ArVizWidgetController.h

Go to the documentation of this file.

/*
 * 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    RobotAPI::gui-plugins::ArVizWidgetController
 * @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 <unordered_set>
 
// Qt includes
#include <QListWidgetItem>
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
 
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
 
#include <RobotAPI/components/ArViz/Coin/Visualizer.h>
#include <RobotAPI/interface/ArViz/Component.h>
 
#include "ArvizProfileManagerWidget.h"
#include "LayerInfoTree.h"
 
// C++ includes
#include <memory>
 
// ui_ArVizWidget.h is included by the .cpp, not here: moc textually inlines every
// #include it can resolve, and parsing the uic-generated header alongside this one
// makes moc mis-qualify this class as Ui::armarx::*.
namespace Ui
{
    class ArVizWidget;
}
 
namespace armarx
{
    enum class ArVizWidgetMode
    {
        NotConnected,
        Live,
        Recording,
        ReplayingManual,
        ReplayingTimed,
    };
 
    struct ArVizWidgetBatchCallback;
 
    /**
    \page RobotAPI-GuiPlugins-ArViz ArViz
    \brief The ArViz allows visualizing ...
 
    \image html ArViz.png
    The user can
 
    API Documentation \ref ArVizWidgetController
 
    \see ArVizGuiPlugin
    */
 
    /**
     * \class ArVizWidgetController
     * \brief ArVizWidgetController brief one line description
     *
     * Detailed description
     */
    struct ARMARXCOMPONENT_IMPORT_EXPORT ArVizWidgetController :
        armarx::ArmarXComponentWidgetControllerTemplate<ArVizWidgetController>
    {
        Q_OBJECT
 
    public:
        /// Controller Constructor
        explicit ArVizWidgetController();
 
        /// Controller destructor
        virtual ~ArVizWidgetController() override;
 
        void loadSettings(QSettings* settings) override;
        void saveSettings(QSettings* settings) override;
 
        QPointer<QDialog> getConfigDialog(QWidget* parent) override;
        void configured() override;
 
        SoNode* getScene() override;
 
        /// Returns the Widget name displayed in the ArmarXGui to create an instance of this class.
        static QString
        GetWidgetName()
        {
            return "Visualization.ArViz";
        }
 
        /// @see armarx::Component::onInitComponent()
        void onInitComponent() override;
        void onExitComponent() override;
 
        void onConnectComponent() override;
        void onDisconnectComponent() override;
 
        void onGetBatchAsync(viz::data::RecordingBatch const& batch);
 
    private slots:
        /* QT slot declarations */
        void updateLayers();
        void updateLayersFromProfile();
 
    signals:
        /* QT signal declarations */
 
        void connectGui();
        void disconnectGui();
 
 
    private:
        void onConnectGui();
        void onDisconnectGui();
 
        void layersChanged(std::vector<viz::CoinLayerID> const& layers);
        void layerTreeChanged(QTreeWidgetItem* item, int column);
        void updateSelectedLayer(QTreeWidgetItem* current, QTreeWidgetItem* previous);
 
        void onCollapseAll(bool);
        void onExpandAll(bool);
 
        void onHideAll(bool);
        void onShowAll(bool);
        void onHideFiltered(bool);
        void onShowFiltered(bool);
 
        void onFilterTextChanged(QString const& filter);
 
        void showAllLayers(bool visible);
        void showFilteredLayers(bool visible);
 
        void onDeselectElement();
        void onContextMenuClicked();
        void onInteractiveElementSelected(QListWidgetItem* item);
 
        void onUpdate();
        void onTimingObserverUpdate();
 
 
        // Record & Replay
 
        void onStartRecording();
        void onStopRecording();
 
        void onRefreshRecordings();
        void onRecordingSelectionChanged(QListWidgetItem* current, QListWidgetItem* previous);
 
        void onReplaySpinChanged(int newValue);
        void onReplaySliderChanged(int newValue);
 
        void selectRecording(viz::data::Recording const& recording);
 
        void onReplayStart(bool);
        void onReplayStop(bool);
        long replayToRevision(long revision);
        long getRevisionForTimestamp(long timestamp);
        void onReplayTimedStart(bool checked);
        void onReplayTimerTick();
        void exportToVRML();
 
        void changeMode(ArVizWidgetMode newMode);
        void enableWidgetAccordingToMode();
 
 
    private:
        std::unique_ptr<Ui::ArVizWidget> widget;
 
        QPointer<SimpleConfigDialog> configDialog;
 
        QTimer* updateTimer;
        viz::CoinVisualizer_UpdateTiming lastTiming;
        StringVariantBaseMap timingMap;
 
        QTimer* replayTimer;
        long replayCurrentTimestamp = 0;
        long lastReplayRealTime = 0;
 
        std::string storageName;
        armarx::viz::StorageInterfacePrx storage;
        std::string debugObserverName;
        DebugObserverInterfacePrx debugObserver;
 
        armarx::viz::CoinVisualizer visualizer;
        armarx::LayerInfoTree layerInfoTree;
 
        viz::data::RecordingSeq allRecordings;
 
        // Replay control
        viz::data::Recording currentRecording;
        long currentRevision = -1;
        long currentTimestamp = -1;
        bool currentRecordingSelected = false;
 
        // Recording batch cache
        struct TimestampedRecordingBatch
        {
            IceUtil::Time lastUsed;
            viz::data::RecordingBatch data;
        };
 
        viz::data::RecordingBatch const& getRecordingBatch(long index);
        void limitRecordingBatchCacheSize();
 
        std::size_t recordingBatchCacheMaxSize = 5;
        std::mutex recordingBatchCacheMutex;
        std::atomic<long> recordingWaitingForBatchIndex = -1;
        std::map<long, TimestampedRecordingBatch> recordingBatchCache;
 
        ArVizWidgetMode mode = ArVizWidgetMode::NotConnected;
 
        IceUtil::Handle<ArVizWidgetBatchCallback> callbackData;
        armarx::viz::Callback_StorageInterface_getRecordingBatchPtr callback;
        Ice::AsyncResultPtr callbackResult;
 
        std::vector<double> timings;
 
        ArvizProfileManagerWidget* arvizeProfileLayerWidget;
 
    public:
        static QIcon
        GetWidgetIcon()
        {
            return QIcon(":icons/ArViz.png");
        }
    };
} // namespace armarx