MappingRemoteGui.cpp

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#include "MappingRemoteGui.h"
 
#include "ArmarXCore/core/time/CycleUtil.h"
#include "ArmarXCore/statechart/ParameterMapping.h"
#include <ArmarXCore/core/PackagePath.h>
 
#include "ArmarXGui/libraries/RemoteGui/WidgetBuilder/IntegerWidgets.h"
#include "ArmarXGui/libraries/RemoteGui/WidgetBuilder/LayoutWidgets.h"
#include "ArmarXGui/libraries/RemoteGui/WidgetBuilder/StaticWidgets.h"
#include <ArmarXGui/interface/RemoteGuiInterface.h>
#include <ArmarXGui/libraries/RemoteGui/WidgetBuilder/StringWidgets.h>
#include <ArmarXGui/libraries/RemoteGui/WidgetProxy.h>
 
namespace armarx::localization_and_mapping::components::cartographer_localization_and_mapping
{
 
    namespace gui = RemoteGui;
 
    MappingRemoteGui::MappingRemoteGui(const RemoteGuiInterfacePrx& remoteGui,
                                       RemoteGuiCallee& callee,
                                       const Params& params) :
        remoteGui(remoteGui),
        runningTask(new RunningTask<MappingRemoteGui>(this, &MappingRemoteGui::run)),
        callee(callee),
        params(params)
    {
        createRemoteGuiTab();
 
        tab = RemoteGui::TabProxy(remoteGui, params.remoteGuiTabName);
 
        runningTask->start();
    }
 
    void
    MappingRemoteGui::createRemoteGuiTab()
    {
        ARMARX_CHECK_NOT_NULL(remoteGui); // createRemoteGui() has to be called first
 
        auto boxLayout = gui::makeVBoxLayout();
 
        {
            const gui::WidgetPtr label = gui::makeTextLabel(
                "Use this button to create a map after you collected enough data:");
            const gui::WidgetPtr button =
                gui::makeButton(CREATE_MAP_BUTTON).toolTip("Create and save the map.");
            const gui::WidgetPtr line = gui::makeHBoxLayout().children({label, button});
            boxLayout.addChild(line);
        }
 
        // Package path where to store map
        {
            const gui::WidgetPtr label = gui::makeTextLabel("Output directory:");
 
            const auto package = gui::makeLineEdit(outputDirPackageField)
                                     .value(params.mapStorageDir.serialize().package);
            const auto path =
                gui::makeLineEdit(outputDirPathField).value(params.mapStorageDir.serialize().path);
 
            const gui::WidgetPtr line = gui::makeHBoxLayout().children({label, package, path});
            boxLayout.addChild(line);
        }
 
 
        remoteGui->createTab(params.remoteGuiTabName, boxLayout);
    }
 
    void
    MappingRemoteGui::run()
    {
        constexpr int kCycleDurationMs = 100;
 
        CycleUtil c(kCycleDurationMs);
        while (!runningTask->isStopped())
        {
            tab.receiveUpdates();
 
            handleEvents(tab);
 
            tab.sendUpdates();
 
            c.waitForCycleDuration();
        }
    }
 
    void
    MappingRemoteGui::handleEvents(RemoteGui::TabProxy& tab)
    {
        // Detect button clicks and update the counter accordingly
        const RemoteGui::ButtonProxy createMapButton = tab.getButton(CREATE_MAP_BUTTON);
 
 
        if (createMapButton.clicked())
        {
            const RemoteGuiCallee::ButtonClickContext ctx{
                .mapStorageDir =
                    armarx::PackagePath{tab.getValue<std::string>(outputDirPackageField).get(),
                                        tab.getValue<std::string>(outputDirPathField).get()}};
                                        
            callee.onCreateMapButtonClicked(ctx);
        }
    }
 
    void
    MappingRemoteGui::shutdown()
    {
 
        if (!runningTask->isStopped())
        {
            runningTask->stop();
        }
 
        ARMARX_DEBUG << "Removing tab: " << params.remoteGuiTabName;
        remoteGui->removeTab(params.remoteGuiTabName);
    }
 
    void
    MappingRemoteGui::enable()
    {
        tab.internalSetDisabled(CREATE_MAP_BUTTON, false);
    }
 
    void
    MappingRemoteGui::disable()
    {
        tab.internalSetDisabled(CREATE_MAP_BUTTON, true);
    }
 
} // namespace armarx::localization_and_mapping::components::cartographer_localization_and_mapping