views_panel.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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <QLabel>
#include <QListWidget>
#include <QComboBox>
#include <QPushButton>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QInputDialog>
 
#include <rviz/properties/property_tree_widget.h>
#include <rviz/view_controller.h>
#include <rviz/view_manager.h>
#include <rviz/visualization_manager.h>
 
#include "views_panel.h"
 
namespace rviz
{
ViewsPanel::ViewsPanel(QWidget* parent) : Panel(parent), view_man_(nullptr)
{
  camera_type_selector_ = new QComboBox;
  properties_view_ = new PropertyTreeWidget();
 
  save_button_ = new QPushButton("Save");
  QPushButton* remove_button = new QPushButton("Remove");
  QPushButton* rename_button = new QPushButton("Rename");
  QPushButton* zero_button = new QPushButton("Zero");
  zero_button->setToolTip("Jump to 0,0,0 with the current view controller. Shortcut: Z");
 
  QHBoxLayout* top_layout = new QHBoxLayout;
  top_layout->addWidget(new QLabel("Type:"));
  top_layout->addWidget(camera_type_selector_);
  top_layout->addStretch();
  top_layout->addWidget(zero_button);
  top_layout->setContentsMargins(2, 6, 2, 2);
 
  QHBoxLayout* button_layout = new QHBoxLayout;
  button_layout->addWidget(save_button_);
  button_layout->addWidget(remove_button);
  button_layout->addWidget(rename_button);
  button_layout->setContentsMargins(2, 0, 2, 2);
 
  QVBoxLayout* main_layout = new QVBoxLayout;
  main_layout->setContentsMargins(0, 0, 0, 0);
  main_layout->addLayout(top_layout);
  main_layout->addWidget(properties_view_);
  main_layout->addLayout(button_layout);
  setLayout(main_layout);
 
  connect(remove_button, &QPushButton::clicked, this, &ViewsPanel::onDeleteClicked);
  connect(rename_button, &QPushButton::clicked, this, &ViewsPanel::renameSelected);
  connect(zero_button, &QPushButton::clicked, this, &ViewsPanel::onZeroClicked);
  connect(properties_view_, &PropertyTreeWidget::clicked, this, &ViewsPanel::setCurrentViewFromIndex);
  connect(properties_view_, &PropertyTreeWidget::activated, this, &ViewsPanel::setCurrentViewFromIndex);
}
 
void ViewsPanel::onInitialize()
{
  setViewManager(vis_manager_->getViewManager());
}
 
void ViewsPanel::setViewManager(ViewManager* view_man)
{
  if (view_man_)
  {
    disconnect(save_button_, &QPushButton::clicked, view_man_, &ViewManager::copyCurrentToList);
    disconnect(camera_type_selector_, qOverload<int>(&QComboBox::activated), this,
               &ViewsPanel::onTypeSelectorChanged);
    disconnect(view_man_, &ViewManager::currentChanged, this, &ViewsPanel::onCurrentChanged);
  }
  view_man_ = view_man;
  camera_type_selector_->clear();
  if (view_man_)
  {
    properties_view_->setModel(view_man_->getPropertyModel());
 
    QStringList ids = view_man_->getFactory()->getDeclaredClassIds();
    for (int i = 0; i < ids.size(); i++)
    {
      const QString& id = ids[i];
      camera_type_selector_->addItem(ViewController::formatClassId(id),
                                     id); // send the regular-formatted id as userData.
    }
 
    connect(save_button_, &QPushButton::clicked, view_man_, &ViewManager::copyCurrentToList);
    connect(camera_type_selector_, qOverload<int>(&QComboBox::activated), this,
            &ViewsPanel::onTypeSelectorChanged);
    connect(view_man_, &ViewManager::currentChanged, this, &ViewsPanel::onCurrentChanged);
  }
  else
  {
    properties_view_->setModel(nullptr);
  }
  onCurrentChanged();
}
 
void ViewsPanel::onTypeSelectorChanged(int selected_index)
{
  QString class_id = camera_type_selector_->itemData(selected_index).toString();
  view_man_->setCurrentViewControllerType(class_id);
}
 
void ViewsPanel::onZeroClicked()
{
  if (view_man_->getCurrent())
  {
    view_man_->getCurrent()->reset();
  }
}
 
void ViewsPanel::setCurrentViewFromIndex(const QModelIndex& index)
{
  Property* prop = view_man_->getPropertyModel()->getProp(index);
  if (ViewController* view = qobject_cast<ViewController*>(prop))
  {
    view_man_->setCurrentFrom(view);
  }
}
 
void ViewsPanel::onDeleteClicked()
{
  QList<ViewController*> views_to_delete = properties_view_->getSelectedObjects<ViewController>();
 
  for (int i = 0; i < views_to_delete.size(); i++)
  {
    // TODO: should eventually move to a scheme where the CURRENT view
    // is not in the same list as the saved views, at which point this
    // check can go away.
    if (views_to_delete[i] != view_man_->getCurrent())
    {
      delete views_to_delete[i];
    }
  }
}
 
void ViewsPanel::renameSelected()
{
  QList<ViewController*> views_to_rename = properties_view_->getSelectedObjects<ViewController>();
  if (views_to_rename.size() == 1)
  {
    ViewController* view = views_to_rename[0];
 
    // TODO: should eventually move to a scheme where the CURRENT view
    // is not in the same list as the saved views, at which point this
    // check can go away.
    if (view == view_man_->getCurrent())
    {
      return;
    }
 
    QString old_name = view->getName();
    QString new_name =
        QInputDialog::getText(this, "Rename View", "New Name?", QLineEdit::Normal, old_name);
 
    if (new_name.isEmpty() || new_name == old_name)
    {
      return;
    }
 
    view->setName(new_name);
  }
}
 
void ViewsPanel::onCurrentChanged()
{
  QString formatted_class_id = ViewController::formatClassId(view_man_->getCurrent()->getClassId());
 
  // Make sure the type selector shows the type of the current view.
  // This is only here in case the type is changed programmatically,
  // instead of via the camera_type_selector_ being used.
  camera_type_selector_->setCurrentIndex(camera_type_selector_->findText(formatted_class_id));
 
  properties_view_->setAnimated(false);
  view_man_->getCurrent()->expand();
  properties_view_->setAnimated(true);
}
 
void ViewsPanel::save(Config config) const
{
  Panel::save(config);
  properties_view_->save(config);
}
 
void ViewsPanel::load(const Config& config)
{
  Panel::load(config);
  properties_view_->load(config);
}
 
} // namespace rviz