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Fix loss of sensors #1442

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merged 4 commits into from
Oct 25, 2021
Merged

Fix loss of sensors #1442

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57105bb
Fix loss of sensors
IKhonakhbeeva Oct 13, 2021
bfc8cb2
Changes after review
IKhonakhbeeva Oct 14, 2021
0c0588d
Clean code logic
IKhonakhbeeva Oct 14, 2021
a8fef16
Make Vera++ happy
IKhonakhbeeva Oct 23, 2021
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6 changes: 4 additions & 2 deletions plugins/robots/common/kitBase/include/kitBase/devicesConfigurationWidget.h
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Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,10 @@ public slots:
, const robotModel::DeviceInfo &sensor
, Reason reason) override;

void propagateChanges(const robotModel::PortInfo &port
, const robotModel::DeviceInfo &sensor);
void propagateChanges(const QString &robotId, const robotModel::PortInfo &port
, const robotModel::DeviceInfo &sensor, Reason reason);

void propagateChangesFromBox(QComboBox *box);

bool areConvertible(const robotModel::PortInfo &port1
, const robotModel::PortInfo &port2) const;
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11 changes: 5 additions & 6 deletions plugins/robots/common/kitBase/src/devicesConfigurationProvider.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,13 +73,12 @@ void DevicesConfigurationProvider::deviceConfigurationChanged(const QString &rob
{
if (mCurrentConfiguration[robotId][port] != device) {
mCurrentConfiguration[robotId][port] = device;
// Allow provider to react on configuration change.
onDeviceConfigurationChanged(robotId, port, device, reason);

for (DevicesConfigurationProvider * const provider : mConnectedProviders) {
// Broadcast change.
provider->deviceConfigurationChanged(robotId, port, device, reason);

// Allow connected providers to react on configuration change.
provider->onDeviceConfigurationChanged(robotId, port, device, reason);
}
}
}
Expand All @@ -88,9 +87,9 @@ void DevicesConfigurationProvider::onDeviceConfigurationChanged(const QString &r
, const PortInfo &port, const DeviceInfo &sensor, Reason reason)
{
Q_UNUSED(robotId)
Q_UNUSED(port);
Q_UNUSED(sensor);
Q_UNUSED(reason);
Q_UNUSED(port)
Q_UNUSED(sensor)
Q_UNUSED(reason)
}

void DevicesConfigurationProvider::clearConfiguration(Reason reason)
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43 changes: 22 additions & 21 deletions plugins/robots/common/kitBase/src/devicesConfigurationWidget.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,9 @@ QLayout *DevicesConfigurationWidget::initPort(const QString &robotModelName
}

if (mAutosaveMode) {
connect(comboBox, &QComboBox::currentTextChanged, this, &DevicesConfigurationWidget::save);
connect(comboBox, &QComboBox::currentTextChanged, this, [this](){
propagateChangesFromBox(qobject_cast<QComboBox *>(sender()));
});
}

QHBoxLayout * const layout = new QHBoxLayout;
Expand All @@ -128,10 +130,7 @@ QLayout *DevicesConfigurationWidget::initPort(const QString &robotModelName
void DevicesConfigurationWidget::onDeviceConfigurationChanged(const QString &robotId
, const PortInfo &port, const DeviceInfo &sensor, Reason reason)
{
Q_UNUSED(port)
Q_UNUSED(sensor)
Q_UNUSED(reason)

propagateChanges(robotId, port, sensor, reason);
// This method can be called when we did not accomplish processing all combo boxes during saving.
// So ignoring such case.
if (!mSaving && robotId == mCurrentRobotId) {
Expand All @@ -143,8 +142,8 @@ void DevicesConfigurationWidget::refresh()
{
mRefreshing = true;
for (QComboBox * const box : mConfigurers) {
const PortInfo port = box->property("port").value<PortInfo>();
const DeviceInfo device = currentConfiguration(mCurrentRobotId, port);
const PortInfo &port = box->property("port").value<PortInfo>();
const DeviceInfo &device = currentConfiguration(mCurrentRobotId, port);
if (device.isNull()) {
box->setCurrentIndex(0);
} else {
Expand All @@ -169,36 +168,38 @@ void DevicesConfigurationWidget::save()

mSaving = true;
for (QComboBox * const box : mConfigurers) {
if (!box->isVisible()) {
continue;
}

const QString robotModelName = box->property("robotModelName").toString();
const PortInfo port = box->property("port").value<PortInfo>();
const DeviceInfo device = box->itemData(box->currentIndex()).value<DeviceInfo>();
if (robotModelName == mCurrentModelType && currentConfiguration(mCurrentRobotId, port) != device) {
propagateChanges(port, device);
if (box->isVisible() && box->property("robotModelName").toString() == mCurrentModelType) {
propagateChangesFromBox(box);
}
}

mSaving = false;
}

void DevicesConfigurationWidget::propagateChanges(const PortInfo &port, const DeviceInfo &sensor)
void DevicesConfigurationWidget::propagateChangesFromBox(QComboBox *box)
{
const PortInfo &port = box->property("port").value<PortInfo>();
const DeviceInfo &device = box->itemData(box->currentIndex()).value<DeviceInfo>();
if (currentConfiguration(mCurrentRobotId, port) != device) {
propagateChanges(mCurrentRobotId, port, device, Reason::userAction);
}
}

void DevicesConfigurationWidget::propagateChanges(const QString &robotId, const PortInfo &port
, const DeviceInfo &sensor, Reason reason)
{
const auto kit = mCurrentRobotId.split(QRegExp("[A-Z]")).first();
const auto kit = robotId.split(QRegExp("[A-Z]")).first();
for (const QString &robotModelType : mRobotModels.keys()) {
const RobotModelInterface *robotModel = mRobotModels[robotModelType];
if (robotModel->robotId().contains(kit)) {
for (const PortInfo &otherPort : robotModel->configurablePorts()) {
if (areConvertible(port, otherPort)) {
if (sensor.isNull()) {
deviceConfigurationChanged(robotModel->robotId(), otherPort, DeviceInfo(), Reason::userAction);
deviceConfigurationChanged(robotModel->robotId(), otherPort, DeviceInfo(), reason);
} else {
const DeviceInfo otherDevice = convertibleDevice(robotModel, otherPort, sensor);
if (!otherDevice.isNull()) {
deviceConfigurationChanged(robotModel->robotId(), otherPort
, otherDevice, Reason::userAction);
, otherDevice, reason);
}
}
}
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