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// |
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// Copyright (c) CNRS |
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// Authors: Joseph Mirabel and Heidy Dallard |
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// |
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#include "hppwidgetsplugin/solverwidget.hh" |
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#include <QComboBox> |
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#include <QDialogButtonBox> |
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#include <QDoubleSpinBox> |
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#include <QFileDialog> |
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#include <QListWidget> |
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#include <QMessageBox> |
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#include "hppwidgetsplugin/ui_solverwidget.h" |
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#if (QT_VERSION < QT_VERSION_CHECK(5, 0, 0)) |
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#include <QtCore> |
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#else |
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#include <QtConcurrent> |
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#endif |
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#include <hpp/corbaserver/client.hh> |
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#include "gepetto/gui/mainwindow.hh" |
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#include "gepetto/gui/windows-manager.hh" |
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#include "hppwidgetsplugin/pathplayer.hh" |
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#include "hppwidgetsplugin/roadmap.hh" |
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namespace hpp { |
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namespace gui { |
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namespace { |
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void clearQComboBox(QComboBox* c) { |
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while (c->count() > 0) c->removeItem(0); |
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} |
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} // namespace |
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using gepetto::gui::MainWindow; |
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SolverWidget::SolverWidget(HppWidgetsPlugin* plugin, QWidget* parent) |
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: QWidget(parent), |
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ui_(new ::Ui::SolverWidget), |
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plugin_(plugin), |
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main_(MainWindow::instance()), |
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solve_(plugin, this) { |
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ui_->setupUi(this); |
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selectButtonSolve(true); |
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connect(planner(), SIGNAL(activated(const QString&)), this, |
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SLOT(selectPathPlanner(const QString&))); |
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connect(ui_->pathOptimizerButton, SIGNAL(clicked()), this, |
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SLOT(openPathOptimizerSelector())); |
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connect(projector(), SIGNAL(activated(const QString&)), this, |
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SLOT(selectPathProjector(const QString&))); |
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connect(validation(), SIGNAL(activated(const QString&)), this, |
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SLOT(selectPathValidation(const QString&))); |
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connect(steeringMethod(), SIGNAL(activated(const QString&)), this, |
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SLOT(selectSteeringMethod(const QString&))); |
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connect(ui_->pushButtonSolve, SIGNAL(clicked()), this, SLOT(solve())); |
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connect(ui_->pushButtonInterrupt, SIGNAL(clicked()), this, SLOT(interrupt())); |
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connect(ui_->pushButtonSolveAndDisplay, SIGNAL(clicked()), |
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SLOT(solveAndDisplay())); |
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connect(&solve_.watcher, SIGNAL(finished()), SLOT(solveDone())); |
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connect(ui_->loadRoadmap, SIGNAL(clicked()), SLOT(loadRoadmap())); |
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connect(ui_->saveRoadmap, SIGNAL(clicked()), SLOT(saveRoadmap())); |
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connect(ui_->clearRoadmap, SIGNAL(clicked()), SLOT(clearRoadmap())); |
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connect(ui_->optimizeButton, SIGNAL(clicked()), SLOT(optimizePath())); |
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// Settings of the DoubleSpinBox for discontinuity |
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ui_->pathProjectorDiscontinuity->setMinimum(0); |
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ui_->pathProjectorDiscontinuity->setValue(0.2); |
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ui_->pathProjectorDiscontinuity->setSingleStep(0.1); |
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connect(ui_->pathProjectorDiscontinuity, SIGNAL(valueChanged(double)), this, |
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SLOT(discontinuityChanged(double))); |
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// Settings of the DoubleSpinBox for penetration |
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ui_->pathValidationPenetration->setMinimum(0); |
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ui_->pathValidationPenetration->setValue(0.05); |
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ui_->pathValidationPenetration->setSingleStep(0.01); |
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connect(ui_->pathValidationPenetration, SIGNAL(valueChanged(double)), this, |
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SLOT(penetrationChanged(double))); |
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} |
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SolverWidget::~SolverWidget() { delete ui_; } |
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void SolverWidget::setSelected(QComboBox* cb, const QString& what) { |
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hpp::Names_t_var names = |
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plugin_->client()->problem()->getSelected(what.toStdString().c_str()); |
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cb->setCurrentIndex(cb->findText(names[0].in())); |
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} |
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void SolverWidget::update(Select s) { |
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hpp::Names_t_var names; |
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switch (s) { |
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case All: |
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case Planner: |
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clearQComboBox(planner()); |
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names = plugin_->client()->problem()->getAvailable("PathPlanner"); |
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for (CORBA::ULong i = 0; i < names->length(); ++i) |
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planner()->addItem(QString::fromLocal8Bit(names[i])); |
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setSelected(planner(), "PathPlanner"); |
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if (s == Planner) break; |
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// fall through |
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case Optimizer: |
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names = plugin_->client()->problem()->getAvailable("PathOptimizer"); |
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optimizers_.clear(); |
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for (CORBA::ULong i = 0; i < names->length(); ++i) |
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optimizers_ << QString::fromLocal8Bit(names[i]); |
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if (s == Optimizer) break; |
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// fall through |
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case Validation: |
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clearQComboBox(validation()); |
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names = plugin_->client()->problem()->getAvailable("PathValidation"); |
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for (CORBA::ULong i = 0; i < names->length(); ++i) |
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validation()->addItem(QString::fromLocal8Bit(names[i]), QVariant(0.2)); |
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setSelected(validation(), "PathValidation"); |
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if (s == Validation) break; |
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// fall through |
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case Projector: |
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clearQComboBox(projector()); |
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names = plugin_->client()->problem()->getAvailable("PathProjector"); |
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for (CORBA::ULong i = 0; i < names->length(); ++i) |
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projector()->addItem(QString::fromLocal8Bit(names[i]), QVariant(0.2)); |
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setSelected(projector(), "PathProjector"); |
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if (s == Projector) break; |
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// fall through |
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case SteeringMethod: |
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clearQComboBox(steeringMethod()); |
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names = plugin_->client()->problem()->getAvailable("SteeringMethod"); |
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for (CORBA::ULong i = 0; i < names->length(); ++i) |
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steeringMethod()->addItem(QString::fromLocal8Bit(names[i])); |
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setSelected(steeringMethod(), "SteeringMethod"); |
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if (s == SteeringMethod) break; |
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// fall through |
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} |
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} |
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void SolverWidget::selectPathPlanner(const QString& text) { |
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plugin_->client()->problem()->selectPathPlanner(text.toStdString().c_str()); |
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} |
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void SolverWidget::selectSteeringMethod(const QString& text) { |
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plugin_->client()->problem()->selectSteeringMethod( |
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text.toStdString().c_str()); |
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} |
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void SolverWidget::selectPathOptimizers(const QStringList& list) { |
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plugin_->client()->problem()->clearPathOptimizers(); |
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foreach (QString s, list) |
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plugin_->client()->problem()->addPathOptimizer(s.toStdString().c_str()); |
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} |
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void SolverWidget::selectPathProjector(const QString& name) { |
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plugin_->client()->problem()->selectPathProjector( |
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name.toStdString().c_str(), projectorDiscontinuity()->value()); |
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} |
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void SolverWidget::selectPathValidation(const QString& name) { |
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plugin_->client()->problem()->selectPathValidation( |
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name.toStdString().c_str(), validationPenetration()->value()); |
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} |
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void SolverWidget::discontinuityChanged(double value) { |
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Q_UNUSED(value); |
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selectPathProjector(projector()->currentText()); |
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} |
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void SolverWidget::penetrationChanged(double value) { |
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Q_UNUSED(value); |
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selectPathValidation(validation()->currentText()); |
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} |
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void SolverWidget::openPathOptimizerSelector() { |
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QDialog dialog(this); |
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// Use a layout allowing to have a label next to each field |
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QVBoxLayout lay(&dialog); |
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// Add some text above the fields |
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lay.addWidget(new QLabel("Select path optimizers:")); |
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// Add the lineEdits with their respective labels |
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QListWidget* list = new QListWidget(&dialog); |
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list->addItems(optimizers_); |
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list->setSelectionMode(QAbstractItemView::ExtendedSelection); |
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lay.addWidget(list); |
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hpp::Names_t_var names = |
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plugin_->client()->problem()->getSelected("PathOptimizer"); |
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for (unsigned i = 0; i < names->length(); ++i) { |
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int index = optimizers_.indexOf(QRegExp(names[i].in())); |
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list->item(index)->setSelected(true); |
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} |
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QDialogButtonBox buttonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, |
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Qt::Horizontal, &dialog); |
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lay.addWidget(&buttonBox); |
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QObject::connect(&buttonBox, SIGNAL(accepted()), &dialog, SLOT(accept())); |
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QObject::connect(&buttonBox, SIGNAL(rejected()), &dialog, SLOT(reject())); |
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// Show the dialog as modal |
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if (dialog.exec() == QDialog::Accepted) { |
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// If the user didn't dismiss the dialog, do something with the fields |
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QStringList selected; |
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foreach (QListWidgetItem* item, list->selectedItems()) |
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selected << item->text(); |
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qDebug() << "Selected path optimizers: " << selected; |
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selectPathOptimizers(selected); |
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} |
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} |
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void SolverWidget::solve() { |
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if (solve_.status.isRunning()) { |
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main_->logError("The solver is already running."); |
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return; |
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} |
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solve_.stepByStep = false; |
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solve_.status = QtConcurrent::run(&solve_, &Solve::solve); |
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solve_.watcher.setFuture(solve_.status); |
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main_->logJobStarted(0, "solve problem."); |
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selectButtonSolve(false); |
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} |
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void SolverWidget::solveAndDisplay() { |
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if (solve_.status.isRunning()) { |
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main_->logError("The solver is already running."); |
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return; |
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} |
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solve_.stepByStep = true; |
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solve_.interrupt = false; |
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solve_.status = QtConcurrent::run(&solve_, &Solve::solveAndDisplay); |
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solve_.watcher.setFuture(solve_.status); |
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selectButtonSolve(false); |
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} |
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void SolverWidget::solveDone() { |
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if (solve_.done()) emit problemSolved(); |
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} |
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bool SolverWidget::Solve::done() { |
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qDebug() << "Solve done"; |
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parent->selectButtonSolve(true); |
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if (isSolved) { |
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QMessageBox::information(parent, "Problem solver", "Problem is solved."); |
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parent->main_->logJobDone(0, "Problem solved."); |
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return true; |
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} |
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return false; |
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} |
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void SolverWidget::interrupt() { |
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if (solve_.stepByStep) { |
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solve_.interrupt = true; |
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} else { |
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plugin_->client()->problem()->interruptPathPlanning(); |
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} |
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solve_.status.waitForFinished(); |
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selectButtonSolve(true); |
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} |
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void SolverWidget::loadRoadmap() { |
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QString file = |
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QFileDialog::getOpenFileName(this, tr("Select a roadmap file")); |
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if (file.isNull()) return; |
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try { |
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plugin_->client()->problem()->loadRoadmap(file.toLocal8Bit().data()); |
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} catch (const hpp::Error& e) { |
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MainWindow::instance()->logError(QString::fromLocal8Bit(e.msg)); |
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} |
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} |
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void SolverWidget::saveRoadmap() { |
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QString file = QFileDialog::getSaveFileName(this, tr("Select a destination")); |
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if (file.isNull()) return; |
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try { |
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plugin_->client()->problem()->saveRoadmap(file.toLocal8Bit().data()); |
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} catch (const hpp::Error& e) { |
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MainWindow::instance()->logError(QString::fromLocal8Bit(e.msg)); |
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} |
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} |
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void SolverWidget::clearRoadmap() { |
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try { |
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plugin_->client()->problem()->resetRoadmap(); |
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} catch (const hpp::Error& e) { |
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MainWindow::instance()->logError(QString::fromLocal8Bit(e.msg)); |
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} |
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} |
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void SolverWidget::optimizePath() { |
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if (solve_.status.isRunning()) { |
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main_->logError("The solver is already running."); |
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return; |
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} |
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solve_.stepByStep = false; |
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solve_.status = QtConcurrent::run(&solve_, &Solve::optimize, |
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plugin_->pathPlayer()->getCurrentPath()); |
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solve_.watcher.setFuture(solve_.status); |
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main_->logJobStarted(0, "Optimize path."); |
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selectButtonSolve(false); |
| 300 |
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} |
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void SolverWidget::Solve::solve() { |
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isSolved = false; |
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HppWidgetsPlugin::HppClient* hpp = plugin->client(); |
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try { |
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hpp::intSeq_var time = hpp->problem()->solve(); |
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isSolved = true; |
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} catch (hpp::Error const& e) { |
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parent->main_->logJobFailed(0, QString(e.msg)); |
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} |
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} |
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void SolverWidget::Solve::optimize(const int pathId) { |
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isSolved = false; |
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HppWidgetsPlugin::HppClient* hpp = plugin->client(); |
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try { |
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hpp->problem()->optimizePath((CORBA::UShort)pathId); |
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isSolved = true; |
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} catch (hpp::Error const& e) { |
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parent->main_->logJobFailed(0, QString(e.msg)); |
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} |
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} |
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void SolverWidget::Solve::solveAndDisplay() { |
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isSolved = false; |
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HppWidgetsPlugin::HppClient* hpp = plugin->client(); |
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std::string jn = plugin->getSelectedJoint(); |
| 328 |
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✗ |
if (jn.empty()) { |
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✗ |
QMessageBox::information( |
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✗ |
parent, "Problem solver", |
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"Please, select a joint in the joint tree window."); |
| 332 |
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✗ |
return; |
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|
|
} |
| 334 |
|
✗ |
isSolved = hpp->problem()->prepareSolveStepByStep(); |
| 335 |
|
✗ |
Roadmap* r = plugin->createRoadmap(jn); |
| 336 |
|
✗ |
while (!isSolved) { |
| 337 |
|
✗ |
isSolved = hpp->problem()->executeOneStep(); |
| 338 |
|
✗ |
r->displayRoadmap(); |
| 339 |
|
✗ |
if (interrupt) break; |
| 340 |
|
|
} |
| 341 |
|
✗ |
if (isSolved) hpp->problem()->finishSolveStepByStep(); |
| 342 |
|
✗ |
delete r; |
| 343 |
|
|
} |
| 344 |
|
|
|
| 345 |
|
✗ |
void SolverWidget::selectButtonSolve(bool solve) { |
| 346 |
|
✗ |
if (solve) { |
| 347 |
|
✗ |
ui_->pushButtonInterrupt->setVisible(false); |
| 348 |
|
✗ |
ui_->pushButtonSolve->setVisible(true); |
| 349 |
|
✗ |
ui_->pushButtonSolveAndDisplay->setVisible(true); |
| 350 |
|
✗ |
ui_->optimizeButton->setVisible(true); |
| 351 |
|
|
} else { |
| 352 |
|
✗ |
ui_->pushButtonInterrupt->setVisible(true); |
| 353 |
|
✗ |
ui_->pushButtonSolve->setVisible(false); |
| 354 |
|
✗ |
ui_->pushButtonSolveAndDisplay->setVisible(false); |
| 355 |
|
✗ |
ui_->optimizeButton->setVisible(false); |
| 356 |
|
|
} |
| 357 |
|
|
} |
| 358 |
|
|
|
| 359 |
|
✗ |
QComboBox* SolverWidget::planner() { return ui_->pathPlannerComboBox; } |
| 360 |
|
|
|
| 361 |
|
✗ |
QComboBox* SolverWidget::projector() { return ui_->pathProjectorComboBox; } |
| 362 |
|
|
|
| 363 |
|
✗ |
QComboBox* SolverWidget::validation() { return ui_->pathValidationComboBox; } |
| 364 |
|
|
|
| 365 |
|
✗ |
QComboBox* SolverWidget::steeringMethod() { |
| 366 |
|
✗ |
return ui_->steeringMethodComboBox; |
| 367 |
|
|
} |
| 368 |
|
|
|
| 369 |
|
✗ |
QDoubleSpinBox* SolverWidget::projectorDiscontinuity() { |
| 370 |
|
✗ |
return ui_->pathProjectorDiscontinuity; |
| 371 |
|
|
} |
| 372 |
|
|
|
| 373 |
|
✗ |
QDoubleSpinBox* SolverWidget::validationPenetration() { |
| 374 |
|
✗ |
return ui_->pathValidationPenetration; |
| 375 |
|
|
} |
| 376 |
|
|
} // namespace gui |
| 377 |
|
|
} // namespace hpp |
| 378 |
|
|
|