ConditionViewerWidget.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#include "ConditionViewerWidget.h"
 
#include "../ConditionViewerWidgetController.h"
#include "../ConditionTreeFactory.h"
 
#include <ArmarXCore/observers/condition/Term.h>
#include <ArmarXCore/observers/condition/LiteralImpl.h>
#include <ArmarXCore/observers/condition/ConditionRoot.h>
 
#include <QList>
 
namespace armarx
{
    ConditionViewerWidget::ConditionViewerWidget(ConditionViewerWidgetController* controller)
        : QWidget(0), timerId(0)
    {
        this->controller = controller;
 
        ui.setupUi(this);
 
        // setup scene
        scene = new TermTreeGraphicsScene();
        ui.graphicsView->setScene(scene);
 
        // modes for conditions
        activeConditionsModel = new ConditionItemModel();
        pastConditionsModel = new ConditionItemModel();
 
        ui.activeConditionsTableView->setModel(activeConditionsModel);
        ui.pastConditionsTableView->setModel(pastConditionsModel);
 
        // condition checks table
        QStringList checksHeader;
        checksHeader << "datafield" << "checktype" << "parameters" << "state" << "current value";
        ui.checksTableWidget->setColumnCount(5);
        ui.checksTableWidget->setHorizontalHeaderLabels(checksHeader);
        ui.checksTableWidget->update();
 
        // item selection
        QItemSelectionModel* activeSelectionModel = ui.activeConditionsTableView->selectionModel();
        QItemSelectionModel* pastSelectionModel = ui.pastConditionsTableView->selectionModel();
 
        // connections
        connect(activeSelectionModel, SIGNAL(selectionChanged(const QItemSelection&, const QItemSelection&)), this, SLOT(activeConditionItemSelected(const QItemSelection&, const QItemSelection&)));
        connect(pastSelectionModel, SIGNAL(selectionChanged(const QItemSelection&, const QItemSelection&)), this, SLOT(pastConditionItemSelected(const QItemSelection&, const QItemSelection&)));
        connect(scene, SIGNAL(graphicsSceneClicked()), ui.checksTableWidget, SLOT(clearSelection()));
    }
 
    ConditionViewerWidget::~ConditionViewerWidget()
    {
        if (updateTask)
        {
            updateTask->stop();
        }
    }
 
    void ConditionViewerWidget::onConnect()
    {
        //clear scene and checks
        scene->clear();
        root.reset();
        ui.checksTableWidget->clearContents();
        ui.checksTableWidget->setRowCount(0);
 
        //reset the models
        activeConditionsModel->reset();
        pastConditionsModel->reset();
 
        // resize tables with active and past conditions
        ui.activeConditionsTableView->resizeColumnsToContents();
        ui.pastConditionsTableView->resizeColumnsToContents();
 
        // starting timer for periodic task
        while (timerId == 0)
        {
            timerId = startTimer(500);
        }
 
        updateTask = new PeriodicTask<ConditionViewerWidget>(this, &ConditionViewerWidget::updateLiterals, 200, false, "LiteralsUpdater");
        updateTask->start();
    }
 
    void ConditionViewerWidget::onDisconnect()
    {
        killTimer(timerId);
        timerId = 0;
        if (updateTask)
        {
            updateTask->stop();
        }
    }
 
    // ****************************************************************
    // slots
    // ****************************************************************
 
 
    void ConditionViewerWidget::activeConditionItemSelected(const QItemSelection& selected, const QItemSelection& deselected)
    {
        std::unique_lock lock(dataMutex);
 
        if (selected.indexes().size() == 0)
        {
            return;
        }
 
        QModelIndexList list = selected.indexes();
        QStandardItem* i = activeConditionsModel->itemFromIndex(list.at(0));
 
 
        ConditionRootPtr condition = conditionFromItem(i, activeConditions);
 
        if (condition)
        {
            updateCondition(i->data(CONDITION_ITEM_ID).toInt(), condition);
        }
    }
 
    void ConditionViewerWidget::pastConditionItemSelected(const QItemSelection& selected, const QItemSelection& deselected)
    {
        std::unique_lock lock(dataMutex);
 
        if (selected.indexes().size() == 0)
        {
            return;
        }
 
        QModelIndexList list = selected.indexes();
        QStandardItem* i = pastConditionsModel->itemFromIndex(list.at(0));
 
        ConditionRootPtr condition = conditionFromItem(i, pastConditions);
 
        if (condition)
        {
            updateCondition(i->data(CONDITION_ITEM_ID).toInt(), condition);
        }
    }
 
    ConditionRootPtr ConditionViewerWidget::conditionFromItem(QStandardItem* selectedItem, const ConditionRegistry& registry)
    {
        ConditionRegistry::const_iterator iter = registry.find(selectedItem->data(CONDITION_ITEM_ID).toInt());
 
        if (iter != registry.end())
        {
            ConditionRootPtr conditionRoot = ConditionRootPtr::dynamicCast(iter->second);
            return conditionRoot;
        }
 
        return ConditionRootPtr();
    }
 
    void ConditionViewerWidget::updateCondition(int conditionId, ConditionRootPtr& condition)
    {
        std::unique_lock lock(dataMutex);
        scene->clear();
        ui.checksTableWidget->clearContents();
        ui.checksTableWidget->setRowCount(0);
        if (controller->handler)
        {
            root = ConditionTreeFactory::createConditionTree(scene, ui.checksTableWidget, condition, conditionId, controller->getIceManager(), controller->handler);
            root->update();
        }
 
 
    }
 
    void ConditionViewerWidget::updateLiterals()
    {
        if (!root)
        {
            return;
        }
        std::vector<TreeNodePtr> tempChildNodes;
        std::vector<TreeNodePtr> qtChildren;
        int conditionId = -1;
        {
            std::unique_lock lock(dataMutex);
 
            qtChildren.push_back(root);
            tempChildNodes = root->getChildren();
            conditionId = root->conditionId;
            qtChildren.insert(qtChildren.end(), tempChildNodes.begin(), tempChildNodes.end());
            auto result = controller->handler->getCondition(conditionId);
            if (!result)
            {
                return;
            }
            ConditionRootPtr newRoot = ConditionRootPtr::dynamicCast(result);
            TermImplSequence children;
            children.push_back(newRoot);
            auto temp2 = newRoot->getChilds();
            children.insert(children.end(), temp2.begin(), temp2.end());
 
            while (qtChildren.size() > 0)
            {
                TreeNodePtr node = *qtChildren.rbegin();
                TermImplPtr term = TermImplPtr::dynamicCast(*children.rbegin());
                qtChildren.pop_back();
                children.pop_back();
                auto newQtChildren =  node->getChildren();
                qtChildren.insert(qtChildren.end(), newQtChildren.begin(), newQtChildren.end());
                auto newChildren =  term->getChilds();
                children.insert(children.end(), newChildren.begin(), newChildren.end());
 
                if (children.size() != qtChildren.size())
                {
                    ARMARX_WARNING_S << "Size discrepancy while updating term";
                    return;
                }
 
                TermNodePtr termNode = std::dynamic_pointer_cast<TermNode>(node);
 
                if (termNode && term)
                {
                    emit termNode->newLiteralValue(term->getValue());
                    termNode->timerEventRun();
                }
            }
        }
 
    }
 
    void ConditionViewerWidget::timerEvent(QTimerEvent* event)
    {
        if (event->timerId() == timerId)
        {
            std::unique_lock lock(dataMutex);
            // retrieve conditions
            activeConditions = controller->getActiveConditions();
            pastConditions = controller->getPastConditions();
 
            // update model
            activeConditionsModel->update(activeConditions);
            pastConditionsModel->update(pastConditions);
 
            // resize view
            ui.activeConditionsTableView->resizeColumnsToContents();
            ui.pastConditionsTableView->resizeColumnsToContents();
        }
    }
}