ObserverWidget.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#include "ObserverWidget.h"
 
#include <boost/regex.hpp>
 
#include <QAction>
#include <QItemSelectionModel>
#include <QList>
#include <QMenu>
 
#include <ArmarXCore/observers/filters/AverageFilter.h>
#include <ArmarXCore/observers/filters/ButterworthFilter.h>
#include <ArmarXCore/observers/filters/GaussianFilter.h>
#include <ArmarXCore/observers/filters/MedianFilter.h>
 
#include <ArmarXGui/gui-plugins/ObserverPropertiesPlugin/ui_FilterPropertiesDialog.h>
#include <ArmarXGui/gui-plugins/ObserverPropertiesPlugin/widgets/properties/DataFieldPropertiesWidget.h>
 
#include "../ObserverGuiPlugin.h"
#include "../ObserverWidgetController.h"
 
namespace armarx
{
    ObserverWidget::ObserverWidget(ObserverWidgetController* controller) : QWidget(0), model(NULL)
    {
        this->controller = controller;
        qRegisterMetaType<DatafieldFilterBasePtr>("DatafieldFilterBasePtr");
        ui.setupUi(this);
        ui.propertiesView->setLayout(new QVBoxLayout());
        ui.observerTreeView->setSortingEnabled(true);
        //ui.observerTreeView->setHideChildren(false);
 
        propertiesWidget = 0;
 
        updateTimer = new QTimer(this);
 
        connect(ui.observerTreeView,
                SIGNAL(customContextMenuRequested(const QPoint&)),
                this,
                SLOT(treeView_contextMenu(const QPoint&)));
 
        QList<int> sizes;
        sizes.append(400);
        sizes.append(800);
 
        ui.splitter->setSizes(sizes);
 
        autoUpdateAction = new QAction("Auto update", ui.observerTreeView);
 
        filterExpansionTimer.setSingleShot(true);
        connect(&filterExpansionTimer, SIGNAL(timeout()), this, SLOT(delayedFilterExpansion()));
    }
 
    void
    ObserverWidget::createNewModel()
    {
        model = new ObserverItemModel(controller->getIceManager(), controller->getVariantInfo());
        proxyModel = new InfixFilterModel(this);
        proxyModel->setSourceModel(model);
        ui.observerTreeView->setModel(proxyModel);
        proxyModel->setFilterCaseSensitivity(Qt::CaseInsensitive);
        connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateObservers()));
        QItemSelectionModel* selectionModel = ui.observerTreeView->selectionModel();
        connect(selectionModel,
                SIGNAL(selectionChanged(const QItemSelection&, const QItemSelection&)),
                this,
                SLOT(treeView_selected(const QItemSelection&, const QItemSelection&)));
        //    updateObservers();
 
        connect(ui.lineEditSearch,
                SIGNAL(textChanged(QString)),
                proxyModel,
                SLOT(setFilterFixedString(QString)));
        connect(ui.lineEditSearch,
                SIGNAL(textChanged(QString)),
                this,
                SLOT(expandFilterSelection(QString)),
                Qt::QueuedConnection);
    }
 
    void
    ObserverWidget::updateObservers()
    {
        if (model)
        {
            model->updateObservers();
        }
 
        auto selection = ui.observerTreeView->selectionModel()->selectedIndexes();
 
        if (selection.size() > 0)
        {
            if (propertiesWidget)
            {
                ui.propertiesView->layout()->removeWidget(propertiesWidget);
                propertiesWidget->deleteLater();
                propertiesWidget = NULL;
            }
            auto tempWidgetPtr = model->getPropertiesWidget(
                proxyModel->mapToSource(selection.at(0)), ui.propertiesView);
            if (tempWidgetPtr)
            {
                propertiesWidget = tempWidgetPtr;
                ui.propertiesView->layout()->addWidget(propertiesWidget);
                propertiesWidget->show();
            }
        }
    }
 
    void
    ObserverWidget::treeView_selected(const QItemSelection& selected,
                                      const QItemSelection& deselected)
    {
        if (selected.indexes().size() == 0)
        {
            return;
        }
 
        if (propertiesWidget)
        {
            ui.propertiesView->layout()->removeWidget(propertiesWidget);
            propertiesWidget->deleteLater();
            propertiesWidget = NULL;
        }
 
        QModelIndexList list = selected.indexes();
        propertiesWidget =
            model->getPropertiesWidget(proxyModel->mapToSource(list.at(0)), ui.propertiesView);
        ui.propertiesView->layout()->addWidget(propertiesWidget);
        propertiesWidget->show();
    }
 
    void
    ObserverWidget::toggleAutoUpdate(bool checked)
    {
        if (checked)
        {
            updateTimer->start(500);
        }
        else
        {
            updateTimer->stop();
        }
    }
 
    void
    ObserverWidget::filterSelected()
    {
        QAction* action = qobject_cast<QAction*>(sender());
        if (action)
        {
            //        auto widget = qobject_cast<DataFieldPropertiesWidget*>(propertiesWidget);
            DatafieldFilterBasePtr filter;
            if (!action->data().isNull())
            {
                auto filterName = action->data().toString().toStdString();
                auto valFac =
                    controller->getIceManager()->getCommunicator()->getValueFactoryManager()->find(
                        filterName);
                if (!valFac)
                {
                    ARMARX_WARNING << "Could not find obj factory of type " << filterName;
                    return;
                }
 
                filter = DatafieldFilterBasePtr::dynamicCast(valFac->create(filterName));
                if (!filter)
                {
                    ARMARX_WARNING << "Could not create filter of type " << valFac;
                    return;
                }
            }
            else
            {
                ARMARX_ERROR << "Filter " << action->text().toStdString() << " is unknown";
                return;
            }
            QDialog d;
            Ui::FilterPropertiesDialog dSetup;
            dSetup.setupUi(&d);
            dSetup.tableWidget->setSortingEnabled(false);
            StringFloatDictionary props = filter->getProperties();
            ARMARX_INFO << VAROUT(props);
            dSetup.tableWidget->setRowCount(props.size());
            dSetup.tableWidget->setColumnCount(2);
            int i = 0;
            for (auto& p : props)
            {
                auto keyItem = new QTableWidgetItem(p.first.c_str());
                keyItem->setFlags(Qt::ItemIsEnabled);
                dSetup.tableWidget->setItem(i, 0, keyItem);
                auto valueItem = new QTableWidgetItem(QString::number(p.second));
                dSetup.tableWidget->setItem(i, 1, valueItem);
                i++;
            }
            dSetup.groupBox->setTitle(action->text() + " properties");
            if (d.exec() == QDialog::Accepted)
            {
                props.clear();
                for (int i = 0; i < dSetup.tableWidget->rowCount(); ++i)
                {
                    bool ok;
                    float value = dSetup.tableWidget->item(i, 1)->text().toFloat(&ok);
                    if (ok)
                    {
                        props[dSetup.tableWidget->item(i, 0)->text().toStdString()] = value;
                    }
                }
                ARMARX_INFO << VAROUT(props);
                filter->setProperties(props);
                emit createFilterClicked(selectedFilterId, filter);
            }
        }
        selectedFilterId.clear();
    }
 
    void
    ObserverWidget::clearDetailedView()
    {
        if (propertiesWidget)
        {
            ui.propertiesView->layout()->removeWidget(propertiesWidget);
            propertiesWidget->deleteLater();
            propertiesWidget = NULL;
        }
    }
 
    void
    ObserverWidget::treeView_contextMenu(const QPoint& point)
    {
        QPoint globalPos = ui.observerTreeView->viewport()->mapToGlobal(point);
        QMenu treeViewMenu;
 
        // update action
        QAction* updateAction = new QAction("Update", ui.observerTreeView);
 
        if (autoUpdateAction->isChecked())
        {
            updateAction->setEnabled(false);
        }
 
        connect(updateAction, SIGNAL(triggered()), this, SLOT(updateObservers()));
        treeViewMenu.addAction(updateAction);
 
        //    // auto update action
        //    autoUpdateAction->setCheckable(true);
        //    connect(autoUpdateAction, SIGNAL(toggled(bool)), this, SLOT(toggleAutoUpdate(bool)));
        //    treeViewMenu.addAction(autoUpdateAction);
 
        DataFieldPropertiesWidget* widget =
            qobject_cast<DataFieldPropertiesWidget*>(propertiesWidget);
        if (widget)
        {
            auto typeId = widget->getVariant()->getType();
            selectedFilterId = widget->getDatafieldIdentifier()->getIdentifierStr();
            QMenu* filters = treeViewMenu.addMenu("Filters");
            std::map<std::string, bool> filterNames;
            for (const FactoryCollectionBasePtr& facContainer :
                 FactoryCollectionBase::GetPreregistratedFactories())
            {
                if (!facContainer)
                {
                    continue;
                }
                for (auto pair : facContainer->getFactories())
                {
 
                    Ice::ValueFactoryPtr fac = pair.second;
                    if (!fac)
                    {
                        continue;
                    }
                    try
                    {
                        auto obj = fac->create(pair.first);
                        if (!obj)
                        {
                            continue;
                        }
                        //                    auto ids = obj->ice_ids();
                        //                    auto it = std::find(ids.begin(), ids.end(), "::armarx::DatafieldFilterBase");
                        DatafieldFilterBasePtr filter = DatafieldFilterBasePtr::dynamicCast(obj);
                        if (filter)
                        {
                            auto supportedTypes = filter->getSupportedTypes();
                            auto typeIt =
                                std::find(supportedTypes.begin(), supportedTypes.end(), typeId);
                            filterNames.insert(
                                std::make_pair(pair.first, typeIt != supportedTypes.end()));
                        }
                    }
                    catch (...)
                    {
                    }
                }
            }
            for (auto filter : filterNames)
            {
                const boost::regex e("::armarx::([a-zA-Z0-9_]+)Base");
                boost::match_results<std::string::const_iterator> what;
                boost::regex_search(filter.first, what, e);
                QAction* a;
                if (what.size() < 2)
                {
                    a = filters->addAction(filter.first.c_str(), this, SLOT(filterSelected()));
                }
                else
                {
                    std::string filteredName = what[1];
                    a = filters->addAction(filteredName.c_str(), this, SLOT(filterSelected()));
                }
                a->setEnabled(filter.second);
                if (!filter.second)
                {
                    a->setToolTip("This filter does not support this type");
                }
                a->setData(filter.first.c_str());
            }
        }
 
        // show menu
        QAction* selectedItem = treeViewMenu.exec(globalPos);
 
 
        if (selectedItem)
        {
            // something was chosen, do stuff
        }
        else
        {
            // nothing was chosen
        }
    }
 
    void
    ObserverWidget::expandFilterSelection(QString filterStr)
    {
        //ARMARX_INFO_S << VAROUT(filterStr);
        if (filterStr.length() == 0)
        {
            ui.observerTreeView->collapseAll();
            //        ui.monitoredManagersTree->expandToDepth(1);
        }
        else
        {
            filterExpansionTimer.start(500);
        }
    }
 
    void
    ObserverWidget::delayedFilterExpansion()
    {
        InfixFilterModel::ExpandFilterResults(ui.observerTreeView);
    }
} // namespace armarx