).toInt();
797
798 switch (type) {
799 case yarp::manager::MODULE:{
800 if (col == 4 || col == 5 || col == 6 || col == 7) {
801 if (it->text(2) == "stopped") {
802 return true;
803 }
804 }
805 if (col == 3) {
806 if (it->text(2) == "stopped") {
807 return true;
808 }
809 }
810 break;
811 }
812 case yarp::manager::INOUTD:{
813 if (col == 3 || col == 4 || col == 5 || col == 6) {
814 if (it->text(2) == "disconnected") {
815 return true;
816 }
817 }
818 break;
819 }
820 case yarp::manager::RESOURCE:{
821 return false;
822 break;
823 }
824 default:
825 break;
826 }
827
828 return false;
829}
830
831void ApplicationViewWidget::onCloseStdOut(int id)
832{
833 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
834 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
835 if (it->data(0,Qt::UserRole) == APPLICATION) {
836 closeNestedApplicationStdOut(it,id);
837 } else {
838 if (it->text(1).toInt() == id) {
839 auto* stdouWin = qvariant_cast<StdoutWindow *>(it->data(0,Qt::UserRole));
840 if (stdouWin && stdouWin->getId() == id) {
841 delete stdouWin;
842 it->setData(0,Qt::UserRole,QVariant::fromValue(NULL));
843 return;
844 }
845 }
846 }
847 }
848}
849
850void ApplicationViewWidget::closeNestedApplicationStdOut(QTreeWidgetItem *it, int id)
851{
852 for(int j=0; j<it->childCount();j++) {
853 QTreeWidgetItem *ch = it->child(j);
854 if (ch->data(0,Qt::UserRole) == APPLICATION) {
855 closeNestedApplicationStdOut(it,id);
856 } else {
857 if (ch->text(1).toInt() == id) {
858 auto* stdouWin = qvariant_cast<StdoutWindow *>(ch->data(0,Qt::UserRole));
859 if (stdouWin && stdouWin->getId() == id) {
860 delete stdouWin;
861 ch->setData(0,Qt::UserRole,QVariant::fromValue(NULL));
862 return;
863 }
864 }
865 }
866 }
867}
868
869bool ApplicationViewWidget::areAllShutdown()
870{
871 bool ret = true;
872 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
873 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
874 if (it->data(0,Qt::UserRole) == APPLICATION) {
875 ret = areAllNestedApplicationShutdown(it);
876 if (!ret) {
877 return false;
878 }
879 } else {
880 if (it->text(2) != "stopped") {
881 return false;
882 }
883 }
884 }
885
886 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
887 QTreeWidgetItem *it = ui->connectionList->topLevelItem(i);
888 if (it->text(2) != "disconnected") {
889 return false;
890 }
891 }
892
893 return ret;
894}
895
896bool ApplicationViewWidget::areAllNestedApplicationShutdown(QTreeWidgetItem *it)
897{
898 bool ret = true;
899 for(int j=0; j<it->childCount();j++) {
900 QTreeWidgetItem *ch = it->child(j);
901 if (ch->data(0,Qt::UserRole) == APPLICATION) {
902 ret = areAllNestedApplicationShutdown(ch);
903 if (!ret) {
904 return false;
905 }
906 } else {
907 if (ch->text(2) != "stopped") {
908 return false;
909 }
910 }
911 }
912 return ret;
913}
914
915void ApplicationViewWidget::onSelfSafeLoadBalance()
916{
917 updateApplicationWindow();
918 reportErrors();
919}
920
921void ApplicationViewWidget::onAssignHost()
922{
923 if (areAllShutdown() && !safeManager.busy()) {
924 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
925 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
926 if (it->data(0,Qt::UserRole) == APPLICATION) {
927 assignHostNestedApplication(it);
928 } else {
929 if (it->isSelected()) {
930 //QString waitHost = QString("%1").arg("?");
931 it->setText(2,"waiting");
932 it->setText(3,"?");
933 }
934 }
935
936
937 }
938 safeManager.safeLoadBalance();
939 yarp::os::SystemClock::delaySystem(0.1);
940
941
942 } else {
943 yarp::manager::ErrorLogger* logger = yarp::manager::ErrorLogger::Instance();
944 logger->addError("Running modules should be stopped before assigning hosts.");
945 reportErrors();
946 }
947}
948
949void ApplicationViewWidget::assignHostNestedApplication(QTreeWidgetItem *it)
950{
951 for(int j=0; j<it->childCount();j++) {
952 QTreeWidgetItem *ch = it->child(j);
953 if (ch->data(0,Qt::UserRole) == APPLICATION) {
954 assignHostNestedApplication(ch);
955 } else {
956 if (ch->isSelected()) {
957 //QString waitHost = QString("%1").arg("?");
958 ch->setText(2,"waiting");
959 ch->setText(3,"?");
960 }
961 }
962 }
963}
964
965void ApplicationViewWidget::onAttachStdout()
966{
967 if (safeManager.busy()) {
968 return;
969 }
970
971 std::vector<int> MIDs;
972 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
973 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
974 if (it->data(0,Qt::UserRole) == APPLICATION) {
975 attachStdOutNestedApplication(it,&MIDs);
976 } else {
977 if (it->isSelected()) {
978 int id = it->text(1).toInt();
979
980 auto* stdouWin = qvariant_cast<StdoutWindow *>(it->data(0,Qt::UserRole));
981 if (stdouWin && stdouWin->getId() == id) {
982 // found
983 continue;
984 }
985
986 MIDs.push_back(it->text(1).toInt());
987
988 QString name = QString("%1").arg(app->getName());
989 QString strTitle = name + ":" + it->text(0) + ":" + it->text(1);
990
991 StdoutWindow *stdOutWindow = new StdoutWindow(id,strTitle);
992 connect(stdOutWindow,SIGNAL(closeStdOut(int)),this,SLOT(onCloseStdOut(int)));
993 //stdoutWinList.append(stdOutWindow);
994 it->setData(0,Qt::UserRole,QVariant::fromValue(stdOutWindow));
995 stdOutWindow->show();
996 }
997 }
998
999
1000 }
1001 safeManager.safeAttachStdout(MIDs);
1002
1003 //return true;
1004}
1005
1006void ApplicationViewWidget::attachStdOutNestedApplication(QTreeWidgetItem *it,std::vector<int> *MIDs)
1007{
1008 for(int j=0; j<it->childCount();j++) {
1009 QTreeWidgetItem *ch = it->child(j);
1010 if (ch->data(0,Qt::UserRole) == APPLICATION) {
1011 attachStdOutNestedApplication(ch,MIDs);
1012 } else {
1013 if (ch->isSelected()) {
1014 int id = ch->text(1).toInt();
1015
1016 auto* stdouWin = qvariant_cast<StdoutWindow *>(ch->data(0,Qt::UserRole));
1017 if (stdouWin && stdouWin->getId() == id) {
1018 // found
1019 continue;
1020 }
1021
1022 MIDs->push_back(ch->text(1).toInt());
1023
1024 QString name = QString("%1").arg(app->getName());
1025 QString strTitle = name + ":" + ch->text(0) + ":" + ch->text(1);
1026
1027 StdoutWindow *stdOutWindow = new StdoutWindow(id,strTitle);
1028 connect(stdOutWindow,SIGNAL(closeStdOut(int)),this,SLOT(onCloseStdOut(int)));
1029 //stdoutWinList.append(stdOutWindow);
1030 ch->setData(0,Qt::UserRole,QVariant::fromValue(stdOutWindow));
1031 stdOutWindow->show();
1032 }
1033
1034 }
1035 }
1036}
1037
1039bool ApplicationViewWidget::onRun()
1040{
1041 selectAllConnections(true);
1042 selectAllResources(true);
1043 if (safeManager.busy() ) {
1044 return false;
1045 }
1046
1047 std::vector<int> MIDs;
1048 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
1049 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
1050
1051 if (it->data(0,Qt::UserRole) == APPLICATION) {
1052 runNestedApplication(it,&MIDs);
1053
1054 } else {
1055 if (it->isSelected()) {
1056 MIDs.push_back(it->text(1).toInt());
1057 safeManager.updateExecutable(it->text(1).toInt(),
1058 it->text(4).toLatin1().data(),
1059 it->text(3).toLatin1().data(),
1060 it->text(5).toLatin1().data(),
1061 it->text(6).toLatin1().data(),
1062 it->text(7).toLatin1().data());
1063
1064 it->setText(2,"waiting");
1065 it->setIcon(0,QIcon(":/refresh.svg"));
1066 it->setForeground(2,QColor("#000000"));
1067
1068 }
1069
1070 //yDebug("Trying to run module ID %i param %s host %s stdio %s wdir %s env %s",it->text(1).toInt(),it->text(4).toLatin1().data(),
1071 // it->text(3).toLatin1().data(),it->text(5).toLatin1().data(),it->text(6).toLatin1().data(),it->text(7).toLatin1().data());
1072 }
1073 }
1074
1075 std::vector<int> CIDs;
1076 /*for(int i=0;i<ui->connectionList->topLevelItemCount();i++)
1077 {
1078 updateConnection(i, CIDs);
1079 }*/
1080
1081 std::vector<int> RIDs;
1082 /*for(int i=0;i<ui->resourcesList->topLevelItemCount();i++) {
1083 QTreeWidgetItem *it = ui->resourcesList->topLevelItem(i);
1084 if (it->isSelected()) {
1085 RIDs.push_back(it->text(1).toInt());
1086 it->setText(3,"waiting");
1087 it->setIcon(0,QIcon(":/refresh22.svg"));
1088 it->setForeground(3,QColor("#000000"));
1089 }
1090 }*/
1091
1092
1093 safeManager.safeRun(MIDs,CIDs,RIDs);
1094 yarp::os::SystemClock::delaySystem(0.1);
1095 selectAllModule(false);
1096 selectAllConnections(false);
1097 selectAllResources(false);
1098 return true;
1099}
1100
1101void ApplicationViewWidget::runNestedApplication(QTreeWidgetItem *it,std::vector<int> *MIDs)
1102{
1103 for(int j=0; j<it->childCount();j++) {
1104 QTreeWidgetItem *ch = it->child(j);
1105
1106 if (ch->data(0,Qt::UserRole) == APPLICATION) {
1107 runNestedApplication(ch,MIDs);
1108 } else {
1109 if (ch->isSelected()) {
1110 MIDs->push_back(ch->text(1).toInt());
1111 safeManager.updateExecutable(ch->text(1).toInt(),
1112 ch->text(4).toLatin1().data(),
1113 ch->text(3).toLatin1().data(),
1114 ch->text(5).toLatin1().data(),
1115 ch->text(6).toLatin1().data(),
1116 ch->text(7).toLatin1().data());
1117
1118 ch->setText(2,"waiting");
1119 ch->setIcon(0,QIcon(":/refresh.svg"));
1120 ch->setForeground(2,QColor("#000000"));
1121 }
1122 }
1123
1124
1125
1126 }
1127}
1128
1130bool ApplicationViewWidget::onStop()
1131{
1132 selectAllConnections(true);
1133 selectAllResources(true);
1134 if (safeManager.busy()) {
1135 return false;
1136 }
1137
1138 std::vector<int> MIDs;
1139 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
1140 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
1141 if (it->data(0,Qt::UserRole) == APPLICATION) {
1142 stopNestedApplication(it,&MIDs);
1143
1144 } else {
1145 if (it->isSelected()) {
1146 //moduluesIDs.append(it->text(1).toInt());
1147 MIDs.push_back(it->text(1).toInt());
1148 safeManager.updateExecutable(it->text(1).toInt(),
1149 it->text(4).toLatin1().data(),
1150 it->text(3).toLatin1().data(),
1151 it->text(5).toLatin1().data(),
1152 it->text(6).toLatin1().data(),
1153 it->text(7).toLatin1().data());
1154
1155 it->setText(2,"waiting");
1156 it->setIcon(0,QIcon(":/refresh.svg"));
1157 it->setForeground(2,QColor("#000000"));
1158
1159 }
1160 }
1161
1162 }
1163
1164 std::vector<int> CIDs;
1165 /*for(int i=0;i<ui->connectionList->topLevelItemCount();i++)
1166 {
1167 updateConnection(i, CIDs);
1168 }*/
1169
1170 std::vector<int> RIDs;
1171 /*for(int i=0;i<ui->resourcesList->topLevelItemCount();i++) {
1172 QTreeWidgetItem *it = ui->resourcesList->topLevelItem(i);
1173 if (it->isSelected()) {
1174 RIDs.push_back(it->text(1).toInt());
1175 it->setText(3,"waiting");
1176 it->setIcon(0,QIcon(":/refresh22.svg"));
1177 it->setForeground(3,QColor("#000000"));
1178 }
1179 }*/
1180
1181
1182 safeManager.safeStop(MIDs,CIDs,RIDs);
1183 yarp::os::SystemClock::delaySystem(0.1);
1184 selectAllModule(false);
1185 selectAllConnections(false);
1186 selectAllResources(false);
1187 return true;
1188}
1189
1190void ApplicationViewWidget::stopNestedApplication(QTreeWidgetItem *it,std::vector<int> *MIDs)
1191{
1192 for(int j=0; j<it->childCount();j++) {
1193 QTreeWidgetItem *ch = it->child(j);
1194 if (ch->data(0,Qt::UserRole) == APPLICATION) {
1195 stopNestedApplication(ch,MIDs);
1196 } else {
1197 if (ch->isSelected()) {
1198 MIDs->push_back(ch->text(1).toInt());
1199 safeManager.updateExecutable(ch->text(1).toInt(),
1200 ch->text(4).toLatin1().data(),
1201 ch->text(3).toLatin1().data(),
1202 ch->text(5).toLatin1().data(),
1203 ch->text(6).toLatin1().data(),
1204 ch->text(7).toLatin1().data());
1205
1206 ch->setText(2,"waiting");
1207 ch->setIcon(0,QIcon(":/refresh.svg"));
1208 ch->setForeground(2,QColor("#000000"));
1209 }
1210 }
1211
1212
1213
1214 }
1215}
1216
1218bool ApplicationViewWidget::onKill()
1219{
1220 selectAllConnections(true);
1221 selectAllResources(true);
1222 if (safeManager.busy()) {
1223 return false;
1224 }
1225
1226 if (QMessageBox::question(this,"Killing modules!","Are you sure?") != QMessageBox::Yes) {
1227 return true;
1228 }
1229
1230 std::vector<int> MIDs;
1231 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
1232 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
1233 if (it->data(0,Qt::UserRole) == APPLICATION) {
1234 killNestedApplication(it,&MIDs);
1235 } else {
1236 if (it->isSelected()) {
1237 //moduluesIDs.append(it->text(1).toInt());
1238 MIDs.push_back(it->text(1).toInt());
1239 safeManager.updateExecutable(it->text(1).toInt(),
1240 it->text(4).toLatin1().data(),
1241 it->text(3).toLatin1().data(),
1242 it->text(5).toLatin1().data(),
1243 it->text(6).toLatin1().data(),
1244 it->text(7).toLatin1().data());
1245
1246 it->setText(2,"waiting");
1247 it->setIcon(0,QIcon(":/refresh22.svg"));
1248 it->setForeground(2,QColor("#000000"));
1249
1250 }
1251 }
1252
1253 }
1254
1255 std::vector<int> CIDs;
1256 /*for(int i=0;i<ui->connectionList->topLevelItemCount();i++)
1257 {
1258 updateConnection(i, CIDs);
1259
1260 }*/
1261
1262 std::vector<int> RIDs;
1263 /*for(int i=0;i<ui->resourcesList->topLevelItemCount();i++) {
1264 QTreeWidgetItem *it = ui->resourcesList->topLevelItem(i);
1265 if (it->isSelected()) {
1266 RIDs.push_back(it->text(1).toInt());
1267 it->setText(3,"waiting");
1268 it->setIcon(0,QIcon(":/refresh22.svg"));
1269 it->setForeground(3,QColor("#000000"));
1270 }
1271 }*/
1272
1273
1274 safeManager.safeKill(MIDs, CIDs, RIDs);
1275 yarp::os::SystemClock::delaySystem(0.1);
1276 selectAllModule(false);
1277 selectAllConnections(false);
1278 selectAllResources(false);
1279 return true;
1280}
1281
1282void ApplicationViewWidget::killNestedApplication(QTreeWidgetItem *it,std::vector<int> *MIDs)
1283{
1284 for(int j=0; j<it->childCount();j++) {
1285 QTreeWidgetItem *ch = it->child(j);
1286 if (ch->data(0,Qt::UserRole) == APPLICATION) {
1287 killNestedApplication(ch,MIDs);
1288 } else {
1289 if (ch->isSelected()) {
1290 MIDs->push_back(ch->text(1).toInt());
1291 safeManager.updateExecutable(ch->text(1).toInt(),
1292 ch->text(4).toLatin1().data(),
1293 ch->text(3).toLatin1().data(),
1294 ch->text(5).toLatin1().data(),
1295 ch->text(6).toLatin1().data(),
1296 ch->text(7).toLatin1().data());
1297
1298 ch->setText(2,"waiting");
1299 ch->setIcon(0,QIcon(":/refresh.svg"));
1300 ch->setForeground(2,QColor("#000000"));
1301 }
1302 }
1303
1304
1305
1306 }
1307}
1308
1310bool ApplicationViewWidget::onConnect()
1311{
1312 if (safeManager.busy()) {
1313 return false;
1314 }
1315
1316
1317 std::vector<int> CIDs;
1318 for(int i=0;i<ui->connectionList->topLevelItemCount();i++)
1319 {
1320 updateConnection(i,CIDs);
1321 }
1322
1323
1324 safeManager.safeConnect(CIDs);
1325 yarp::os::SystemClock::delaySystem(0.1);
1326 selectAllConnections(false);
1327 return true;
1328}
1329
1331bool ApplicationViewWidget::onDisconnect()
1332{
1333 if (safeManager.busy()) {
1334 return false;
1335 }
1336
1337
1338 std::vector<int> CIDs;
1339 for(int i=0;i<ui->connectionList->topLevelItemCount();i++)
1340 {
1341 updateConnection(i, CIDs);
1342 }
1343
1344
1345 safeManager.safeDisconnect(CIDs);
1346 yarp::os::SystemClock::delaySystem(0.1);
1347 selectAllConnections(false);
1348 return true;
1349}
1350
1351
1353bool ApplicationViewWidget::onRefresh()
1354{
1355 if (safeManager.busy()) {
1356 return false;
1357 }
1358
1359 std::vector<int> modulesIDs;
1360 std::vector<int> connectionsIDs;
1361 std::vector<int> resourcesIDs;
1362
1363 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
1364 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
1365 if (it->data(0,Qt::UserRole) == APPLICATION) {
1366 refreshNestedApplication(it,&modulesIDs);
1367 } else {
1368 if (it->isSelected()) {
1369 modulesIDs.push_back(it->text(1).toInt());
1370 safeManager.updateExecutable(it->text(1).toInt(),
1371 it->text(4).toLatin1().data(),
1372 it->text(3).toLatin1().data(),
1373 it->text(5).toLatin1().data(),
1374 it->text(6).toLatin1().data(),
1375 it->text(7).toLatin1().data());
1376 it->setText(2,"waiting");
1377 it->setIcon(0,QIcon(":/refresh22.svg"));
1378 it->setForeground(2,QColor("#000000"));
1379 }
1380 }
1381
1382 }
1383
1384 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
1385 updateConnection(i,connectionsIDs);
1386 }
1387
1388 for(int i=0;i<ui->resourcesList->topLevelItemCount();i++) {
1389 QTreeWidgetItem *it = ui->resourcesList->topLevelItem(i);
1390 if (it->isSelected()) {
1391 resourcesIDs.push_back(it->text(1).toInt());
1392 it->setText(3,"waiting");
1393 it->setIcon(0,QIcon(":/refresh22.svg"));
1394 it->setForeground(3,QColor("#000000"));
1395 }
1396 }
1397
1398 safeManager.safeRefresh(modulesIDs,
1399 connectionsIDs,
1400 resourcesIDs);
1401 yarp::os::SystemClock::delaySystem(0.1);
1402 selectAllConnections(false);
1403 selectAllModule(false);
1404 selectAllResources(false);
1405
1406 return true;
1407}
1408void ApplicationViewWidget::refreshNestedApplication(QTreeWidgetItem *it,std::vector<int> *MIDs)
1409{
1410 for(int j=0; j<it->childCount();j++) {
1411 QTreeWidgetItem *ch = it->child(j);
1412
1413 if (ch->data(0,Qt::UserRole) == APPLICATION) {
1414 refreshNestedApplication(ch,MIDs);
1415 } else {
1416 if (ch->isSelected()) {
1417 MIDs->push_back(ch->text(1).toInt());
1418 ch->setText(2,"waiting");
1419 ch->setIcon(0,QIcon(":/refresh22.svg"));
1420 ch->setForeground(2,QColor("#000000"));
1421 }
1422 }
1423
1424 }
1425}
1426
1428void ApplicationViewWidget::selectAllModule()
1429{
1430 selectAllModule(true);
1431}
1432
1434void ApplicationViewWidget::selectAllConnections()
1435{
1436 selectAllConnections(true);
1437}
1438
1440void ApplicationViewWidget::selectAllResources()
1441{
1442 selectAllResources(true);
1443}
1444
1448void ApplicationViewWidget::selectAllModule(bool check)
1449{
1450 disconnect(ui->moduleList,SIGNAL(itemSelectionChanged()),this,SLOT(onModuleItemSelectionChanged()));
1451 for(int i=0;i<ui->moduleList->topLevelItemCount();i++) {
1452 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
1453 if (it->data(0,Qt::UserRole) == APPLICATION) {
1454 selectAllNestedApplicationModule(it,check);
1455 } else {
1456 it->setSelected(check);
1457 }
1458 }
1459 if (ui->moduleList->selectedItems().isEmpty()) {
1460 modRunAction->setEnabled(false);
1461 modStopAction->setEnabled(false);
1462 modkillAction->setEnabled(false);
1463 modAttachAction->setEnabled(false);
1464 modAssignAction->setEnabled(false);
1465 modRefreshAction->setEnabled(false);
1466 } else {
1467 modRunAction->setEnabled(true);
1468 modStopAction->setEnabled(true);
1469 modkillAction->setEnabled(true);
1470
1471 bool all = true;
1472 foreach (QTreeWidgetItem *it, ui->moduleList->selectedItems()) {
1473 if (it->text(3) != "localhost") {
1474 modAttachAction->setEnabled(false);
1475 all = false;
1476 break;
1477 }
1478 }
1479 if (all) {
1480 modAttachAction->setEnabled(true);
1481 }
1482// if (ui->moduleList->currentItem()->text(3) == "localhost")
1483// {
1484// modAttachAction->setEnabled(true);
1485// }
1486// else
1487// {
1488// modAttachAction->setEnabled(false);
1489// }
1490 modAssignAction->setEnabled(true);
1491 modRefreshAction->setEnabled(true);
1492
1493
1494
1495
1496 QList<int>selectedIds;
1497 QList<QTreeWidgetItem*> selectedItems = ui->moduleList->selectedItems();
1498 foreach(QTreeWidgetItem *it,selectedItems) {
1499 if (it->data(0,Qt::UserRole).toInt() == APPLICATION) {
1500 for(int j=0;j<it->childCount();j++) {
1501 QTreeWidgetItem *child = it->child(j);
1502 child->setSelected(true);
1503 }
1504
1505 }
1506
1507 }
1508 selectedItems = ui->moduleList->selectedItems();
1509 foreach(QTreeWidgetItem *it,selectedItems) {
1510 if (it->data(0,Qt::UserRole).toInt() == APPLICATION) {
1511 continue;
1512 }
1513 QString id = it->text(1);
1514 selectedIds.append(id.toInt());
1515 }
1516
1517 builder->setSelectedModules(selectedIds);
1518 }
1519
1520
1521 connect(ui->moduleList,SIGNAL(itemSelectionChanged()),this,SLOT(onModuleItemSelectionChanged()));
1522}
1523
1524void ApplicationViewWidget::selectAllNestedApplicationModule(QTreeWidgetItem *it,bool check)
1525{
1526 for(int j=0;j<it->childCount();j++) {
1527 QTreeWidgetItem *ch = it->child(j);
1528 if (ch->data(0,Qt::UserRole) == APPLICATION) {
1529 selectAllNestedApplicationModule(ch, check);
1530 } else {
1531 ch->setSelected(check);
1532 }
1533 }
1534}
1535
1536bool ApplicationViewWidget::scanAvailableCarriers(QString carrier, bool isConnection){
1537 yarp::os::Bottle lst=yarp::os::Carriers::listCarriers();
1538 yarp::manager::ErrorLogger* logger = yarp::manager::ErrorLogger::Instance();
1539 bool res=false;
1540 stringLst.clear();
1541 stringLst.push_back(carrier);
1542 for (size_t i=0; i<lst.size(); i++)
1543 {
1544 if (lst.get(i).asString() == carrier.toStdString()) {
1545 res = true;
1546 } else {
1547 stringLst.push_back(lst.get(i).asString().c_str());
1548 }
1549 }
1550 if (!res && isConnection)
1551 {
1552 std::string msg = "Unable to find '"+ carrier.toStdString() +
1553 "' among the available carriers in this machine, the connection could fail.";
1554 logger->addWarning(msg.c_str());
1555 }
1556 return res;
1557}
1558
1559void ApplicationViewWidget::updateConnection(int index, std::vector<int>& CIDs)
1560{
1561 QTreeWidgetItem *it = ui->connectionList->topLevelItem(index);
1562 if (it->isSelected()) {
1563 updateConnectionItem(it);
1564
1565 CIDs.push_back(it->text(1).toInt());
1566
1567 it->setText(2,"waiting");
1568 it->setIcon(0,QIcon(":/refresh22.svg"));
1569 it->setForeground(2,QColor("#000000"));
1570 }
1571
1572}
1573
1574void ApplicationViewWidget::updateConnectionItem(QTreeWidgetItem *it)
1575{
1576 auto* box = qobject_cast<QComboBox*>(ui->connectionList->itemWidget((QTreeWidgetItem *)it, 5));
1577 QString carrier, modifier;
1578 if (box)
1579 {
1580 carrier = box->currentText();
1581
1582 }
1583 else
1584 {
1585 carrier=it->text(5);
1586 }
1587
1588 //checking if in the carrier has been added a modifier
1589
1590 size_t pos = carrier.toStdString().find('+');
1591 if(pos != std::string::npos)
1592 {
1593 modifier = carrier.mid(pos);
1594 QStringList myStringList = carrier.split('+');
1595 carrier = myStringList.first();
1596 box->setCurrentText(carrier);
1597 it->setText(6,modifier);
1598 }
1599
1600 // scan the available carriers in the system where yarpmanager is launched.
1601 scanAvailableCarriers(carrier);
1602 carrier = carrier + it->text(6); //adding modifier.
1603 safeManager.updateConnection(it->text(1).toInt(),
1604 it->text(3).toLatin1().data(),
1605 it->text(4).toLatin1().data(),
1606 carrier.toLatin1().data());
1607}
1608
1612void ApplicationViewWidget::selectAllConnections(bool check)
1613{
1614 disconnect(ui->connectionList,SIGNAL(itemSelectionChanged()),this,SLOT(onConnectionItemSelectionChanged()));
1615 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
1616 QTreeWidgetItem *it = ui->connectionList->topLevelItem(i);
1617 it->setSelected(check);
1618 }
1619
1620 if (ui->connectionList->selectedItems().isEmpty()) {
1621 connConnectAction->setEnabled(false);
1622 connDisconnectAction->setEnabled(false);
1623 connSeparatorAction->setEnabled(false);
1624 connRefreshAction->setEnabled(false);
1625 } else {
1626 connConnectAction->setEnabled(true);
1627 connDisconnectAction->setEnabled(true);
1628 connSeparatorAction->setEnabled(true);
1629 connRefreshAction->setEnabled(true);
1630 }
1631
1632 QList<int>selectedIds;
1633 QList<QTreeWidgetItem*> selectedItems = ui->connectionList->selectedItems();
1634 foreach(QTreeWidgetItem *it,selectedItems) {
1635 QString id = it->text(1);
1636 selectedIds.append(id.toInt());
1637 }
1638
1639 builder->setSelectedConnections(selectedIds);
1640 connect(ui->connectionList,SIGNAL(itemSelectionChanged()),this,SLOT(onConnectionItemSelectionChanged()));
1641
1642}
1643
1647void ApplicationViewWidget::selectAllResources(bool check)
1648{
1649 for(int i=0;i<ui->resourcesList->topLevelItemCount();i++) {
1650 QTreeWidgetItem *it = ui->resourcesList->topLevelItem(i);
1651 it->setSelected(check);
1652 }
1653}
1654
1657void ApplicationViewWidget::selectAll()
1658{
1659 selectAllConnections(true);
1660 selectAllModule(true);
1661 selectAllResources(true);
1662}
1663
1665void ApplicationViewWidget::runApplicationSet(bool onlySelected)
1666{
1667 if (!onlySelected) {
1668 selectAllModule(true);
1669 }
1670 onRun();
1671}
1672
1674void ApplicationViewWidget::stopApplicationSet(bool onlySelected)
1675{
1676 if (!onlySelected) {
1677 selectAllModule(true);
1678 }
1679 onStop();
1680}
1681
1683void ApplicationViewWidget::killApplicationSet(bool onlySelected)
1684{
1685 if (!onlySelected) {
1686 selectAllModule(true);
1687 }
1688 onKill();
1689}
1690
1692void ApplicationViewWidget::connectConnectionSet(bool onlySelected)
1693{
1694 if (!onlySelected) {
1695 selectAllConnections(true);
1696 }
1697 onConnect();
1698}
1699
1701void ApplicationViewWidget::disconnectConnectionSet(bool onlySelected)
1702{
1703 if (!onlySelected) {
1704 selectAllConnections(true);
1705 }
1706 onDisconnect();
1707}
1708
1710void ApplicationViewWidget::refresh()
1711{
1712 selectAllConnections(true);
1713 selectAllModule(true);
1714 selectAllResources(true);
1715
1716 onRefresh();
1717}
1718
1720void ApplicationViewWidget::reportErrors()
1721{
1722 yarp::manager::ErrorLogger* logger = yarp::manager::ErrorLogger::Instance();
1723 if (logger->errorCount() || logger->warningCount())
1724 {
1725 const char* err;
1726 while((err=logger->getLastError()))
1727 {
1728 QString msg = QString("(%1) %2").arg(app->getName()).arg(err);
1729 emit logError(msg);
1730 }
1731
1732 while((err=logger->getLastWarning()))
1733 {
1734 QString msg = QString("(%1) %2").arg(app->getName()).arg(err);
1735 emit logWarning(msg);
1736 }
1737 }
1738}
1739
1740
1742void ApplicationViewWidget::exportGraph()
1743{
1744 QString fileName = QFileDialog::getSaveFileName(this,"Export Graph",QApplication::applicationDirPath(),"GraphViz format (*.dot)");
1745
1746 if (!fileName.isEmpty()) {
1747 if (!safeManager.exportDependencyGraph(fileName.toLatin1().data()))
1748 {
1749 yarp::manager::ErrorLogger* logger = yarp::manager::ErrorLogger::Instance();
1750 logger->addError("Cannot export graph");
1751 reportErrors();
1752 return;
1753 }
1754 }
1755}
1756
1757
1759void ApplicationViewWidget::onYARPView()
1760{
1761 if (safeManager.busy()) {
1762 return;
1763 }
1764 yarp::manager::ErrorLogger* logger = yarp::manager::ErrorLogger::Instance();
1765
1766 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
1767 QTreeWidgetItem *it = ui->connectionList->topLevelItem(i);
1768 if (it->isSelected()) {
1769 QString from = it->text(3);
1770 QString to = QString("/inspect").arg(from);
1771 QString env = QString("YARP_PORT_PREFIX=%1").arg(to);
1772 to += "/yarpview/img:i";
1773
1774 yarp::manager::LocalBroker launcher;
1775 if (launcher.init("yarpview", nullptr, nullptr, nullptr, nullptr, env.toLatin1().data()))
1776 {
1777 if (!launcher.start() && !launcher.error().empty())
1778 {
1779 QString msg;
1780 msg = QString("Error while launching yarpview. %1").arg(launcher.error().c_str());
1781 logger->addError(msg.toLatin1().data());
1782 reportErrors();
1783 }
1784 else
1785 {
1786 // waiting for the port to get open
1787 double base = yarp::os::SystemClock::nowSystem();
1788 while(!timeout(base, 3.0)) {
1789 if (launcher.exists(to.toLatin1().data())) {
1790 break;
1791 }
1792 }
1793 if (!launcher.connect(from.toLatin1().data(), to.toLatin1().data(), "udp")) {
1794 QString msg;
1795 msg = QString("Cannot inspect '%1' : %2").arg(from).arg(launcher.error().c_str());
1796 logger->addError(msg.toLatin1().data());
1797 launcher.stop();
1798 reportErrors();
1799 }
1800 }
1801 }
1802 }
1803 }
1804
1805
1806 yarp::os::SystemClock::delaySystem(0.1);
1807}
1808
1810void ApplicationViewWidget::onYARPHear()
1811{
1812 if (safeManager.busy()) {
1813 return;
1814 }
1815 yarp::manager::ErrorLogger* logger = yarp::manager::ErrorLogger::Instance();
1816
1817 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
1818 QTreeWidgetItem *it = ui->connectionList->topLevelItem(i);
1819 if (it->isSelected()) {
1820 QString from = it->text(3);
1821 QString to = QString("/inspect/hear%1").arg(from);
1822
1823#if defined(_WIN32)
1824 QString cmd = "cmd.exe";
1825 QString param;
1826 param = QString("/C yarphear --name %1").arg(to);
1827
1828#else
1829 QString cmd = "xterm";
1830 QString param;
1831 param = QString("-hold -title %1 -e yarphear --nodevice --name %2").arg(from).arg(to);
1832#endif
1833
1834 yarp::manager::LocalBroker launcher;
1835 launcher.setWindowMode(yarp::manager::LocalBroker::WINDOW_VISIBLE);
1836 if (launcher.init(cmd.toLatin1().data(), param.toLatin1().data(), nullptr, nullptr, nullptr, nullptr))
1837 {
1838 if (!launcher.start() && !launcher.error().empty())
1839 {
1840 QString msg;
1841 msg = QString("Error while launching yarpread. %1").arg(launcher.error().c_str());
1842 logger->addError(msg.toLatin1().data());
1843 reportErrors();
1844 }
1845 else
1846 {
1847 // waiting for the port to get open
1848 double base = yarp::os::SystemClock::nowSystem();
1849 while(!timeout(base, 3.0)) {
1850 if (launcher.exists(to.toLatin1().data())) {
1851 break;
1852 }
1853 }
1854 if (!launcher.exists(to.toLatin1().data())) {
1855 QString msg;
1856 msg = QString("Cannot inspect '%1' : %2. Did you build yarp with 'portaudio' module?").arg(from).arg(launcher.error().c_str());
1857 logger->addError(msg.toLatin1().data());
1858 launcher.stop();
1859 reportErrors();
1860 }else if (!launcher.connect(from.toLatin1().data(), to.toLatin1().data(), "udp")) {
1861 QString msg;
1862 msg = QString("Cannot inspect '%1' : %2").arg(from).arg(launcher.error().c_str());
1863 logger->addError(msg.toLatin1().data());
1864 launcher.stop();
1865 reportErrors();
1866 }
1867 }
1868 }
1869
1870 }
1871 }
1872 yarp::os::SystemClock::delaySystem(0.1);
1873
1874
1875
1876}
1877
1879void ApplicationViewWidget::onYARPRead()
1880{
1881 if (safeManager.busy()) {
1882 return;
1883 }
1884 yarp::manager::ErrorLogger* logger = yarp::manager::ErrorLogger::Instance();
1885
1886 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
1887 QTreeWidgetItem *it = ui->connectionList->topLevelItem(i);
1888 if (it->isSelected()) {
1889 QString from = it->text(3);
1890 QString to = QString("/inspect/read%1").arg(from);
1891
1892#if defined(_WIN32)
1893 QString cmd = "cmd.exe";
1894 QString param;
1895 param = QString("/C yarp read %1").arg(to);
1896
1897#else
1898 QString cmd = "xterm";
1899 QString param;
1900 param = QString("-hold -title %1 -e yarp read %2").arg(from).arg(to);
1901#endif
1902
1903 yarp::manager::LocalBroker launcher;
1904 launcher.setWindowMode(yarp::manager::LocalBroker::WINDOW_VISIBLE);
1905 if (launcher.init(cmd.toLatin1().data(), param.toLatin1().data(), nullptr, nullptr, nullptr, nullptr))
1906 {
1907 if (!launcher.start() && !launcher.error().empty())
1908 {
1909 QString msg;
1910 msg = QString("Error while launching yarpread. %1").arg(launcher.error().c_str());
1911 logger->addError(msg.toLatin1().data());
1912 reportErrors();
1913 }
1914 else
1915 {
1916 // waiting for the port to get open
1917 double base = yarp::os::SystemClock::nowSystem();
1918 while(!timeout(base, 3.0)) {
1919 if (launcher.exists(to.toLatin1().data())) {
1920 break;
1921 }
1922 }
1923 if (!launcher.connect(from.toLatin1().data(), to.toLatin1().data(), "udp")) {
1924 QString msg;
1925 msg = QString("Cannot inspect '%1' : %2").arg(from).arg(launcher.error().c_str());
1926 logger->addError(msg.toLatin1().data());
1927 launcher.stop();
1928 reportErrors();
1929 }
1930 }
1931 }
1932 }
1933 }
1934
1935
1936 yarp::os::SystemClock::delaySystem(0.1);
1937
1938}
1939
1941void ApplicationViewWidget::onYARPScope()
1942{
1943 if (safeManager.busy()) {
1944 return;
1945 }
1946 yarp::manager::ErrorLogger* logger = yarp::manager::ErrorLogger::Instance();
1947
1948 YscopeWindow dlg;
1949 dlg.setModal(true);
1950 if (dlg.exec() != QDialog::Accepted) {
1951 return;
1952 }
1953 int strIndex = dlg.getIndex();
1954
1955
1956
1957
1958 for(int i=0;i<ui->connectionList->topLevelItemCount();i++) {
1959 QTreeWidgetItem *it = ui->connectionList->topLevelItem(i);
1960 if (it->isSelected()) {
1961 QString from = it->text(3);
1962 QString to = QString("/inspect").arg(from);
1963 QString env = QString("YARP_PORT_PREFIX=%1").arg(to);
1964 to += "/yarpscope";
1965
1966 QString param;
1967 param = QString("--title %1:%2 --bgcolor white --color blue --graph_size 2 --index %2").arg(from).arg(strIndex);
1968
1969
1970 yarp::manager::LocalBroker launcher;
1971 if (launcher.init("yarpscope", param.toLatin1().data(), nullptr, nullptr, nullptr, env.toLatin1().data())) {
1972 if (!launcher.start() && !launcher.error().empty()) {
1973 QString msg;
1974 msg = QString("Error while launching yarpscope. %1").arg(launcher.error().c_str());
1975 logger->addError(msg.toLatin1().data());
1976 reportErrors();
1977 }
1978 else{
1979 // waiting for the port to get open
1980 double base = yarp::os::SystemClock::nowSystem();
1981 while (!timeout(base, 3.0)) {
1982 if (launcher.exists(to.toLatin1().data())) {
1983 break;
1984 }
1985 }
1986 if (!launcher.connect(from.toLatin1().data(), to.toLatin1().data(), "udp")) {
1987 QString msg;
1988 msg = QString("Cannot inspect '%1' : %2").arg(from).arg(launcher.error().c_str());
1989 logger->addError(msg.toLatin1().data());
1990 launcher.stop();
1991 reportErrors();
1992 }
1993 }
1994 }
1995
1996 }
1997 }
1998 yarp::os::SystemClock::delaySystem(0.1);
1999}
2000
2001
2002
2003bool ApplicationViewWidget::timeout(double base, double timeout)
2004{
2005 yarp::os::SystemClock::delaySystem(1.0);
2006 if ((yarp::os::SystemClock::nowSystem() - base) > timeout) {
2007 return true;
2008 }
2009 return false;
2010}
2011
2012
2013
2014
2016bool ApplicationViewWidget::isRunning()
2017{
2018 if (editingMode) {
2019 return false;
2020 }
2021 for(int i=0; i< ui->moduleList->topLevelItemCount();i++) {
2022 if (ui->moduleList->topLevelItem(i)->text(2) == "running") {
2023 return true;
2024 }
2025 }
2026 return false;
2027}
2028
2029bool ApplicationViewWidget::isEditingMode()
2030{
2031 return editingMode;
2032}
2033
2034void ApplicationViewWidget::onSelfConnect(int which)
2035{
2036 int row;
2037 if (!getConRowByID(which, &row))
2038 {
2039 yError()<<"ApplicationViewWidget: unable to find row with id:"<<which;
2040 return;
2041 }
2042
2043 QTreeWidgetItem *it = ui->connectionList->topLevelItem(row);
2044 if (it) {
2045 it->setText(2,"connected");
2046 it->setIcon(0,QIcon(":/connect22.svg"));
2047 it->setForeground(2,QColor("#008C00"));
2048 QString from = it->text(3);
2049 QString to = it->text(4);
2050 auto* box = qobject_cast<QComboBox*>(ui->connectionList->itemWidget((QTreeWidgetItem *)it, 5));
2051 box->setEnabled(false);
2052 builder->setConnectionConnected(true,from,to);
2053 }
2054
2055 /* row[m_conColumns.m_col_status] = "connected";
2056 row[m_conColumns.m_col_editable] = false;
2057 row[m_conColumns.m_col_color] = Gdk::Color("#008C00");
2058 row.set_value(0, m_refPixConnected);*/
2059
2060 reportErrors();
2061}
2062
2063void ApplicationViewWidget::onSelfDisconnect(int which)
2064{
2065 int row;
2066 if (!getConRowByID(which, &row))
2067 {
2068 yError()<<"ApplicationViewWidget: unable to find row with id:"<<which;
2069 return;
2070 }
2071
2072 QTreeWidgetItem *it = ui->connectionList->topLevelItem(row);
2073 if (it) {
2074 it->setText(2,"disconnected");
2075 it->setIcon(0,QIcon(":/disconnect22.svg"));
2076 it->setForeground(2,QColor("#BF0303"));
2077 QString from = it->text(3);
2078 QString to = it->text(4);
2079 auto* box = qobject_cast<QComboBox*>(ui->connectionList->itemWidget((QTreeWidgetItem *)it, 5));
2080 box->setEnabled(true);
2081 builder->setConnectionConnected(false,from,to);
2082 }
2083 reportErrors();
2084}
2085
2086void ApplicationViewWidget::onSelfResAvailable(int which)
2087{
2088 int row;
2089 if (!getResRowByID(which, &row))
2090 {
2091 yError()<<"ApplicationViewWidget: unable to find row with id:"<<which;
2092 return;
2093 }
2094
2095 QTreeWidgetItem *it = ui->resourcesList->topLevelItem(row);
2096 if (it) {
2097 it->setText(3,"available");
2098 if (it->text(2) == "computer") {
2099 it->setIcon(0,QIcon(":/computer-available22.svg"));
2100 it->setForeground(3,QColor("#008C00"));
2101 } else {
2102 it->setIcon(0,QIcon(":/port-available22.svg"));
2103 it->setForeground(3,QColor("#008C00"));
2104 }
2105 /*if (row[m_resColumns.m_col_type] == Glib::ustring("computer"))
2106 row.set_value(0, m_refPixAvailable);
2107 else
2108 row.set_value(0, m_refPixPortAvaibable);*/
2109 }
2110
2111
2112 reportErrors();
2113}
2114
2115void ApplicationViewWidget::onSelfResUnavailable(int which)
2116{
2117 int row;
2118 if (!getResRowByID(which, &row))
2119 {
2120 yError()<<"ApplicationViewWidget: unable to find row with id:"<<which;
2121 return;
2122 }
2123
2124 QTreeWidgetItem *it = ui->resourcesList->topLevelItem(row);
2125 if (it) {
2126 it->setText(3,"unavailable");
2127 if (it->text(2) == "computer") {
2128 it->setIcon(0,QIcon(":/computer-unavailable22.svg"));
2129 it->setForeground(3,QColor("#BF0303"));
2130 } else {
2131 it->setIcon(0,QIcon(":/port-unavailable22.svg"));
2132 it->setForeground(3,QColor("#BF0303"));
2133 }
2134 }
2135 reportErrors();
2136}
2137
2138void ApplicationViewWidget::onSelfStart(int which)
2139{
2140 QTreeWidgetItem *it = getModRowByID(which);
2141 if (it) {
2142 it->setText(2,"running");
2143 it->setIcon(0,QIcon(":/apply.svg"));
2144 it->setForeground(2,QColor("#008C00"));
2145 builder->setModuleRunning(true,which);
2146 //row[m_modColumns.m_col_editable] = false;
2147 //row[m_modColumns.m_col_color] = Gdk::Color("#008C00");
2148 //row.set_value(0, m_refPixRunning);
2149 }
2150
2151 reportErrors();
2152}
2153
2154void ApplicationViewWidget::onSelfStop(int which)
2155{
2156 QTreeWidgetItem *it = getModRowByID(which);
2157 if (it) {
2158 it->setText(2,"stopped");
2159 it->setIcon(0,QIcon(":/close.svg"));
2160 it->setForeground(2,QColor("#BF0303"));
2161 builder->setModuleRunning(false,which);
2162 }
2163 reportErrors();
2164}
2165
2169void ApplicationViewWidget::onModStart(int which)
2170{
2171 emit selfStart(which);
2172}
2173
2177void ApplicationViewWidget::onModStop(int which)
2178{
2179 emit selfStop(which);
2180}
2185void ApplicationViewWidget::onModStdout(int which, const char* msg)
2186{
2187 QString s = QString("%1").arg(msg);
2188 for(int j=0;j<ui->moduleList->topLevelItemCount();j++) {
2189 QTreeWidgetItem *it = ui->moduleList->topLevelItem(j);
2190 if (it->data(0,Qt::UserRole) == APPLICATION) {
2191 modStdOutNestedApplication(it,which,s);
2192 } else {
2193 auto* stdouWin = qvariant_cast<StdoutWindow *>(it->data(0,Qt::UserRole));
2194 if (stdouWin && stdouWin->getId() == which) {
2195 stdouWin->addMessage(s);
2196 break;
2197 }
2198 }
2199
2200 }
2201}
2202
2203void ApplicationViewWidget::modStdOutNestedApplication(QTreeWidgetItem *it, int id,QString s)
2204{
2205 for(int j=0; j<it->childCount();j++) {
2206 QTreeWidgetItem *ch = it->child(j);
2207 if (ch->data(0,Qt::UserRole) == APPLICATION) {
2208 modStdOutNestedApplication(ch,id,s);
2209 } else {
2210 auto* stdouWin = qvariant_cast<StdoutWindow *>(ch->data(0,Qt::UserRole));
2211 if (stdouWin && stdouWin->getId() == id) {
2212 stdouWin->addMessage(s);
2213 break;
2214 }
2215 }
2216 }
2217}
2218
2222void ApplicationViewWidget::onConConnect(int which)
2223{
2224 emit selfConnect(which);
2225}
2226
2230void ApplicationViewWidget::onConDisconnect(int which)
2231{
2232 emit selfDisconnect(which);
2233}
2234
2238void ApplicationViewWidget::onResAvailable(int which)
2239{
2240 emit selfResAvailable(which);
2241}
2242
2246void ApplicationViewWidget::onResUnAvailable(int which)
2247{
2248 emit selfResUnavailable(which);
2249}
2250
2254void ApplicationViewWidget::onConAvailable(int from, int to)
2255{
2256 if (from >= 0) {
2257 int row;
2258 if (getConRowByID(from, &row)) {
2259 ui->connectionList->topLevelItem(row)->setForeground(3,QColor("#008C00"));
2260 builder->setOutputPortAvailable(ui->connectionList->topLevelItem(row)->text(3),true);
2261 }
2262 }
2263
2264 if (to >= 0) {
2265 int row;
2266 if (getConRowByID(to, &row)) {
2267 ui->connectionList->topLevelItem(row)->setForeground(4,QColor("#008C00"));
2268 builder->setInputPortAvailable(ui->connectionList->topLevelItem(row)->text(4),true);
2269 }
2270 }
2271 reportErrors();
2272}
2273
2277void ApplicationViewWidget::onConUnAvailable(int from, int to)
2278{
2279 if (from >= 0) {
2280 int row;
2281 if (getConRowByID(from, &row)) {
2282 ui->connectionList->topLevelItem(row)->setForeground(3,QColor("#BF0303"));
2283 builder->setOutputPortAvailable(ui->connectionList->topLevelItem(row)->text(3),false);
2284 }
2285 }
2286
2287 if (to >= 0) {
2288 int row;
2289 if (getConRowByID(to, &row)) {
2290 ui->connectionList->topLevelItem(row)->setForeground(4,QColor("#BF0303"));
2291 builder->setInputPortAvailable(ui->connectionList->topLevelItem(row)->text(4),false);
2292 }
2293 }
2294 reportErrors();
2295}
2296
2300void ApplicationViewWidget::onError()
2301{
2302 reportErrors();
2303}
2304
2311
2312
2313
2314void ApplicationViewWidget::onDetachStdout()
2315{
2316
2317}
2318
2323bool ApplicationViewWidget::getConRowByID(int id, int *row)
2324{
2325 for(int i=0;i< ui->connectionList->topLevelItemCount();i++) {
2326 QTreeWidgetItem *it = ui->connectionList->topLevelItem(i);
2327
2328 if (it->text(1).toInt() == id) {
2329 *row = i;
2330 return true;
2331 }
2332 }
2333 return false;
2334}
2335
2340bool ApplicationViewWidget::getResRowByID(int id, int *row)
2341{
2342 for(int i=0;i< ui->resourcesList->topLevelItemCount();i++) {
2343 QTreeWidgetItem *it = ui->resourcesList->topLevelItem(i);
2344
2345 if (it->text(1).toInt() == id) {
2346 *row = i;
2347 return true;
2348 }
2349 }
2350 return false;
2351}
2356QTreeWidgetItem* ApplicationViewWidget::getModRowByID(int id, QTreeWidgetItem *parent)
2357{
2358 QTreeWidgetItem *ret = nullptr;
2359 if (!parent) {
2360 for(int i=0;i< ui->moduleList->topLevelItemCount();i++) {
2361 QTreeWidgetItem *it = ui->moduleList->topLevelItem(i);
2362 if (it->data(0,Qt::UserRole) == APPLICATION) {
2363 ret = getModRowByID(id,it);
2364 if (ret) {
2365 break;
2366 }
2367 }
2368
2369 if (it->text(1).toInt() == id) {
2370 return it;
2371 }
2372 }
2373 } else {
2374 for(int i=0;i< parent->childCount();i++) {
2375 QTreeWidgetItem *it = parent->child(i);
2376 if (it->data(0,Qt::UserRole) == APPLICATION) {
2377 ret = getModRowByID(id,it);
2378 if (ret) {
2379 break;
2380 }
2381 }
2382
2383 if (it->text(1).toInt() == id) {
2384 return it;
2385 }
2386 }
2387 }
2388
2389 return ret;
2390}
2391
2392
2393void ApplicationViewWidget::closeManager() {
2394 safeManager.close();
2395}
ret
bool ret
Definition ImplementAxisInfo.cpp:77
yError
#define yError(...)
Definition Log.h:361
SIGNAL
int SIGNAL(int pid, int signum)
Definition RunProcManager.cpp:76
ApplicationViewWidget
The Application View Widget.
Definition applicationviewwidget.h:29
ApplicationViewWidget::onError
void onError() override
Called when an error occurred.
Definition applicationviewwidget.cpp:2300
ApplicationViewWidget::selfResAvailable
void selfResAvailable(int)
ApplicationViewWidget::connectConnectionSet
void connectConnectionSet(bool onlySelected)
Connect all modules in the application to their ports using connections list.
Definition applicationviewwidget.cpp:1692
ApplicationViewWidget::selfResUnavailable
void selfResUnavailable(int)
ApplicationViewWidget::selectAll
void selectAll()
Select all element in the widget (modules, connections, resources)
Definition applicationviewwidget.cpp:1657
ApplicationViewWidget::setFileName
void setFileName(QString filename)
Definition applicationviewwidget.cpp:205
ApplicationViewWidget::runApplicationSet
void runApplicationSet(bool onlySelected)
Run all modules in the application.
Definition applicationviewwidget.cpp:1665
ApplicationViewWidget::ApplicationViewWidget
ApplicationViewWidget(yarp::manager::Application *, yarp::manager::Manager *lazyManager, yarp::os::Property *config, bool editingMode=false, QWidget *parent=nullptr)
Definition applicationviewwidget.cpp:22
ApplicationViewWidget::onConConnect
void onConConnect(int which) override
Called when a connection has been performed.
Definition applicationviewwidget.cpp:2222
ApplicationViewWidget::exportGraph
void exportGraph()
Export the current Graph.
Definition applicationviewwidget.cpp:1742
ApplicationViewWidget::logWarning
void logWarning(QString)
ApplicationViewWidget::onConAvailable
void onConAvailable(int from, int to) override
Called when a connection become available.
Definition applicationviewwidget.cpp:2254
ApplicationViewWidget::isRunning
bool isRunning()
Tells if a modules is in running state.
Definition applicationviewwidget.cpp:2016
ApplicationViewWidget::onModStart
void onModStart(int which) override
Called when a modlue has been started.
Definition applicationviewwidget.cpp:2169
ApplicationViewWidget::onLoadBalance
void onLoadBalance() override
Refresh all and reports errors.
Definition applicationviewwidget.cpp:2307
ApplicationViewWidget::onModStop
void onModStop(int which) override
Called when a modlue has been stopped.
Definition applicationviewwidget.cpp:2177
ApplicationViewWidget::killApplicationSet
void killApplicationSet(bool onlySelected)
Kill all running modules in the application.
Definition applicationviewwidget.cpp:1683
ApplicationViewWidget::onConUnAvailable
void onConUnAvailable(int from, int to) override
Called when a connection become unavailable.
Definition applicationviewwidget.cpp:2277
ApplicationViewWidget::getConnectionList
CustomTreeWidget * getConnectionList()
Definition applicationviewwidget.cpp:254
ApplicationViewWidget::setAppName
void setAppName(QString appName)
Definition applicationviewwidget.cpp:222
ApplicationViewWidget::onResUnAvailable
void onResUnAvailable(int which) override
Called when a resource become unavailable.
Definition applicationviewwidget.cpp:2246
ApplicationViewWidget::logError
void logError(QString)
ApplicationViewWidget::disconnectConnectionSet
void disconnectConnectionSet(bool onlySelected)
Disconnect all modules in the application to their ports using connections list.
Definition applicationviewwidget.cpp:1701
ApplicationViewWidget::onConDisconnect
void onConDisconnect(int which) override
Called when a disconnection has been performed.
Definition applicationviewwidget.cpp:2230
ApplicationViewWidget::getModuleList
CustomTreeWidget * getModuleList()
Definition applicationviewwidget.cpp:249
ApplicationViewWidget::onModStdout
void onModStdout(int which, const char *msg) override
Called when a modlue has writes on stdout.
Definition applicationviewwidget.cpp:2185
ApplicationViewWidget::onResAvailable
void onResAvailable(int which) override
Called when a resource became available.
Definition applicationviewwidget.cpp:2238
ApplicationViewWidget::stopApplicationSet
void stopApplicationSet(bool onlySelected)
Stop all modules in the application.
Definition applicationviewwidget.cpp:1674
BuilderWindow::setSelectedConnections
void setSelectedConnections(QList< int >selectedIds)
Definition builderwindow.cpp:915
BuilderWindow::load
void load(bool refresh=false)
Definition builderwindow.cpp:330
BuilderWindow::addModulesAction
void addModulesAction(QAction *)
Definition builderwindow.cpp:253
BuilderWindow::getAppName
QString getAppName()
Definition builderwindow.cpp:142
BuilderWindow::setFileName
void setFileName(QString filename)
Definition builderwindow.cpp:134
BuilderWindow::setInputPortAvailable
void setInputPortAvailable(QString, bool)
Definition builderwindow.cpp:1291
BuilderWindow::getFileName
QString getFileName()
Definition builderwindow.cpp:126
BuilderWindow::setConnectionConnected
void setConnectionConnected(bool, QString from, QString to)
Definition builderwindow.cpp:280
BuilderWindow::addAction
void addAction(QAction *)
Definition builderwindow.cpp:247
BuilderWindow::setAppName
void setAppName(QString appName)
Definition builderwindow.cpp:150
BuilderWindow::setModuleRunning
void setModuleRunning(bool, int id)
Definition builderwindow.cpp:263
BuilderWindow::setOutputPortAvailable
void setOutputPortAvailable(QString, bool)
Definition builderwindow.cpp:1258
BuilderWindow::getToolBar
QToolBar * getToolBar()
Definition builderwindow.cpp:217
BuilderWindow::addConnectionsAction
void addConnectionsAction(QAction *)
Definition builderwindow.cpp:258
BuilderWindow::setSelectedModules
void setSelectedModules(QList< int >selectedIds)
Definition builderwindow.cpp:939
CustomTreeWidgetItem
A custom QTreeWidgetItem.
Definition customtreewidget.h:21
CustomTreeWidget
A custom QTreeWidget.
Definition customtreewidget.h:47
GenericViewWidget
Generic View Widget.
Definition genericviewwidget.h:20
GenericViewWidget::modified
void modified(bool)
GenericViewWidget::onModified
void onModified(bool mod)
Definition genericviewwidget.cpp:29
GenericViewWidget::type
yarp::manager::NodeType type
Definition genericviewwidget.h:29
SafeManager::safeConnect
void safeConnect(std::vector< int > &CIDs)
Definition safe_manager.cpp:435
SafeManager::safeStop
void safeStop(std::vector< int > &MIDs, std::vector< int > &CIDs, std::vector< int > &RIDs)
Definition safe_manager.cpp:400
SafeManager::safeRun
void safeRun(std::vector< int > &MIDs, std::vector< int > &CIDs, std::vector< int > &RIDs)
Definition safe_manager.cpp:383
SafeManager::safeKill
void safeKill(std::vector< int > &MIDs, std::vector< int > &CIDs, std::vector< int > &RIDs)
Definition safe_manager.cpp:417
SafeManager::safeRefresh
void safeRefresh(std::vector< int > &MIDs, std::vector< int > &CIDs, std::vector< int > &RIDs)
Definition safe_manager.cpp:467
SafeManager::safeLoadBalance
void safeLoadBalance()
Definition safe_manager.cpp:516
SafeManager::safeAttachStdout
void safeAttachStdout(std::vector< int > &MIDs)
Definition safe_manager.cpp:487
SafeManager::prepare
bool prepare(yarp::manager::Manager *lazy, yarp::os::Property *config, ApplicationEvent *event=nullptr)
Definition safe_manager.cpp:31
SafeManager::safeDisconnect
void safeDisconnect(std::vector< int > &CDs)
Definition safe_manager.cpp:451
YarpBuilderLib::getBuilder
static BuilderWindow * getBuilder(Application *app, Manager *lazyManager, SafeManager *manager, bool editingMode)
Definition yarpbuilderlib.cpp:11
yarp::manager::Application
Class Application.
Definition application.h:288
yarp::manager::ErrorLogger
Singleton class ErrorLogger.
Definition utility.h:58
yarp::manager::ErrorLogger::getLastError
const char * getLastError()
Definition utility.cpp:148
yarp::manager::ErrorLogger::addError
void addError(const char *szError)
Definition utility.cpp:126
yarp::manager::ErrorLogger::addWarning
void addWarning(const char *szWarning)
Definition utility.cpp:104
yarp::manager::ErrorLogger::Instance
static ErrorLogger * Instance()
Singleton class ErrorLogger.
Definition utility.cpp:98
yarp::manager::ErrorLogger::getLastWarning
const char * getLastWarning()
Definition utility.cpp:167
yarp::manager::LocalBroker
Class LocalBroker.
Definition localbroker.h:33
yarp::manager::LocalBroker::setWindowMode
void setWindowMode(WindowMode m)
Define if the application will be visible or not.
Definition localbroker.cpp:588
yarp::manager::LocalBroker::exists
bool exists(const std::string &port) override
Definition localbroker.cpp:441
yarp::manager::LocalBroker::error
std::string error() override
Definition localbroker.cpp:503
yarp::manager::LocalBroker::connect
bool connect(const std::string &from, const std::string &to, const std::string &carrier, bool persist=false) override
connection broker
Definition localbroker.cpp:358
yarp::manager::Manager
Class Manager.
Definition manager.h:20
yarp::manager::Manager::getExecutables
ExecutablePContainer & getExecutables()
Definition manager.h:82
yarp::manager::Manager::updateConnection
bool updateConnection(unsigned int id, const char *from, const char *to, const char *carrier)
Definition manager.cpp:456
yarp::manager::Manager::getConnections
CnnContainer & getConnections()
Definition manager.h:85
yarp::manager::Manager::getResources
ResourcePContainer & getResources()
Definition manager.h:86
yarp::manager::Manager::existPortFrom
bool existPortFrom(unsigned int id)
Definition manager.cpp:731
yarp::manager::Manager::existPortTo
bool existPortTo(unsigned int id)
Definition manager.cpp:752
yarp::manager::Manager::updateExecutable
bool updateExecutable(unsigned int id, const char *szparam, const char *szhost, const char *szstdio, const char *szworkdir, const char *szenv)
Definition manager.cpp:430
yarp::manager::Manager::loadApplication
bool loadApplication(const char *szAppName)
Definition manager.cpp:240
yarp::manager::Manager::exportDependencyGraph
bool exportDependencyGraph(const char *szFileName)
Definition manager.h:99
yarp::manager::Module
Class Module.
Definition module.h:99
yarp::manager::Node::getLabel
const char * getLabel()
Definition node.h:93
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition Bottle.h:64
yarp::os::Bottle::size
size_type size() const
Gets the number of elements in the bottle.
Definition Bottle.cpp:251
yarp::os::Bottle::get
Value & get(size_type index) const
Reads a Value v from a certain part of the list.
Definition Bottle.cpp:246
yarp::os::Carriers::listCarriers
static Bottle listCarriers()
Definition Carriers.cpp:317
yarp::os::Property
A class for storing options and configuration information.
Definition Property.h:33
yarp::os::SystemClock::nowSystem
static double nowSystem()
Definition SystemClock.cpp:34
yarp::os::SystemClock::delaySystem
static void delaySystem(double seconds)
Definition SystemClock.cpp:29
yarp::os::Value::asString
virtual std::string asString() const
Get string value.
Definition Value.cpp:234
Ui
Definition aboutdlg.h:11
yarp::manager::ExecutablePIterator
std::vector< Executable * >::iterator ExecutablePIterator
Definition executable.h:167
yarp::manager::ResourcePIterator
std::vector< GenericResource * >::iterator ResourcePIterator
Definition resource.h:59
yarp::manager::NodeType
enum yarp::manager::__NodeType NodeType
yarp::manager::CnnIterator
std::vector< Connection >::iterator CnnIterator
Definition application.h:150
yarp::manager::ExecutablePContainer
std::vector< Executable * > ExecutablePContainer
Definition executable.h:166
yarp::manager::CnnContainer
std::vector< Connection > CnnContainer
Definition application.h:149