property_manager.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVIZ_PROPERTY_MANAGER_H
#define RVIZ_PROPERTY_MANAGER_H

#include <QObject>

#include "forwards.h"
#include "ros/assert.h"

#include <boost/bind.hpp>
#include <boost/thread/mutex.hpp>

#include <map>
#include <set>

namespace rviz
{

class Config;
class PropertyTreeWidget;
class PropertyBase;
class CategoryProperty;

class PropertyManager: public QObject
{
Q_OBJECT
public:
  PropertyManager();
  ~PropertyManager();

  template<typename T, typename G, typename S>
  boost::weak_ptr<T> createProperty(const std::string& name, const std::string& prefix, const G& getter, const S& setter, const CategoryPropertyWPtr& parent, void* user_data = NULL)
  {
    boost::shared_ptr<T> property(new T( name, prefix, parent, getter, setter ));
    addProperty(property, name, prefix, user_data);

    return boost::weak_ptr<T>(property);
  }

  void addProperty(const PropertyBasePtr& property, const std::string& name, const std::string& prefix, void* user_data);

  CategoryPropertyWPtr createCategory(const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent = CategoryPropertyWPtr(), void* user_data = NULL);

  CategoryPropertyWPtr createCheckboxCategory(const std::string& label, const std::string& name, const std::string& prefix, const boost::function<bool(void)>& getter,
                                              const boost::function<void(bool)>& setter, const CategoryPropertyWPtr& parent = CategoryPropertyWPtr(), void* user_data = NULL);

  StatusPropertyWPtr createStatus(const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent = CategoryPropertyWPtr(), void* user_data = NULL);

  bool hasProperty(const std::string& name, const std::string& prefix) { return properties_.find(std::make_pair(prefix, name)) != properties_.end(); }

  void deleteProperty( const PropertyBasePtr& property );
  void deleteProperty( const std::string& name, const std::string& prefix );
  void deleteByUserData( void* user_data );
  void deleteChildren( const PropertyBasePtr& property );

  void propertySet( const PropertyBasePtr& property );

  void save(const boost::shared_ptr<Config>& config);
  void load(const boost::shared_ptr<Config>& config, const StatusCallback& cb = StatusCallback());

  PropertyTreeWidget* getPropertyTreeWidget() { return grid_; }

  void changePrefix(const std::string& old_prefix, const std::string& new_prefix);

  void setPropertyTreeWidget(PropertyTreeWidget* grid);

  void setDefaultUserData(void* data) { default_user_data_ = data; }

  void refreshAll();
  void clear();
  void update();

  void emitConfigChanged();

Q_SIGNALS:
  void configChanged();

protected:
  PropertyTreeWidget* grid_;        //< The property grid associated with our properties

  typedef std::map< std::pair<std::string, std::string>, PropertyBasePtr > M_Property;
  M_Property properties_;       //< The properties, mapped by name + prefix

  boost::mutex changed_mutex_;
  typedef std::set<PropertyBaseWPtr> S_PropertyBaseWPtr;
  S_PropertyBaseWPtr changed_properties_;

  void* default_user_data_;

  boost::shared_ptr<Config> config_;
};

} // namespace rviz

#endif