display_group.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
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 */
 
#include <stdio.h> // for debug-write printf
 
#include <QColor>
 
#include <rviz/display_context.h>
#include <rviz/display_factory.h>
#include <rviz/failed_display.h>
#include <rviz/properties/property_tree_model.h>
 
#include "display_group.h"
 
namespace rviz
{
DisplayGroup::DisplayGroup()
{
}
 
DisplayGroup::~DisplayGroup()
{
  DisplayGroup::removeAllDisplays();
}
 
Qt::ItemFlags DisplayGroup::getViewFlags(int column) const
{
  return Display::getViewFlags(column) | Qt::ItemIsDropEnabled;
}
 
void DisplayGroup::load(const Config& config)
{
  removeAllDisplays(); // Only remove Display children, property children must stay.
 
  // Load Property values, plus name and enabled/disabled.
  Display::load(config);
 
  // Now load Displays.
  Config display_list_config = config.mapGetChild("Displays");
  int num_displays = display_list_config.listLength();
 
  if (num_displays == 0)
    return;
 
  if (model_)
  {
    model_->beginInsert(this, Display::numChildren(), num_displays);
  }
 
  std::map<Display*, Config> display_config_map;
 
  // The following two-step loading procedure was motivated by the
  // 'display group visibility' property, which needs all other displays
  // to be created and named before it can load its settings.
 
  // hersh says: Is this really necessary?  Can't we make
  // DisplayGroupVisibilityProperty self-sufficient in this regard?
  // Also, does it really work?  What about saving and loading a
  // hierarchy of Displays, will they really all have the right
  // visibility settings?
 
  // first, create all displays and set their names
  for (int i = 0; i < num_displays; i++)
  {
    Config display_config = display_list_config.listChildAt(i);
    QString display_class = "(no class name found)";
    display_config.mapGetString("Class", &display_class);
    Display* disp = createDisplay(display_class);
    addDisplayWithoutSignallingModel(disp);
    QString display_name;
    display_config.mapGetString("Name", &display_name);
    disp->setObjectName(display_name);
 
    display_config_map[disp] = display_config;
  }
 
  // now, initialize all displays and load their properties.
  for (std::map<Display*, Config>::iterator it = display_config_map.begin();
       it != display_config_map.end(); ++it)
  {
    Config display_config = it->second;
    Display* disp = it->first;
    disp->initialize(context_);
    disp->load(display_config);
  }
 
  if (model_)
  {
    model_->endInsert();
  }
}
 
Display* DisplayGroup::createDisplay(const QString& class_id)
{
  DisplayFactory* factory = context_->getDisplayFactory();
  QString error;
  Display* disp = factory->make(class_id, &error);
  if (!disp)
  {
    return new FailedDisplay(class_id, error);
  }
  return disp;
}
 
void DisplayGroup::onEnableChanged()
{
  Display::onEnableChanged();
  for (int i = displays_.size() - 1; i >= 0; i--)
  {
    displays_[i]->onEnableChanged();
  }
}
 
void DisplayGroup::save(Config config) const
{
  Display::save(config);
 
  // Save Displays in a sequence under the key "Displays".
  Config display_list_config = config.mapMakeChild("Displays");
 
  int num_displays = displays_.size();
  for (int i = 0; i < num_displays; i++)
  {
    Display* display = displays_.at(i);
    if (display->shouldBeSaved())
      display->save(display_list_config.listAppendNew());
  }
}
 
void DisplayGroup::removeAllDisplays()
{
  if (displays_.empty())
    return;
 
  int num_non_display_children = Display::numChildren();
 
  if (model_)
  {
    model_->beginRemove(this, num_non_display_children, displays_.size());
  }
  for (int i = displays_.size() - 1; i >= 0; i--)
  {
    Display* child = displays_.takeAt(i);
    Q_EMIT displayRemoved(child);
    child->setParent(nullptr); // prevent child destructor from calling getParent()->takeChild().
    child->setModel(nullptr);
    child_indexes_valid_ = false;
    delete child;
  }
  if (model_)
  {
    model_->endRemove();
  }
  Q_EMIT childListChanged(this);
}
 
Display* DisplayGroup::takeDisplay(Display* child)
{
  Display* result = nullptr;
  int num_displays = displays_.size();
  for (int i = 0; i < num_displays; i++)
  {
    if (displays_.at(i) == child)
    {
      if (model_)
      {
        model_->beginRemove(this, Display::numChildren() + i, 1);
      }
      result = displays_.takeAt(i);
      Q_EMIT displayRemoved(result);
      result->setParent(nullptr);
      result->setModel(nullptr);
      child_indexes_valid_ = false;
      if (model_)
      {
        model_->endRemove();
      }
      Q_EMIT childListChanged(this);
      break;
    }
  }
  return result;
}
 
Display* DisplayGroup::getDisplayAt(int index) const
{
  if (0 <= index && index < displays_.size())
  {
    return displays_.at(index);
  }
  return nullptr;
}
 
DisplayGroup* DisplayGroup::getGroupAt(int index) const
{
  return qobject_cast<DisplayGroup*>(getDisplayAt(index));
}
 
void DisplayGroup::fixedFrameChanged()
{
  int num_children = displays_.size();
  for (int i = 0; i < num_children; i++)
  {
    displays_.at(i)->setFixedFrame(fixed_frame_);
  }
}
 
void DisplayGroup::update(float wall_dt, float ros_dt)
{
  int num_children = displays_.size();
  for (int i = 0; i < num_children; i++)
  {
    Display* display = displays_.at(i);
    if (display->isEnabled())
    {
      display->update(wall_dt, ros_dt);
    }
  }
}
 
void DisplayGroup::reset()
{
  Display::reset();
 
  int num_children = displays_.size();
  for (int i = 0; i < num_children; i++)
  {
    displays_.at(i)->reset();
  }
}
 
void DisplayGroup::addDisplayWithoutSignallingModel(Display* child)
{
  //  printf("  displaygroup4 displays_.append( child )\n" );
  displays_.append(child);
  child_indexes_valid_ = false;
  child->setModel(model_);
  child->setParent(this);
  Q_EMIT displayAdded(child);
}
 
void DisplayGroup::addDisplay(Display* child)
{
  if (model_)
  {
    model_->beginInsert(this, numChildren(), 1);
  }
  addDisplayWithoutSignallingModel(child);
  if (model_)
  {
    model_->endInsert();
  }
  Q_EMIT childListChanged(this);
}
 
void DisplayGroup::addChild(Property* child, int index)
{
  Display* display = qobject_cast<Display*>(child);
  if (!display)
  {
    Display::addChild(child, index);
    return;
  }
  if (index < 0 || index > numChildren())
  {
    index = numChildren();
  }
  int disp_index = index - Display::numChildren();
  if (disp_index < 0)
  {
    disp_index = 0;
  }
  if (model_)
  {
    model_->beginInsert(this, index);
  }
 
  displays_.insert(disp_index, display);
  Q_EMIT displayAdded(display);
  child_indexes_valid_ = false;
  display->setModel(model_);
  display->setParent(this);
 
  if (model_)
  {
    model_->endInsert();
  }
  Q_EMIT childListChanged(this);
}
 
Property* DisplayGroup::takeChildAt(int index)
{
  if (index < Display::numChildren())
  {
    return Display::takeChildAt(index);
  }
  int disp_index = index - Display::numChildren();
  if (model_)
  {
    model_->beginRemove(this, index, 1);
  }
  //  printf("  displaygroup5 displays_.takeAt( %d ) ( index = %d )\n", disp_index, index );
  Display* child = displays_.takeAt(disp_index);
  Q_EMIT displayRemoved(child);
  child->setModel(nullptr);
  child->setParent(nullptr);
  child_indexes_valid_ = false;
  if (model_)
  {
    model_->endRemove();
  }
  Q_EMIT childListChanged(this);
  return child;
}
 
int DisplayGroup::numDisplays() const
{
  return displays_.size();
}
 
int DisplayGroup::numChildren() const
{
  return Display::numChildren() + displays_.size();
}
 
Property* DisplayGroup::childAtUnchecked(int index) const
{
  int first_child_count = Display::numChildren();
  if (index < first_child_count)
  {
    return Display::childAtUnchecked(index);
  }
  index -= first_child_count;
  return displays_.at(index);
}
 
} // end namespace rviz