SemanticRelationViewerWidgetController.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    VisionX::gui-plugins::SemanticRelationViewerWidgetController
 * @author     Fabian Paus ( fabian dot paus at kit dot edu )
 * @date       2019
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include "SemanticGraphVertexItem.h"
#include "SemanticGraphEdgeItem.h"
#include "SemanticGraphGlobalItem.h"
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
 
#include <RobotAPI/libraries/widgets/JSONTreeModel.h>
 
#include <VisionX/interface/components/SemanticRelationAnalyzer.h>
#include <VisionX/interface/libraries/SemanticObjectRelations/GraphStorage.h>
#include <VisionX/gui-plugins/SemanticRelationViewer/ui_SemanticRelationViewerWidget.h>
 
#include <SemanticObjectRelations/RelationGraph/json/AttributedGraph.h>
 
#include <QTimer>
 
namespace armarx
{
    struct GraphvizLayoutedGraph;
 
    /**
    \page VisionX-GuiPlugins-SemanticRelationViewer SemanticRelationViewer
    \brief The SemanticRelationViewer allows visualizing ...
 
    \image html SemanticRelationViewer.png
    The user can
 
    API Documentation \ref SemanticRelationViewerWidgetController
 
    \see SemanticRelationViewerGuiPlugin
    */
 
    /**
     * \class SemanticRelationViewerWidgetController
     * \brief SemanticRelationViewerWidgetController brief one line description
     *
     * Detailed description
     */
    class ARMARXCOMPONENT_IMPORT_EXPORT
        SemanticRelationViewerWidgetController:
        public armarx::ArmarXComponentWidgetControllerTemplate < SemanticRelationViewerWidgetController >
    {
        Q_OBJECT
 
    public:
        /**
         * Controller Constructor
         */
        explicit SemanticRelationViewerWidgetController();
 
        /**
         * Controller destructor
         */
        virtual ~SemanticRelationViewerWidgetController();
 
        /**
         * @see ArmarXWidgetController::loadSettings()
         */
        void loadSettings(QSettings* settings) override;
 
        /**
         * @see ArmarXWidgetController::saveSettings()
         */
        void saveSettings(QSettings* settings) override;
 
        QPointer<QDialog> getConfigDialog(QWidget* parent) override;
 
        /**
         * Returns the Widget name displayed in the ArmarXGui to create an
         * instance of this class.
         */
        static QString GetWidgetName()
        {
            return "VisionX.SemanticRelationViewer";
        }
 
        /**
         * \see armarx::Component::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * \see armarx::Component::onConnectComponent()
         */
        void onConnectComponent() override;
        void onDisconnectComponent() override;
 
 
    public slots:
        /* QT slot declarations */
        void onUpdateGraphs();
        void onAutoUpdateChanged();
 
        void onLeftClickVertex(SemanticGraphVertexItem* item);
        void onLeftClickEdge(SemanticGraphEdgeItem* item);
        void onLeftClickGlobal(SemanticGraphGlobalItem* item);
 
    signals:
        /* QT signal declarations */
 
    private:
        void drawGraph(QGraphicsScene* graphicsScene,
                       GraphvizLayoutedGraph const& layoutedGraph,
                       semrel::AttributedGraph const& graph);
 
        void setPropertyView(nlohmann::json const& attrs);
 
        void highlightSelected(QGraphicsItem* selected);
 
        void onZoomChanged(double newZoom);
 
    private:
        Ui::SemanticRelationViewerWidget widget;
        QTimer* timer = nullptr;
        QGraphicsScene graphicsScene;
        double graphicsSceneScale = 1.0;
        QPointer<SimpleConfigDialog> configDialog;
 
        armarx::semantic::GraphStorageInterfacePrx storage;
 
        std::map<std::string, semrel::AttributedGraph> graphMap;
        JSONTreeModel propertyModel;
    };
}