mainwindow.h

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/* Author: Constantinos Chamzas, Zachary Kingston */

#ifndef SE2EZ_GUI_MAINWINDOW_
#define SE2EZ_GUI_MAINWINDOW_

#include <thread>
#include <mutex>

#include <boost/date_time.hpp>

#include <QMainWindow>

#include <se2ez/core/class_forward.h>

#include <se2ez/gui/renderarea.h>

namespace Ui
{
    class MainWindow;
}

namespace se2ez
{
    namespace gui
    {
        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(Panel)
        SE2EZ_CLASS_FORWARD(RenderArea)
        /** \endcond */

        /** \brief The main widget that acts a container for other widgets (canvas, panels).
         * It also delegates the drawing functions between the panels and the canvas.
         */
        class MainWindow : public QMainWindow
        {
            Q_OBJECT
            friend class RenderArea;

        public:
            using PanelMap = std::map<std::string, Panel *>;
            using PanelMapPtr = std::shared_ptr<PanelMap>;

            /** \name Constructors
                \{ */

            /** \brief Constructor. Nothing intresting for now */
            explicit MainWindow(QWidget *parent = nullptr);

            /** \brief Destructor Nothing intresting for now.*/
            ~MainWindow();

            /** \} */

            /** \name Panels
                \{ */

            /** \brief Asks all the panels to draw their respective information
             *  \param[in] painter QPainter the QObject that paints/draws  .
             *  \param[in] canvas RenderArea the drawing widget
             */
            void draw(QPainter &painter, RenderArea *canvas);

            /** \brief Asks the top panel to click at the location.
             *  \param[in] event Mouse event that was triggered.
             *  \param[in] x x coordinate in robot space
             *  \param[in] y y coordinate in robot space
             *  \param[in] sx x coordinate in screen space
             *  \param[in] sy y coordinate in screen space
             */
            void click(QMouseEvent *event, double x, double y, int sx, int sy);

            /** \brief Adds a panel to the main GUI
             * \param[in] panel Pointer to the Panel.
             */
            void addPanel(Panel *panel);

            /** \} */

        protected:
            void resizeEvent(QResizeEvent *e) override;

        private slots:
            /** \brief calls  the update function from canvas to draw the updated state*/
            void updateState();

            /** \brief Slot called when the origin is updated*/
            void updateOriginX(double x);

            /** \brief Slot called when the origin is updated*/
            void updateOriginY(double y);

            /** \brief Slot called when the scale is updated*/
            void updateScale(double scale);

            void record();
            void screenshot();

            void process();

        private:
            Ui::MainWindow *ui_;  ///< UI (User Interface) pointer.
            RenderArea *canvas_;  ///< The canvas widget.
            PanelMapPtr panels_;  ///< Holds the panels.

            bool screen_{false};
            bool record_{false};
            std::thread *camera_{nullptr};     ///< Thread used to record the camera
            std::string directory_;  ///< Directory to save screenshots/videos

            unsigned int shotnum_;  ///< Number of screenshots taken

            bool update_{true};
            bool didUpdate_{false};
            std::mutex updateMutex_;

            boost::posix_time::ptime last_;
        };
    }  // namespace gui
}  // namespace se2ez

#endif