stdr_robot_creator_connector.h

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/******************************************************************************
   STDR Simulator - Simple Two DImensional Robot Simulator
   Copyright (C) 2013 STDR Simulator
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 3 of the License, or
   (at your option) any later version.
   This program 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, write to the Free Software Foundation,
   Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
   
   Authors : 
   * Manos Tsardoulias, etsardou@gmail.com
   * Aris Thallas, aris.thallas@gmail.com
   * Chris Zalidis, zalidis@gmail.com 
******************************************************************************/

#ifndef STDR_ROBOT_CREATOR_CONNECTOR
#define STDR_ROBOT_CREATOR_CONNECTOR

#include "stdr_gui/stdr_robot_creator/stdr_robot_creator_loader.h"

namespace stdr_gui
{
  class CRobotCreatorConnector:
    public QObject
  {
    Q_OBJECT
    //------------------------------------------------------------------------//
    private:
      int   argc_; 
      char**  argv_;
      
      float climax_;
      
      CRobotCreatorLoader loader_;
      
      stdr_msgs::RobotMsg new_robot_msg_;
      
      unsigned int laser_hightlight_id_;
      unsigned int sonar_hightlight_id_;
      unsigned int rfid_antenna_hightlight_id_;
      unsigned int co2_sensor_hightlight_id_;
      unsigned int thermal_sensor_hightlight_id_;
      unsigned int sound_sensor_hightlight_id_;
      
      QTreeWidgetItem* current_laser_;
      QTreeWidgetItem* current_sonar_;
      QTreeWidgetItem* current_rfid_;
      QTreeWidgetItem* current_co2_sensor_;
      QTreeWidgetItem* current_thermal_sensor_;
      QTreeWidgetItem* current_sound_sensor_;
      QTreeWidgetItem* current_footprint_point_;
      
      void showMessage(QString msg);
    
    //------------------------------------------------------------------------//
    public:
    
      static int laser_number;
      static int sonar_number;
      static int rfid_number;
      static int co2_sensors_number;
      static int thermal_sensors_number;
      static int sound_sensors_number;
    
      CRobotCreatorConnector(int argc, char **argv);
      
      ~CRobotCreatorConnector(void);
      
      void initialise(void);
      
      void deleteTreeNode(QTreeWidgetItem *item);
      
      void editRobot(void);
      
      void addLaser(void);
      
      void addLaser(stdr_msgs::LaserSensorMsg lmsg);
      
      void eraseLaser(QTreeWidgetItem *item);
      
      void editLaser(QTreeWidgetItem *item);
      
      int searchLaser(QString frameId);
      
      void saveLaser(QTreeWidgetItem *item);
      
      void loadLaser(QTreeWidgetItem *item);
      
      void updateLaserTree(QTreeWidgetItem *item,stdr_msgs::LaserSensorMsg l);
      
      void addFootprintPoint(void);
      
      void addFootprintPoint(geometry_msgs::Point pt);
      
      void eraseFootprintPoint(QTreeWidgetItem *item);
      
      void addSonar(void);
      
      void addSonar(stdr_msgs::SonarSensorMsg smsg);
      
      void eraseSonar(QTreeWidgetItem *item);
      
      void editSonar(QTreeWidgetItem *item);
      
      int searchSonar(QString frameId);
      
      void saveSonar(QTreeWidgetItem *item);
      
      void saveRfidAntenna(QTreeWidgetItem *item);
      void saveCO2Sensor(QTreeWidgetItem *item);
      void saveThermalSensor(QTreeWidgetItem *item);
      void saveSoundSensor(QTreeWidgetItem *item);
      
      void loadSonar(QTreeWidgetItem *item);
      
      void loadRfidAntenna(QTreeWidgetItem *item);
      void loadCO2Sensor(QTreeWidgetItem *item);
      void loadThermalSensor(QTreeWidgetItem *item);
      void loadSoundSensor(QTreeWidgetItem *item);
      
      void updateSonarTree(QTreeWidgetItem *item,stdr_msgs::SonarSensorMsg l);
      
      void updateRfidTree(QTreeWidgetItem *item,stdr_msgs::RfidSensorMsg l);
      void updateCO2SensorTree(QTreeWidgetItem *item,stdr_msgs::CO2SensorMsg l);
      void updateThermalSensorTree(QTreeWidgetItem *item,stdr_msgs::ThermalSensorMsg l);
      void updateSoundSensorTree(QTreeWidgetItem *item,stdr_msgs::SoundSensorMsg l);
      
      void addRfidAntenna(void);
      void addCO2Sensor(void);
      void addThermalSensor(void);
      void addSoundSensor(void);
      
      void addRfidAntenna(stdr_msgs::RfidSensorMsg rmsg);
      void addCO2Sensor(stdr_msgs::CO2SensorMsg rmsg);
      void addThermalSensor(stdr_msgs::ThermalSensorMsg rmsg);
      void addSoundSensor(stdr_msgs::SoundSensorMsg rmsg);
      
      void eraseRfid(QTreeWidgetItem *item);
      void eraseCO2Sensor(QTreeWidgetItem *item);
      void eraseThermalSensor(QTreeWidgetItem *item);
      void eraseSoundSensor(QTreeWidgetItem *item);
      
      void editRfid(QTreeWidgetItem *item);
      void editCO2Sensor(QTreeWidgetItem *item);
      void editThermalSensor(QTreeWidgetItem *item);
      void editSoundSensor(QTreeWidgetItem *item);
      
      void editFootprintPoint(QTreeWidgetItem *item);
      
      int searchRfid(QString frameId);
      int searchCO2Sensor(QString frameId);
      int searchThermalSensor(QString frameId);
      int searchSoundSensor(QString frameId);
      
      void drawRobot(void);
      
      void drawLasers(void);
      
      void drawSonars(void);
      
      void drawRfidAntennas(void);
      void drawCO2Sensors(void);
      void drawThermalSensors(void);
      void drawSoundSensors(void);

      void updateRobotPreview(void);
      
      void updateRobotTree(void);
      
      void setInitialPose(float x, float y);
      
      stdr_msgs::RobotMsg getNewRobot(void);
      
      void setNewRobot(stdr_msgs::RobotMsg msg);
    
    //------------------------------------------------------------------------//  
    public Q_SLOTS:
    
      void treeItemClicked ( QTreeWidgetItem * item, int column );
      
      void updateLaser(void);
      
      void updateSonar(void);
      
      void updateLaserOpen(void);
      
      void updateSonarOpen(void);
      
      void updateRfidAntenna(void);
      void updateCO2Sensor(void);
      void updateThermalSensor(void);
      void updateSoundSensor(void);
      void updateKinematicModel(void);
      
      void updateRfidAntennaOpen(void);
      void updateCO2SensorOpen(void);
      void updateThermalSensorOpen(void);
      void updateSoundSensorOpen(void);
      
      void updateRobot(void);
      
      void updateRobotOpen(void);
      
      void updateFootprintPoint(void);
      
      void updateFootprintPointOpen(void);
      
      void saveRobot(void);
      
      void getRobotFromYaml(void);
      
      void loadRobot(void);
    
    //------------------------------------------------------------------------//  
    Q_SIGNALS:
    
      void loadRobotPressed(stdr_msgs::RobotMsg newRobotMsg);
      
      void saveRobotPressed(stdr_msgs::RobotMsg newRobotMsg,QString file_name);
  };
}

#endif