scenepanel.h

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/* Author: Constantinos Chamzas */

#ifndef SE2EZ_GUI_SCENEPANEL_
#define SE2EZ_GUI_SCENEPANEL_

#include <mutex>
#include <set>

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

#include <se2ez/gui/panel.h>
#include <se2ez/core/class_forward.h>

namespace Ui
{
    class ScenePanel;
}

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

    namespace gui
    {
        class ScenePanel : public Panel
        {
            Q_OBJECT

        public:
            ScenePanel(ScenePtr scene, std::string name, QWidget *parent = 0);
            ~ScenePanel();

            void draw(QPainter &painter, RenderArea *canvas) override;
            void update(boost::posix_time::ptime last, boost::posix_time::ptime current) override;

        public slots:
            void updateScene();
            void generateGoals();

        signals:
            void stateChanged();

        private:
            const RobotPtr getRobot(const QString &s);
            const StatePtr getState(const QString &s);
            const std::string getEE(const QString &s);

            Ui::ScenePanel *ui_;

            ScenePtr scene_{nullptr};
            StatePtr sstate_{nullptr};

            std::set<std::string> panelnames_;  ///< names of all panels

            std::set<std::string> anames_;  ///< names of jpanels of  active robots
            std::set<std::string> pnames_;  ///< names of jpanels of passive robots

            CollisionManagerPtr cm_{nullptr};
            std::set<std::string> colliding_;

            std::mutex mutex_;
        };
    }  // namespace gui
}  // namespace se2ez

#endif