// Copyright (c) 2015-2018, LAAS-CNRS

// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)

//

// This file is part of gepetto-viewer.

// gepetto-viewer is free software: you can redistribute it

// and/or modify it under the terms of the GNU Lesser General Public

// License as published by the Free Software Foundation, either version

// 3 of the License, or (at your option) any later version.

//

// gepetto-viewer is distributed in the hope that it will be

// useful, but WITHOUT ANY WARRANTY; without even the implied warranty

// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

// General Lesser Public License for more details. You should have

// received a copy of the GNU Lesser General Public License along with

// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>.

#ifndef GEPETTO_GUI_MAINWINDOW_HH

#define GEPETTO_GUI_MAINWINDOW_HH

#include <QCheckBox>

#include <QLabel>

#include <QList>

#include <QMainWindow>

#include <QStandardItemModel>

#include <gepetto/gui/dialog/dialogloadenvironment.hh>

#include <gepetto/gui/dialog/dialogloadrobot.hh>

#include <gepetto/gui/dialog/pluginmanagerdialog.hh>

#include <gepetto/gui/ledindicator.hh>

#include <gepetto/gui/settings.hh>

#include "gepetto/gui/fwd.hh"

namespace Ui {

class MainWindow;

}

namespace gepetto {

namespace gui {

/// Class

class MainWindow : public QMainWindow {

 public:

  enum RefreshType {

    RefreshBodyTree = 1,

    RefreshPlugins = 2,

    RefreshAll = RefreshBodyTree + RefreshPlugins

  };

  Settings* settings_;

  explicit MainWindow(Settings* settings, QWidget* parent = 0);

  ~MainWindow();

  /// Return the instance of MainWindow stored

  static MainWindow* instance();

  /// Insert a dockwidget in the dock area of the window.

  /// \param dock widget to add

  /// \param area where the widget will be add

  /// \param orientation of the widget

  void insertDockWidget(QDockWidget* dock,

                        Qt::DockWidgetArea area = Qt::AllDockWidgetAreas,

                        Qt::Orientation orientation = Qt::Horizontal);

  /// Remove a dock widget.

  /// \param dock widget to remove

  void removeDockWidget(QDockWidget* dock);

  /// Get

  WindowsManagerPtr_t osg() const;

  /// Get the list of windows.

  QList<OSGWidget*> osgWindows() const;

  /// Get the plugin manager.

  PluginManager* pluginManager();

  ActionSearchBar* actionSearchBar() const;

  QMenu* pluginMenu() const;

#if GEPETTO_GUI_HAS_PYTHONQT

  /// Get the python widget.

#endif

 signals:

  /// Triggered when an OSGWidget is created.

  void viewCreated(OSGWidget* widget);

  void refresh();

  void applyCurrentConfiguration();

  void configurationValidation();

  void selectJointFromBodyName(const QString bodyName);

  void logString(QString msg);

  void logErrorString(QString msg);

 public slots:

  /// \ingroup plugin_python

  /// \{

  /// Get the body tree widget.

  BodyTreeWidget* bodyTree() const;

  /// Add the text to logs.

  /// \param text text to log

  void log(const QString& text);

  /// Add the text to logs and colors it in red.

  /// \param text text to log

  void logError(const QString& text);

  /// Log that a job has started.

  /// \param id id of the job

  /// \param text text to log

  void logJobStarted(int id, const QString& text);

  /// Log that a job has successfuly finished.

  /// \param id id of the job

  /// \param text text to log

  void logJobDone(int id, const QString& text);

  /// Log that a job has failed.

  /// \param id id of the job

  /// \param text text to log

  void logJobFailed(int id, const QString& text);

  /// Request a refresh of the interface.

  /// \param refreshType tells what to refresh. See RefreshType

  void requestRefresh();

  /// Emit a signal to display the current configuration in the viewer.

  void requestApplyCurrentConfiguration();

  /// Emit a signal to check if the the current configuration is valid.

  void requestConfigurationValidation();

  /// Display if a configuration is valid or not.

  /// \param valid configuration is valid

  void configurationValidationStatusChanged(bool valid);

  /// Display if a configuration is valid or not.

  /// \param bodiesInCollision list of bodies in collision

  void configurationValidationStatusChanged(QStringList bodiesInCollision);

  /// Emit a signal to tell that a body has been selected.

  /// \param bodyName name of the body selected

  void requestSelectJointFromBodyName(const QString bodyName);

  /// Open the plugin manager dialog.

  void onOpenPluginManager();

  /// Register an object signal that can be accessible without knowing the class

  /// definition. \param signal signal's name \param obj object's instance

  void registerSignal(const char* signal, QObject* obj);

  /// Get the instance of object which holds the signal.

  /// \param signal signal's name

  /// \return object's instance

  QObject* getFromSignal(const char* signal);

  /// Connect an object's slot to a registered signal.

  /// \param signal signal's name

  /// \param slot slot's name

  /// \param obj object's instance

  void connectSignal(const char* signal, const char* slot, QObject* obj);

  /// Register an object slot that can be accessible without knowing the class

  /// definition. \param slot slot's name \param obj object's instance

  void registerSlot(const char* slot, QObject* obj);

  /// Get the instance of object which holds the slot.

  /// \param slot slot's name

  /// \return object's instance

  QObject* getFromSlot(const char* slot);

  /// Connect an object's signal to a registered slot.

  /// \param slot slot's name

  /// \param signal signal's name

  /// \param obj object's instance

  void connectSlot(const char* slot, const char* signal, QObject* obj);

  /// Register an action on which users can change the shortcut to trigger it.

  /// \param widgetName widget's name that handle the action

  /// \param actionName action's name

  /// \param action action to modify

  void registerShortcut(QString widgetName, QString actionName,

                        QAction* action);

  /// Register an action on which users can change the shortcut to trigger it.

  /// User action->text() as action name.

  /// \param widgetName widget's name that handle the action

  /// \param action action to modify

  void registerShortcut(QString widgetName, QAction* action);

  /// \}

  OSGWidget* createView(const std::string& name);

 private slots:

  void addOSGWidget(OSGWidget* osgWidget);

  void createDefaultView();

  void openLoadRobotDialog();

  void openLoadEnvironmentDialog();

  void activateCollision(bool activate);

  void dockVisibilityChanged(bool visible);

  void hsplitTabifiedDockWidget();

  void vsplitTabifiedDockWidget();

  void handleWorkerDone(int id);

  void resetConnection();

  void closeConnection();

  void about();

 private:

  void splitTabifiedDockWidget(Qt::Orientation orientation);

  void setupInterface();

  void createCentralWidget();

  static MainWindow* instance_;

  ::Ui::MainWindow* ui_;

  OSGWidget* centralWidget_;

  QList<OSGWidget*> osgWindows_;

#if GEPETTO_GUI_HAS_PYTHONQT

  PythonWidget* pythonWidget_;

#endif

  ShortcutFactory* shortcutFactory_;

  SelectionHandler* selectionHandler_;

  WindowsManagerPtr_t osgViewerManagers_;

  QThread worker_;

  QCheckBox* collisionValidationActivated_;

  LedIndicator* collisionIndicator_;

  QLabel* collisionLabel_;

  QStandardItemModel* bodyTreeModel_;

  ActionSearchBar* actionSearchBar_;

  QStringList robotNames_;

  QStringList lastBodiesInCollision_;

  std::map<std::string, QObject*> registeredSlots_;

  std::map<std::string, QObject*> registeredSignals_;

};

}  // namespace gui

}  // namespace gepetto

#endif  // GEPETTO_GUI_MAINWINDOW_HH