plugin-interface.hh

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// Copyright (c) 2015-2022, LAAS-CNRS, Heriot-Watt University
// 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_PLUGININTERFACE_HH
#define GEPETTO_GUI_PLUGININTERFACE_HH
 
#include <gepetto/gui/fwd.hh>
// This include must be include before any other Qt include for GLDEBUGPROC
#include <QOpenGLContext>
#include <QWidget>
#include <gepetto/gui/dialog/dialogloadenvironment.hh>
#include <gepetto/gui/dialog/dialogloadrobot.hh>
#include <iostream>
 
namespace gepetto {
namespace gui {
const int DockKeyShortcutBase = Qt::CTRL + Qt::ALT;
 
class PluginInterface {
 public:
  PluginInterface() : errorMsg_("Not initalized"), isInit_(false) {}
 
  virtual ~PluginInterface() {}
 
  virtual QString name() const = 0;
 
  void doInit() {
    try {
      init();
      isInit_ = true;
    } catch (const std::exception& e) {
      errorMsg_ = QString(e.what());
    }
  }
 
  bool isInit() const { return isInit_; }
 
  const QString& errorMsg() const { return errorMsg_; }
 
 protected:
  virtual void init() = 0;
 
 private:
  QString errorMsg_;
  bool isInit_;
};
 
class JointModifierInterface {
 public:
  virtual ~JointModifierInterface() {}
 
  virtual QAction* action(const std::string& jointName) const = 0;
};
 
class ModelInterface {
 public:
  virtual ~ModelInterface() {}
 
  virtual void loadRobotModel(DialogLoadRobot::RobotDefinition rd) = 0;
 
  virtual void loadEnvironmentModel(
      DialogLoadEnvironment::EnvironmentDefinition ed) = 0;
 
  virtual std::string getBodyFromJoint(const std::string& jointName) const = 0;
};
 
class ConnectionInterface {
 public:
  virtual ~ConnectionInterface() {}
 
  virtual void openConnection() = 0;
 
  virtual void closeConnection() = 0;
};
}  // namespace gui
}  // namespace gepetto
 
Q_DECLARE_INTERFACE(gepetto::gui::PluginInterface, "gepetto-gui.plugins/0.0")
Q_DECLARE_INTERFACE(gepetto::gui::JointModifierInterface,
                    "gepetto-gui.plugin.joint-modifier/0.0")
Q_DECLARE_INTERFACE(gepetto::gui::ModelInterface,
                    "gepetto-gui.plugin.model/0.0")
Q_DECLARE_INTERFACE(gepetto::gui::ConnectionInterface,
                    "gepetto-gui.plugin.connection/0.0")
 
#endif  // GEPETTO_GUI_PLUGININTERFACE_HH