ScenarioManagerWidgetController.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    ScenarioManager::gui-plugins::ScenarioManagerWidgetController
 * @author     [Cedric Seehausen] ( [usdnr@student.kit.edu] )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
 
#include "ScenarioManagerWidgetController.h"
 
#include <QCoreApplication>
#include <QMetaType>
#include <QProgressDialog>
#include <QToolBar>
#include <QToolTip>
 
#include <SimoxUtility/algorithm/string/string_tools.h>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/util/ScenarioManagerCommon/parser/PackageBuilder.h>
#include <ArmarXCore/util/ScenarioManagerCommon/parser/XMLScenarioParser.h>
 
#include <ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h>
 
#include "gui/namelocationview.h"
 
using namespace armarx;
using namespace ScenarioManager;
using namespace Exec;
using namespace Controller;
using namespace Data_Structure;
using namespace Parser;
 
ScenarioManagerWidgetController::ScenarioManagerWidgetController() :
    packages(new std::vector<PackagePtr>()),
    executor(new Executor(
        stopStrategyFactory.getStopStrategy(StopperFactory::getFactory()->getPidStopper()),
        StarterFactory::getFactory()->getStarter())),
    applicationController(packages, executor),
    detailedApplicationController(executor),
    scenarioListController(packages, executor),
    settingsController(packages, executor),
    openScenarioController(packages, executor),
    settingsFile(armarx::ArmarXDataPath::GetDefaultUserConfigPath() + "/ScenarioManager.conf")
{
    widget.setupUi(getWidget());
    editModeAction = new QAction("Edit Mode", this);
 
    QSettings q_settings(QString(settingsFile.c_str()), QSettings::NativeFormat);
    bool editModeState = q_settings.value("editMode", false).toBool();
    editMode(editModeState);
}
 
ScenarioManagerWidgetController::~ScenarioManagerWidgetController()
{
}
 
bool
ScenarioManagerWidgetController::isPackageAutoDiscoveryEnabled()
{
    const std::string autodiscoverPropertyName = "AutodiscoverPackages";
 
    if (hasProperty(autodiscoverPropertyName))
    {
        return getProperty<bool>(autodiscoverPropertyName).getValue();
    }
 
    ARMARX_INFO << autodiscoverPropertyName + " property not found";
 
    return true; // Property not available. Default: use autodiscovery
}
 
void
ScenarioManagerWidgetController::autoDiscoverArmarXPackages()
{
    QSettings autosettings(QString(settingsFile.c_str()), QSettings::NativeFormat);
 
 
    auto packagesStd = CMakePackageFinder::FindAllArmarXSourcePackages();
    std::sort(packagesStd.begin(),
              packagesStd.end(),
              [](const std::string& lhs, const std::string& rhs) -> bool
              { return simox::alg::to_lower(lhs) < simox::alg::to_lower(rhs); });
 
    QStringList packages;
    ARMARX_INFO << "Discovered the following ArmarX packages: ";
    for (const auto& pkg : packagesStd)
    {
        packages.push_back(QString::fromStdString(pkg));
        ARMARX_INFO << "- " << pkg;
    }
 
    autosettings.setValue("packages", packages);
}
 
void
ScenarioManagerWidgetController::loadSettings(QSettings* settings)
{
    QSettings autosettings(QString(settingsFile.c_str()), QSettings::NativeFormat);
    QStringList scenarios = settings->value("scenarios", QStringList()).toStringList();
    scenarios.removeDuplicates();
    if (not scenarios.empty())
    {
        autosettings.setValue("scenarios", scenarios);
    }
    QStringList packages = settings->value("packages", QStringList()).toStringList();
    packages.removeDuplicates();
    if (not packages.empty())
    {
        autosettings.setValue("packages", packages);
    }
}
 
void
ScenarioManagerWidgetController::saveSettings(QSettings* settings)
{
    QSettings autosettings(QString(settingsFile.c_str()), QSettings::NativeFormat);
    auto scenarios = autosettings.value("scenarios", QStringList()).toStringList();
    auto packages = autosettings.value("packages", QStringList()).toStringList();
    scenarios.removeDuplicates();
    packages.removeDuplicates();
    settings->setValue("scenarios", scenarios);
    settings->setValue("packages", packages);
}
 
void
ScenarioManagerWidgetController::onInitComponent()
{
    QMetaObject::invokeMethod(this, "init", Qt::QueuedConnection);
}
 
void
ScenarioManagerWidgetController::init()
{
    scenarioListController.setIceAdmin(
        getArmarXManager()->getIceManager()->getIceGridSession()->getAdmin());
    detailedApplicationController.setIceAdmin(
        getArmarXManager()->getIceManager()->getIceGridSession()->getAdmin());
    detailedApplicationController.setDetailedApplicationView(widget.detailedApplicationView);
 
    QObject::connect(widget.scenarioView,
                     SIGNAL(createScenario()),
                     &scenarioListController,
                     SLOT(createScenario()));
 
    QObject::connect(
        widget.scenarioView, SIGNAL(createScenario()), widget.applicationDatabase, SLOT(show()));
 
    QObject::connect(widget.scenarioView,
                     SIGNAL(removeItem(QModelIndex)),
                     &scenarioListController,
                     SLOT(removeItem(QModelIndex)));
 
    QObject::connect(widget.scenarioView,
                     SIGNAL(itemClicked(QModelIndex)),
                     &scenarioListController,
                     SLOT(showApplication(QModelIndex)));
 
    QObject::connect(widget.scenarioView,
                     SIGNAL(startApplication(int, int, QModelIndex)),
                     &scenarioListController,
                     SLOT(start(int, int, QModelIndex)));
 
    QObject::connect(widget.scenarioView,
                     SIGNAL(stopApplication(int, int, QModelIndex)),
                     &scenarioListController,
                     SLOT(stop(int, int, QModelIndex)));
 
    QObject::connect(widget.scenarioView,
                     SIGNAL(restartApplication(int, int, QModelIndex)),
                     &scenarioListController,
                     SLOT(restart(int, int, QModelIndex)));
 
    QObject::connect(&settingsController, SIGNAL(packageRemoved()), this, SLOT(updateModels()));
 
    QObject::connect(&settingsController,
                     SIGNAL(packageAdded(std::string)),
                     this,
                     SLOT(reparsePackage(std::string)));
 
    QObject::connect(&scenarioListController, SIGNAL(updated()), this, SLOT(updateModels()));
 
    QObject::connect(
        &scenarioListController,
        SIGNAL(applicationInstanceClicked(Data_Structure::ApplicationInstancePtr, ScenarioItem*)),
        &detailedApplicationController,
        SLOT(showApplicationInstance(Data_Structure::ApplicationInstancePtr, ScenarioItem*)));
 
    QObject::connect(&scenarioListController,
                     SIGNAL(scenarioClicked(Data_Structure::ScenarioPtr)),
                     &detailedApplicationController,
                     SLOT(showScenario(Data_Structure::ScenarioPtr)));
 
    QObject::connect(&scenarioListController,
                     SIGNAL(statusUpdated()),
                     widget.detailedApplicationView,
                     SLOT(updateStatus()));
 
    QObject::connect(widget.applicationDatabase,
                     SIGNAL(openSettings()),
                     &settingsController,
                     SLOT(showSettings()));
 
    QObject::connect(widget.applicationDatabase,
                     SIGNAL(itemClicked(QModelIndex)),
                     &applicationController,
                     SLOT(on_itemClicked(QModelIndex)));
 
    QObject::connect(&applicationController,
                     SIGNAL(applicationClicked(Data_Structure::ApplicationPtr)),
                     &detailedApplicationController,
                     SLOT(showApplication(Data_Structure::ApplicationPtr)));
 
    QObject::connect(&applicationController,
                     SIGNAL(packageClicked(Data_Structure::PackagePtr)),
                     &detailedApplicationController,
                     SLOT(showPackage(Data_Structure::PackagePtr)));
 
    QObject::connect(&openScenarioController, SIGNAL(updated()), this, SLOT(updateModels()));
 
    QObject::connect(widget.scenarioView,
                     SIGNAL(showOpenDialog()),
                     &openScenarioController,
                     SLOT(showOpenScenarioView()));
 
    QObject::connect(widget.detailedApplicationView,
                     SIGNAL(startButtonClicked()),
                     &detailedApplicationController,
                     SLOT(start()));
 
    QObject::connect(widget.detailedApplicationView,
                     SIGNAL(stopButtonClicked()),
                     &detailedApplicationController,
                     SLOT(stop()));
 
    QObject::connect(widget.detailedApplicationView,
                     SIGNAL(restartButtonClicked()),
                     &detailedApplicationController,
                     SLOT(save()));
 
    QObject::connect(widget.detailedApplicationView,
                     SIGNAL(toolButtonClicked()),
                     &detailedApplicationController,
                     SLOT(showInStandardEditor()));
 
    QObject::connect(widget.detailedApplicationView,
                     SIGNAL(addParameterButtonClicked()),
                     &detailedApplicationController,
                     SLOT(showPropertyAddView()));
 
    QObject::connect(widget.detailedApplicationView,
                     SIGNAL(addIceEnvButtonClicked()),
                     &detailedApplicationController,
                     SLOT(showIceEnvVariableAddView()));
 
 
    QObject::connect(widget.detailedApplicationView,
                     SIGNAL(applicationEnabledChange(bool)),
                     &scenarioListController,
                     SLOT(updateModel()));
 
    QObject::connect(&openScenarioController,
                     SIGNAL(showPackageDialog()),
                     &settingsController,
                     SLOT(showPackageAdderView()));
 
    QObject::connect(widget.detailedApplicationView,
                     SIGNAL(saveScenario(ScenarioManager::Data_Structure::ApplicationInstancePtr)),
                     &scenarioListController,
                     SLOT(saveScenario(ScenarioManager::Data_Structure::ApplicationInstancePtr)));
 
    QObject::connect(&applicationController,
                     SIGNAL(modelUpdated(FilterableTreeModelSortFilterProxyModelPtr)),
                     widget.applicationDatabase,
                     SLOT(setModel(FilterableTreeModelSortFilterProxyModelPtr)));
 
    if (isPackageAutoDiscoveryEnabled())
    {
        ARMARX_IMPORTANT << "ArmarX package autodiscovery enabled.";
        autoDiscoverArmarXPackages();
    }
 
    widget.scenarioView->setModel(scenarioListController.getTreeModel());
 
    connect(editModeAction, SIGNAL(toggled(bool)), this, SLOT(editMode(bool)));
 
    editModeAction->setCheckable(true);
    editModeAction->setToolTip(
        "If toggled the application database and the application property view will be shown.");
 
    QSettings settings(QString(settingsFile.c_str()), QSettings::NativeFormat);
    QStringList packages = settings.value("packages").toStringList();
    packages.removeDuplicates();
 
    if (packages.empty())
    {
        armarx::ApplicationPtr application = Application::getInstance();
        if (application.get() != nullptr)
        {
            for (const auto& package : application->getArmarXPackageNames())
            {
                packages << QString::fromStdString(package);
            }
        }
        settings.setValue("packages", packages);
    }
 
    bool editModeState = settings.value("editMode", false).toBool();
    editModeAction->setChecked(editModeState);
    editMode(editModeState);
 
    settingsController.init();
 
    reparsePackages();
}
 
QPointer<QWidget>
ScenarioManagerWidgetController::getCustomTitlebarWidget(QWidget* parent)
{
    if (customToolbar)
    {
        if (parent != customToolbar->parent())
        {
            customToolbar->setParent(parent);
        }
 
        return customToolbar.data();
    }
 
    customToolbar = new QToolBar(parent);
    customToolbar->setIconSize(QSize(16, 16));
    customToolbar->addAction(
        QIcon(":/icons/configure-3.png"), "Configure", &settingsController, SLOT(showSettings()));
    QToolTip::showText(customToolbar->mapToGlobal(QPoint(0, 0)),
                       "Additional Packages can be opened in the settings");
    customToolbar->addAction(editModeAction);
    {
        QAction* killallAction = new QAction("Kill All", this);
        customToolbar->addAction(killallAction);
        killallAction->setToolTip(
            "Kill all armarx applications except guis on this pc (executes 'armarx killAll')");
        connect(killallAction,
                &QAction::triggered,
                [] { [[maybe_unused]] auto result = std::system("armarx killAll"); });
    }
    return customToolbar.data();
}
 
void
ScenarioManagerWidgetController::onConnectComponent()
{
}
 
void
ScenarioManagerWidgetController::onExitComponent()
{
    scenarioListController.stopUpdateTask();
}
 
void
ScenarioManagerWidgetController::reparsePackages()
{
    QSettings settings(QString(settingsFile.c_str()), QSettings::NativeFormat);
    QStringList packages = settings.value("packages").toStringList();
    packages.removeDuplicates();
 
    QProgressDialog progress("Loading scenarios from " + QString::number(packages.size()) +
                                 " packages ...",
                             "",
                             0,
                             packages.size(),
                             getWidget());
    progress.setWindowModality(Qt::WindowModal);
 
    PackageBuilder parser;
    bool didNotFindSomePackages = false;
    for (int i = 0; i < packages.size(); i++)
    {
        std::string name = packages.at(i).toStdString();
        progress.setLabelText(QString("Loading scenarios from package ") + name.c_str());
        progress.setValue(i + 1);
        qApp->processEvents();
 
        QStringList openedScenarios = settings.value("scenarios").toStringList();
        // remove duplicates
        openedScenarios = openedScenarios.toSet().values();
 
        StringList openedList;
        for (const QString& it : openedScenarios)
        {
            openedList.push_back(it.toStdString());
        }
 
        PackagePtr package = parser.parsePackage(name, openedList);
        if (package == nullptr)
        {
            didNotFindSomePackages = true;
            continue;
        }
 
        this->packages->push_back(package);
    }
 
    if (didNotFindSomePackages)
    {
        std::stringstream ss;
        ss << "To remove unavailable packages, "
           << "open the configuration (wrench icon at the top of the ScenarioManager), "
           << "switch to the 'Cache Settings' tab, "
           << "and press 'Close unavailable packages'. Cheers!";
        ARMARX_INFO << ss.str();
    }
 
    updateModels();
}
 
void
ScenarioManagerWidgetController::reparsePackage(std::string name)
{
    PackageBuilder parser;
    PackagePtr package = parser.parsePackage(name, StringList());
 
    this->packages->push_back(package);
 
    updateModels();
}
 
void
ScenarioManagerWidgetController::updateModels()
{
    settingsController.updateModel();
    openScenarioController.updateModel();
    scenarioListController.updateModel();
    applicationController.updatePackages();
    widget.detailedApplicationView->updateStatus();
 
    //widget.applicationDatabase->setModel(applicationController.getModel());
    //widget.scenarioView->setModel(scenarioListController.getTreeModel());
}
 
void
ScenarioManagerWidgetController::editMode(bool edit)
{
    QSettings settings(QString(settingsFile.c_str()), QSettings::NativeFormat);
    settings.setValue("editMode", edit);
    widget.detailedApplicationView->setVisible(edit);
    widget.applicationDatabase->setVisible(edit);
}