hpp-manipulation-graph.hh

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// BSD 2-Clause License

// Copyright (c) 2015 - 2018, hpp-plot
// Authors: Heidy Dallard, Joseph Mirabel
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:

// * Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.

// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in
//   the documentation and/or other materials provided with the
//   distribution.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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#ifndef HPP_PLOT_HPP_MANIPULATION_GRAPH_HH
#define HPP_PLOT_HPP_MANIPULATION_GRAPH_HH

#include <QAction>
#include <QPushButton>

#include <hpp/corbaserver/manipulation/client.hh>

#include <hpp/plot/graph-widget.hh>

namespace hpp {
  namespace corbaServer {
    namespace manipulation {
      class Client;
    }
  }
  namespace plot {
    class HppManipulationGraphWidget;

    class GraphAction : public QAction
    {
      Q_OBJECT

    public:
      GraphAction (HppManipulationGraphWidget* parent);

    signals:
      void activated (hpp::ID id);

    private slots:
      void transferSignal ();

    private:
      HppManipulationGraphWidget* gw_;
    };

    class HppManipulationGraphWidget : public GraphWidget
    {
      Q_OBJECT

    public:
      HppManipulationGraphWidget (corbaServer::manipulation::Client* hpp_, QWidget* parent);

      ~HppManipulationGraphWidget ();

      void addNodeContextMenuAction (GraphAction* action);
      void addEdgeContextMenuAction (GraphAction* action);

      void client (corbaServer::manipulation::Client* hpp);

      bool selectionID (hpp::ID& id);
      void showEdge (const hpp::ID& edgeId);
      const std::string& graphName () const
      {
        return graphName_;
      }

    protected:
      void fillScene ();

    public slots:
      void updateStatistics ();
      void showNodeOfConfiguration (const hpp::floatSeq& cfg);
      void displayNodeConstraint(hpp::ID id);
      void displayEdgeConstraint(hpp::ID id);
      void displayEdgeTargetConstraint(hpp::ID id);

    protected slots:
      virtual void nodeContextMenu(QGVNode* node);
      virtual void nodeDoubleClick(QGVNode* node);
      virtual void edgeContextMenu(QGVEdge* edge);
      virtual void edgeDoubleClick(QGVEdge* edge);

      void selectionChanged ();

    private slots:
      void startStopUpdateStats (bool start);

    private:
      corbaServer::manipulation::Client* manip_;

      struct GraphInfo {
        ::hpp::ID id;
        QString constraintStr;
      } graphInfo_;
      struct NodeInfo {
        ::hpp::ID id;
        QString constraintStr;
        QGVNode* node;

        ::hpp::ConfigProjStat_var configStat, pathStat;
        ::CORBA::Long freq;
        ::hpp::intSeq_var freqPerCC;
        NodeInfo ();
      };
      struct EdgeInfo {
        ::hpp::ID id;
        QString name, containingNodeName;
        ::CORBA::Long weight;
        QString constraintStr;
        QString shortStr;
        QGVEdge* edge;

        ::hpp::ConfigProjStat_var configStat, pathStat;
        ::hpp::Names_t_var errors;
        ::hpp::intSeq_var freqs;

        EdgeInfo ();
      };

      void updateWeight (EdgeInfo& ei, bool get = true);
      void updateWeight (EdgeInfo& ei, const ::CORBA::Long w);

      QString getConstraints(hpp::ID id);

      std::string graphName_;
      QList <GraphAction*> nodeContextMenuActions_;
      QList <GraphAction*> edgeContextMenuActions_;
      QMap <QGVNode*, NodeInfo> nodeInfos_;
      QMap <QGVEdge*, EdgeInfo> edgeInfos_;
      QMap <hpp::ID, QGVNode*> nodes_;
      QMap <hpp::ID, QGVEdge*> edges_;

      QPushButton* showWaypoints_, *statButton_;
      QTimer* updateStatsTimer_;

      hpp::ID currentId_, showNodeId_, showEdgeId_;
    };
  }
}

#endif // HPP_PLOT_HPP_MANIPULATION_GRAPH_HH