main_window_dabo_coop.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <QtGui>
#include <QMessageBox>
#include <iostream>
#include "../include/tibi_dabo_gui/main_window_dabo_coop.hpp"

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace tibi_dabo_gui {

using namespace Qt;

/*****************************************************************************
** Implementation [MainWindow]
*****************************************************************************/

MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
    : QMainWindow(parent)
    , qnode(argc,argv)
{
  ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.
  QObject::connect(ui.actionAbout_Qt, SIGNAL(triggered(bool)), qApp, SLOT(aboutQt())); // qApp is a global variable for the application

  ReadSettings();
  setWindowIcon(QIcon(":/images/logos/iri.png"));
  ui.tab_manager->setCurrentIndex(0); // ensure the first tab is showing - qt-designer should have this already hardwired, but often loses it (settings?).
  QObject::connect(&qnode, SIGNAL(rosShutdown()), this, SLOT(close()));

  QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8"));
  this->loadTexts();
  this->currentGoalIndex=0;

  /*********************
  ** Auto Start
  **********************/
  this->qnode.initialize();

  this->setLanguage(1); //English
  ui.label_goal->setStyleSheet("");
  ui.button_demo_exit->setEnabled(false);
  //this->getGoals();

  //TODO: switch blank/arrow cursor with param?
  //qApp->setOverrideCursor(QCursor(Qt::BlankCursor));
  qApp->setOverrideCursor(QCursor(Qt::ArrowCursor));
  
  QTimer *timer = new QTimer(this);
  connect(timer, SIGNAL(timeout()), this, SLOT(timerDone()));
  timer->start(1000);
}

MainWindow::~MainWindow() {}

/*****************************************************************************
** Implementation [Slots]
*****************************************************************************/

/*
 * These triggers whenever the button is clicked, regardless of whether it
 * is already checked or not.
 */
void MainWindow::on_button_cat_clicked(bool check)
{
  this->setLanguage(0);
}

void MainWindow::on_button_eng_clicked(bool check)
{
  this->setLanguage(1);
}

void MainWindow::on_button_esp_clicked(bool check)
{
  this->setLanguage(2);
}

void MainWindow::on_button_demo_exit_clicked(bool check)
{
  std::cout << "exit clicked" << std::endl;
  this->qnode.exit();
  ui.button_demo_exit->setEnabled(false);
}


/*****************************************************************************
** Implemenation [Slots][manually connected]
*****************************************************************************/

void MainWindow::timerDone()
{
  std::string goal;
  if(this->qnode.getGoal(goal))
  {
    if(goal=="monument")
    {
      this->currentGoalIndex=1;
      ui.label_goal->setStyleSheet("QLabel { image: url(:/images/goals/monument.png); image-position: left; }");
    }
    else if(goal=="bakery")
    {
      this->currentGoalIndex=2;
      ui.label_goal->setStyleSheet("QLabel { image: url(:/images/goals/bakery.png); image-position: left; }");
    }
    else if(goal=="kiosk")
    {
      this->currentGoalIndex=3;
      ui.label_goal->setStyleSheet("QLabel { image: url(:/images/goals/kiosk.ico); image-position: left; }");
    }
    else
    {
      this->currentGoalIndex=0;
      ui.label_goal->setStyleSheet("");
    }
    ui.label_goal->setText(this->goals[this->currentGoalIndex][this->lastLanguage].c_str());
    ui.button_demo_exit->setEnabled(true);
  }

  double sentence_id;
  if(this->qnode.getSentence(sentence_id))
  {
    ui.label_goal->setText(this->sentences[sentence_id][this->lastLanguage].c_str());
  }
}

void MainWindow::setLanguage(int index)
{
  if(index!=this->lastLanguage)
  {
    for(unsigned int i=0; i<this->tabs.size(); i++)
    {
      ui.tab_manager->setTabText(i, this->tabs[i][index].c_str());
    }
    ui.label_info_title->setText(this->info[0][index].c_str());
    ui.label_info_1->setText(this->info[1][index].c_str());
    ui.label_info_2->setText(this->info[2][index].c_str());
    ui.label_info_3->setText(this->info[3][index].c_str());
    ui.label_info_4->setText(this->info[4][index].c_str());
    ui.label_info_5->setText(this->info[5][index].c_str());
    ui.label_info_title_2->setText(this->info[6][index].c_str());
    ui.label_info_6->setText(this->info[7][index].c_str());
    ui.label_info_7->setText(this->info[8][index].c_str());
    ui.label_info_8->setText(this->info[9][index].c_str());
    ui.label_info_9->setText(this->info[10][index].c_str());
    ui.label_info_10->setText(this->info[11][index].c_str());

    ui.label_demo->setText(this->goals[4][index].c_str());
    ui.label_goal->setText(this->goals[this->currentGoalIndex][index].c_str());

    if(index==0)
    {
      std::cout << "Setting language to Catalan" << std::endl;
      ui.button_cat->setIcon(QIcon(":/images/lang/cat.png"));
      ui.button_eng->setIcon(QIcon(":/images/lang/eng_bw.png"));
      ui.button_esp->setIcon(QIcon(":/images/lang/esp_bw.png"));
    }
    else if(index==1)
    {
      std::cout << "Setting language to English" << std::endl;
      ui.button_cat->setIcon(QIcon(":/images/lang/cat_bw.png"));
      ui.button_eng->setIcon(QIcon(":/images/lang/eng.png"));
      ui.button_esp->setIcon(QIcon(":/images/lang/esp_bw.png"));
    }
    else if(index==2)
    {
      std::cout << "Setting language to Spanish" << std::endl;
      ui.button_cat->setIcon(QIcon(":/images/lang/cat_bw.png"));
      ui.button_eng->setIcon(QIcon(":/images/lang/eng_bw.png"));
      ui.button_esp->setIcon(QIcon(":/images/lang/esp.png"));
    }

    this->lastLanguage=index;
  }
}

void MainWindow::getGoals()
{
  std::vector<std::string>locations;
  if(this->qnode.getLocations(locations))
  {
    
    std::cout << "Locations ("<< locations.size() << "): ";
    for(unsigned int i=0; i<locations.size(); i++)
    {
       std::cout << locations[i] << " ";
    }
    std::cout << std::endl;
  }
}

void MainWindow::loadTexts()
{
  std::vector<std::string> tab;
  tab.push_back("Demo");
  tab.push_back("Demo");
  tab.push_back("Demo");
  this->tabs.push_back(tab);
  tab.clear();
  tab.push_back("Info");
  tab.push_back("Info");
  tab.push_back("Info");
  this->tabs.push_back(tab);
  tab.clear();
  tab.push_back("Sobre");
  tab.push_back("About");
  tab.push_back("Acerca de");
  this->tabs.push_back(tab);
  tab.clear();

  std::vector<std::string> text;
  text.push_back("<b>Tibi i Dabo</b>");
  text.push_back("<b>Tibi and Dabo<b>");
  text.push_back("<b>Tibi y Dabo<b>");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Robots socials i urbans.");
  text.push_back("- Social and urban robots.");
  text.push_back("- Robots sociales y urbanos");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Plataforma <i><b>Segway rmp200</i></b> per navegació en entorns urbans.");
  text.push_back("- <i><b>Segway rmp200</i></b> platform for navigation in urban environments.");
  text.push_back("- Plataforma <i><b>Segway rmp200</i></b> para navegación en entornos urbanos.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Sensors de rang làser <i><b>Hokuyo</i></b> per localització i detecció d'obstacles.");
  text.push_back("- <i><b>Hokuyo</i></b> range laser sensors for localization and obstacle detection.");
  text.push_back("- Sensores de rango láser <i><b>Hokuyo</i></b> para localización y detección de obstáculos.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Càmara estèreo <i><b>Bumblebee2</i></b> per visió per computador.");
  text.push_back("- <i><b>Bumblebee2</i></b> Stereo camera for computer visión.");
  text.push_back("- Cámara estéreo <i><b>Bumblebee2</i></b> para visión por computador.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Cap, braços, pantalla tàctil i parla per la interacció humà robot");
  text.push_back("- Head, arms, touch screen and speech for human robot interaction.");
  text.push_back("- Cabeza, brazos, pantalla táctil y habla para la interacción humano robot.");
  this->info.push_back(text);
  text.clear();
  text.push_back("<b>Cotxe</b>");
  text.push_back("<b>Car</b>");
  text.push_back("<b>Coche</b>");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Vehicle de transport autònom.");
  text.push_back("- Autonomous transport vehicle.");
  text.push_back("- Vehículo de transporte autónomo.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Plataforma Ackerman tipus cotxe.");
  text.push_back("- Ackerman car-like platform.");
  text.push_back("- Plataforma Ackerman tipo coche");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Sensors de rang làser: parada de seguretat, detecció d'obstacles i localització.");
  text.push_back("- Range laser sensors: security stop, obstacle detection and localization.");
  text.push_back("- Sensores de rango láser para parada de seguridad, detección de obstáculos y localización.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Làser 3D Velodyne i Càmara 360º Ladybug: percepció de l'entorn.");
  text.push_back("- 3D laser Velodyne and 360 camera Ladybug: environment perception.");
  text.push_back("- Láser 3D Velodyne i cámara 360º Ladybug: percepción del entorno.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Pantalla tàctil: interacció amb passatgers.");
  text.push_back("- Touchscreen: passengers interaction.");
  text.push_back("- Pantalla táctil: interacción con pasajeros.");
  this->info.push_back(text);
  text.clear();

  std::vector<std::string> goal;
  goal.push_back("");
  goal.push_back("");
  goal.push_back("");
  this->goals.push_back(goal);
  goal.clear();
  goal.push_back("Monument");
  goal.push_back("Monument");
  goal.push_back("Monumento");
  this->goals.push_back(goal);
  goal.clear();
  goal.push_back("Forn de pa");
  goal.push_back("Bakery");
  goal.push_back("Panadería");
  this->goals.push_back(goal);
  goal.clear();
  goal.push_back("Quiosc");
  goal.push_back("Kiosk");
  goal.push_back("Quiosco");
  this->goals.push_back(goal);
  goal.clear();
  goal.push_back("Benvingut al:");
  goal.push_back("Welcome to the:");
  goal.push_back("Bienvenido a:");
  this->goals.push_back(goal);
  goal.clear();
  
  std::vector<std::string> sentence;
  sentence.push_back("Benvingut al:");
  sentence.push_back("Welcome to the:");
  sentence.push_back("Bienvenido a:");
  this->sentences.push_back(sentence);
  sentence.clear();
  sentence.push_back("Segueix-me fins a la sortida.");
  sentence.push_back("Follow me towards the exit.");
  sentence.push_back("Sígueme hasta la salida");
  this->sentences.push_back(sentence);
  sentence.clear();
  sentence.push_back("Adeu!");
  sentence.push_back("Good bye!");
  sentence.push_back("Adios!");
  this->sentences.push_back(sentence);
  sentence.clear();

}

/*****************************************************************************
** Implementation [Menu]
*****************************************************************************/

void MainWindow::on_actionAbout_triggered() {
    QMessageBox::about(this, tr("About ..."),tr("<h2>Tibi Dabo Gui</h2><p>Copyright IRI</p><p>Graphic User Interface for Tibi Dabo robots.</p>"));
}

/*****************************************************************************
** Implementation [Configuration]
*****************************************************************************/

void MainWindow::ReadSettings() {
    QSettings settings("Qt-Ros Package", "tibi_dabo_gui");
    restoreGeometry(settings.value("geometry").toByteArray());
    restoreState(settings.value("windowState").toByteArray());
}

void MainWindow::WriteSettings() {
    QSettings settings("Qt-Ros Package", "tibi_dabo_gui");
    settings.setValue("geometry", saveGeometry());
    settings.setValue("windowState", saveState());
}

void MainWindow::closeEvent(QCloseEvent *event)
{
    WriteSettings();
    QMainWindow::closeEvent(event);
}

}  // namespace tibi_dabo_gui