aseba: aseba: MainWindow.h Source File

00001 /*
00002         Aseba - an event-based framework for distributed robot control
00003         Copyright (C) 2007--2012:
00004                 Stephane Magnenat <stephane at magnenat dot net>
00005                 (http://stephane.magnenat.net)
00006                 and other contributors, see authors.txt for details
00007         
00008         This program is free software: you can redistribute it and/or modify
00009         it under the terms of the GNU Lesser General Public License as published
00010         by the Free Software Foundation, version 3 of the License.
00011         
00012         This program is distributed in the hope that it will be useful,
00013         but WITHOUT ANY WARRANTY; without even the implied warranty of
00014         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015         GNU Lesser General Public License for more details.
00016         
00017         You should have received a copy of the GNU Lesser General Public License
00018         along with this program. If not, see <http://www.gnu.org/licenses/>.
00019 */
00020 
00021 #ifndef MAINWINDOW_H
00022 #define MAINWINDOW_H
00023 
00024 #include <QMainWindow>
00025 #include <QString>
00026 #include <QMessageBox>
00027 #include <QItemSelection>
00028 #include <QTableView>
00029 #include <QSplitter>
00030 #include <QTextEdit>
00031 #include <QMultiMap>
00032 #include <QTabWidget>
00033 #include <QCloseEvent>
00034 #include <QFuture>
00035 #include <QFutureWatcher>
00036 #include <QToolButton>
00037 #include <QToolBar>
00038 #include <QCompleter>
00039 #include <QSortFilterProxyModel>
00040 #include <QSignalMapper>
00041 
00042 #include "AeslEditor.h"
00043 #include "CustomDelegate.h"
00044 #include "CustomWidgets.h"
00045 #include "ModelAggregator.h"
00046 
00047 #include "../compiler/compiler.h"
00048 #include <fstream>
00049 #include <sstream>
00050 #include <vector>
00051 #include <string>
00052 #include "Target.h"
00053 #include "TargetModels.h"
00054 #include "Plugin.h"
00055 #include "HelpViewer.h"
00056 #include "ConfigDialog.h"
00057 
00058 class QLabel;
00059 class QSpinBox;
00060 class QGroupBox;
00061 class QPushButton;
00062 class QListWidget;
00063 class QListWidgetItem;
00064 class QTreeView;
00065 class QTranslator;
00066 //class QTextBrowser;
00067 class QToolBox;
00068 class QCheckBox;
00069 
00070 namespace Aseba
00071 {
00074         
00075         class TargetVariablesModel;
00076         class TargetFunctionsModel;
00077         class TargetMemoryModel;
00078         class MaskableNamedValuesVectorModel;
00079         class NamedValuesVectorModel;
00080         class AeslEditor;
00081         class AeslLineNumberSidebar;
00082         class AeslBreakpointSidebar;
00083         class AeslHighlighter;
00084         class EventViewer;
00085         class EditorsPlotsTabWidget;
00086         class DraggableListWidget;
00087         class FindDialog;
00088         class MainWindow;
00089         
00090         class CompilationLogDialog: public QTextEdit
00091         {
00092                 Q_OBJECT
00093                 
00094         public:
00095                 CompilationLogDialog(QWidget *parent = 0);
00096         signals:
00097                 void hidden();
00098         protected:
00099                 virtual void hideEvent ( QHideEvent * event );
00100         };
00101 
00102         class EditorsPlotsTabWidget: public QTabWidget
00103         {
00104                 Q_OBJECT
00105 
00106         public:
00107                 EditorsPlotsTabWidget();
00108                 virtual ~EditorsPlotsTabWidget();
00109                 void addTab(QWidget* widget, const QString& label, bool closable = false);
00110                 void highlightTab(int index, QColor color = Qt::red);
00111                 void setExecutionMode(int index, Target::ExecutionMode state);
00112 
00113         public slots:
00114                 void removeAndDeleteTab(int index = -1);
00115 
00116         protected slots:
00117                 void vmMemoryResized(int, int, int);            // for vmMemoryView QTreeView child widget
00118                 void tabChanged(int index);
00119 
00120         protected:
00121                 virtual void resetHighlight(int index);
00122                 virtual void vmMemoryViewResize(NodeTab* tab);
00123                 virtual void readSettings();
00124                 virtual void writeSettings();
00125 
00126                 int vmMemorySize[2];
00127         };
00128                 
00129         class ScriptTab
00130         {
00131         public:
00132                 typedef NodeToolInterface::SavedContent SavedContent;
00133                 typedef QList<SavedContent> SavedPlugins;
00134                 
00135                 ScriptTab(const unsigned id):id(id) {}
00136                 virtual ~ScriptTab() {}
00137                 
00138                 unsigned nodeId() const { return id; }
00139                 virtual SavedPlugins savePlugins() const = 0;
00140                 
00141         protected:
00142                 void createEditor();
00143                 
00144                 unsigned id; 
00145                 
00146                 friend class MainWindow;
00147                 AeslEditor* editor;
00148                 AeslLineNumberSidebar* linenumbers;
00149                 AeslBreakpointSidebar* breakpoints;
00150                 AeslHighlighter *highlighter;
00151         };
00152         
00153         class AbsentNodeTab : public QWidget, public ScriptTab
00154         {
00155                 Q_OBJECT
00156                 
00157         public:
00158                 AbsentNodeTab(const unsigned id, const QString& name, const QString& sourceCode, const SavedPlugins& savedPlugins);
00159                 
00160                 virtual SavedPlugins savePlugins() const { return savedPlugins; }
00161         
00162                 const QString name;
00163                 SavedPlugins savedPlugins;
00164         };
00165         
00166         class NodeTab : public QSplitter, public ScriptTab, public VariableListener
00167         {
00168                 Q_OBJECT
00169         
00170         public:
00171                 struct CompilationResult
00172                 {
00173                         bool dump;
00174                         bool success;
00175                         BytecodeVector bytecode;
00176                         unsigned allocatedVariablesCount;
00177                         Compiler::VariablesMap variablesMap;
00178                         Error error;
00179                         std::wostringstream compilationMessages;
00180                         
00181                         CompilationResult(bool dump):dump(dump) {}
00182                 };
00183                 
00184                 
00185         public:
00186                 NodeTab(MainWindow* mainWindow, Target *target, const CommonDefinitions *commonDefinitions, int id, QWidget *parent = 0);
00187                 ~NodeTab();
00188                 unsigned productId() const  { return pid; }
00189                 
00190                 void variablesMemoryChanged(unsigned start, const VariablesDataVector &variables);
00191                 
00192         signals:
00193                 void uploadReadynessChanged(bool);
00194         
00195         protected:
00196                 virtual void timerEvent ( QTimerEvent * event );
00197                 virtual void variableValueUpdated(const QString& name, const VariablesDataVector& values);
00198                 void setupWidgets();
00199                 void setupConnections();
00200                 virtual SavedPlugins savePlugins() const;
00201                 void restorePlugins(const SavedPlugins& savedPlugins, bool fromFile);
00202                 void updateToolList();
00203         
00204         public slots:
00205                 void clearExecutionErrors();
00206                 void refreshCompleterModel(LocalContext context);
00207                 //void sortCompleterModel();
00208         
00209         protected slots:
00210                 void resetClicked();
00211                 void loadClicked();
00212                 void runInterruptClicked();
00213                 void nextClicked();
00214                 void refreshMemoryClicked();
00215                 void autoRefreshMemoryClicked(int state);
00216                 
00217                 void writeBytecode();
00218                 void reboot();
00219                 void saveBytecode();
00220                 
00221                 void setVariableValues(unsigned, const VariablesDataVector &);
00222                 void insertVariableName(const QModelIndex &);
00223                 
00224                 void editorContentChanged();
00225                 void recompile();
00226                 void markTargetUnsynced();
00227         
00228                 // keywords
00229                 void keywordClicked(QString);           
00230 //              void varButtonClicked();
00231 //              void ifButtonClicked();
00232 //              void elseifButtonClicked();
00233 //              void elseButtonClicked();
00234 //              void oneventButtonClicked();
00235 //              void whileButtonClicked();
00236 //              void forButtonClicked();
00237 //              void subroutineButtonClicked();
00238 //              void callsubButtonClicked();
00239                 void showKeywords(bool show);
00240 
00241                 void showMemoryUsage(bool show);
00242                 
00243                 void displayCode(QList<QString> code, int line);
00244                 
00245                 void cursorMoved();
00246                 void goToError();
00247                 
00248                 void setBreakpoint(unsigned line);
00249                 void clearBreakpoint(unsigned line);
00250                 void breakpointClearedAll();
00251                 
00252                 void executionPosChanged(unsigned line);
00253                 void executionModeChanged(Target::ExecutionMode mode);
00254                 
00255                 void breakpointSetResult(unsigned line, bool success);
00256                 
00257                 void closePlugins();
00258                 
00259                 void updateHidden();
00260                 
00261                 void compilationCompleted();
00262         
00263         protected:
00264                 void processCompilationResult(CompilationResult* result);
00265                 void rehighlight();
00266                 void reSetBreakpoints();
00267                 
00268                 // editor properties code
00269                 bool setEditorProperty(const QString &property, const QVariant &value, unsigned line, bool removeOld = false);
00270                 bool clearEditorProperty(const QString &property, unsigned line);
00271                 bool clearEditorProperty(const QString &property);
00272                 void switchEditorProperty(const QString &oldProperty, const QString &newProperty);
00273                 
00274         protected:
00275                 friend class MainWindow;
00276                 friend class AeslEditor;
00277                 friend class EditorsPlotsTabWidget;
00278                 
00279                 unsigned pid; 
00280                 friend class InvasivePlugin;
00281                 Target *target; 
00282                 const CommonDefinitions *commonDefinitions; 
00283 
00284                 MainWindow* mainWindow;
00285                 QLabel *cursorPosText;
00286                 QLabel *compilationResultImage;
00287                 QLabel *compilationResultText;
00288                 QLabel *memoryUsageText;
00289                 
00290                 QLabel *executionModeLabel;
00291                 QPushButton *loadButton;
00292                 QPushButton *resetButton;
00293                 QPushButton *runInterruptButton;
00294                 QPushButton *nextButton;
00295                 QPushButton *refreshMemoryButton;
00296                 QCheckBox *autoRefreshMemoryCheck;
00297                 
00298                                 
00299                 // keywords // Jiwon
00300                 QToolButton *varButton;
00301                 QToolButton *ifButton;
00302                 QToolButton *elseifButton;
00303                 QToolButton *elseButton;
00304                 QToolButton *oneventButton;
00305                 QToolButton *whileButton;
00306                 QToolButton *forButton;
00307                 QToolButton *subroutineButton;
00308                 QToolButton *callsubButton;
00309                 QToolBar *keywordsToolbar;
00310                 QSignalMapper *signalMapper;
00311                 
00312                 TargetVariablesModel *vmMemoryModel;
00313                 QTreeView *vmMemoryView;
00314                 QLineEdit *vmMemoryFilter;
00315                 
00316                 TargetFunctionsModel *vmFunctionsModel;
00317                 QTreeView *vmFunctionsView;
00318                 
00319                 DraggableListWidget* vmLocalEvents;
00320 
00321                 QCompleter *completer;
00322                 QAbstractItemModel* eventAggregator;
00323                 QAbstractItemModel* variableAggregator;
00324                 QSortFilterProxyModel* sortingProxy;
00325                 TreeChainsawFilter* functionsFlatModel;
00326                 
00327                 QToolBox* toolBox;
00328                 QVBoxLayout* toolListLayout;
00329                 int toolListIndex;
00330                 NodeToolInterfaces tools;
00331                 
00332                 int refreshTimer; 
00333                 
00334                 bool rehighlighting; 
00335                 int errorPos; 
00336                 int currentPC; 
00337                 Target::ExecutionMode previousMode;
00338                 bool firstCompilation; 
00339                 bool showHidden;
00340                 
00341                 QFuture<CompilationResult*> compilationFuture;
00342                 QFutureWatcher<CompilationResult*> compilationWatcher;
00343                 bool compilationDirty;
00344                 bool isSynchronized;
00345                 
00346                 BytecodeVector bytecode; 
00347                 unsigned allocatedVariablesCount; 
00348         };
00349 
00350         class NewNamedValueDialog : public QDialog
00351         {
00352                 Q_OBJECT
00353 
00354         public:
00355                 NewNamedValueDialog(QString* name, int* value, int min, int max);
00356                 static bool getNamedValue(QString* name, int* value, int min, int max, QString title, QString valueName, QString valueDescription);
00357 
00358         protected slots:
00359                 void okSlot();
00360                 void cancelSlot();
00361 
00362         protected:
00363                 QLabel* label1;
00364                 QLineEdit* line1;
00365                 QLabel* label2;
00366                 QSpinBox* line2;
00367 
00368                 QString* name;
00369                 int* value;
00370         };
00371 
00372         class MainWindow : public QMainWindow
00373         {
00374                 Q_OBJECT
00375         
00376         public:
00377                 MainWindow(QVector<QTranslator*> translators, const QString& commandLineTarget, bool autoRefresh, QWidget *parent = 0);
00378                 ~MainWindow();
00379 
00380         signals:
00381                 void MainWindowClosed();
00382                 
00383         private slots:
00384                 void about();
00385                 bool newFile();
00386                 void openFile(const QString &path = QString());
00387                 void openRecentFile();
00388                 bool save();
00389                 bool saveFile(const QString &previousFileName = QString());
00390                 void exportMemoriesContent();
00391                 void importMemoriesContent();
00392                 void copyAll();
00393                 void findTriggered();
00394                 void replaceTriggered();
00395                 void commentTriggered();
00396                 void uncommentTriggered();
00397                 void showLineNumbersChanged(bool state);
00398                 void goToLine();
00399                 void showSettings();
00400                 void showHidden(bool show);
00401                 void showKeywords(bool show);
00402 
00403                 void toggleBreakpoint();
00404                 void clearAllBreakpoints();
00405                 
00406                 void loadAll();
00407                 void resetAll();
00408                 void runAll();
00409                 void pauseAll();
00410                 void stopAll();
00411                 
00412                 void clearAllExecutionError();
00413                 
00414                 void uploadReadynessChanged();
00415                 void tabChanged(int);
00416                 void sendEvent();
00417                 void sendEventIf(const QModelIndex &);
00418                 void toggleEventVisibleButton(const QModelIndex &);
00419                 void plotEvent();
00420                 void eventContextMenuRequested(const QPoint & pos);
00421                 void plotEvent(const unsigned eventId);
00422                 void logEntryDoubleClicked(QListWidgetItem *);
00423                 void showCompilationMessages(bool doShown);
00424                 void compilationMessagesWasHidden();
00425                 void showMemoryUsage(bool show);
00426                 
00427                 void addEventNameClicked();
00428                 void removeEventNameClicked();
00429                 void eventsUpdated(bool indexChanged = false);
00430                 void eventsUpdatedDirty();
00431                 void eventsDescriptionsSelectionChanged();
00432                 
00433                 void resetStatusText(); // Jiwon
00434                 
00435                 void addConstantClicked();
00436                 void removeConstantClicked();
00437                 void constantsSelectionChanged();
00438                 
00439                 void nodeConnected(unsigned node);
00440                 void nodeDisconnected(unsigned node);
00441                 void networkDisconnected();
00442                 
00443                 void userEventsDropped(unsigned amount);
00444                 void userEvent(unsigned id, const VariablesDataVector &data);
00445                 void arrayAccessOutOfBounds(unsigned node, unsigned line, unsigned size, unsigned index);
00446                 void divisionByZero(unsigned node, unsigned line);
00447                 void eventExecutionKilled(unsigned node, unsigned line);
00448                 void nodeSpecificError(unsigned node, unsigned line, const QString& message);
00449                 
00450                 void executionPosChanged(unsigned node, unsigned line);
00451                 void executionModeChanged(unsigned node, Target::ExecutionMode mode);
00452                 void variablesMemoryEstimatedDirty(unsigned node);
00453                 
00454                 void variablesMemoryChanged(unsigned node, unsigned start, const VariablesDataVector &variables);
00455                 
00456                 void breakpointSetResult(unsigned node, unsigned line, bool success);
00457         
00458                 void recompileAll();
00459                 void writeAllBytecodes();
00460                 void rebootAllNodes();
00461                 
00462                 void sourceChanged();
00463                 void updateWindowTitle();
00464 
00465                 void showUserManual();
00466                 
00467                 void openToUrlFromAction() const;
00468 
00469         public slots:
00470                 void applySettings();
00471         
00472         private:
00473                 virtual void timerEvent ( QTimerEvent * event );
00474                 
00475                 // utility functions
00476                 int getIndexFromId(unsigned node) const;
00477                 NodeTab* getTabFromId(unsigned node) const;
00478                 NodeTab* getTabFromName(const QString& name, unsigned preferedId = 0) const;
00479                 int getAbsentIndexFromId(unsigned node) const;
00480                 AbsentNodeTab* getAbsentTabFromId(unsigned node) const;
00481                 void addErrorEvent(unsigned node, unsigned line, const QString& message);
00482                 void clearDocumentSpecificTabs();
00483                 bool askUserBeforeDiscarding();
00484                 
00485                 // gui initialisation code
00486                 void regenerateOpenRecentMenu();
00487                 void updateRecentFiles(const QString& fileName);
00488                 void regenerateToolsMenus();
00489                 void generateHelpMenu();
00490                 void regenerateHelpMenu();
00491                 void setupWidgets();
00492                 void setupConnections();
00493                 void setupMenu();
00494                 void closeEvent ( QCloseEvent * event );
00495                 bool readSettings();
00496                 void writeSettings();
00497                 
00498                 // tabs and nodes
00499                 friend class NodeTab;
00500                 friend class AeslEditor;
00501                 friend class InvasivePlugin;            
00502                 EditorsPlotsTabWidget* nodes;
00503                 ScriptTab* currentScriptTab;
00504                 int getDescriptionTimer;
00505                 
00506                 #ifdef HAVE_QWT
00507                 
00508                 // events viewers. only one event per viewer
00509                 friend class EventViewer;
00510                 typedef QMultiMap<unsigned, EventViewer*> EventViewers;
00511                 EventViewers eventsViewers;
00512                 
00513                 #endif // HAVE_QWT
00514                 
00515                 // events
00516                 QPushButton* addEventNameButton;
00517                 QPushButton* removeEventNameButton;
00518                 QPushButton* sendEventButton;
00519                 #ifdef HAVE_QWT
00520                 QPushButton* plotEventButton;
00521                 #endif // HAVE_QWT
00522                 QListWidget* logger;
00523                 QPushButton* clearLogger;
00524                 QLabel* statusText; // Jiwon
00525                 FixedWidthTableView* eventsDescriptionsView;
00526                 
00527                 // constants
00528                 QPushButton* addConstantButton;
00529                 QPushButton* removeConstantButton;
00530                 FixedWidthTableView* constantsView;
00531                 
00532                 // models
00533                 MaskableNamedValuesVectorModel* eventsDescriptionsModel;
00534                 NamedValuesVectorModel* constantsDefinitionsModel;
00535                 
00536                 // global buttons
00537                 QAction* loadAllAct;
00538                 QAction* resetAllAct;
00539                 QAction* runAllAct;
00540                 QAction* pauseAllAct;
00541                 QToolBar* globalToolBar;
00542                 
00543                 // open recent actions
00544                 QMenu *openRecentMenu;
00545                 
00546                 // tools
00547                 QMenu *writeBytecodeMenu;
00548                 QAction *writeAllBytecodesAct;
00549                 QMenu *rebootMenu;
00550                 QMenu *saveBytecodeMenu;
00551                 QMenu *helpMenu;
00552                 typedef QList<QAction*> ActionList;
00553                 QAction* helpMenuTargetSpecificSeparator;
00554                 ActionList targetSpecificHelp;
00555                 
00556                 // Menu action that need dynamic reconnection
00557                 QAction *cutAct;
00558                 QAction *copyAct;
00559                 QAction *pasteAct;
00560                 QAction *undoAct;
00561                 QAction *redoAct;
00562                 QAction *findAct;
00563                 QAction *replaceAct;
00564                 QAction *commentAct;
00565                 QAction *uncommentAct;
00566                 QAction *showLineNumbers;
00567                 QAction *goToLineAct;
00568                 QAction *toggleBreakpointAct;
00569                 QAction *clearAllBreakpointsAct;
00570                 QAction *showHiddenAct;
00571                 QAction *showKeywordsAct; 
00572                 QAction* showCompilationMsg;
00573                 QAction* showMemoryUsageAct;
00574                 
00575                 // gui helper stuff
00576                 CompilationLogDialog *compilationMessageBox; 
00577                 FindDialog* findDialog; 
00578                 QString actualFileName; 
00579                 bool sourceModified; 
00580                 bool autoMemoryRefresh; 
00581                 HelpViewer helpViewer;
00582                 
00583                 // compiler and source code related stuff
00584                 CommonDefinitions commonDefinitions;
00585                 Target *target;
00586         };
00587         
00589 }; // Aseba
00590 
00591 #endif
00592