view_manager.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <stdio.h>

#include <sstream>

#include "rviz/display_context.h"
#include "rviz/failed_view_controller.h"
#include "rviz/properties/enum_property.h"
#include "rviz/properties/property_tree_model.h"
#include "rviz/render_panel.h"
#include "rviz/view_controller.h"

#include "rviz/view_manager.h"

namespace rviz
{

ViewManager::ViewManager( DisplayContext* context )
  : context_( context )
  , root_property_( new ViewControllerContainer )
  , property_model_( new PropertyTreeModel( root_property_ ))
  , factory_( new PluginlibFactory<ViewController>( "rviz", "rviz::ViewController" ))
  , current_( NULL )
  , render_panel_( NULL )
{
  property_model_->setDragDropClass( "view-controller" );
  connect( property_model_, SIGNAL( configChanged() ), this, SIGNAL( configChanged() ));
}

ViewManager::~ViewManager()
{
  delete property_model_;
  delete factory_;
}

void ViewManager::initialize()
{
  setCurrent( create( "rviz/Orbit" ), false );
}

void ViewManager::update( float wall_dt, float ros_dt )
{
  if( getCurrent() )
  {
    getCurrent()->update( wall_dt, ros_dt );
  }
}

ViewController* ViewManager::create( const QString& class_id )
{
  QString error;
  ViewController* view = factory_->make( class_id, &error );
  if( !view )
  {
    view = new FailedViewController( class_id, error );
  }
  view->initialize( context_ );

  return view;
}

ViewController* ViewManager::getCurrent() const
{
  return current_;
}

void ViewManager::setCurrentFrom( ViewController* source_view )
{
  if( source_view == NULL )
  {
    return;
  }

  ViewController* previous = getCurrent();
  if( source_view != previous )
  {
    ViewController* new_current = copy( source_view );

    setCurrent( new_current, false );
    Q_EMIT configChanged();
  }
}

void ViewManager::onCurrentDestroyed( QObject* obj )
{
  if( obj == current_ )
  {
    current_ = NULL;
  }
}

void ViewManager::setCurrent( ViewController* new_current, bool mimic_view )
{
  ViewController* previous = getCurrent();
  if( previous )
  {
    if( mimic_view )
    {
      new_current->mimic( previous );
    }
    else
    {
      new_current->transitionFrom( previous );
    }
    disconnect( previous, SIGNAL( destroyed( QObject* )), this, SLOT( onCurrentDestroyed( QObject* )));
  }
  new_current->setName( "Current View" );
  connect( new_current, SIGNAL( destroyed( QObject* )), this, SLOT( onCurrentDestroyed( QObject* )));
  current_ = new_current;
  root_property_->addChildToFront( new_current );
  delete previous;

  if( render_panel_ )
  {
    // This setViewController() can indirectly call
    // ViewManager::update(), so make sure getCurrent() will return the
    // new one by this point.
    render_panel_->setViewController( new_current );
  }
  Q_EMIT currentChanged();
}

void ViewManager::setCurrentViewControllerType( const QString& new_class_id )
{
  setCurrent( create( new_class_id ), true );
}

void ViewManager::copyCurrentToList()
{
  ViewController* current = getCurrent();
  if( current )
  {
    ViewController* new_copy = copy( current );
    new_copy->setName( factory_->getClassName( new_copy->getClassId() ));
    root_property_->addChild( new_copy );
  }
}

ViewController* ViewManager::getViewAt( int index ) const
{
  if( index < 0 )
  {
    index = 0;
  }
  return qobject_cast<ViewController*>( root_property_->childAt( index + 1 ));
}

int ViewManager::getNumViews() const
{
  int count = root_property_->numChildren();
  if( count <= 0 )
  {
    return 0;
  }
  else
  {
    return count-1;
  }
}

void ViewManager::add( ViewController* view, int index )
{
  if( index < 0 )
  {
    index = root_property_->numChildren();
  }
  else
  {
    index++;
  }
  property_model_->getRoot()->addChild( view, index );
}

ViewController* ViewManager::take( ViewController* view )
{
  for( int i = 0; i < getNumViews(); i++ )
  {
    if( getViewAt( i ) == view )
    {
      return qobject_cast<ViewController*>( root_property_->takeChildAt( i + 1 ));
    }
  }
  return NULL;
}

ViewController* ViewManager::takeAt( int index )
{
  if( index < 0 )
  {
    return NULL;
  }
  return qobject_cast<ViewController*>( root_property_->takeChildAt( index + 1 ));
}

void ViewManager::load( const Config& config )
{
  Config current_config = config.mapGetChild( "Current" );
  QString class_id;
  if( current_config.mapGetString( "Class", &class_id ))
  {
    ViewController* new_current = create( class_id );
    new_current->load( current_config );
    setCurrent( new_current, false );
  }

  Config saved_views_config = config.mapGetChild( "Saved" );
  root_property_->removeChildren( 1 );
  int num_saved = saved_views_config.listLength();
  for( int i = 0; i < num_saved; i++ )
  {
    Config view_config = saved_views_config.listChildAt( i );

    if( view_config.mapGetString( "Class", &class_id ))
    {
      ViewController* view = create( class_id );
      view->load( view_config );
      add( view );
    }
  }
}

void ViewManager::save( Config config ) const
{
  getCurrent()->save( config.mapMakeChild( "Current" ));

  Config saved_views_config = config.mapMakeChild( "Saved" );
  for( int i = 0; i < getNumViews(); i++ )
  {
    getViewAt( i )->save( saved_views_config.listAppendNew() );
  }
}

ViewController* ViewManager::copy( ViewController* source )
{
  Config config;
  source->save( config );

  ViewController* copy_of_source = create( source->getClassId() );
  copy_of_source->load( config );

  return copy_of_source;
}

void ViewManager::setRenderPanel( RenderPanel* render_panel )
{
  render_panel_ = render_panel;
}

Qt::ItemFlags ViewControllerContainer::getViewFlags( int column ) const
{
  return Property::getViewFlags( column ) | Qt::ItemIsDropEnabled;
}

void ViewControllerContainer::addChild( Property* child, int index )
{
  if( index == 0 )
  {
    index = 1;
  }
  Property::addChild( child, index );
}

void ViewControllerContainer::addChildToFront( Property* child )
{
  Property::addChild( child, 0 );
}

} // end namespace rviz