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00030 #include <QListWidget>
00031 #include <QComboBox>
00032 #include <QPushButton>
00033 #include <QVBoxLayout>
00034 #include <QHBoxLayout>
00035 #include <QInputDialog>
00036
00037 #include <boost/bind.hpp>
00038
00039 #include "visualization_manager.h"
00040 #include "view_controller.h"
00041 #include "config.h"
00042
00043 #include "views_panel.h"
00044
00045 namespace rviz
00046 {
00047
00048 ViewsPanel::ViewsPanel( QWidget* parent )
00049 : QWidget( parent )
00050 , manager_( NULL )
00051 {
00052 camera_type_selector_ = new QComboBox;
00053 views_list_ = new QListWidget;
00054
00055 QPushButton* save_button = new QPushButton( "Save Current" );
00056 QPushButton* load_button = new QPushButton( "Load" );
00057 QPushButton* delete_button = new QPushButton( "Delete" );
00058
00059 QHBoxLayout* button_layout = new QHBoxLayout;
00060 button_layout->addWidget( save_button );
00061 button_layout->addWidget( load_button );
00062 button_layout->addWidget( delete_button );
00063
00064 QVBoxLayout* main_layout = new QVBoxLayout;
00065 main_layout->addWidget( camera_type_selector_ );
00066 main_layout->addWidget( views_list_ );
00067 main_layout->addLayout( button_layout );
00068 setLayout( main_layout );
00069
00070 connect( save_button, SIGNAL( clicked() ), this, SLOT( onSaveClicked() ));
00071 connect( load_button, SIGNAL( clicked() ), this, SLOT( loadSelected() ));
00072 connect( delete_button, SIGNAL( clicked() ), this, SLOT( onDeleteClicked() ));
00073
00074 connect( camera_type_selector_, SIGNAL( activated( int )), this, SLOT( onCameraTypeSelected( int )));
00075 connect( views_list_, SIGNAL( itemActivated( QListWidgetItem* )), this, SLOT( loadSelected() ));
00076 }
00077
00078 ViewsPanel::~ViewsPanel()
00079 {
00080 }
00081
00082 void ViewsPanel::initialize( VisualizationManager* manager )
00083 {
00084 manager_ = manager;
00085
00086 connect( manager_, SIGNAL( generalConfigLoaded( const boost::shared_ptr<Config>& )),
00087 this, SLOT( onGeneralConfigLoaded( const boost::shared_ptr<Config>& )));
00088 connect( manager_, SIGNAL( generalConfigSaving( const boost::shared_ptr<Config>& )),
00089 this, SLOT( onGeneralConfigSaving( const boost::shared_ptr<Config>& )));
00090 connect( manager_, SIGNAL( viewControllerTypeAdded( const std::string&, const std::string& )),
00091 this, SLOT( onViewControllerTypeAdded( const std::string&, const std::string& )));
00092 connect( manager_, SIGNAL( viewControllerChanged( ViewController* )),
00093 this, SLOT( onViewControllerChanged( ViewController* )));
00094 }
00095
00096 void ViewsPanel::loadSelected()
00097 {
00098 int index = views_list_->currentRow();
00099 if( index >= 0 && index < (int) views_.size() )
00100 {
00101 const View& view = views_[ index ];
00102 manager_->setTargetFrame( view.target_frame_ );
00103 manager_->setCurrentViewControllerType( view.controller_class_ );
00104 manager_->getCurrentViewController()->fromString( view.controller_config_ );
00105 manager_->queueRender();
00106 }
00107 }
00108
00109 void ViewsPanel::addView( const View& view )
00110 {
00111 views_.push_back( view );
00112
00113 std::stringstream ss;
00114 ss << view.name_
00115 << "; Target=[" << view.target_frame_
00116 << "] Type=[" << view.controller_class_
00117 << "] Config=[" << view.controller_config_ << "]";
00118
00119 views_list_->addItem( QString::fromStdString( ss.str() ));
00120 }
00121
00122 void ViewsPanel::save( const std::string& name )
00123 {
00124 View view;
00125 view.target_frame_ = manager_->getTargetFrame();
00126 view.controller_class_ = manager_->getCurrentViewControllerType();
00127 view.name_ = name;
00128 view.controller_config_ = manager_->getCurrentViewController()->toString();
00129
00130 addView( view );
00131 }
00132
00133 void ViewsPanel::onViewControllerTypeAdded( const std::string& class_name, const std::string& name )
00134 {
00135 camera_type_selector_->addItem( QString::fromStdString( name ), QString::fromStdString( class_name ));
00136
00137 if( camera_type_selector_->count() == 1 )
00138 {
00139 camera_type_selector_->setCurrentIndex( 0 );
00140 }
00141 }
00142
00143 void ViewsPanel::onViewControllerChanged( ViewController* controller )
00144 {
00145 int count = camera_type_selector_->count();
00146 for( int i = 0; i < count; ++i )
00147 {
00148 QVariant type_var = camera_type_selector_->itemData( i );
00149 if( type_var.isValid() && controller->getClassName() == type_var.toString().toStdString() )
00150 {
00151 camera_type_selector_->setCurrentIndex( i );
00152 break;
00153 }
00154 }
00155 }
00156
00157 void ViewsPanel::onCameraTypeSelected( int index )
00158 {
00159 QVariant type_var = camera_type_selector_->itemData( index );
00160 if( type_var.isValid() )
00161 {
00162 manager_->setCurrentViewControllerType( type_var.toString().toStdString() );
00163 }
00164 }
00165
00166 void ViewsPanel::onSaveClicked()
00167 {
00168 bool ok;
00169 QString q_name = QInputDialog::getText( this, "Name the View", "Name",
00170 QLineEdit::Normal,
00171 "My View", &ok );
00172 if( ok && !q_name.isEmpty() )
00173 {
00174 save( q_name.toStdString() );
00175 }
00176 }
00177
00178 void ViewsPanel::onDeleteClicked()
00179 {
00180 int index = views_list_->currentRow();
00181 if( index >= 0 && index < views_list_->count() )
00182 {
00183 views_.erase( views_.begin() + index );
00184 delete views_list_->item( index );
00185 }
00186 }
00187
00188 void ViewsPanel::onGeneralConfigLoaded( const boost::shared_ptr<Config>& config )
00189 {
00190 int i = 0;
00191 while( 1 )
00192 {
00193 std::stringstream type, target, cam_config, name;
00194 type << "Views/" << i << "/Type";
00195 target << "Views/" << i << "/Target";
00196 cam_config << "Views/" << i << "/Config";
00197 name << "Views/" << i << "Name";
00198
00199 std::string view_type, view_name, view_target, view_config;
00200 if( !config->get( type.str(), &view_type ))
00201 {
00202 break;
00203 }
00204
00205 if( !config->get( name.str(), &view_name ))
00206 {
00207 break;
00208 }
00209
00210 if( !config->get( target.str(), &view_target ))
00211 {
00212 break;
00213 }
00214
00215 if( !config->get( cam_config.str(), &view_config ))
00216 {
00217 break;
00218 }
00219
00220 View view;
00221 view.name_ = view_name;
00222 view.controller_class_ = view_type;
00223 view.target_frame_ = view_target;
00224 view.controller_config_ = view_config;
00225
00226 addView( view );
00227
00228 ++i;
00229 }
00230 }
00231
00232 void ViewsPanel::onGeneralConfigSaving( const boost::shared_ptr<Config>& config )
00233 {
00234 V_View::const_iterator it = views_.begin();
00235 V_View::const_iterator end = views_.end();
00236 uint32_t i = 0;
00237 for (; it != end; ++it, ++i)
00238 {
00239 const View& view = *it;
00240
00241 std::stringstream type, target, cam_config, name;
00242 type << "Views/" << i << "/Type";
00243 target << "Views/" << i << "/Target";
00244 cam_config << "Views/" << i << "/Config";
00245 name << "Views/" << i << "Name";
00246
00247 config->set( name.str(), view.name_ );
00248 config->set( type.str(), view.controller_class_ );
00249 config->set( target.str(), view.target_frame_ );
00250 config->set( cam_config.str(), view.controller_config_ );
00251 }
00252 }
00253
00254 }
00255
