1 |
|
|
// Copyright (c) 2015-2018, LAAS-CNRS |
2 |
|
|
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
3 |
|
|
// |
4 |
|
|
// This file is part of gepetto-viewer. |
5 |
|
|
// gepetto-viewer is free software: you can redistribute it |
6 |
|
|
// and/or modify it under the terms of the GNU Lesser General Public |
7 |
|
|
// License as published by the Free Software Foundation, either version |
8 |
|
|
// 3 of the License, or (at your option) any later version. |
9 |
|
|
// |
10 |
|
|
// gepetto-viewer is distributed in the hope that it will be |
11 |
|
|
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
12 |
|
|
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
13 |
|
|
// General Lesser Public License for more details. You should have |
14 |
|
|
// received a copy of the GNU Lesser General Public License along with |
15 |
|
|
// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
16 |
|
|
|
17 |
|
|
#include "gepetto/gui/dialog/dialogloadrobot.hh" |
18 |
|
|
|
19 |
|
|
#include <QDir> |
20 |
|
|
#include <QFileDialog> |
21 |
|
|
#include <QMessageBox> |
22 |
|
|
|
23 |
|
|
#include "ui_dialogloadrobot.h" |
24 |
|
|
|
25 |
|
|
namespace gepetto { |
26 |
|
|
namespace gui { |
27 |
|
|
QStringList DialogLoadRobot::rootJointTypes = QStringList() << "freeflyer" |
28 |
|
|
<< "planar" |
29 |
|
|
<< "anchor"; |
30 |
|
|
|
31 |
|
|
QList<DialogLoadRobot::RobotDefinition> DialogLoadRobot::definitions = |
32 |
|
|
QList<DialogLoadRobot::RobotDefinition>() |
33 |
|
|
<< DialogLoadRobot::RobotDefinition(); |
34 |
|
|
|
35 |
|
|
DialogLoadRobot::DialogLoadRobot(QWidget *parent) |
36 |
|
|
: QDialog(parent), ui_(new ::Ui::DialogLoadRobot) { |
37 |
|
|
ui_->setupUi(this); |
38 |
|
|
ui_->groupBox_details->setVisible(false); |
39 |
|
|
|
40 |
|
|
ui_->rootJointType->addItems(rootJointTypes); |
41 |
|
|
defs_ = ui_->comboBox_defs; |
42 |
|
|
|
43 |
|
|
foreach (RobotDefinition r, definitions) { |
44 |
|
|
defs_->addItem(r.name_, QVariant::fromValue(r)); |
45 |
|
|
} |
46 |
|
|
} |
47 |
|
|
|
48 |
|
|
DialogLoadRobot::~DialogLoadRobot() { delete ui_; } |
49 |
|
|
|
50 |
|
|
void DialogLoadRobot::addRobotDefinition(QString name, QString robotName, |
51 |
|
|
QString rootJointType, |
52 |
|
|
QString modelName, QString package, |
53 |
|
|
QString urdfSuffix, |
54 |
|
|
QString srdfSuffix) { |
55 |
|
|
definitions.append(RobotDefinition(name, robotName, rootJointType, modelName, |
56 |
|
|
package, urdfSuffix, srdfSuffix)); |
57 |
|
|
} |
58 |
|
|
|
59 |
|
|
QList<DialogLoadRobot::RobotDefinition> DialogLoadRobot::getRobotDefinitions() { |
60 |
|
|
return definitions; |
61 |
|
|
} |
62 |
|
|
|
63 |
|
|
void DialogLoadRobot::accept() { |
64 |
|
|
/* TODO use the urdfParser::getFilename to check if the package exists |
65 |
|
|
QDir d (ui_->packagePath->text ()); |
66 |
|
|
if (!d.cd("urdf")) { |
67 |
|
|
QMessageBox (QMessageBox::Warning, "Directory not found", d.absolutePath(), |
68 |
|
|
QMessageBox::Ok, this).exec(); return; |
69 |
|
|
} |
70 |
|
|
if (!d.exists(ui_->modelName->text () + ui_->urdfSuffix->text () + ".urdf")) { |
71 |
|
|
QMessageBox (QMessageBox::Warning, "File not found", |
72 |
|
|
d.absoluteFilePath(ui_->modelName->text () + ui_->urdfSuffix->text () + |
73 |
|
|
".urdf"), QMessageBox::Ok, this).exec(); return; |
74 |
|
|
} |
75 |
|
|
if (!QDir (ui_->meshDirectory->text ()).exists()) { |
76 |
|
|
QMessageBox (QMessageBox::Warning, "File not found", |
77 |
|
|
ui_->meshDirectory->text (), QMessageBox::Ok, this).exec(); return; |
78 |
|
|
}*/ |
79 |
|
|
selected_ = RobotDefinition(defs_->currentText(), ui_->robotName->text(), |
80 |
|
|
ui_->rootJointType->currentText(), |
81 |
|
|
ui_->modelName->text(), ui_->packageName->text(), |
82 |
|
|
ui_->urdfSuffix->text(), ui_->srdfSuffix->text()); |
83 |
|
|
done(QDialog::Accepted); |
84 |
|
|
} |
85 |
|
|
|
86 |
|
|
void DialogLoadRobot::robotSelect(int index) { |
87 |
|
|
QVariant v = defs_->itemData(index); |
88 |
|
|
if (v.canConvert<RobotDefinition>()) { |
89 |
|
|
RobotDefinition rd = v.value<RobotDefinition>(); |
90 |
|
|
ui_->robotName->setText(rd.robotName_); |
91 |
|
|
ui_->modelName->setText(rd.modelName_); |
92 |
|
|
if (rootJointTypes.contains(rd.rootJointType_)) |
93 |
|
|
ui_->rootJointType->setCurrentIndex( |
94 |
|
|
rootJointTypes.indexOf(rd.rootJointType_)); |
95 |
|
|
ui_->packageName->setText(rd.package_); |
96 |
|
|
ui_->urdfSuffix->setText(rd.urdfSuf_); |
97 |
|
|
ui_->srdfSuffix->setText(rd.srdfSuf_); |
98 |
|
|
} |
99 |
|
|
} |
100 |
|
|
} // namespace gui |
101 |
|
|
} // namespace gepetto |