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
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 PATHFOLLOWER2DELEMENT_H
00012 #define PATHFOLLOWER2DELEMENT_H
00013 
00014 #include <orca/pathfollower2d.h>
00015 
00016 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00017 #include <gbxsickacfr/gbxiceutilacfr/timer.h>
00018 
00019 #include <hydroqguielementutil/guielement2d.h>
00020 #include <orcaqgui2dfactory/pathpainter.h>
00021 #include <orcaqgui2dfactory/pathinput.h>
00022 
00023 namespace orcaqgui2d {
00024 
00025 class hydroqguielementutil::IHumanManager;
00026 
00028 // The consumer object. We need this here because PathFollower2dElement cannot inherit from IceStormElement.
00029 // Reason is that PathFollower2dConsumer has several non-standard purely virtual member functions.
00030 class PathUpdateConsumer : public orca::PathFollower2dConsumer
00031 {
00032 public:
00033     
00034     void setData( const orca::PathFollower2dData& newPath, const ::Ice::Current& );
00035     void setWaypointIndex( int index, const ::Ice::Current& );
00036     void setActivationTime( const orca::Time& absoluteTime, double relativeTime, const ::Ice::Current& );
00037     void setEnabledState( bool enabledState, const ::Ice::Current& );
00038 
00039     gbxsickacfr::gbxiceutilacfr::Store<orca::PathFollower2dData> pathPipe_;
00040     gbxsickacfr::gbxiceutilacfr::Store<int> indexPipe_;
00041 };
00043 
00045 // This class sets up all the buttons and actions for user interaction.
00046 // It can be instantiated on the heap and deleted, Qt cleans up for us
00047 class PathfollowerButtons : public QObject
00048 {
00049     Q_OBJECT
00050             
00051 public:
00052     PathfollowerButtons( QObject                       *parent,
00053                          hydroqguielementutil::IHumanManager      &humanManager,
00054                          hydroqguielementutil::ShortcutKeyManager &shortcutKeyManager,
00055                          std::string                    proxyString);
00056     ~PathfollowerButtons();
00057     
00058     void setWpButton( bool onOff );
00059 
00060 private:
00061     QAction *hiWaypoints_;
00062     hydroqguielementutil::IHumanManager &humanManager_;
00063     hydroqguielementutil::ShortcutKeyManager &shortcutKeyManager_;
00064 };
00066 
00067 class PathFollower2dElement;
00068 //
00069 // Handles the human-interface stuff for the PathFollower2dElement
00070 //
00071 class PathFollowerHI  : public QObject
00072 {
00073     Q_OBJECT
00074 
00075 public:
00076     PathFollowerHI( PathFollower2dElement *pfElement,
00077                     std::string proxyString,
00078                     hydroqguielementutil::IHumanManager &humanManager,
00079                     hydroqguielementutil::MouseEventManager &mouseEventManager,
00080                     hydroqguielementutil::ShortcutKeyManager &shortcutKeyManager,
00081                     const hydroqgui::GuiElementSet &guiElementSet,
00082                     PathPainter &painter,
00083                     WaypointSettings wpSettings,
00084                     bool activateImmediately,
00085                     QString dumpPath );
00086 
00087     void noLongerMouseEventReceiver();
00088     void paint( QPainter *p );
00089 
00090     void mousePressEvent(QMouseEvent *e) 
00091         {pathInput_->processPressEvent(e);}
00092     void mouseMoveEvent(QMouseEvent *e) {pathInput_->processMoveEvent(e);}
00093     void mouseReleaseEvent(QMouseEvent *e) {pathInput_->processReleaseEvent(e);}
00094     void mouseDoubleClickEvent(QMouseEvent *e) {pathInput_->processDoubleClickEvent(e);}
00095     void setFocus( bool inFocus );
00096     void setUseTransparency( bool useTransparency ); 
00097     
00098     // to dump the user (green) path to /tmp
00099     void savePath( const QString &fileName ) const
00100     {
00101         pathInput_->savePath( fileName );
00102     }
00103 
00104 public slots:
00105     void savePathAs();
00106     void savePath();
00107     void waypointSettingsDialog();
00108     void waypointModeSelected();
00109     void send();
00110     void cancel();
00111     void allGo();
00112     void allStop();
00113     void go();
00114     void stop();
00115 
00116 private:
00117 
00118     PathFollower2dElement *pfElement_;
00119     std::string proxyString_;
00120     hydroqguielementutil::IHumanManager &humanManager_;
00121     hydroqguielementutil::MouseEventManager &mouseEventManager_;
00122     hydroqguielementutil::ShortcutKeyManager &shortcutKeyManager_;
00123     const hydroqgui::GuiElementSet &guiElementSet_;
00124     PathPainter   &painter_;
00125 
00126     QString pathFileName_;
00127     bool pathFileSet_;
00128 
00129     WaypointSettings wpSettings_;
00130     bool             activateImmediately_;
00131 
00132     std::auto_ptr<PathFollowerInput> pathInput_;
00133     
00134     // sets up and destroys buttons and associated actions
00135     std::auto_ptr<PathfollowerButtons> buttons_;
00136 
00137     // Do we own the global mode?
00138     bool gotMode_;
00139     
00140     bool useTransparency_;
00141     
00142     QString dumpPath_;
00143     int numPathDumps_;
00144     QString lastSavedPathFile_;
00145 };
00146 
00147 // We need to inherit from GuiElement2d, not from IceStormElement. 
00148 // Reason is that PathFollower2dConsumer has a non-standard purely virtual 
00149 // member function setWaypointIndex. 
00150 // Disadvantage is that we have to subscribe ourselves.
00151 class PathFollower2dElement : public hydroqguielementutil::GuiElement2d
00152 {
00153 
00154 public: 
00155 
00156     PathFollower2dElement( const orcaice::Context & context,
00157                            const std::string &proxyString,
00158                            hydroqguielementutil::IHumanManager &humanManager,
00159                            hydroqguielementutil::MouseEventManager &mouseEventManager,
00160                            hydroqguielementutil::ShortcutKeyManager &shortcutKeyManager,
00161                            const hydroqgui::GuiElementSet &guiElementSet );
00162 
00163     // inherited from guielement
00164     void update();
00165     void paint( QPainter *p, int z );
00166     bool paintThisLayer( int z ) const
00167         { return painter_.paintThisLayer(z); }
00168     
00169     virtual bool isInGlobalCS() { return true; }
00170     virtual QStringList contextMenu();
00171     virtual void execute( int action );
00172     virtual void setColor( QColor color ) { painter_.setColor( color ); };
00173     virtual void setFocus( bool inFocus );
00174     virtual void setUseTransparency( bool useTransparency );
00175 
00176     virtual void noLongerMouseEventReceiver() { if ( pathHI_.get() ) pathHI_->noLongerMouseEventReceiver(); }
00177     virtual void mousePressEvent(QMouseEvent *e) { if ( pathHI_.get() ) pathHI_->mousePressEvent(e); }
00178     virtual void mouseMoveEvent(QMouseEvent *e) { if ( pathHI_.get() ) pathHI_->mouseMoveEvent(e); }
00179     virtual void mouseReleaseEvent(QMouseEvent *e) { if ( pathHI_.get() ) pathHI_->mouseReleaseEvent(e); }
00180     virtual void mouseDoubleClickEvent(QMouseEvent *e) { if ( pathHI_.get() ) pathHI_->mouseDoubleClickEvent(e); }
00181 
00182     void go();
00183     void stop();
00184     void sendPath( const PathFollowerInput &pathInput, bool activateImmediately );
00185 
00186     void enableHI();
00187     void disableHI();
00188     bool isHIEnabled() { return pathHI_.get() != 0; }
00189 
00190     PathPainter &pathPainter() { return painter_; }
00191 
00192 private: 
00193     void doInitialSetup();
00194 
00195     PathPainter painter_;
00196 
00197     int connectToInterface();
00198     bool isConnected_;
00199     void getInitialData();
00200 
00201     PathUpdateConsumer *pathUpdateConsumer_;
00202     orca::PathFollower2dConsumerPrx callbackPrx_;
00203     orca::PathFollower2dPrx pathFollower2dPrx_;
00204     std::string proxyString_;
00205 
00206     orcaice::Context context_;
00207     
00208     hydroqguielementutil::IHumanManager       &humanManager_;
00209     hydroqguielementutil::MouseEventManager   &mouseEventManager_;
00210     hydroqguielementutil::ShortcutKeyManager  &shortcutKeyManager_;
00211     const hydroqgui::GuiElementSet &guiElementSet_;
00212     
00213     bool firstTime_;
00214     gbxsickacfr::gbxiceutilacfr::Timer *timer_;
00215     gbxsickacfr::gbxiceutilacfr::Timer *activationTimer_;
00216     
00217     // toggle states
00218     bool displayWaypoints_;
00219     bool displayPastWaypoints_;
00220     bool displayFutureWaypoints_;
00221     bool displayOlympicMarker_;
00222     bool currentTransparency_;
00223     bool isInFocus_;
00224 
00225     bool isRemoteInterfaceSick_;
00226     
00227     // Handles human interface
00228     std::auto_ptr<PathFollowerHI> pathHI_;
00229     
00230     // returns 0 if remote call works otherwise -1
00231     int isFollowerEnabled( bool &isEnabled );
00232     
00233 };
00234 
00235 }
00236 
00237 #endif
pathfollower2delement.h
