tool_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
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <QKeyEvent>
#include <QRegularExpression>
 
#include <ros/assert.h>
 
#include <rviz/failed_tool.h>
#include <rviz/properties/property.h>
#include <rviz/properties/property_tree_model.h>
 
#include <rviz/tool_manager.h>
 
namespace rviz
{
QString addSpaceToCamelCase(QString input)
{
  QRegularExpression re = QRegularExpression("([A-Z])([a-z]*)");
  input.replace(re, " \\1\\2");
  return input.trimmed();
}
 
ToolManager::ToolManager(DisplayContext* context)
  : factory_(new PluginlibFactory<Tool>("rviz", "rviz::Tool"))
  , property_tree_model_(new PropertyTreeModel(new Property()))
  , context_(context)
  , current_tool_(nullptr)
  , default_tool_(nullptr)
{
  connect(property_tree_model_, &PropertyTreeModel::configChanged, this, &ToolManager::configChanged);
}
 
ToolManager::~ToolManager()
{
  removeAll();
  delete factory_;
  delete property_tree_model_;
}
 
void ToolManager::initialize()
{
  // Possibly this should be done with a loop over
  // factory_->getDeclaredClassIds(), but then I couldn't control the
  // order.
  addTool("rviz/MoveCamera");
  addTool("rviz/Interact");
  addTool("rviz/Select");
  addTool("rviz/SetInitialPose");
  addTool("rviz/SetGoal");
}
 
void ToolManager::removeAll()
{
  for (int i = tools_.size() - 1; i >= 0; i--)
  {
    removeTool(i);
  }
}
 
void ToolManager::load(const Config& config)
{
  removeAll();
 
  int num_tools = config.listLength();
  for (int i = 0; i < num_tools; i++)
  {
    Config tool_config = config.listChildAt(i);
 
    QString class_id;
    if (tool_config.mapGetString("Class", &class_id))
    {
      Tool* tool = addTool(class_id);
      tool->load(tool_config);
    }
  }
}
 
void ToolManager::save(Config config) const
{
  for (int i = 0; i < tools_.size(); i++)
  {
    tools_[i]->save(config.listAppendNew());
  }
}
 
bool ToolManager::toKey(QString const& str, uint& key)
{
  QKeySequence seq(str);
 
  // We should only working with a single key here
  if (seq.count() == 1)
  {
    key = seq[0];
    return true;
  }
  else
  {
    return false;
  }
}
 
void ToolManager::handleChar(QKeyEvent* event, RenderPanel* panel)
{
  // if the incoming key is ESC fallback to the default tool
  if (event->key() == Qt::Key_Escape)
  {
    setCurrentTool(getDefaultTool());
    return;
  }
 
  // check if the incoming key triggers the activation of another tool
  auto tool_it = shortkey_to_tool_map_.find(event->key());
  if (tool_it != shortkey_to_tool_map_.end())
  {
    Tool* tool = tool_it->second;
    // if tool matches the current tool
    if (current_tool_ == tool)
    {
      // ... deactivate the current tool and fallback to default
      setCurrentTool(getDefaultTool());
    }
    else
    {
      // if no, check if the current tool accesses all key events
      if (current_tool_ && current_tool_->accessAllKeys())
      {
        // if yes, pass the key
        current_tool_->processKeyEvent(event, panel);
      }
      else
      {
        // if no, switch the tool
        setCurrentTool(tool);
      }
    }
  }
  else if (current_tool_)
  {
    // if the incoming key triggers no other tool,
    // just hand down the key event
    current_tool_->processKeyEvent(event, panel);
  }
}
 
void ToolManager::setCurrentTool(Tool* tool)
{
  if (current_tool_)
  {
    current_tool_->deactivate();
  }
 
  current_tool_ = tool;
 
  if (current_tool_)
  {
    current_tool_->activate();
  }
 
  Q_EMIT toolChanged(current_tool_);
}
 
void ToolManager::setDefaultTool(Tool* tool)
{
  default_tool_ = tool;
}
 
Tool* ToolManager::getTool(int index)
{
  ROS_ASSERT(index >= 0);
  ROS_ASSERT(index < (int)tools_.size());
 
  return tools_[index];
}
 
void ToolManager::updatePropertyVisibility(Property* container)
{
  if (container->numChildren() > 0)
  {
    if (!property_tree_model_->getRoot()->contains(container))
    {
      property_tree_model_->getRoot()->addChild(container);
      container->expand();
    }
  }
  else
  {
    property_tree_model_->getRoot()->takeChild(container);
  }
}
 
void rviz::ToolManager::closeTool()
{
  setCurrentTool(getDefaultTool());
}
 
Tool* ToolManager::addTool(const QString& class_id)
{
  QString error;
  bool failed = false;
  Tool* tool = factory_->make(class_id, &error);
  if (!tool)
  {
    tool = new FailedTool(class_id, error);
    failed = true;
  }
 
  tools_.append(tool);
  tool->setName(addSpaceToCamelCase(factory_->getClassName(class_id)));
  tool->setIcon(factory_->getIcon(class_id));
  tool->initialize(context_);
 
  if (tool->getShortcutKey() != '\0')
  {
    uint key;
    QString str = QString(tool->getShortcutKey());
 
    if (toKey(str, key))
    {
      shortkey_to_tool_map_[key] = tool;
    }
  }
 
  Property* container = tool->getPropertyContainer();
  connect(container, &Property::childListChanged, this, &ToolManager::updatePropertyVisibility);
  updatePropertyVisibility(container);
 
  Q_EMIT toolAdded(tool);
 
  // If the default tool is unset and this tool loaded correctly, set
  // it as the default and current.
  if (default_tool_ == nullptr && !failed)
  {
    setDefaultTool(tool);
    setCurrentTool(tool);
  }
 
  QObject::connect(tool, &Tool::close, this, &ToolManager::closeTool);
 
  Q_EMIT configChanged();
 
  return tool;
}
 
void ToolManager::removeTool(int index)
{
  Tool* tool = tools_.takeAt(index);
  Tool* fallback = nullptr;
  if (!tools_.empty())
  {
    fallback = tools_[0];
  }
  if (tool == current_tool_)
  {
    setCurrentTool(fallback);
  }
  if (tool == default_tool_)
  {
    setDefaultTool(fallback);
  }
  Q_EMIT toolRemoved(tool);
 
  uint key;
  if (toKey(QString(tool->getShortcutKey()), key))
  {
    shortkey_to_tool_map_.erase(key);
  }
  delete tool;
  Q_EMIT configChanged();
}
 
void ToolManager::refreshTool(Tool* tool)
{
  Q_EMIT toolRefreshed(tool);
}
 
QStringList ToolManager::getToolClasses()
{
  QStringList class_names;
  for (int i = 0; i < tools_.size(); i++)
  {
    class_names.append(tools_[i]->getClassId());
  }
  return class_names;
}
 
} // end namespace rviz