factory_model.cpp

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/* Author: Robert Haschke */
 
#include "factory_model.h"
#include <rviz/load_resource.h>
#include <QMimeData>
#include <QSet>
 
namespace moveit_rviz_plugin {
 
FactoryModel::FactoryModel(rviz::Factory& factory, const QString& mime_type, QObject* parent)
  : QStandardItemModel(parent), mime_type_(mime_type) {
        setHorizontalHeaderLabels({ tr("Name") });
        fillTree(factory);
}
 
void FactoryModel::fillTree(rviz::Factory& factory) {
        QIcon default_package_icon = rviz::loadPixmap("package://rviz/icons/default_package_icon.png");
 
        QStringList classes = factory.getDeclaredClassIds();
        classes.sort();
 
        // Map from package names to the corresponding top-level tree widget items.
        std::map<QString, QStandardItem*> package_items;
 
        for (const QString& lookup_name : classes) {
                QString package = factory.getClassPackage(lookup_name);
 
                QStandardItem* package_item;
                auto mi = package_items.find(package);
                if (mi == package_items.end()) {
                        package_item = new QStandardItem(default_package_icon, package);
                        package_items[package] = package_item;
                        appendRow(package_item);
                } else {
                        package_item = mi->second;
                }
                QStandardItem* class_item = new QStandardItem(factory.getIcon(lookup_name), factory.getClassName(lookup_name));
                class_item->setWhatsThis(factory.getClassDescription(lookup_name));
                class_item->setData(lookup_name, Qt::UserRole);
                class_item->setDragEnabled(true);
                package_item->appendRow(class_item);
        }
}
 
QStringList FactoryModel::mimeTypes() const {
        return { mime_type_ };
}
 
QMimeData* FactoryModel::mimeData(const QModelIndexList& indexes) const {
        QSet<int> rows_considered;
        QMimeData* mime_data = new QMimeData();
        for (const auto& index : indexes) {
                if (rows_considered.contains(index.row()))
                        continue;
                // mime data is lookup_name
                mime_data->setData(mime_type_, index.data(Qt::UserRole).toByteArray());
        }
        return mime_data;
}
}  // namespace moveit_rviz_plugin