skillgui: skillgui: skillgui.h Source File

00001 
00002 /***************************************************************************
00003  *  skillgui.h - Skill GUI
00004  *
00005  *  Created: Mon Nov 03 13:35:34 2008
00006  *  Copyright  2008-2010  Tim Niemueller [www.niemueller.de]
00007  *             2010       Carnegie Mellon University
00008  *             2010       Intel Labs Pittsburgh
00009  ****************************************************************************/
00010 
00011 /*  This program is free software; you can redistribute it and/or modify
00012  *  it under the terms of the GNU General Public License as published by
00013  *  the Free Software Foundation; either version 2 of the License, or
00014  *  (at your option) any later version.
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL file in the doc directory.
00022  */
00023 
00024 #ifndef __TOOLS_SKILLGUI_SKILLGUI_H_
00025 #define __TOOLS_SKILLGUI_SKILLGUI_H_
00026 
00027 
00028 #include <gtkmm.h>
00029 #include <libglademm/xml.h>
00030 #ifdef HAVE_GCONFMM
00031 #  include <gconfmm.h>
00032 #  define GCONF_PREFIX "/apps/fawkes/skillgui"
00033 #endif
00034 
00035 #ifndef USE_ROS
00036 #  include <gui_utils/connection_dispatcher.h>
00037 #  include <interfaces/SkillerInterface.h>
00038 #  include <interfaces/SkillerDebugInterface.h>
00039 #else
00040 #  include <ros/ros.h>
00041 #  include <actionlib/client/action_client.h>
00042 #  include <skiller/Graph.h>
00043 #  include <skiller/SetGraphColored.h>
00044 #  include <skiller/SetGraphDirection.h>
00045 #  include <skiller/ExecSkillAction.h>
00046 #endif
00047 
00048 namespace fawkes {
00049   class BlackBoard;
00050   class InterfaceDispatcher;
00051   class LogView;
00052   class Throbber;
00053   class PluginTreeView;
00054 }
00055 
00056 #ifdef USE_PAPYRUS
00057 class SkillGuiGraphViewport;
00058 #else
00059 class SkillGuiGraphDrawingArea;
00060 #endif
00061 
00062 class SkillGuiGtkWindow : public Gtk::Window
00063 {
00064  public:  
00065   SkillGuiGtkWindow(BaseObjectType* cobject, const Glib::RefPtr<Gnome::Glade::Xml> &refxml);
00066   ~SkillGuiGtkWindow();
00067 
00068  private:
00069   void update_graph(std::string &graph_name, std::string &dotgraph);
00070 
00071   void on_config_changed();
00072   void on_contexec_toggled();
00073   void on_skill_changed();
00074   void on_graphupd_clicked();
00075   void on_update_disabled();
00076   void on_recording_toggled();
00077   void on_exit_clicked();
00078   void on_graphcolor_toggled();
00079   void on_followactivestate_toggled();
00080   void on_graphdir_clicked();
00081   void on_exec_clicked();
00082   void on_stop_clicked();
00083 #ifndef USE_ROS
00084   void on_controller_clicked();
00085   void on_connection_clicked();
00086   void close_bb();
00087   void on_skiller_data_changed();
00088   void on_skdbg_data_changed();
00089   void on_agdbg_data_changed();
00090   void on_connect();
00091   void on_disconnect();
00092   void send_graphdir_message(fawkes::SkillerDebugInterface *iface,
00093                              fawkes::SkillerDebugInterface::GraphDirectionEnum gd);
00094   void on_graphdir_changed(fawkes::SkillerDebugInterface::GraphDirectionEnum gd);
00095 #else
00096   void ros_skiller_graphmsg_cb(const skiller::Graph::ConstPtr &msg);
00097   void ros_agent_graphmsg_cb(const skiller::Graph::ConstPtr &msg);
00098   void ros_exec_transition_cb(actionlib::ClientGoalHandle<skiller::ExecSkillAction> &gh);
00099   void ros_exec_feedback_cb(actionlib::ClientGoalHandle<skiller::ExecSkillAction> &gh,
00100                             const skiller::ExecSkillFeedbackConstPtr &feedback);
00101   void on_graph_changed();
00102 #endif
00103 
00104  private:
00105   class SkillStringRecord : public Gtk::TreeModelColumnRecord
00106   {
00107    public:
00108     SkillStringRecord();
00109     Gtk::TreeModelColumn<Glib::ustring> skillstring;
00110   };
00111   SkillStringRecord __sks_record;
00112 
00113 
00114 #ifndef USE_ROS
00115   fawkes::BlackBoard *bb;
00116 
00117   fawkes::ConnectionDispatcher connection_dispatcher;
00118   fawkes::InterfaceDispatcher  *__skiller_ifd;
00119   fawkes::InterfaceDispatcher  *__skdbg_ifd;
00120   fawkes::InterfaceDispatcher  *__agdbg_ifd;
00121 #endif
00122 
00123   Gtk::Toolbar           *toolbar;
00124   Gtk::ToolItem          *tb_throbber;
00125   Gtk::ToolButton        *tb_connection;
00126   Gtk::ToolButton        *tb_exit;
00127   Gtk::SeparatorToolItem *tb_sep;
00128   Gtk::Button            *but_exec;
00129   Gtk::Button            *but_stop;
00130   Gtk::ToggleButton      *but_continuous;
00131   Gtk::Button            *but_clearlog;
00132   Gtk::ComboBoxEntry     *cbe_skillstring;
00133   Gtk::Label             *lab_status;
00134   Gtk::Label             *lab_alive;
00135   Gtk::Label             *lab_continuous;
00136   Gtk::Label             *lab_skillstring;
00137   Gtk::Label             *lab_error;
00138   Gtk::ScrolledWindow    *scw_graph;
00139   Gtk::Notebook          *ntb_tabs;
00140   Gtk::DrawingArea       *drw_graph;
00141   Gtk::Toolbar           *tb_fsmgraph;
00142   Gtk::ToggleToolButton  *tb_skiller;
00143   Gtk::ToggleToolButton  *tb_agent;
00144   Gtk::ComboBoxText      *cb_graphlist;
00145   Gtk::ToolItem          *tb_graphlist;
00146   Gtk::ToolButton        *tb_graphsave;
00147   Gtk::ToolButton        *tb_graphopen;
00148   Gtk::ToolButton        *tb_graphupd;
00149   Gtk::ToggleToolButton  *tb_graphrecord;
00150   Gtk::ToolButton        *tb_controller;
00151   Gtk::ToolButton        *tb_zoomin;
00152   Gtk::ToolButton        *tb_zoomout;
00153   Gtk::ToolButton        *tb_zoomfit;
00154   Gtk::ToolButton        *tb_zoomreset;
00155 
00156   Gtk::MenuToolButton    *tb_graphdir;
00157   Gtk::ToggleToolButton  *tb_graphcolored;
00158   Gtk::ToggleToolButton  *tb_followactivestate;
00159   Gtk::MenuItem          *mi_graphdir;
00160   Gtk::MenuItem          *mi_bottom_top;
00161   Gtk::MenuItem          *mi_top_bottom;
00162   Gtk::MenuItem          *mi_left_right;
00163   Gtk::MenuItem          *mi_right_left;
00164 
00165   Glib::RefPtr<Gtk::ListStore> __sks_list;
00166 
00167 #ifdef HAVE_GCONFMM
00168   Glib::RefPtr<Gnome::Conf::Client> __gconf;
00169 #endif
00170 
00171 #ifdef USE_PAPYRUS
00172   SkillGuiGraphViewport  *pvp_graph;
00173 #else
00174   SkillGuiGraphDrawingArea *gda;
00175 #endif
00176 
00177 #ifdef USE_ROS
00178   ros::NodeHandle __rosnh;
00179   ros::Subscriber __sub_graph_skiller;
00180   ros::Subscriber __sub_graph_agent;
00181   ros::ServiceClient __srv_graph_color_skiller;
00182   ros::ServiceClient __srv_graph_direction_skiller;
00183   ros::ServiceClient __srv_graph_color_agent;
00184   ros::ServiceClient __srv_graph_direction_agent;
00185   Glib::Dispatcher __graph_changed;
00186   skiller::Graph::ConstPtr __graph_msg_skiller;
00187   skiller::Graph::ConstPtr __graph_msg_agent;
00188   actionlib::ActionClient<skiller::ExecSkillAction> __ac_exec;
00189   actionlib::ClientGoalHandle<skiller::ExecSkillAction> __gh;
00190 #else
00191   fawkes::SkillerInterface *__skiller_if;
00192   fawkes::SkillerDebugInterface *__skdbg_if;
00193   fawkes::SkillerDebugInterface *__agdbg_if;
00194 
00195   fawkes::LogView         *__logview;
00196   fawkes::PluginTreeView  *__trv_plugins;
00197 #endif
00198   fawkes::Throbber        *__throbber;
00199 
00200 };
00201 
00202 #endif