StateInstance.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 "StateInstance.h"
 
#include <cmath>
 
#include "../State.h"
 
namespace armarx::statechartmodel
{
    const QSizeF StateInstance::StateDefaultSize = QSizeF(800, 600);
 
    StateInstance::StateInstance(const QString& instanceName, StatePtr parentState) :
        name(instanceName),
        parentState(parentState),
        position(QPointF(StateDefaultSize.toSize().width() * 0.1 +
                             rand() % StateDefaultSize.toSize().width() * 0.7,
                         StateDefaultSize.toSize().height() * 0.3 +
                             rand() % StateDefaultSize.toSize().height()) *
                 0.7),
        boundingSquareSize(defaultBoundingSquareSize)
    //    size(DEFAULTSIZE)
    //    scale(0.3f)
    {
    }
 
    QString
    StateInstance::getInstanceName() const
    {
        if (name.length() > 0)
        {
            return name;
        }
        else if (getStateClass())
        {
            return getStateClass()->getStateName();
        }
        else
        {
            return "Undefined";
        }
    }
 
    void
    StateInstance::setInstanceName(const QString& value)
    {
        if (name == value)
        {
            if (getParent())
            {
                emit getParent()->substateChanged(shared_from_this(), eUnchanged);
            }
        }
        else
        {
            name = value;
 
            if (getParent())
            {
                emit getParent()->substateChanged(shared_from_this(), eChanged);
            }
        }
    }
 
    const QPointF
    StateInstance::getCenter() const
    {
        QPointF newPosition =
            position + QPointF(boundingSquareSize * 0.5f, boundingSquareSize * 0.5f);
 
        return newPosition;
    }
 
    QRectF
    StateInstance::getBoundingSquare() const
    {
        QRectF result;
        result.setTopLeft(getTopLeft());
        result.setWidth(boundingSquareSize);
        result.setHeight(boundingSquareSize);
        return result;
    }
 
    //void StateInstance::setBounds(const QRectF &newBounds)
    //{
    //    ARMARX_INFO_S << "new bounds of " << getInstanceName();
    //    bounds = newBounds;
    //    if(parentState)
    //        emit parentState->substateChanged(shared_from_this(), eUpdated);
    //}
 
 
    QPointF
    StateInstance::adjustPosition(QPointF& newPos) const
    {
        auto parent = getParent();
        if (!parent)
        {
            return newPos;
        }
 
        QRectF rect(QPointF(0, 0), parent->getSize());
        QPointF oldPos = getTopLeft();
 
        auto rm = parent->margin.width();
        //    auto statewidth = getBoundingSquareSize();
        auto right = rect.right();
        auto left = rect.left();
        auto lm = parent->margin.left();
        auto bw = getBounds().width();
        newPos.setX(qMin(right - bw - rm, qMax(newPos.x(), left + lm)));
        newPos.setY(qMin(rect.bottom() - getBounds().height() - parent->margin.height(),
                         qMax(newPos.y(), rect.top() + parent->margin.top())));
 
        return oldPos;
    }
 
    void
    StateInstance::setPosition(QPointF newPosition)
    {
        if (std::isnan(newPosition.x()) || std::isnan(newPosition.y()))
        {
            ARMARX_WARNING_S << "new Position for " << getInstanceName()
                             << " contains NaN. wont set it";
            return;
        }
 
        adjustPosition(newPosition);
        if ((position - newPosition).manhattanLength() < 2)
        {
            //        ARMARX_INFO_S << getInstanceName() << ":UNCHANGED " << newPosition << "\n" << LogSender::CreateBackTrace();
 
            if (getParent())
            {
                emit getParent()->substateChanged(shared_from_this(), eUnchanged);
            }
            else
            {
                //            ARMARX_INFO << " No parent for state " << getInstanceName();
            }
        }
        else
        {
            //        ARMARX_INFO_S << getInstanceName() << ":CHANGED " << newPosition << "\n" << LogSender::CreateBackTrace();
            position = newPosition;
            //        ARMARX_INFO_S << getInstanceName() << ": " << position << ": " << newPosition << " Distance: " << (position - newPosition).manhattanLength();
            if (getParent())
            {
                emit getParent()->substateChanged(shared_from_this(), eChanged);
            }
            else
            {
                //            ARMARX_INFO << " No parent for state " << getInstanceName();
            }
        }
    }
 
    void
    StateInstance::setCenter(const QPointF& newStateCenter)
    {
        if (std::isnan(newStateCenter.x()) || std::isnan(newStateCenter.y()))
        {
            ARMARX_WARNING_S << "new Position for " << getInstanceName()
                             << " contains NaN. wont setting it";
            return;
        }
 
        //    ARMARX_INFO_S << getInstanceName() << ": " << position << ": " << newStateCenter;
 
 
        QPointF newPosition =
            newStateCenter - QPointF(boundingSquareSize * 0.5f, boundingSquareSize * 0.5f);
        setPosition(newPosition);
    }
 
    void
    StateInstance::setBoundingBox(float squareSize)
    {
        //    ARMARX_INFO << "new bb size: " << squareSize;
        if (boundingSquareSize == squareSize)
        {
            if (getParent())
            {
                emit getParent()->substateChanged(shared_from_this(), eUnchanged);
            }
        }
        else
        {
            boundingSquareSize = squareSize;
 
            if (getParent())
            {
                emit getParent()->substateChanged(shared_from_this(), eChanged);
            }
        }
    }
 
    void
    StateInstance::updateScale()
    {
        if (getParent())
        {
            emit getParent()->substateChanged(shared_from_this(), eChanged);
        }
    }
 
    //void StateInstance::setScale(float newScale)
    //{
    //    if(scale == newScale)
    //        return;
    ////    ARMARX_INFO_S << "new Scale: " << newScale;
    //    scale = newScale;
    //    if(parentState)
    //        emit parentState->substateChanged(shared_from_this(), eUpdated);
    //}
 
    QSizeF
    StateInstance::getClassSize() const
    {
        if (getStateClass())
        {
            return getStateClass()->getSize();
        }
        else
        {
            return StateInstance::StateDefaultSize;
        }
    }
 
    float
    StateInstance::getScale() const
    {
        float xRatio = boundingSquareSize / getClassSize().width();
        float yRatio = boundingSquareSize / getClassSize().height();
        return std::min(xRatio, yRatio);
    }
 
    bool
    statechartmodel::StateInstance::isActive()
    {
        //    return active;
        if (getParent() && getParent()->getActiveSubstate() == shared_from_this())
        {
            return true;
        }
        else
        {
            return false;
        }
    }
 
    //void statechartmodel::StateInstance::setActive(bool status)
    //{
    //    if (active != status)
    //    {
    //        active = status;
    //        emit getParent()->substateChanged(shared_from_this(), status ? eActivated : eDeactivated);
 
    //        if (!status && getStateClass())
    //        {
    //            // this does not work with orthogonal states
    //            getStateClass()->clearActiveSubstates();
    //        }
 
    //    }
    //    else
    //    {
    //        emit getParent()->substateChanged(shared_from_this(), eUnchanged);
    //    }
    //}
} // namespace armarx::statechartmodel