RobotViewerGuiPlugin.h

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/*
* This file is part of ArmarX.
*
* 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::Component::RobotViewerGuiPlugin
* @author     Nikolaus Vahrenkamp
* @copyright  2015 KIT
* @license    http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
 
*/
 
#pragma once
 
/* ArmarX headers */
#include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerGuiPlugin.h>
#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
 
#include <ArmarXCore/core/Component.h>
 
/* Qt headers */
#include <QMainWindow>
 
 
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/Visualization/VisualizationFactory.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
 
#include <Inventor/sensors/SoTimerSensor.h>
 
namespace armarx
{
    class RobotViewerConfigDialog;
 
    class RobotViewerGuiPlugin :
        public ArmarXGuiPlugin
    {
        Q_OBJECT
        Q_INTERFACES(ArmarXGuiInterface)
        Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
    public:
        RobotViewerGuiPlugin();
 
        QString getPluginName() override
        {
            return "RobotViewerGuiPlugin";
        }
    };
 
    class RobotViewerWidgetController :
        public ArmarXComponentWidgetControllerTemplate<RobotViewerWidgetController>,
        public RobotStateListenerInterface
    {
        Q_OBJECT
    public:
 
        RobotViewerWidgetController();
        ~RobotViewerWidgetController() override {}
 
        // inherited from Component
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
        // inherited from ArmarXWidget
        static QString GetWidgetName()
        {
            return "Visualization.RobotViewerGUI";
        }
 
        QPointer<QDialog> getConfigDialog(QWidget* parent = 0) override;
        void loadSettings(QSettings* settings) override;
        void saveSettings(QSettings* settings) override;
        void configured() override;
 
        SoNode* getScene() override;
 
        // overwrite setMutex, so that we can inform the debugdrawer
        void setMutex3D(RecursiveMutexPtr const& mutex3D) override;
 
    signals:
        void robotStatusUpdated();
        void configurationChanged();
 
    public slots:
        void updateRobotVisu();
        void inflateCollisionModel(int inflationValueMM);
 
    protected:
        void connectSlots();
 
 
        Ui::RobotViewerGuiPlugin ui;
 
        bool verbose;
 
 
        RobotStateComponentInterfacePrx robotStateComponentPrx;
        VirtualRobot::RobotPtr robot;
 
        NameList robotNodeSetNames;
        NameList robotNodeNames;
 
        std::string robotStateComponentName;
 
        SoSeparator* rootVisu;
        SoSeparator* robotVisu;
 
        SoTimerSensor* timerSensor;
 
        SoSeparator* debugLayerVisu;
        armarx::DebugDrawerComponentPtr debugDrawer;
 
        static void timerCB(void* data, SoSensor* sensor);
        void setRobotVisu(bool colModel);
 
    protected slots:
        void showVisuLayers(bool show);
        void showRoot(bool show);
        void showRobot(bool show);
        void colModel(bool c);
 
        void updateStateSettings(int);
        void copyToClipboard();
        void updateState();
        void onConfigurationChanged();
 
    private:
 
        // init stuff
        VirtualRobot::RobotPtr loadRobotFile(std::string fileName);
 
        VirtualRobot::CoinVisualizationPtr getCoinVisualization(VirtualRobot::RobotPtr robot);
 
        QPointer<QWidget> __widget;
        QPointer<SimpleConfigDialog> dialog;
 
        // ArmarXWidgetController interface
    public:
        static QIcon GetWidgetIcon()
        {
            return QIcon(":icons/armarx-gui.png");
        }
 
        // RobotStateListenerInterface interface
    public:
        void reportGlobalRobotRootPose(const FramedPoseBasePtr& pose, Ice::Long timestamp, bool poseChanged, const Ice::Current&) override;
        void reportJointValues(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current&) override;
    };
    using RobotViewerGuiPluginPtr = std::shared_ptr<RobotViewerWidgetController>;
}