mainwindow.hh

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// 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 MainWindow : public QMainWindow {
  Q_OBJECT
 
 public:
  enum RefreshType {
    RefreshBodyTree = 1,
    RefreshPlugins = 2,
    RefreshAll = RefreshBodyTree + RefreshPlugins
  };
 
  Settings* settings_;
 
  explicit MainWindow(Settings* settings, QWidget* parent = 0);
  ~MainWindow();
 
  static MainWindow* instance();
 
  void insertDockWidget(QDockWidget* dock,
                        Qt::DockWidgetArea area = Qt::AllDockWidgetAreas,
                        Qt::Orientation orientation = Qt::Horizontal);
 
  void removeDockWidget(QDockWidget* dock);
 
  WindowsManagerPtr_t osg() const;
 
  SelectionHandler* selectionHandler() { return selectionHandler_; }
 
  QList<OSGWidget*> osgWindows() const;
 
  PluginManager* pluginManager();
 
  ActionSearchBar* actionSearchBar() const;
 
  QMenu* pluginMenu() const;
 
#if GEPETTO_GUI_HAS_PYTHONQT
  PythonWidget* pythonWidget() { return pythonWidget_; }
#endif
 
 signals:
  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:
 
  BodyTreeWidget* bodyTree() const;
 
  void log(const QString& text);
  void logError(const QString& text);
 
  void logJobStarted(int id, const QString& text);
 
  void logJobDone(int id, const QString& text);
 
  void logJobFailed(int id, const QString& text);
 
  void requestRefresh();
  void requestApplyCurrentConfiguration();
 
  void requestConfigurationValidation();
 
  void configurationValidationStatusChanged(bool valid);
 
  void configurationValidationStatusChanged(QStringList bodiesInCollision);
 
  void requestSelectJointFromBodyName(const QString bodyName);
 
  void onOpenPluginManager();
 
  void registerSignal(const char* signal, QObject* obj);
 
  QObject* getFromSignal(const char* signal);
 
  void connectSignal(const char* signal, const char* slot, QObject* obj);
 
  void registerSlot(const char* slot, QObject* obj);
 
  QObject* getFromSlot(const char* slot);
 
  void connectSlot(const char* slot, const char* signal, QObject* obj);
 
  void registerShortcut(QString widgetName, QString actionName,
                        QAction* action);
 
  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
 
Q_DECLARE_METATYPE(std::string)
 
#endif  // GEPETTO_GUI_MAINWINDOW_HH