dfki-ric / xrock_gui_model

Interface implementation for XRock models into bagel_gui

xrock_gui_model

Bagel (Biologically inspired Graph-Based Language) is a cross-platform graph-based dataflow language developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows.

This library extends the BagelGUI with a graph model developed for the XRock projects (https://robotik.dfki-bremen.de/de/forschung/projekte/d-rock.html, https://robotik.dfki-bremen.de/de/forschung/projekte/q-rock.html).

Documentation {#documentation}

The main user documentation of Bagel can be found at: https://github.com/dfki-ric/bagel_wiki/wiki

The API documentation of xrock_gui_model can be build in the doc sub-folder with the make command. The documentation is build into the doc/build folder.

License {#license}

osg_graph_viz is distributed under the 3-clause BSD license.

xrock_gui_model's Issues

Support for extaernal applications cnd-based replays (plain deployer)

It would be great if the gui could support setting up this generic applications (binary).

Recently the cnd-model got support for launching playbacks of logfiles, apart from just launching the replay application, there are additional task models needed, the definition looks like this:

The tasks in the description below don't have a deployment as they are simulated by the logfile playback.

connections:

deployments:
  replay:
    deployer: plain              # Use 'plain' deployment
    hostID: localhost
    process_name: rock-replay2   # rock-replay2 has to be specified as process_name
    cmdLineArgs:
#      - "--headless"            # when set, no playback GUI will be started, but playback will be started automatically
      - "--no-exit"              # To prevent rock-replay2 to exit after log playback finished. Exit would cause an inconsistent CND state
      - "--quiet"                # Prevent rock-replay2 to print many command line printouts resulting in large text log files
      - "/path/to/my/logfile/artemis_area_exploration_Logger.0.log"
      - "/path/to/another/logfile/artemis_navigation_Logger.0.log" # Multiuple logfiles can be loaded in one deployment
    taskList:
      area_exploration: area_exploration   # All tasks that are used in the CND have to be listed here as well
      motion_controller: motion_controller
tasks:
  area_exploration:
    activity:
      realtime: false
      type: TRIGGERED
    priority: 0
    state: RUNNING
    type: area_exploration::Task
  motion_controller:
    activity:
      period: 0.01
      priority: 82
      realtime: true
      type: PERIODIC
    priority: 0
    state: RUNNING
    type: motion_controller::Task

connections: {}   # Connections to live oroGen tasks are possible. But connections from live tasks to log files tasks obviosly not

TODOS to improve xrock_gui

TODO

• run gui serverless
• add toolbar for xrock_tool
  • add icons for add , load , save, reload
  • add a combobox for backend selection
  • add text field for the db address and URL edit
• handle all exceptions in qmessgebox to make it user friendly
• save history on every node deletion
• add one more button to add component in model_widget
• update tab captions if the name of the corresponding component model has been edited ( at the moment there is only a reload button which basically closes the old tab and loads the previously edited model in another tab)
• implement undo/redo based on history with ctrl + z and ctrl +y
• give title to the dialog
• add icon to xrock_gui
• make allowed domains dropdown
• add tf_enhance as a menu item like export
• a pop up dialog if user forget to save
• implement multidb
• import cnd
• handle warnings in bagel GUI and osg_graph_viz

The graphs text visibility does not depend on actual text size but on zoom level

Given a very large viewport, the graph rendering still only displays text labels for a given zoom level, that is, sizing of the model relative to the viewport is the deciding factor and a tiny viewport starts displaying with tiny text while a large viewport only starts displaying texts when it would be huge as well. Boxes for external connections(? the magenta/green ones) are not affected.

Please move this issue if there is a more appropriate location.

feature requests

GUI Feature request:

• Allow (re-)import of tasks from the gui. Like "import task" and "update task" in case the orogen file changed
• Configuration setup

current issues

• if the subcomponent configuration is empty by clicking on "config components", the configuration window will be not opened. (workaround: click on "config nodes" first, then on "config components")

XRock-Gui throws on string in the data field

Instead of checking for valid yaml in the data field of a ComponentModel, The Gui throws an exception and exits != 0 when having not valid YAML in the data field.

Edges that are defined in ComponentModels in a confronting direction are not shown

I have two Interfaces an Outgoing and and an Incoming, when I create the edge between those from Outgoing to Incoming, X-Rock-Gui is not able to display this edge.

@m0rsch1 This is a correct way of defining an edge between Interfaces, isn't it?