visualization_frame.h

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/*
 * Copyright (c) 2008, 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef RVIZ_VISUALIZATION_FRAME_H
#define RVIZ_VISUALIZATION_FRAME_H
 
#include <boost/shared_ptr.hpp>
 
#include <QMainWindow>
#include <QList>
 
#include <string>
#include <deque>
 
#include <rviz/config.h>
#include <rviz/window_manager_interface.h>
#include <rviz/panel.h>
#include <rviz/rviz_export.h>
 
#include <ros/time.h>
 
class QSplashScreen;
class QAction;
class QActionGroup;
class QTimer;
class QDockWidget;
class QLabel;
class QToolButton;
 
namespace rviz
{
class PanelFactory;
struct Preferences;
class RenderPanel;
class VisualizationManager;
class Tool;
class WidgetGeometryChangeDetector;
 
class RVIZ_EXPORT VisualizationFrame : public QMainWindow, public WindowManagerInterface
{
  Q_OBJECT
public:
  VisualizationFrame(QWidget* parent = nullptr);
  ~VisualizationFrame() override;
 
  [[deprecated("setApp() not needed anymore")]] void setApp(QApplication* app);
 
  void setShowChooseNewMaster(bool show);
 
  void setHelpPath(const QString& help_path);
 
  void setSplashPath(const QString& splash_path);
 
  void initialize(const QString& display_config_file = "");
 
  VisualizationManager* getManager()
  {
    return manager_;
  }
 
  // overrides from WindowManagerInterface
  QWidget* getParentWindow() override;
  PanelDockWidget* addPane(const QString& name,
                           QWidget* panel,
                           Qt::DockWidgetArea area = Qt::LeftDockWidgetArea,
                           bool floating = false) override;
 
  QDockWidget* addPanelByName(const QString& name,
                              const QString& class_lookup_name,
                              Qt::DockWidgetArea area = Qt::LeftDockWidgetArea,
                              bool floating = false);
 
  void loadPersistentSettings();
 
  void savePersistentSettings();
 
  void loadDisplayConfig(const QString& path);
 
  bool loadDisplayConfigHelper(const std::string& full_path, const bool discard_changes = false);
 
  bool saveDisplayConfig(const QString& path);
 
  QString getErrorMessage() const
  {
    return error_message_;
  }
 
  virtual void load(const Config& config);
 
  virtual void save(Config config);
 
  void setHideButtonVisibility(bool visible);
 
public Q_SLOTS:
  void setDisplayConfigModified();
 
  void setStatus(const QString& message) override;
 
  void setFullScreen(bool full_screen);
 
  void exitFullScreen();
 
Q_SIGNALS:
  void statusUpdate(const QString& message);
 
  void fullScreenChange(bool hidden);
 
  void displayConfigFileChanged(const QString& fullpath);
 
protected Q_SLOTS:
  void onOpen();
  void onSave();
  void onSaveAs();
  void onSaveImage();
  void onRecentConfigSelected();
  void onHelpWiki();
  void onHelpAbout();
  void openNewPanelDialog();
  void openNewToolDialog();
  void openPreferencesDialog();
  void showHelpPanel();
  void onDockPanelChange();
 
  void onToolbarRemoveTool(QAction* remove_tool_menu_action);
 
  void onButtonStyleTool(QAction* button_style_tool_menu_action);
 
  void onToolbarActionTriggered(QAction* action);
 
  void addTool(Tool* tool);
 
  void onToolNameChanged(const QString& name);
 
  void removeTool(Tool* tool);
 
  void refreshTool(Tool* tool);
 
  void indicateToolIsCurrent(Tool* tool);
 
  void changeMaster();
 
  void onDeletePanel();
 
protected Q_SLOTS:
  void markLoadingDone();
 
  void setImageSaveDirectory(const QString& directory);
 
  void reset();
 
  void onPanelDeleted(QObject* dock);
  void onHelpDestroyed();
 
  void hideLeftDock(bool hide);
  void hideRightDock(bool hide);
 
  virtual void onDockPanelVisibilityChange(bool visible);
 
  void updateFps();
 
protected:
  void initConfigs();
 
  void initMenus();
 
  void initToolbars();
 
  bool prepareToExit();
 
  void closeEvent(QCloseEvent* event) override;
 
  void leaveEvent(QEvent* event) override;
 
  void markRecentConfig(const std::string& path);
  void updateRecentConfigMenu();
 
  void loadPanels(const Config& config);
 
  void configureToolbars(const Config& config);
 
  void saveToolbars(Config config);
 
  void savePanels(Config config);
 
  void loadPreferences(const Config& config);
  void savePreferences(Config config);
 
  void loadWindowGeometry(const Config& config);
  void saveWindowGeometry(Config config);
 
  void setDisplayConfigFile(const std::string& path);
 
  void hideDockImpl(Qt::DockWidgetArea area, bool hide);
 
  RenderPanel* render_panel_;
 
  QAction* show_help_action_;
 
  std::string config_dir_;
  std::string persistent_settings_file_;
  std::string display_config_file_;
  std::string default_display_config_file_;
  std::string last_config_dir_;
  std::string last_image_dir_;
  std::string home_dir_;
 
  boost::shared_ptr<Preferences> preferences_;
 
  QMenu* file_menu_;
  QMenu* recent_configs_menu_;
  QMenu* view_menu_;
  QMenu* delete_view_menu_;
  QMenu* plugins_menu_;
 
  QToolBar* toolbar_;
 
  VisualizationManager* manager_;
 
  std::string package_path_;
  QString help_path_;
  QString splash_path_;
 
  QSplashScreen* splash_;
 
  typedef std::deque<std::string> D_string;
  D_string recent_configs_;
 
  QActionGroup* toolbar_actions_;
  std::map<QAction*, Tool*> action_to_tool_map_;
  std::map<Tool*, QAction*> tool_to_action_map_;
  bool show_choose_new_master_option_;
 
  QToolButton* hide_left_dock_button_;
  QToolButton* hide_right_dock_button_;
 
  PanelFactory* panel_factory_;
 
  struct PanelRecord
  {
    Panel* panel;
    PanelDockWidget* dock;
    QString name;
    QString class_id;
    QAction* delete_action;
  };
  QList<PanelRecord> custom_panels_;
 
  QAction* toolbar_separator_;
  QMenu* remove_tool_menu_;
 
  bool initialized_;
  WidgetGeometryChangeDetector* geom_change_detector_;
  bool loading_;            
  QTimer* post_load_timer_; 
 
  QLabel* status_label_;
  QLabel* fps_label_;
  QStatusBar* original_status_bar_;
 
  int frame_count_;
  ros::WallTime last_fps_calc_time_;
 
  QString error_message_; 
 
  bool toolbar_visible_;
};
 
} // namespace rviz
 
#endif // RVIZ_VISUALIZATION_FRAME_H