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00030 #ifndef RVIZ_VISUALIZATION_FRAME_H
00031 #define RVIZ_VISUALIZATION_FRAME_H
00032
00033 #include <QMainWindow>
00034 #include <QList>
00035
00036 #include <string>
00037 #include <deque>
00038 #include <set>
00039 #include <boost/shared_ptr.hpp>
00040
00041 #include <pluginlib/class_loader.h>
00042
00043 #include "rviz/window_manager_interface.h"
00044 #include "rviz/config.h"
00045 #include "rviz/panel.h"
00046
00047 class QSplashScreen;
00048 class QAction;
00049 class QActionGroup;
00050 class QTimer;
00051
00052 namespace rviz
00053 {
00054
00055 class PanelDockWidget;
00056 class RenderPanel;
00057 class DisplaysPanel;
00058 class ViewsPanel;
00059 class TimePanel;
00060 class SelectionPanel;
00061 class ToolPropertiesPanel;
00062 class VisualizationManager;
00063 class Tool;
00064 class HelpPanel;
00065 class WidgetGeometryChangeDetector;
00066
00076 class VisualizationFrame : public QMainWindow, public WindowManagerInterface
00077 {
00078 Q_OBJECT
00079 public:
00080 VisualizationFrame( QWidget* parent = 0 );
00081 ~VisualizationFrame();
00082
00083 void initialize( const std::string& display_config_file = "",
00084 const std::string& fixed_frame = "",
00085 const std::string& target_frame = "",
00086 const std::string& splash_path = "",
00087 const std::string& help_path = "",
00088 bool verbose = false,
00089 bool show_choose_new_master_option = false );
00090
00091 VisualizationManager* getManager() { return manager_; }
00092
00093
00094 virtual QWidget* getParentWindow();
00095 virtual PanelDockWidget* addPane( const std::string& name,
00096 QWidget* panel,
00097 Qt::DockWidgetArea area = Qt::LeftDockWidgetArea,
00098 bool floating = true );
00099
00100 public Q_SLOTS:
00103 void setDisplayConfigModified();
00104
00105 protected Q_SLOTS:
00106 void onOpen();
00107 void save();
00108 void saveAs();
00109 void onSaveImage();
00110 void onRecentConfigSelected();
00111 void onHelpWiki();
00112 void openNewPanelDialog();
00113 void showHelpPanel();
00114
00117 void onToolbarActionTriggered( QAction* action );
00118
00124 void addTool(Tool* tool);
00125
00130 void indicateToolIsCurrent(Tool* tool);
00131
00135 void changeMaster();
00136
00139 void onPanelRemoved( QObject* panel );
00140
00145 void onDeletePanel();
00146
00147 protected Q_SLOTS:
00149 void markLoadingDone();
00150
00152 void setImageSaveDirectory( const QString& directory );
00153
00154 protected:
00159 void initConfigs( const std::string& display_config_file_override );
00160
00161 void initMenus();
00162
00165 bool prepareToExit();
00166
00167 virtual void moveEvent( QMoveEvent* event );
00168 virtual void closeEvent( QCloseEvent* event );
00169
00170 void setSplashStatus( const std::string& status );
00171
00172 void markRecentConfig(const std::string& path);
00173 void updateRecentConfigMenu();
00174
00175 QRect hackedFrameGeometry();
00176
00177 PanelDockWidget* addCustomPanel( const std::string& name,
00178 const std::string& class_lookup_name,
00179 Qt::DockWidgetArea area = Qt::LeftDockWidgetArea,
00180 bool floating = true );
00181
00182 void loadCustomPanels( const boost::shared_ptr<Config>& config );
00183 void saveCustomPanels( const boost::shared_ptr<Config>& config );
00184
00185 void loadWindowGeometry( const boost::shared_ptr<Config>& config );
00186 void saveWindowGeometry( const boost::shared_ptr<Config>& config );
00187
00192 void loadGeneralConfig();
00193
00198 void saveGeneralConfig();
00199
00202 void loadDisplayConfig( const std::string& path );
00203
00210 bool saveDisplayConfig( const std::string& path );
00211
00212 QString getErrorMessage() const { return error_message_; }
00213
00218 void setDisplayConfigFile( const std::string& path );
00219
00220 RenderPanel* render_panel_;
00221 DisplaysPanel* displays_panel_;
00222 ViewsPanel* views_panel_;
00223 TimePanel* time_panel_;
00224 SelectionPanel* selection_panel_;
00225 ToolPropertiesPanel* tool_properties_panel_;
00226
00227 HelpPanel* help_panel_;
00228 QAction* show_help_action_;
00229
00230 std::string config_dir_;
00231 std::string general_config_file_;
00232 std::string display_config_file_;
00233 std::string default_display_config_file_;
00234 std::string last_config_dir_;
00235 std::string last_image_dir_;
00236 std::string home_dir_;
00237
00238 QMenu* file_menu_;
00239 QMenu* recent_configs_menu_;
00240 QMenu* view_menu_;
00241 QMenu* delete_view_menu_;
00242 QMenu* plugins_menu_;
00243 QList<QAction*> view_menu_actions_;
00244
00245 QToolBar* toolbar_;
00246
00247 VisualizationManager* manager_;
00248
00249 std::string package_path_;
00250 std::string help_path_;
00251
00252 QSplashScreen* splash_;
00253
00254 typedef std::deque<std::string> D_string;
00255 D_string recent_configs_;
00256
00257 QPoint first_position_;
00258 QPoint position_correction_;
00259 int num_move_events_;
00260 QActionGroup* toolbar_actions_;
00261 std::map<QAction*,Tool*> action_to_tool_map_;
00262 std::map<Tool*,QAction*> tool_to_action_map_;
00263 bool show_choose_new_master_option_;
00264
00265 typedef std::set<std::string> S_string;
00266 S_string panel_names_;
00267 pluginlib::ClassLoader<Panel>* panel_class_loader_;
00268
00269 struct PanelRecord
00270 {
00271 Panel* panel;
00272 PanelDockWidget* dock;
00273 std::string name;
00274 std::string lookup_name;
00275 QAction* delete_action;
00276 };
00277 typedef std::map<std::string, PanelRecord> M_PanelRecord;
00278 M_PanelRecord custom_panels_;
00279 bool initialized_;
00280 WidgetGeometryChangeDetector* geom_change_detector_;
00281 bool loading_;
00282 QTimer* post_load_timer_;
00283
00284 QString error_message_;
00285 };
00286
00287 }
00288
00289 #endif // RVIZ_VISUALIZATION_FRAME_H