Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp, Ben Upcroft
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDROQGUI_WORLDVIEW_H
00012 #define HYDROQGUI_WORLDVIEW_H
00013 
00014 #include <QMouseEvent>
00015 #include <QFileDialog>
00016 #include <QString>
00017 
00018 #include <hydroqgui/zoomwidget.h>
00019 #include <hydroqgui/hydroqgui.h>
00020 
00021 
00022 namespace hydroqgui {
00023 
00024 class PlatformCSFinder;
00025 
00029 class WorldView : public hydroqgui::ZoomWidget
00030 {
00031    Q_OBJECT
00032 public:
00033 
00034     struct Config {
00035         Config()
00036             : initWithTransparency(false),
00037               initWithAntiAliasing(false)
00038             {}
00039 
00040         bool initWithTransparency;
00041         bool initWithAntiAliasing;
00042     };
00043     
00044     WorldView(  PlatformCSFinder                          *platformCSFinder,
00045                 ::hydroqguielementutil::MouseEventManager &mouseEventManager,
00046                 GuiElementSet                             &guiElementSet,
00047                 CoordinateFrameManager                    &coordinateFrameManager,
00048                 ::hydroqguielementutil::IHumanManager     &humanManager,
00049                 PlatformFocusManager                      &platformFocusManager,
00050                 int                                        displayRefreshTime,
00051                 const Config                              &cfg=Config(),
00052                 QWidget                                   *parent = NULL );
00053     ~WorldView();
00054 
00055     QSize sizeHint() const { return QSize( 400, 400 ); }
00056   
00057 public slots:
00058     // abstract zoom functions
00059     void zoomFitWin();
00060     void zoomAllPix();
00061     void setAntiAliasing(bool antiAliasing);
00062     void setUseTransparency(bool useTransparency);
00063 
00064 private slots:
00065 
00066  void updateAllGuiElements();
00067 
00068 private:
00069 
00070     void printStatusMessage(bool antiAliasing);
00071     void setupInterface( const Config &cfg );
00072 
00073     // finds coord system of a platform
00074     PlatformCSFinder *platformCSFinder_;
00075 
00076     // handles distribution of mouse events to GuiElements
00077     ::hydroqguielementutil::MouseEventManager &mouseEventManager_;
00078 
00079     GuiElementSet          &guiElementSet_;
00080     CoordinateFrameManager &coordinateFrameManager_;
00081 
00082     ::hydroqguielementutil::IHumanManager &humanManager_;
00083     PlatformFocusManager &platformFocusManager_;
00084 
00085     void paintAllGuiElements( QPainter *painter, int z, bool isCoordinateFramePlatformLocalised );
00086     
00087     // finds the nearest platform to the click, pclick and pixelRadius are in window CS
00088     QString nearestComponent( const QPointF& pclick, const double & pixelRadius );
00089 
00090     // Returns true if the platform which owns the coordinate system is localised
00091     // or if "global" owns the coordinate system 
00092     bool transformToPlatformOwningCS( QPainter *p );
00093 
00094     // event handlers
00095     void paintEvent( QPaintEvent* paintEvent );
00096     void mousePressEvent( QMouseEvent* );
00097     void mouseMoveEvent( QMouseEvent* );
00098     void mouseReleaseEvent( QMouseEvent* );
00099     void mouseDoubleClickEvent( QMouseEvent* );
00100 
00101     QPointF mouseDownPnt_;
00102     QPointF mouseMovePnt_;
00103 
00104     QPoint prevDragPos_;
00105     
00106     bool antiAliasing_;
00107 
00108     QTimer *displayTimer_;
00109 };
00110 
00111 }
00112 
00113 #endif
worldview.h
