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 PATHPLANNER2DELEMENT_H
00012 #define PATHPLANNER2DELEMENT_H
00013 
00014 #include <iostream>
00015 #include <orca/pathplanner2d.h>
00016 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00017 #include <orcaqguielementutil/icestormelement.h>
00018 #include <orcaqgui2dfactory/pathpainter.h>
00019 #include <orcaqgui2dfactory/pathinput.h>
00020 
00021 namespace orcaqgui2d {
00022 
00023 class hydroqguielementutil::IHumanManager;
00024 
00025 // There's two consumer objects: the first one for icestorm (pathplanner pushes out whatever it computed) which is part
00026 // of the base class IceStormElement.
00027 // The second one here is for answers to tasks which were set by the GUI.
00028 
00030 class PathPlannerTaskAnswerConsumer : public orca::PathPlanner2dConsumer
00031 {
00032     public:
00033 
00034         virtual void setData(const ::orca::PathPlanner2dData& data, const ::Ice::Current& = ::Ice::Current());
00035         gbxsickacfr::gbxiceutilacfr::Store<QString> msgStore_;
00036 };
00038 
00039 
00041 
00042 // This class sets up all the buttons and actions for user interaction.
00043 // It can be instantiated on the heap and deleted, Qt cleans up for us
00044 class PathplannerButtons : public QObject
00045 {
00046     Q_OBJECT
00047             
00048 public:
00049     PathplannerButtons( QObject *parent, hydroqguielementutil::IHumanManager &humanManager, std::string proxyString);
00050     ~PathplannerButtons() 
00051     { 
00052         // Qt cleans up for us 
00053     };
00054     void setWpButton( bool onOff );
00055 
00056 private:
00057     QAction *hiWaypoints_;
00058 };
00060 
00061 class PathPlanner2dElement;
00062 class PathPlannerHI  : public QObject
00063 {
00064     Q_OBJECT
00065 
00066 public:
00067     PathPlannerHI( PathPlanner2dElement *ppElement,
00068                    std::string proxyString,
00069                    hydroqguielementutil::IHumanManager &humanManager,
00070                    hydroqguielementutil::MouseEventManager &mouseEventManager,
00071                    PathPainter &painter,
00072                    WaypointSettings wpSettings );
00073     ~PathPlannerHI();
00074 
00075     void noLongerMouseEventReceiver();
00076     void paint( QPainter *p );
00077 
00078     void mousePressEvent(QMouseEvent *e) 
00079         {pathInput_->processPressEvent(e);}
00080     void mouseMoveEvent(QMouseEvent *e) {pathInput_->processMoveEvent(e);}
00081     void mouseReleaseEvent(QMouseEvent *e) {pathInput_->processReleaseEvent(e);}
00082     void mouseDoubleClickEvent(QMouseEvent *e) {pathInput_->processDoubleClickEvent(e);}
00083     void setFocus( bool inFocus );
00084     void setUseTransparency( bool useTransparency ); 
00085 
00086 public slots:
00087     void savePathAs();
00088     void savePath();
00089     void waypointSettingsDialog();
00090     void waypointModeSelected();
00091     void send();
00092     void cancel();
00093 
00094 private:
00095 
00096     PathPlanner2dElement *ppElement_;
00097     std::string proxyString_;
00098     hydroqguielementutil::IHumanManager &humanManager_;
00099     hydroqguielementutil::MouseEventManager &mouseEventManager_;
00100     PathPainter   &painter_;
00101 
00102     QString pathFileName_;
00103     bool pathFileSet_;
00104 
00105     WaypointSettings wpSettings_;
00106 
00107     PathPlannerInput *pathInput_;
00108     
00109     // sets up and destroys buttons and associated actions
00110     PathplannerButtons *buttons_;
00111     
00112     // Do we own the global mode?
00113     bool gotMode_;
00114     
00115     bool useTransparency_;
00116 };
00117 
00118 //
00119 // @author Tobias Kaupp
00120 //
00121 class PathPlanner2dElement : public orcaqguielementutil::IceStormElement<PathPainter,
00122                              orca::PathPlanner2dData,
00123                              orca::PathPlanner2dPrx,
00124                              orca::PathPlanner2dConsumer,
00125                              orca::PathPlanner2dConsumerPrx>
00126 {
00127 
00128 public: 
00129 
00130     PathPlanner2dElement( const orcaice::Context       &context,
00131                           const std::string            &proxyString,
00132                           hydroqguielementutil::IHumanManager     &humanManager,
00133                           hydroqguielementutil::MouseEventManager &mouseEventManager );
00134     ~PathPlanner2dElement();
00135 
00136     void update();
00137     
00138     // overriding paint since we have to paint human input
00139     void paint( QPainter *p, int z );
00140     
00141     virtual void actionOnConnection();
00142     virtual bool isInGlobalCS() { return true; }
00143     virtual QStringList contextMenu();
00144     virtual void execute( int action );
00145     virtual void setColor( QColor color ) { painter_.setColor( color ); };
00146     virtual void setFocus( bool inFocus );
00147     virtual void setUseTransparency( bool useTransparency );
00148 
00149     virtual void noLongerMouseEventReceiver() { pathHI_.noLongerMouseEventReceiver(); }
00150     virtual void mousePressEvent(QMouseEvent *e) { pathHI_.mousePressEvent(e); }
00151     virtual void mouseMoveEvent(QMouseEvent *e) { pathHI_.mouseMoveEvent(e); }
00152     virtual void mouseReleaseEvent(QMouseEvent *e) { pathHI_.mouseReleaseEvent(e); }
00153     virtual void mouseDoubleClickEvent(QMouseEvent *e) { pathHI_.mouseDoubleClickEvent(e); }
00154     void sendPath( const PathPlannerInput &pathInput );
00155 
00156 private: 
00157 
00158     PathPainter painter_;
00159     
00160     // Task answer
00161     PathPlannerTaskAnswerConsumer *pathTaskAnswerConsumer_;
00162     orca::PathPlanner2dConsumerPrx taskCallbackPrx_;
00163     Ice::ObjectPtr pathPlanner2dConsumerObj_;
00164     
00165     orca::PathPlanner2dPrx pathPlanner2dPrx_;
00166     
00167     orcaice::Context context_;
00168     std::string proxyString_;
00169     hydroqguielementutil::IHumanManager &humanManager_;
00170 
00171     bool displayWaypoints_;
00172     bool currentTransparency_;
00173         
00174     // Handles human interface
00175     PathPlannerHI pathHI_;
00176 
00177 };
00178 
00179 }
00180 
00181 #endif
pathplanner2delement.h
