scope_widget.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  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, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/
 
#ifndef SRC_GUI_INCLUDE_CORBO_GUI_SCOPE_WIDGET_H_
#define SRC_GUI_INCLUDE_CORBO_GUI_SCOPE_WIDGET_H_
 
#include <corbo-communication/messages/core/signals.pb.h>
#include <corbo-gui/signal_collection_widget.h>
#include <corbo-gui/utilities.h>
 
#include <qcustomplot.h>
 
#include <QColor>
#include <QHash>
#include <QString>
#include <QVector>
#include <QWidget>
 
namespace corbo {
namespace gui {
 
class ScopeWidget : public QWidget
{
    Q_OBJECT
 
 public:
    explicit ScopeWidget(SignalHelper::ConstPtr signal_helper, QWidget* parent = 0);
    virtual ~ScopeWidget();
 
    enum ResizeDragStratPositions { bottom, top, inactive };
 
    QSize sizeHint() const override;
 
    bool hasSignal(const QString& key, int value_idx) const;
 
 public slots:
    void addSignal(const QString& signal_key, int value_idx);
    void addSignal(const QString& signal_key, int value_idx, const SignalHelper::SignalData& signal_data);
 
    void addMeasurement(const QString& key, Measurement::ConstPtr measurement, const SignalHelper::SignalData& data);
    void setPreviewTime(double preview_time);
    void removeSignal(const QString& key, int value_idx);
    void initializeTask(int task_id, bool inherit_signals);
    void rescaleAxes();
    void replot() { _plot->replot(); }
 
    void removeSelectedSignals();
    void removeAllSignals();
 
 protected:
    void dragEnterEvent(QDragEnterEvent* event) override;
    void dropEvent(QDropEvent* event) override;
    void mousePressEvent(QMouseEvent* event) override;
    void mouseMoveEvent(QMouseEvent* event) override;
 
    struct SignalData
    {
        ~SignalData()
        {
            // erase graph from plot
            if (plottable && plottable->parentPlot()) plottable->parentPlot()->removePlottable(plottable);
        }
        int value_idx        = 0;
        int task_id          = -1;
        bool zero_order_hold = false;
        QColor graph_color   = QColor("blue");
        QString legend_text;
        QCPAbstractPlottable* plottable = nullptr;
        TimeSeriesSequence::ConstPtr ts_sequence;  // only set if signal contains a TimeSeriesSequence
    };
    QHash<QString, SignalData>::iterator getActiveSignal(const QString& value_encoded_key);
    QHash<QString, SignalData>::iterator getActiveSignal(const QString& key, int value_idx);
    QVector<QHash<QString, SignalData>::iterator> findActiveSignal(const QString& key, SearchType search_type);
    QString toValueEncodedKey(const QString& key, int value_idx) const;
    bool fromValueEncodedKey(const QString& value_encoded_key, QString& key, int& value_idx);
 
    bool isGraphActive(const QCPGraph* graph) const;
    void setGraphActive(QCPGraph* graph, bool active);
 
    void setupLegend();
 
 protected slots:
    QCPAbstractPlottable* addTimeSeriesGraph(const TimeSeries& time_series, int value_idx, const QColor& color, const QString& legend_text,
                                             bool zero_order_hold, bool replot);
    void updateTimeSeriesGraph(SignalData& data, double t, double value, bool enlarge_axis, bool replot = true);
    void updateTimeSeriesGraph(SignalData& data, const TimeSeries& time_series, bool enlarge_axis, bool replace_data, bool replot = true);
    void updateTimeSeriesSequenceGraph(SignalData& data, bool replot = true);
 
    QCPAbstractPlottable* addBoxPlot(const IndexedValuesSetSignal& indexed_values_set, const QColor& color, const QString& legend_text,
                                     bool replot = true);
 
    void scopeMousePress();
    void scopeMouseWheel();
    void scopeContextMenuRequest(const QPoint& point);
 
 private:
    QCustomPlot* _plot;
 
    QHash<QString, SignalData> _active_signals;
 
    SignalHelper::ConstPtr _signal_helper;
 
    bool _legend_initialized = false;
 
    Time _last_signal_header_time = Time(0);
 
    ResizeDragStratPositions _drag_start_pos;
    QPoint _resize_drag_start_position;
    QRect _resize_drag_start_geometry;
 
    double _current_preview_time = 0.0;  
 
    QVBoxLayout* _layout;
};
 
}  // namespace gui
}  // namespace corbo
 
#endif  // SRC_GUI_INCLUDE_CORBO_GUI_SCOPE_WIDGET_H_