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// Copyright (c) 2015-2018, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of gepetto-viewer. |
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// gepetto-viewer is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// gepetto-viewer is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
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#include "gepetto/gui/pythonwidget.hh" |
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#include <PythonQt.h> |
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#include <PythonQtClassInfo.h> |
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#include <PythonQt_QtAll.h> |
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#include <gui/PythonQtScriptingConsole.h> |
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#include <QAction> |
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#include <QFileDialog> |
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#include <QSettings> |
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#include <boost/python.hpp> |
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#include "../log.hh" |
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#include "gepetto/gui/mainwindow.hh" |
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#include "gepetto/gui/osgwidget.hh" |
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#include "gepetto/gui/plugin-interface.hh" |
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#include "python-bindings.hh" |
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#include "python-decorator.hh" |
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namespace bp = boost::python; |
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BOOST_PYTHON_MODULE(gepettogui_internals) { |
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exposeOSG(); |
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exposeGV(); |
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exposeGG(); |
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} |
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namespace gepetto { |
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typedef gui::MainWindow GMainWindow; |
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namespace gui { |
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namespace { |
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void addSignalHandler(PythonQtObjectPtr obj, const QString& callable, |
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QObject* sender, const char* signal) { |
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PythonQt* pqt = PythonQt::self(); |
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PythonQtObjectPtr call = pqt->lookupCallable(obj, callable); |
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if (call.isNull()) { |
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log() << "Callable" << callable << "not found." << std::endl; |
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return; |
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} |
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if (!pqt->addSignalHandler(sender, signal, call)) { |
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log() << "Signal" << signal << "not found in object" << sender->objectName() |
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<< std::endl; |
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} else { |
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log() << "Connected" << signal << "of" << sender->objectName() << "to" |
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<< callable << std::endl; |
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} |
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} |
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const QString var = "pluginInstance"; |
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} // namespace |
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PythonWidget::PythonWidget(QWidget* parent) |
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: QDockWidget("&PythonQt console", parent) { |
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PyImport_AppendInittab("gepettogui_internals", |
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#if PY_MAJOR_VERSION == 3 |
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&PyInit_gepettogui_internals |
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#elif PY_MAJOR_VERSION == 2 |
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&initgepettogui_internals |
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#endif |
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); |
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setObjectName("gepetto-gui.pythonqtconsole"); |
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PythonQt::init(PythonQt::RedirectStdOut); |
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PythonQt_QtAll::init(); |
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PythonQtObjectPtr mainContext = PythonQt::self()->getMainModule(); |
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PythonQtObjectPtr sys = PythonQt::self()->importModule("sys"); |
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sys.evalScript("argv = ['gepetto-gui']"); |
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mainContext.evalScript("import PythonQt"); |
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console_ = new PythonQtScriptingConsole(NULL, mainContext); |
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PythonQt::self()->addDecorators(new PythonDecorator()); |
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PythonQt::self()->registerQObjectClassNames(QStringList() << "BodyTreeWidget" |
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<< "BodyTreeItem" |
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<< "SelectionEvent" |
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<< "MainWindow"); |
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PythonQt::self()->registerCPPClass("MainWindow", "QMainWindow", "gepetto"); |
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PythonQt::self()->registerCPPClass("OSGWidget", "QWidget", "gepetto"); |
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console_->QTextEdit::clear(); |
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console_->consoleMessage( |
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"PythonQt command prompt\n" |
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"Use Shift+Enter for multiline code.\n"); |
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console_->appendCommandPrompt(); |
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QWidget* widget = new QWidget; |
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QVBoxLayout* layout = new QVBoxLayout; |
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button_ = new QPushButton; |
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button_->setText("Choose file"); |
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layout->addWidget(console_); |
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layout->addWidget(button_); |
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widget->setLayout(layout); |
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this->setWidget(widget); |
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toggleViewAction()->setShortcut(gepetto::gui::DockKeyShortcutBase + |
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Qt::Key_A); |
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connect(button_, SIGNAL(clicked()), SLOT(browseFile())); |
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bp::import("gepettogui_internals"); |
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} |
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PythonWidget::~PythonWidget() { |
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foreach (const PythonQtObjectPtr& m, modules_) unloadModulePlugin(m); |
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PythonQt::cleanup(); |
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} |
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void PythonWidget::browseFile() { |
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QFileDialog* fd = new QFileDialog; |
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fd->setFileMode(QFileDialog::ExistingFile); |
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fd->setNameFilter("All python file (*.py)"); |
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if (fd->exec() == QDialog::Accepted) { |
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QStringList file = fd->selectedFiles(); |
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PythonQtObjectPtr mainContext = PythonQt::self()->getMainModule(); |
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mainContext.evalFile(file.at(0)); |
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} |
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fd->close(); |
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fd->deleteLater(); |
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} |
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void PythonWidget::saveHistory(QSettings& settings) { |
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settings.beginGroup("pythonqt"); |
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QStringList history = console_->history(); |
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int limit = 200; |
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int start = std::max(history.length() - limit, 0); |
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QList<QVariant> h; |
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foreach (QString s, history.mid(start)) { |
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h << s; |
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} |
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settings.setValue("history", h); |
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settings.endGroup(); |
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} |
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void PythonWidget::restoreHistory(QSettings& settings) { |
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settings.beginGroup("pythonqt"); |
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QList<QVariant> h = settings.value("history").toList(); |
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QStringList history; |
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foreach (QVariant v, h) { |
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history << v.toString(); |
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} |
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console_->setHistory(history); |
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settings.endGroup(); |
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} |
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bool PythonWidget::hasPlugin(const QString& name) { |
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return modules_.contains(name); |
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} |
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void PythonWidget::loadScriptPlugin(QString moduleName, QString fileName) { |
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PythonQt* pqt = PythonQt::self(); |
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PythonQtObjectPtr module = pqt->createModuleFromFile(moduleName, fileName); |
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if (pqt->handleError()) { |
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pqt->clearError(); |
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return; |
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} |
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if (module.isNull()) { |
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qDebug() << "Enable to load module" << moduleName << "from script" |
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<< fileName; |
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return; |
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} |
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loadPlugin(moduleName, module); |
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} |
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void PythonWidget::runScript(QString fileName) { |
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PythonQt* pqt = PythonQt::self(); |
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PythonQtObjectPtr mainContext = pqt->getMainModule(); |
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mainContext.evalFile(fileName); |
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if (pqt->handleError()) { |
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pqt->clearError(); |
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qDebug() << "Failed to run script" << fileName; |
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} |
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} |
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void PythonWidget::loadModulePlugin(QString moduleName) { |
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PythonQt* pqt = PythonQt::self(); |
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PythonQtObjectPtr module = pqt->importModule(moduleName); |
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if (pqt->handleError()) { |
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pqt->clearError(); |
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return; |
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} |
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if (module.isNull()) { |
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qDebug() << "Unable to load module" << moduleName; |
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return; |
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} |
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loadPlugin(moduleName, module); |
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} |
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void PythonWidget::loadPlugin(QString moduleName, PythonQtObjectPtr module) { |
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PythonQt* pqt = PythonQt::self(); |
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MainWindow* main = MainWindow::instance(); |
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module.addObject("windowsManager", main->osg().get()); |
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QVariantList args; |
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args << QVariant::fromValue((QObject*)main); |
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QVariant instance = module.call("Plugin", args); |
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module.addVariable(var, instance); |
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QDockWidget* dw = qobject_cast<QDockWidget*>(instance.value<QObject*>()); |
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if (dw) main->insertDockWidget(dw, Qt::RightDockWidgetArea); |
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// PythonQtObjectPtr dockPyObj (instance); |
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PythonQtObjectPtr dockPyObj = pqt->lookupObject(module, var); |
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addSignalHandlersToPlugin(dockPyObj); |
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modules_[moduleName] = module; |
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} |
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void PythonWidget::unloadModulePlugin(QString moduleName) { |
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if (modules_.contains(moduleName)) { |
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PythonQtObjectPtr module = modules_.value(moduleName); |
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unloadModulePlugin(module); |
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modules_.remove(moduleName); |
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} |
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} |
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void PythonWidget::unloadModulePlugin(PythonQtObjectPtr module) { |
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PythonQt* pqt = PythonQt::self(); |
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QVariant instance = pqt->getVariable(module, var); |
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QDockWidget* dw = qobject_cast<QDockWidget*>(instance.value<QObject*>()); |
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if (dw) MainWindow::instance()->removeDockWidget(dw); |
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module.removeVariable(var); |
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} |
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void PythonWidget::addToContext(QString const& name, QObject* obj) { |
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PythonQtObjectPtr mainContext = PythonQt::self()->getMainModule(); |
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mainContext.addObject(name, obj); |
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} |
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void PythonWidget::addSignalHandlersToPlugin(PythonQtObjectPtr plugin) { |
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MainWindow* main = MainWindow::instance(); |
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addSignalHandler(plugin, "osgWidget", main, SIGNAL(viewCreated(OSGWidget*))); |
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QAction* reconnect = main->findChild<QAction*>("actionReconnect"); |
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if (reconnect) |
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addSignalHandler(plugin, "resetConnection", reconnect, SIGNAL(triggered())); |
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else |
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log() << "Could not find actionReconnect button. The plugin will" |
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<< "not be able to reset CORBA connections" << std::endl; |
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QAction* refresh = main->findChild<QAction*>("actionRefresh"); |
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if (refresh) |
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addSignalHandler(plugin, "refreshInterface", refresh, SIGNAL(triggered())); |
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else |
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log() << "Could not find actionRefresh button. The plugin will" |
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<< "not be able to refresh interface." << std::endl; |
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} |
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QVariantList PythonWidget::callPluginMethod(const QString& method, |
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const QVariantList& args, |
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const QVariantMap& kwargs) const { |
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PythonQt* pqt = PythonQt::self(); |
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QVariantList ret; |
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foreach (const PythonQtObjectPtr& m, modules_) { |
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PythonQtObjectPtr dockPyObj = pqt->lookupObject(m, var); |
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PythonQtObjectPtr call = pqt->lookupCallable(dockPyObj, method); |
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if (!call.isNull()) { |
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ret << call.call(args, kwargs); |
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} |
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} |
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return ret; |
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} |
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} // namespace gui |
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} // namespace gepetto |
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