renderarea.h

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/* Author: Constantinos Chamzas, Zachary Kingston */

#ifndef SE2EZ_GUI_RENDERAREA_H
#define SE2EZ_GUI_RENDERAREA_H

#include <mutex>
#include <set>

#include <QWidget>
#include <QPainter>
#include <QColor>
#include <QCheckBox>
#include <QPaintEvent>
#include <QString>

#include <Eigen/Core>

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

namespace Ui
{
    class RenderArea;
}

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

    namespace gui
    {
        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(MainWindow)
        /** \endcond */

        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(RenderArea)
        /** \endcond */

        /** \brief The canvas widget.
         * It contains all the drawing functions as well as all the general
         * settings for drawing ( Origin, scale etc..)*/
        class RenderArea : public QWidget
        {
            Q_OBJECT

        public:
            SE2EZ_CLASS_FORWARD(GeometryDrawer)
            friend GeometryDrawer;
            class GeometryDrawer
            {

            public:
                GeometryDrawer(const RobotPtr &robot, const StatePtr &state);
                virtual bool frameCallback(RenderArea *area, QPainter &painter, const FramePtr &frame) = 0;
                virtual bool geometryCallback(RenderArea *area, QPainter &painter, const FramePtr &frame,
                                              const GeometryPtr &geometry) = 0;

            protected:
                const RobotPtr robot_;
                const StatePtr state_;
            };

            class CollideDrawer : public GeometryDrawer
            {
            public:
                CollideDrawer(bool doCollide, const std::set<std::string> &colliding, const RobotPtr &robot,
                              const StatePtr &state);
                virtual ~CollideDrawer();

                bool frameCallback(RenderArea *area, QPainter &painter, const FramePtr &frame);
                bool geometryCallback(RenderArea *area, QPainter &painter, const FramePtr &frame, const GeometryPtr &geometry);

                bool doCollide{false};
                const std::set<std::string> &colliding;
            };

            class SignedDistanceDrawer : public GeometryDrawer
            {
            public:
                SignedDistanceDrawer(bool doCollide, bool doMin, const CollisionManager::SignedDistance &minimum, const CollisionManager::SignedDistanceMap &distances,
                                     const RobotPtr &robot, const StatePtr &state);
                virtual ~SignedDistanceDrawer();

                bool frameCallback(RenderArea *area, QPainter &painter, const FramePtr &frame);
                bool geometryCallback(RenderArea *area, QPainter &painter, const FramePtr &frame, const GeometryPtr &geometry);

                bool doCollide{false};
                bool doMin{false};
                const CollisionManager::SignedDistance &minimum;
                const CollisionManager::SignedDistanceMap &distances;
            };

            RenderArea(QWidget *parent, MainWindow *mainwindow);
            ~RenderArea();

            void drawFrame(QPainter &painter, QString name = "");
            void drawAllFrames(QPainter &painter, RobotPtr robot, StatePtr state);

            void drawGeometry(QPainter &painter, RobotPtr robot, StatePtr state,
                              GeometryDrawerPtr drawer = nullptr);

            void setOriginX(double x);
            void setOriginY(double y);
            void setScale(double scale);

            void toRobot(int xin, int yin, double &xout, double &yout);
            void toScreen(double xin, double yin, int &xout, int &yout);

            void takeScreenshot(const std::string &file);

            void paint(bool force = false);
            bool didPaint();

        protected:
            void mousePressEvent(QMouseEvent *event) override;
            void mouseMoveEvent(QMouseEvent *event) override;
            void mouseReleaseEvent(QMouseEvent *event) override;
            void wheelEvent(QWheelEvent *event) override;

        private:
            void paintEvent(QPaintEvent *event) override;
            void bottomLeftTransform(QPainter &painter);
            void drawGrid(QPainter &painter);

            const double RATIO{10.};
            const double ROBOT{50.};
            const double SCALE_BOUNDS[2]{0.25, 8.0};

            double scale_{1};
            double origx_;
            double origy_;
            double x_{10.};
            double y_{10.};

            bool paint_{false};

            Ui::RenderArea *ui_;
            MainWindow *mainwidget_;

            QPixmap pixmap_;

            QRect xBoundingRect_;
            QRect yBoundingRect_;

            bool panning_;
            QPoint click_;
        };
    }  // namespace gui
}  // namespace se2ez

#endif