fix bugs and add documentation of multiple DSRs

Author: alfiTH

cli/src/robocompdsl/templates/templateCPP/plugins/dsr/functions/etc/config_toml.py

@@ -20,7 +20,7 @@
 3d = true
 
 # --- Multiple Instance Template ---
-# If you define sub-instances, the single instance config above will be ignored.
+# If you define multiple instances, the single instance config above will be ignored.
 # [Agent.instance_name]
 # configFile = ""
 # domain = 1

cli/src/robocompdsl/templates/templateCPP/plugins/dsr/functions/src/specificworker_cpp.py

@@ -6,17 +6,23 @@
 from robocompdsl.templates.common.templatedict import TemplateDict
 
 DSR_SAVE = """\
-//G->write_to_json_file("./"+agent_name+".json");
+/*
+for (auto const& [name, g] : Graphs) {
+    g->write_to_json_file("./"+agent_name+"_"+name+".json");
+}
+*/
 """
 
 DSR_CONNECTIONS= """\
-//dsr update signals
-//connect(G.get(), &DSR::DSRGraph::update_node_signal, this, &SpecificWorker::modify_node_slot);
-//connect(G.get(), &DSR::DSRGraph::update_edge_signal, this, &SpecificWorker::modify_edge_slot);
-//connect(G.get(), &DSR::DSRGraph::update_node_attr_signal, this, &SpecificWorker::modify_node_attrs_slot);
-//connect(G.get(), &DSR::DSRGraph::update_edge_attr_signal, this, &SpecificWorker::modify_edge_attrs_slot);
-//connect(G.get(), &DSR::DSRGraph::del_edge_signal, this, &SpecificWorker::del_edge_slot);
-//connect(G.get(), &DSR::DSRGraph::del_node_signal, this, &SpecificWorker::del_node_slot);
+//Subscription to DSR graph update signals. 
+// If multiple graphs exist, it is necessary to specify the graph name 
+// using 'Graphs.at("name")' to connect its signals to the Worker's slots.
+//connect(Graphs.at("").get(), &DSR::DSRGraph::update_node_signal, this, &SpecificWorker::modify_node_slot);
+//connect(Graphs.at("").get(), &DSR::DSRGraph::update_edge_signal, this, &SpecificWorker::modify_edge_slot);
+//connect(Graphs.at("").get(), &DSR::DSRGraph::update_node_attr_signal, this, &SpecificWorker::modify_node_attrs_slot);
+//connect(Graphs.at("").get(), &DSR::DSRGraph::update_edge_attr_signal, this, &SpecificWorker::modify_edge_attrs_slot);
+//connect(Graphs.at("").get(), &DSR::DSRGraph::del_edge_signal, this, &SpecificWorker::del_edge_slot);
+//connect(Graphs.at("").get(), &DSR::DSRGraph::del_node_signal, this, &SpecificWorker::del_node_slot);
 """
 
 
@@ -28,7 +34,7 @@
 either with a QtDesigner or directly from scratch in a class of its own.
 The add_custom_widget_to_dock method receives a name for the widget and a reference to the class instance.
 ***/
-
+//If you have more than one graph, you need to connect to the specific graph with the name
 //graph_viewers.at("")->add_custom_widget_to_dock("CustomWidget", &custom_widget);
 """
 

cli/src/robocompdsl/templates/templatePython/plugins/dsr/functions/generated/genericworker_py.py

@@ -5,8 +5,8 @@
 
 
 DSR_INIT_STR = """\
-agent_name = configData.get("Agent", {}).get("name")
-agent_id = configData.get("Agent", {}).get("id")
+self.agent_name = configData.get("Agent", {}).get("name")
+self.agent_id = configData.get("Agent", {}).get("id")
 
 # Initialize DSR
 sur_names = ConfigLoader.get_sur_names(configData, "Agent")
@@ -17,7 +17,7 @@
     domain = configData.get("Agent", {}).get("domain", 0)
     config_file = configData.get("Agent", {}).get("configFile")
     
-    new_graph = DSRGraph(0, agent_name, agent_id, config_file, True, domain)
+    new_graph = DSRGraph(0, self.agent_name, self.agent_id, config_file, True, domain)
     self.g = new_graph
     
     print("Graph loaded")
@@ -31,7 +31,7 @@
         config_file = prefix_data.get("configFile")
         domain = prefix_data.get("domain", 0)
 
-        self.graphs[name] = DSRGraph(0, agent_name, agent_id, config_file, True, domain)
+        self.graphs[name] = DSRGraph(0, self.agent_name, self.agent_id, config_file, True, domain)
         print(f"Graph {name} loaded")
 
     self.g = self.graphs[sur_names[0]]