cspacepanel.h

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/* Author: Zachary Kingston */

#ifndef SE2EZ_GUI_CSPACEPANEL_
#define SE2EZ_GUI_CSPACEPANEL_

#include <QWidget>
#include <QCheckBox>
#include <QPainter>
#include <QLabel>
#include <QImage>

#include <se2ez/gui/panel.h>
#include <se2ez/gui/jointpanel.h>
#include <se2ez/gui/planpanel.h>
#include <se2ez/gui/renderarea.h>

#include <se2ez/plan/constraint.h>

#include <se2ez/core/class_forward.h>
#include <se2ez/core/cspace.h>

namespace Ui
{
    class CSpacePanel;
}

namespace se2ez
{
    /** \cond IGNORE */
    SE2EZ_CLASS_FORWARD(State)
    SE2EZ_CLASS_FORWARD(Robot)
    /** \endcond */

    namespace gui
    {
        class CSpacePanel : public Panel
        {
            Q_OBJECT

        public:
            CSpacePanel(RobotPtr robot, std::string name,
                        std::map<std::string, ompl::base::ConstraintPtr> constraints = {},
                        QWidget *parent = 0);
            ~CSpacePanel();

            void draw(QPainter &painter, RenderArea *canvas) override;
            bool click(QMouseEvent *event, double x, double y, int sx, int sy) override;
            void update(boost::posix_time::ptime last, boost::posix_time::ptime current) override;

        public slots:
            void updateRobot();
            void updateGrid();
            void updateImage(bool force = false);
            void updatePanel();

            void updatePlan();
            void updatePlanData();
            void updatePlanState();
            void updateAnimate();
            void updatePlanPanel();

            void updateCallback();
            void saveImage();
            void update();

        signals:
            void stateChanged();


        private slots:
            void projectState();

        private:
            CSpaceGrid::Mode getMode() const;

            void drawGraph(QPainter &painter, CSpaceGridPtr &grid, bool offset);
            void drawPlan(QPainter &painter, CSpaceGridPtr &grid, bool offset, bool bold);
            void drawState(QPainter &painter, CSpaceGridPtr &grid, bool offset, bool interface = true);

            void computeWheel();
            bool lockedProjection();

            const unsigned int xPoint_{4};
            const unsigned int yPoint_{4};
            const unsigned int xOffset_{5};
            const unsigned int yOffset_{5};
            const unsigned int xBorder_{2};
            const unsigned int yBorder_{2};
            const unsigned int xSize_{150};
            const unsigned int ySize_{150};
            unsigned int xCurSize_{150};
            unsigned int yCurSize_{150};
            const unsigned int yText_{12};
            const unsigned int HiRes_{3};
            const unsigned int wheelSize_{51};

            Ui::CSpacePanel *ui_;

            RobotPtr robot_{nullptr};
            StatePtr state_{nullptr};
            StatePtr tempState_{nullptr};
            CSpaceGridPtr grid_{nullptr};

            std::mutex mutex_;

            std::set<std::string> jnames_;
            std::set<std::string> pnames_;
            std::set<std::string> panelnames_;

            QImage image_;
            QImage wheel_;
            JointPanel *jp_{nullptr};
            PlanPanel *pp_{nullptr};
            QMetaObject::Connection jpc_;
            QMetaObject::Connection ppc_;
            QMetaObject::Connection pdc_;
            bool imageGen_{false};
            std::vector<StatePtr> path_;

            ompl::base::PlannerDataPtr pd_{nullptr};

            std::map<std::string, ompl::base::ConstraintPtr> constraints_;
            ompl::base::ConstraintPtr constraint_{nullptr};
            CSpaceGrid::GridCallback callback_{};

            std::thread *save_{nullptr};
        };
    }  // namespace gui
}  // namespace se2ez

#endif