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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/dialog/dialogloadrobot.hh" |
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#include <QDir> |
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#include <QFileDialog> |
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#include <QMessageBox> |
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#include "ui_dialogloadrobot.h" |
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namespace gepetto { |
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namespace gui { |
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QStringList DialogLoadRobot::rootJointTypes = |
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QStringList() << "freeflyer" << "planar" << "anchor"; |
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QList<DialogLoadRobot::RobotDefinition> DialogLoadRobot::definitions = |
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QList<DialogLoadRobot::RobotDefinition>() |
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<< DialogLoadRobot::RobotDefinition(); |
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DialogLoadRobot::DialogLoadRobot(QWidget *parent) |
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: QDialog(parent), ui_(new ::Ui::DialogLoadRobot) { |
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ui_->setupUi(this); |
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ui_->groupBox_details->setVisible(false); |
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ui_->rootJointType->addItems(rootJointTypes); |
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defs_ = ui_->comboBox_defs; |
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foreach (RobotDefinition r, definitions) { |
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defs_->addItem(r.name_, QVariant::fromValue(r)); |
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} |
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} |
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DialogLoadRobot::~DialogLoadRobot() { delete ui_; } |
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void DialogLoadRobot::addRobotDefinition(QString name, QString robotName, |
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QString rootJointType, |
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QString modelName, QString package, |
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QString urdfSuffix, |
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QString srdfSuffix) { |
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definitions.append(RobotDefinition(name, robotName, rootJointType, modelName, |
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package, urdfSuffix, srdfSuffix)); |
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} |
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QList<DialogLoadRobot::RobotDefinition> DialogLoadRobot::getRobotDefinitions() { |
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return definitions; |
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} |
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void DialogLoadRobot::accept() { |
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/* TODO use the urdfParser::getFilename to check if the package exists |
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QDir d (ui_->packagePath->text ()); |
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if (!d.cd("urdf")) { |
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QMessageBox (QMessageBox::Warning, "Directory not found", d.absolutePath(), |
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QMessageBox::Ok, this).exec(); return; |
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} |
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if (!d.exists(ui_->modelName->text () + ui_->urdfSuffix->text () + ".urdf")) { |
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QMessageBox (QMessageBox::Warning, "File not found", |
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d.absoluteFilePath(ui_->modelName->text () + ui_->urdfSuffix->text () + |
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".urdf"), QMessageBox::Ok, this).exec(); return; |
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} |
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if (!QDir (ui_->meshDirectory->text ()).exists()) { |
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QMessageBox (QMessageBox::Warning, "File not found", |
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ui_->meshDirectory->text (), QMessageBox::Ok, this).exec(); return; |
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}*/ |
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selected_ = RobotDefinition(defs_->currentText(), ui_->robotName->text(), |
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ui_->rootJointType->currentText(), |
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ui_->modelName->text(), ui_->packageName->text(), |
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ui_->urdfSuffix->text(), ui_->srdfSuffix->text()); |
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done(QDialog::Accepted); |
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} |
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void DialogLoadRobot::robotSelect(int index) { |
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QVariant v = defs_->itemData(index); |
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if (v.canConvert<RobotDefinition>()) { |
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RobotDefinition rd = v.value<RobotDefinition>(); |
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ui_->robotName->setText(rd.robotName_); |
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ui_->modelName->setText(rd.modelName_); |
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if (rootJointTypes.contains(rd.rootJointType_)) |
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ui_->rootJointType->setCurrentIndex( |
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rootJointTypes.indexOf(rd.rootJointType_)); |
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ui_->packageName->setText(rd.package_); |
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ui_->urdfSuffix->setText(rd.urdfSuf_); |
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ui_->srdfSuffix->setText(rd.srdfSuf_); |
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} |
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} |
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} // namespace gui |
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} // namespace gepetto |