visualization_frame.h

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/*
 * Copyright (c) 2008, 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.
 */

#ifndef RVIZ_VISUALIZATION_FRAME_H
#define RVIZ_VISUALIZATION_FRAME_H

#include <boost/shared_ptr.hpp>

#include <QMainWindow>
#include <QList>

#include <string>
#include <deque>

#include "rviz/config.h"
#include "rviz/window_manager_interface.h"
#include "rviz/panel.h"
#include "rviz/rviz_export.h"

#include <ros/time.h>

class QSplashScreen;
class QAction;
class QActionGroup;
class QTimer;
class QDockWidget;
class QLabel;
class QToolButton;

namespace rviz
{
class PanelFactory;
struct Preferences;
class RenderPanel;
class VisualizationManager;
class Tool;
class WidgetGeometryChangeDetector;

class RVIZ_EXPORT VisualizationFrame : public QMainWindow, public WindowManagerInterface
{
  Q_OBJECT
public:
  VisualizationFrame(QWidget* parent = nullptr);
  ~VisualizationFrame() override;

  void setApp(QApplication* app);

  void setShowChooseNewMaster(bool show);

  void setHelpPath(const QString& help_path);

  void setSplashPath(const QString& splash_path);

  void initialize(const QString& display_config_file = "");

  VisualizationManager* getManager()
  {
    return manager_;
  }

  // overrides from WindowManagerInterface
  QWidget* getParentWindow() override;
  PanelDockWidget* addPane(const QString& name,
                           QWidget* panel,
                           Qt::DockWidgetArea area = Qt::LeftDockWidgetArea,
                           bool floating = false) override;

  QDockWidget* addPanelByName(const QString& name,
                              const QString& class_lookup_name,
                              Qt::DockWidgetArea area = Qt::LeftDockWidgetArea,
                              bool floating = false);

  void loadPersistentSettings();

  void savePersistentSettings();

  void loadDisplayConfig(const QString& path);

  bool loadDisplayConfigHelper(const std::string& full_path);

  bool saveDisplayConfig(const QString& path);

  QString getErrorMessage() const
  {
    return error_message_;
  }

  virtual void load(const Config& config);

  virtual void save(Config config);

  void setHideButtonVisibility(bool visible);

public Q_SLOTS:
  void setDisplayConfigModified();

  void setStatus(const QString& message) override;

  void setFullScreen(bool full_screen);

  void exitFullScreen();

Q_SIGNALS:
  void statusUpdate(const QString& message);

  void fullScreenChange(bool hidden);

  void displayConfigFileChanged(const QString& fullpath);

protected Q_SLOTS:
  void onOpen();
  void onSave();
  void onSaveAs();
  void onSaveImage();
  void onRecentConfigSelected();
  void onHelpWiki();
  void onHelpAbout();
  void openNewPanelDialog();
  void openNewToolDialog();
  void openPreferencesDialog();
  void showHelpPanel();
  void onDockPanelChange();

  void onToolbarRemoveTool(QAction* remove_tool_menu_action);

  void onButtonStyleTool(QAction* button_style_tool_menu_action);

  void onToolbarActionTriggered(QAction* action);

  void addTool(Tool* tool);

  void onToolNameChanged(const QString& name);

  void removeTool(Tool* tool);

  void refreshTool(Tool* tool);

  void indicateToolIsCurrent(Tool* tool);

  void changeMaster();

  void onDeletePanel();

protected Q_SLOTS:
  void markLoadingDone();

  void setImageSaveDirectory(const QString& directory);

  void reset();

  void onPanelDeleted(QObject* dock);
  void onHelpDestroyed();

  void hideLeftDock(bool hide);
  void hideRightDock(bool hide);

  virtual void onDockPanelVisibilityChange(bool visible);

  void updateFps();

protected:
  void initConfigs();

  void initMenus();

  void initToolbars();

  bool prepareToExit();

  void closeEvent(QCloseEvent* event) override;

  void leaveEvent(QEvent* event) override;

  void markRecentConfig(const std::string& path);
  void updateRecentConfigMenu();

  void loadPanels(const Config& config);

  void configureToolbars(const Config& config);

  void saveToolbars(Config config);

  void savePanels(Config config);

  void loadPreferences(const Config& config);
  void savePreferences(Config config);

  void loadWindowGeometry(const Config& config);
  void saveWindowGeometry(Config config);

  void setDisplayConfigFile(const std::string& path);

  void hideDockImpl(Qt::DockWidgetArea area, bool hide);

  QApplication* app_;

  RenderPanel* render_panel_;

  QAction* show_help_action_;

  std::string config_dir_;
  std::string persistent_settings_file_;
  std::string display_config_file_;
  std::string default_display_config_file_;
  std::string last_config_dir_;
  std::string last_image_dir_;
  std::string home_dir_;

  boost::shared_ptr<Preferences> preferences_;

  QMenu* file_menu_;
  QMenu* recent_configs_menu_;
  QMenu* view_menu_;
  QMenu* delete_view_menu_;
  QMenu* plugins_menu_;

  QToolBar* toolbar_;

  VisualizationManager* manager_;

  std::string package_path_;
  QString help_path_;
  QString splash_path_;

  QSplashScreen* splash_;

  typedef std::deque<std::string> D_string;
  D_string recent_configs_;

  QActionGroup* toolbar_actions_;
  std::map<QAction*, Tool*> action_to_tool_map_;
  std::map<Tool*, QAction*> tool_to_action_map_;
  bool show_choose_new_master_option_;

  QToolButton* hide_left_dock_button_;
  QToolButton* hide_right_dock_button_;

  PanelFactory* panel_factory_;

  struct PanelRecord
  {
    Panel* panel;
    PanelDockWidget* dock;
    QString name;
    QString class_id;
    QAction* delete_action;
  };
  QList<PanelRecord> custom_panels_;

  QAction* add_tool_action_;
  QMenu* remove_tool_menu_;

  bool initialized_;
  WidgetGeometryChangeDetector* geom_change_detector_;
  bool loading_;            
  QTimer* post_load_timer_; 

  QLabel* status_label_;
  QLabel* fps_label_;
  QStatusBar* original_status_bar_;

  int frame_count_;
  ros::WallTime last_fps_calc_time_;

  QString error_message_; 

  bool toolbar_visible_;
};

} // namespace rviz

#endif // RVIZ_VISUALIZATION_FRAME_H