StateInstance.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::
* @author     Mirko Waechter ( mirko.waechter at kit dot edu)
* @date       2014
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <QObject>
#include <QRectF>
#include <QString>
#include <QMetaType>
 
#include <memory>
 
#include <ArmarXCore/interface/statechart/StatechartIce.h>
 
#include <ArmarXCore/core/logging/Logging.h>
 
namespace armarx::statechartmodel
{
    class State;
    using StatePtr = std::shared_ptr<State>;
    using StateCPtr = std::shared_ptr<const State>;
 
    class Visitor;
 
    class StateInstance :
        public QObject,
        public std::enable_shared_from_this<StateInstance>,
        public Logging
    {
        Q_OBJECT
    public:
        StateInstance(const QString& instanceName, StatePtr parentState = StatePtr());
        QString getInstanceName() const;
        virtual void setInstanceName(const QString& value);
 
        virtual StatePtr getStateClass() const
        {
            return StatePtr();
        }
        StatePtr getParent() const
        {
            return parentState.lock();
        }
        /**
         * @brief getTopLeft returns the topleft point of the stateinstance in the
         * coordinate system of the parent state.
         *
         */
        const QPointF& getTopLeft() const
        {
            return position;
        }
        const QPointF getCenter() const;
 
        /**
         * @brief getBoundingSquare return the maximum bounding box of this state instance
         * in parent coordinate system
         * @return
         * @see getBounds()
         */
        QRectF getBoundingSquare() const;
 
        /**
         * @brief getBounds returns the rectangle occupied by this state instance in
         * the parent coordinate system.
         * @see getBoundingBox()
         */
        QRectF getBounds() const
        {
            return QRectF(position, getClassSize() * getScale());
        }
 
        float getBoundingSquareSize() const
        {
            return boundingSquareSize;
        }
 
        /**
         * @brief getScale returns the scale of this state instance, which is the relation between
         * boundingSquareSize and classSize. Resizing is only done with this scale at the moment.
         *
         */
        float getScale() const;
 
        QSizeF getClassSize() const;
 
        virtual eStateType getType() const = 0;
 
        virtual void accept(Visitor& visitor) const = 0;
 
        static const QSizeF StateDefaultSize;
 
        QPointF adjustPosition(QPointF& newPos) const;
 
        bool isActive();
 
        /*!
          * @brief input values of this state instance, only used by Viewer.
          * */
        ::armarx::StateParameterMap inputParameters;
        ::armarx::StateParameterMap localParameters;
        ::armarx::StateParameterMap outputParameters;
        const int defaultBoundingSquareSize = 100;
    public slots:
        //            void setActive(bool status);
        void setPosition(QPointF newPosition);
        void setCenter(const QPointF& newStateCenter);
        void setBoundingBox(float squareSize);
        void updateScale();
        //        signals:
        //            void instanceResized();
    protected:
        QString name;
        std::weak_ptr<State> parentState;
 
        QPointF position;
        float boundingSquareSize;
    };
    using StateInstancePtr = std::shared_ptr<StateInstance>;
}
 
Q_DECLARE_METATYPE(armarx::statechartmodel::StateInstancePtr)