view_controller.h

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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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 * 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.
 */

#ifndef RVIZ_VIEW_CONTROLLER_H
#define RVIZ_VIEW_CONTROLLER_H

#include <string>

#include <QCursor>

#include "rviz/properties/property.h"
#include "rviz/rviz_export.h"

class QKeyEvent;

namespace Ogre
{
class Camera;
class SceneNode;
class Vector3;
class Quaternion;
} // namespace Ogre

namespace rviz
{
class DisplayContext;
class EnumProperty;
class RenderPanel;
class ViewportMouseEvent;
class FloatProperty;
class BoolProperty;

class RVIZ_EXPORT ViewController : public Property
{
  Q_OBJECT
public:
  ViewController();
  ~ViewController() override;

  void initialize(DisplayContext* context);

  static QString formatClassId(const QString& class_id);

  QVariant getViewData(int column, int role) const override;

  Qt::ItemFlags getViewFlags(int column) const override;

  void activate();

  virtual void update(float dt, float ros_dt)
  {
    (void)dt;
    (void)ros_dt;
  }

  virtual void handleMouseEvent(ViewportMouseEvent& evt)
  {
    (void)evt;
  }

  virtual void handleKeyEvent(QKeyEvent* event, RenderPanel* panel);

  void lookAt(float x, float y, float z);

  virtual void lookAt(const Ogre::Vector3& point)
  {
    (void)point;
  }

  virtual void reset() = 0;

  virtual void mimic(ViewController* source_view)
  {
    (void)source_view;
  }

  virtual void transitionFrom(ViewController* previous_view)
  {
    (void)previous_view;
  }

  void emitConfigChanged();

  Ogre::Camera* getCamera() const
  {
    return camera_;
  }

  virtual QString getClassId() const
  {
    return class_id_;
  }

  virtual void setClassId(const QString& class_id)
  {
    class_id_ = class_id;
  }

  void load(const Config& config) override;
  void save(Config config) const override;

  bool isActive() const
  {
    return is_active_;
  }

  virtual QCursor getCursor()
  {
    return cursor_;
  }

Q_SIGNALS:
  void configChanged();

private Q_SLOTS:

  void updateNearClipDistance();
  void updateStereoProperties();
  void updateInvertZAxis();

protected:
  virtual void onInitialize()
  {
  }

  virtual void onActivate()
  {
  }

  // choose a cursor from the standard set
  enum CursorType
  {
    Default,
    Rotate2D,
    Rotate3D,
    MoveXY,
    MoveZ,
    Zoom,
    Crosshair
  };
  void setCursor(CursorType cursor_type);

  // set a custom cursor
  void setCursor(QCursor cursor)
  {
    cursor_ = cursor;
  }

  DisplayContext* context_;
  Ogre::Camera* camera_;

  bool is_active_;

  // this cursor will be displayed when the mouse is within the
  // window controlled by this view controller
  // use SetCursor to modify.
  QCursor cursor_;

  FloatProperty* near_clip_property_;
  BoolProperty* stereo_enable_;
  BoolProperty* stereo_eye_swap_;
  FloatProperty* stereo_eye_separation_;
  FloatProperty* stereo_focal_distance_;
  BoolProperty* invert_z_;

  void setStatus(const QString& message);

private:
  EnumProperty* type_property_;
  QString class_id_;

  // Default cursors for the most common actions
  QMap<CursorType, QCursor> standard_cursors_;
};

} // end namespace rviz

#endif // RVIZ_VIEW_CONTROLLER_H