property.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 printf()
#include <limits.h> // for INT_MIN and INT_MAX
 
#include <QApplication>
#include <QPalette>
#include <QLineEdit>
#include <QSpinBox>
#include <QTimer>
 
#include <rviz/properties/float_edit.h>
#include <rviz/properties/property_tree_model.h>
 
#include <rviz/properties/property.h>
 
namespace rviz
{
class FailureProperty : public Property
{
public:
  Property* subProp(const QString& /*sub_name*/) override
  {
    return this;
  }
};
 
Property* Property::failprop_ = new FailureProperty;
 
Property::Property(const QString& name,
                   const QVariant& default_value,
                   const QString& description,
                   Property* parent)
  : value_(default_value)
  , model_(nullptr)
  , child_indexes_valid_(false)
  , parent_(nullptr)
  , description_(description)
  , hidden_(false)
  , is_read_only_(false)
  , save_(true)
{
  Property::setName(name);
  if (parent)
    parent->addChild(this);
}
 
QMetaObject::Connection
Property::connect(const QObject* receiver, const char* slot, Qt::ConnectionType type)
{
  if (!receiver)
    receiver = parent_;
  if (receiver && slot)
    return QObject::connect(this, SIGNAL(changed()), receiver, slot, type);
  else
    return QMetaObject::Connection();
}
 
Property::~Property()
{
  // Disconnect myself from my parent.
  if (getParent())
  {
    getParent()->takeChild(this);
  }
  // Destroy my children.
  for (int i = children_.size() - 1; i >= 0; i--)
  {
    Property* child = children_.takeAt(i);
    child->setParent(nullptr);
    delete child;
  }
}
 
void Property::removeChildren(int start_index, int count)
{
  if (count < 0)
  {
    count = children_.size() - start_index;
  }
 
  if (count == 0)
    return;
 
  if (model_)
  {
    model_->beginRemove(this, start_index, count);
  }
  // Destroy my children.
  for (int i = start_index; i < start_index + count; i++)
  {
    Property* child = children_.at(i);
    child->setParent(nullptr); // prevent child destructor from calling getParent()->takeChild().
    delete child;
  }
  children_.erase(children_.begin() + start_index, children_.begin() + start_index + count);
  child_indexes_valid_ = false;
  if (model_)
  {
    model_->endRemove();
  }
  Q_EMIT childListChanged(this);
}
 
bool Property::setValue(const QVariant& new_value)
{
  if (new_value != value_)
  {
    Q_EMIT aboutToChange();
    value_ = new_value;
    Q_EMIT changed();
    if (model_)
    {
      model_->emitDataChanged(this);
    }
    return true;
  }
  return false;
}
 
QVariant Property::getValue() const
{
  return value_;
}
 
void Property::setName(const QString& name)
{
  setObjectName(name);
  if (model_)
  {
    model_->emitDataChanged(this);
  }
}
 
QString Property::getName() const
{
  return objectName();
}
 
void Property::setDescription(const QString& description)
{
  description_ = description;
}
 
QString Property::getDescription() const
{
  return description_;
}
 
Property* Property::subProp(const QString& sub_name)
{
  int size = numChildren();
  for (int i = 0; i < size; i++)
  {
    Property* prop = childAtUnchecked(i);
    if (prop->getName() == sub_name)
    {
      return prop;
    }
  }
 
  // Print a useful error message showing the whole ancestry of this
  // property, but don't crash.
  QString ancestry = "";
  for (Property* prop = this; prop != nullptr; prop = prop->getParent())
  {
    ancestry = "\"" + prop->getName() + "\"->" + ancestry;
  }
  printf("ERROR: Undefined property %s \"%s\" accessed.\n", qPrintable(ancestry), qPrintable(sub_name));
  return failprop_;
}
 
Property* Property::childAt(int index) const
{
  // numChildren() and childAtUnchecked() can both be overridden, so
  // call them instead of accessing our children_ list directly.
  if (0 <= index && index < numChildren())
  {
    return childAtUnchecked(index);
  }
  return nullptr;
}
 
Property* Property::childAtUnchecked(int index) const
{
  return children_.at(index);
}
 
bool Property::contains(Property* possible_child) const
{
  int num_children = numChildren();
  for (int i = 0; i < num_children; i++)
  {
    if (childAtUnchecked(i) == possible_child)
    {
      return true;
    }
  }
  return false;
}
 
Property* Property::getParent() const
{
  return parent_;
}
 
void Property::setParent(Property* new_parent)
{
  parent_ = new_parent;
}
 
QVariant Property::getViewData(int column, int role) const
{
  if (role == Qt::ForegroundRole && parent_ && parent_->getDisableChildren())
    return QApplication::palette().brush(QPalette::Disabled, QPalette::Text);
 
  switch (column)
  {
  case 0: // left column: names
    switch (role)
    {
    case Qt::DisplayRole:
    case Qt::EditRole:
      return getName();
    case Qt::DecorationRole:
      return icon_;
    default:
      return QVariant();
    }
    break;
  case 1: // right column: values
    switch (role)
    {
    case Qt::DisplayRole:
    case Qt::EditRole:
      return (value_.type() == QVariant::Bool ? QVariant() : getValue());
    case Qt::CheckStateRole:
      if (value_.type() == QVariant::Bool)
        return (value_.toBool() ? Qt::Checked : Qt::Unchecked);
      else
        return QVariant();
    default:
      return QVariant();
    }
    break;
  default:
    return QVariant();
  }
}
 
bool Property::getDisableChildren()
{
  // Pass down the disableChildren flag
  if (parent_)
  {
    return parent_->getDisableChildren();
  }
  return false;
}
 
Qt::ItemFlags Property::getViewFlags(int column) const
{
  // if the parent propery is a disabled bool property or
  // has its own enabled view flag not set, disable this property as well
  Qt::ItemFlags enabled_flag =
      (parent_ && parent_->getDisableChildren()) ? Qt::NoItemFlags : Qt::ItemIsEnabled;
 
  if (column == 0)
  {
    return enabled_flag | Qt::ItemIsSelectable;
  }
  if (value_.isValid())
  {
    if (value_.type() == QVariant::Bool)
    {
      return Qt::ItemIsUserCheckable | enabled_flag | Qt::ItemIsSelectable;
    }
    return Qt::ItemIsEditable | enabled_flag | Qt::ItemIsSelectable;
  }
  return enabled_flag | Qt::ItemIsSelectable;
}
 
bool Property::isAncestorOf(Property* possible_child) const
{
  Property* prop = possible_child->getParent();
  while (prop != nullptr && prop != this)
  {
    prop = prop->getParent();
  }
  return prop == this;
}
 
Property* Property::takeChild(Property* child)
{
  for (int i = 0; i < numChildren(); i++)
  {
    if (childAtUnchecked(i) == child)
    {
      return takeChildAt(i);
    }
  }
  return nullptr;
}
 
Property* Property::takeChildAt(int index)
{
  if (index < 0 || index >= children_.size())
  {
    return nullptr;
  }
  if (model_)
  {
    model_->beginRemove(this, index, 1);
  }
  Property* child = children_.takeAt(index);
  child->setModel(nullptr);
  child->parent_ = nullptr;
  child_indexes_valid_ = false;
  if (model_)
  {
    model_->endRemove();
  }
  Q_EMIT childListChanged(this);
  return child;
}
 
void Property::addChild(Property* child, int index)
{
  if (!child)
  {
    return;
  }
  int num_children = children_.size();
  if (index < 0 || index > num_children)
  {
    index = num_children;
  }
  if (model_)
  {
    model_->beginInsert(this, index);
  }
 
  children_.insert(index, child);
  child_indexes_valid_ = false;
  child->setModel(model_);
  child->parent_ = this;
 
  if (model_)
  {
    model_->endInsert();
  }
 
  Q_EMIT childListChanged(this);
}
 
void Property::insertChildSorted(Property* child)
{
  auto it = std::lower_bound(children_.cbegin(), children_.cend(), child,
                             [](Property* element, Property* child) {
                               return element->getName() < child->getName();
                             });
  addChild(child, it - children_.cbegin());
}
 
void Property::setModel(PropertyTreeModel* model)
{
  model_ = model;
  if (model_ && hidden_)
  {
    // process propertyHiddenChanged after insertion into model has finished
    QTimer::singleShot(0, this, [this]() { model_->emitPropertyHiddenChanged(this); });
  }
  int num_children = numChildren();
  for (int i = 0; i < num_children; i++)
  {
    Property* child = childAtUnchecked(i);
    child->setModel(model);
  }
}
 
void Property::reindexChildren()
{
  int num_children = numChildren();
  for (int i = 0; i < num_children; i++)
  {
    Property* child = childAtUnchecked(i);
    child->row_number_within_parent_ = i;
  }
  child_indexes_valid_ = true;
}
 
int Property::rowNumberInParent() const
{
  Property* parent = getParent();
  if (!parent)
  {
    return -1;
  }
  if (!parent->child_indexes_valid_)
  {
    parent->reindexChildren();
  }
  return row_number_within_parent_;
}
 
void Property::moveChild(int from_index, int to_index)
{
  children_.move(from_index, to_index);
  child_indexes_valid_ = false;
  Q_EMIT childListChanged(this);
}
 
void Property::load(const Config& config)
{
  if (config.getType() == Config::Value)
  {
    loadValue(config);
  }
  else if (config.getType() == Config::Map)
  {
    // A special map entry named "Value" means the value of this property, not a child.
    // (If child "Value"does not exist, loadValue() will do nothing.)
    loadValue(config.mapGetChild("Value"));
 
    // Loop over all child Properties.
    int num_property_children = children_.size();
    for (int i = 0; i < num_property_children; i++)
    {
      Property* child = children_.at(i);
      // Load the child Property with the config under the child property's name.
      child->load(config.mapGetChild(child->getName()));
    }
  }
}
 
void Property::loadValue(const Config& config)
{
  if (config.getType() == Config::Value)
  {
    switch (int(value_.type()))
    {
    case QVariant::Int:
      setValue(config.getValue().toInt());
      break;
    case QMetaType::Float:
    case QVariant::Double:
      setValue(config.getValue().toDouble());
      break;
    case QVariant::String:
      setValue(config.getValue().toString());
      break;
    case QVariant::Bool:
      setValue(config.getValue().toBool());
      break;
    default:
      printf("Property::loadValue() TODO: error handling - unexpected QVariant type %d.\n",
             int(value_.type()));
      break;
    }
  }
}
 
void Property::save(Config config) const
{
  // If there are child properties, save them in a map from names to children.
  if (!children_.empty())
  {
    bool valid = false;
    // If this property has child properties *and* a value itself,
    // save the value in a special map entry named "Value".
    if (!is_read_only_ && value_.isValid())
    {
      config.mapSetValue("Value", value_);
      valid = true;
    }
    int num_properties = children_.size();
    for (int i = 0; i < num_properties; i++)
    {
      Property* prop = children_.at(i);
      if (prop && prop->shouldBeSaved())
      {
        Config child = config.mapMakeChild(prop->getName());
        prop->save(child);
        if (child.getType() == Config::Invalid)
          // if child property didn't save anything, remove it again
          config.mapRemoveChild(prop->getName());
        else
          valid = true;
      }
    }
    if (!valid)
      // if we didn't save anything in this property, mark the config as invalid
      config.setType(Config::Invalid);
  }
  // Else (there are no child properties), just save the value itself if it's not read-only
  else if (!is_read_only_)
  {
    if (value_.isValid())
    {
      config.setValue(value_);
    }
    else
    {
      // Empty Properties get saved as empty Maps instead of null values.
      config.setType(Config::Map);
    }
  }
}
 
QWidget* Property::createEditor(QWidget* parent, const QStyleOptionViewItem& /*option*/)
{
  switch (int(value_.type()))
  {
  case QVariant::Int:
  {
    QSpinBox* editor = new QSpinBox(parent);
    editor->setFrame(false);
    editor->setRange(INT_MIN, INT_MAX);
    return editor;
  }
  case QMetaType::Float:
  case QVariant::Double:
  {
    FloatEdit* editor = new FloatEdit(parent);
    return editor;
  }
  case QVariant::String:
  default:
  {
    QLineEdit* editor = new QLineEdit(parent);
    editor->setFrame(false);
    return editor;
  }
  }
}
 
void Property::setHidden(bool hidden)
{
  if (hidden != hidden_)
  {
    hidden_ = hidden;
    if (model_)
    {
      model_->emitPropertyHiddenChanged(this);
    }
  }
}
 
void Property::expand()
{
  if (model_)
  {
    model_->expandProperty(this);
  }
}
 
void Property::collapse()
{
  if (model_)
  {
    model_->collapseProperty(this);
  }
}
 
} // end namespace rviz