GraphVisualizerGuiPlugin.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, 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    ArmarX::RobotAPI
 * @author     Raphael Grimm <raphael dot grimm at kit dot edu>
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
// ArmarX
#include <ArmarXCore/core/Component.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
 
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <MemoryX/components/PriorKnowledge/PriorKnowledge.h>
#include <MemoryX/interface/gui/GraphVisualizerInterface.h>
 
//qt
#include <QMainWindow>
#include <QDialog>
#include <QGraphicsScene>
#include <QGraphicsLineItem>
#include <QGraphicsEllipseItem>
#include <QMouseEvent>
#include <MemoryX/interface/components/GraphNodePoseResolverInterface.h>
//std
#include <string>
#include <map>
#include <vector>
#include <tuple>
 
//boost
 
 
 
#include <MemoryX/gui-plugins/GraphVisualizerPlugin/ui_GraphVisualizerGuiPlugin.h>
#include "GraphVisualizerConfigDialog.h"
 
namespace memoryx
{
    class GraphVisualizerGraphicsEllipseItem;
    class GraphVisualizerGraphicsLineItem;
 
    class GraphVisualizerConfigDialog;
    class GraphVisualizerWidget;
 
    class MouseEventProcessor;
 
    class GraphVisualizerGuiPlugin :
        public ::armarx::ArmarXGuiPlugin
    {
        Q_OBJECT
        Q_INTERFACES(ArmarXGuiInterface)
        Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
    public:
        GraphVisualizerGuiPlugin();
        QString getPluginName() override
        {
            return "GraphVisualizerGuiPlugin";
        }
    };
 
 
    class GraphVisualizerWidget :
        public armarx::ArmarXComponentWidgetControllerTemplate<GraphVisualizerWidget>,
        public GraphVisualizerInterface
    {
        Q_OBJECT
        friend class MouseEventProcessor;
    public:
 
        using NodeId = const std::string;
 
        using EdgeId = const std::pair<const std::string, const std::string>;
 
 
        GraphVisualizerWidget();
        ~GraphVisualizerWidget() override;
 
        // inherited from Component
        void onInitComponent() override;
        void onConnectComponent() override;
        void onExitComponent() override;
 
        // inherited of ArmarXWidget
        static QString GetWidgetName()
        {
            return "MemoryX.GraphVisualizerGUI";
        }
        static QIcon GetWidgetIcon()
        {
            return QIcon {"://icons/graph_visu.svg"};
        }
 
        QPointer<QDialog> getConfigDialog(QWidget* parent = 0) override;
        void loadSettings(QSettings* settings) override;
        void saveSettings(QSettings* settings) override;
 
        //because the above load/save functions are *obviously* for "Save/Load Gui Config." :/
        virtual void loadAutomaticSettings();
        virtual void saveAutomaticSettings();
 
        void configured() override;
 
        // slice interface implementation
        bool hasEdge(const std::string& node1, const std::string& node2, const Ice::Current&  = Ice::emptyCurrent) override
        {
            return (edges.find(toEdge(node1, node2)) != edges.end());
        }
 
        bool hasNode(const std::string& id, const Ice::Current&  = Ice::emptyCurrent) override
        {
            return (nodes.find(id) != nodes.end());
        }
 
    public slots:
        // slice interface implementation
        void addEdge(const std::string& node1Id, const std::string& node2Id, const Ice::Current&  = Ice::emptyCurrent) override;
        void addNode(const GraphNodeBasePtr& node, const Ice::Current&  = Ice::emptyCurrent) override;
 
        void highlightEdge(const std::string& node1Id, const std::string& node2Id, bool highlighted = true, const Ice::Current&  = Ice::emptyCurrent) override;
        void highlightNode(const std::string& nodeId, bool highlighted = true, const Ice::Current&  = Ice::emptyCurrent) override;
 
        void clearEdges(const Ice::Current&  = Ice::emptyCurrent) override;
        void clearGraph(const Ice::Current&  = Ice::emptyCurrent) override;
 
        void resetHighlight(const Ice::Current&  = Ice::emptyCurrent) override;
 
        void redraw(const Ice::Current&  = Ice::emptyCurrent) override;
        void refreshGraph();
 
        void tableWidgetNodesCustomContextMenu(QPoint pos);
        void tableWidgetEdgesCustomContextMenu(QPoint pos);
 
    protected:
        Ui::GraphVisualizerGuiPlugin ui;
 
    private slots:
        void addKitchenGraph();
 
        void selectedSceneChanged(int i);
        void updateSceneList();
 
        void drawScene();
 
        void nodeTableDoubleClicked(int row, int);
        void edgeTableDoubleClicked(int row, int);
 
        void nodeDoubleClicked(NodeId id);
 
        void edgeDoubleClicked(EdgeId id);
 
        void viewRotatedClock();
 
        void viewRotatedCounterClock();
 
        void transformView();
 
        void adjustView();
 
        bool addNewEdge(const std::string& from, const std::string& to);
        void addNewEdgeBoth();
        void addNewEdgeStartEnd();
        void addNewEdgeEndStart();
 
        void addNewGraphNode();
        void editGraphNode();
 
    private:
        struct NodeData
        {
            GraphNodeBasePtr node;
 
            armarx::FramedPosePtr pose;
 
            QGraphicsEllipseItem* graphicsItem;
 
            int tableWidgetNodesIndex;
 
            bool highlighted;
        };
 
        struct EdgeData
        {
            QGraphicsLineItem* graphicsItem;
            int tableWidgetEdgesIndex;
 
            bool highlighted;
        };
 
 
        static EdgeId toEdge(const std::string& node1, const std::string& node2)
        {
            return EdgeId {node1, node2};
        }
 
        void updateEdge(const EdgeId& id);
 
        void updateNode(const NodeId& id);
 
        void setEditFields(const NodeData& node);
 
        std::string debugDrawerTopicName;
 
        ::armarx::DebugDrawerInterfacePrx debugDrawer;
 
        QPointer<GraphVisualizerConfigDialog> dialog;
 
        float getYawAngle(const armarx::PoseBasePtr& pose) const;
 
        QPointer<QGraphicsScene> scene;
 
        std::map<std::string, NodeData> nodes;
 
        std::map<EdgeId, EdgeData> edges;
 
        qreal viewAngle;
 
        std::string debugDrawerLayerName;
 
        bool editStartNodeNext;
 
        std::string priorKnowledgeProxyName;
        memoryx::PriorKnowledgeInterfacePrx priorKnowledgePrx;
        memoryx::GraphNodePoseResolverInterfacePrx gnpr;
        memoryx::GraphMemorySegmentBasePrx graphSeg;
        QSettings settings;
        QString lastSelectedSceneName;
 
        void selectScene();
 
        void loadScene(const std::string& xmlFile);
 
 
        friend class GraphVisualizerGraphicsEllipseItem;
        friend class GraphVisualizerGraphicsLineItem;
    };
    using GraphVisualizerGuiPluginPtr = std::shared_ptr<GraphVisualizerWidget>;
 
 
    class GraphVisualizerGraphicsEllipseItem: public QGraphicsEllipseItem
    {
    public:
        using NodeId = GraphVisualizerWidget::NodeId;
 
        GraphVisualizerGraphicsEllipseItem(GraphVisualizerWidget& visuWidget, NodeId name, qreal x, qreal y, qreal width, qreal height, QGraphicsItem* parent = nullptr):
            QGraphicsEllipseItem {x, y, width, height, parent},
            id {name},
            parentVisuWidget(visuWidget)
        {
        }
 
        ~GraphVisualizerGraphicsEllipseItem() override
        {
        }
    protected:
        void mouseDoubleClickEvent(QGraphicsSceneMouseEvent*) override
        {
            parentVisuWidget.nodeDoubleClicked(id);
        }
    private:
        const NodeId id;
 
        GraphVisualizerWidget& parentVisuWidget;
    };
 
    class GraphVisualizerGraphicsLineItem: public QGraphicsLineItem
    {
    public:
        using EdgeId = GraphVisualizerWidget::EdgeId;
 
        GraphVisualizerGraphicsLineItem(GraphVisualizerWidget& visuWidget, EdgeId name, qreal x1, qreal y1, qreal x2, qreal y2, QGraphicsItem* parent = 0):
            QGraphicsLineItem {x1, y1, x2, y2, parent},
            id {name},
            parentVisuWidget(visuWidget)
        {
        }
 
        ~GraphVisualizerGraphicsLineItem() override
        {
        }
    signals:
    protected:
        void mouseDoubleClickEvent(QGraphicsSceneMouseEvent*) override
        {
            parentVisuWidget.edgeDoubleClicked(id);
        }
    private:
        const EdgeId id;
 
        GraphVisualizerWidget& parentVisuWidget;
    };
 
    class MouseEventProcessor : public QObject
    {
        Q_OBJECT
    public:
        MouseEventProcessor(GraphVisualizerWidget* gvw) : gvw(gvw) {}
    protected:
        GraphVisualizerWidget* gvw;
        bool eventFilter(QObject* obj, QEvent* event) override;
    };
}