StatechartView.cpp

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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
*/
 
#include <QTimer>
 
#include "StatechartView.h"
#include <ArmarXGui/gui-plugins/StatechartViewerPlugin/ui_StatechartView.h>
 
#include "StateItem.h"
#include "GraphicsViewZoom.h"
 
#include "../IceStateConverter.h"
#include "../StateScene.h"
#include "../model/State.h"
#include "../model/stateinstance/StateInstance.h"
#include "../model/stateinstance/EndState.h"
 
#include <ArmarXCore/statechart/StatechartObjectFactories.h>
#include <ArmarXCore/observers/ObserverObjectFactories.h>
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/interface/statechart/RemoteStateOffererIce.h>
 
 
 
namespace armarx
{
    StatechartView::StatechartView(statechartmodel::StatePtr state, bool enableLayouting, QWidget* parent) :
        QWidget(parent),
        ui(new Ui::StatechartView),
        //    layoutController(state, enableLayouting)
        layoutThread(state, enableLayouting)
    {
        //    layoutController.enableLayouting(enableLayouting);
 
        srand(IceUtil::Time::now().toMilliSeconds());
        ui->setupUi(this);
        stateScene = new StateScene(this);
 
        if (!state)
        {
            state = CreateTestStates();
        }
 
        setState(state);
 
        ui->graphicsView->setScene(stateScene);
        zoomer = new Graphics_view_zoom(ui->graphicsView);
        zoomer->set_modifiers(Qt::NoModifier);
 
        if (state)
        {
            layoutThread.run();
        }
        else
        {
            ARMARX_WARNING_S << "no state set!";
        }
 
        connect(stateScene, SIGNAL(selectionChanged()), this, SLOT(onItemChange()));
    }
 
    StatechartView::~StatechartView()
    {
        delete ui;
    }
 
    statechartmodel::StateInstancePtr StatechartView::getStateInstance() const
    {
        return stateScene->getStateInstance();
    }
 
    QGraphicsView* StatechartView::getGraphicsView() const
    {
        return ui->graphicsView;
    }
 
    Graphics_view_zoom* StatechartView::getGraphicsViewZoomer() const
    {
        return zoomer;
    }
 
    LayoutController& StatechartView::getLayoutController()
    {
        return layoutThread.getController();
    }
 
    void StatechartView::setState(statechartmodel::StatePtr state)
    {
        stateScene->setToplevelState(state);
 
        if (state)
        {
            layoutThread.setState(state);
            //        layoutController.setTopState(state);
        }
    }
 
    void StatechartView::setOriginalZoom()
    {
        ui->graphicsView->setTransform(QTransform());
    }
 
    void StatechartView::deleteSelectedStates()
    {
        QList<QGraphicsItem*> selection = stateScene->selectedItems();
        foreach (QGraphicsItem* item, selection)
        {
            StateItem* state = dynamic_cast<StateItem*>(item);
 
            if (state)
            {
                statechartmodel::StatePtr parent = state->getStateInstance()->getParent();
 
                if (parent)
                {
                    if (parent->removeSubstate(state->getStateInstance()->getInstanceName()))
                    {
                        ARMARX_INFO_S << "removed substate";
                    }
                    else
                    {
                        ARMARX_INFO_S << "removing failed";
                    }
 
                }
            }
        }
    }
 
    void StatechartView::viewAll()
    {
        ui->graphicsView->fitInView(stateScene->itemsBoundingRect(), Qt::KeepAspectRatio);
    }
 
    void StatechartView::onItemChange()
    {
        QList<QGraphicsItem*> selection = stateScene->selectedItems();
 
        if (selection.size() > 0)
        {
            StateItem* state = dynamic_cast<StateItem*>(selection.first());
 
            if (state && state->getStateInstance())
            {
                emit selectedStateChanged(state->getStateInstance());
            }
        }
    }
 
    void StatechartView::showSubSubstates(bool show)
    {
        stateScene->getTopLevelStateItem()->setMaxShownSubstateLevel(show ? -1 : 1);
        stateScene->update();
    }
 
    statechartmodel::StatePtr StatechartView::CreateTestStates()
    {
 
        statechartmodel::StatePtr topState(new statechartmodel::State());
        topState->setStateName("TopLevelState");
 
        statechartmodel::StatePtr sub1(new statechartmodel::State());
        sub1->setStateName("sub1");
 
        statechartmodel::EventList eventList;
        statechartmodel::EventPtr e1(new statechartmodel::Event());
        e1->name = "Success";
        eventList.append(e1);
        statechartmodel::EventPtr e2(new statechartmodel::Event());
        e2->name = "Failure";
        eventList.append(e2);
        statechartmodel::EventPtr e3(new statechartmodel::Event());
        e3->name = "Lolz";
        eventList.append(e3);
        sub1->setOutgoingEvents(eventList);
 
        statechartmodel::StatePtr sub2(new statechartmodel::State());
        sub2->setStateName("sub2");
 
        statechartmodel::StatePtr subsub1(new statechartmodel::State());
        subsub1->setStateName("subsub1");
 
 
        topState->addSubstate(sub1);
        topState->addSubstate(sub2);
        topState->addRemoteSubstate(sub1, "ProxyName", "remotesub1-2");
        statechartmodel::EventList eventList2;
        statechartmodel::EventPtr e21(new statechartmodel::Event());
        e21->name = "Success";
        eventList.append(e21);
        statechartmodel::EventPtr e22(new statechartmodel::Event());
        e22->name = "Failure";
        eventList.append(e22);
        subsub1->setOutgoingEvents(eventList2);
        sub1->addSubstate(subsub1);
 
        subsub1->addEndSubstate("EndState", "Success");
 
        statechartmodel::TransitionPtr t1(new statechartmodel::Transition());
        t1->eventName = "GoOn";
        t1->sourceState = topState->getSubstates()["sub1"];
        t1->destinationState = topState->getSubstates()["sub2"];
        topState->addTransition(t1);
 
        return topState;
 
    }
 
    QSize armarx::StatechartView::sizeHint() const
    {
        return QSize(200, 200);
    }
}