gui/plugins/joint_position_controller/JointPositionController.hh

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_GAZEBO_GUI_JOINTPOSITIONCONTROLLER_HH_
#define GZ_GAZEBO_GUI_JOINTPOSITIONCONTROLLER_HH_
 
#include <map>
#include <memory>
#include <string>
 
#include <gz/sim/gui/GuiSystem.hh>
#include <gz/sim/Types.hh>
 
Q_DECLARE_METATYPE(ignition::gazebo::Entity)
 
namespace ignition
{
namespace gazebo
{
namespace gui
{
  class JointPositionControllerPrivate;
 
  class JointsModel : public QStandardItemModel
  {
    Q_OBJECT
 
    public: explicit JointsModel();
 
    public: ~JointsModel() override = default;
 
    // Documentation inherited
    public: QHash<int, QByteArray> roleNames() const override;
 
    public: static QHash<int, QByteArray> RoleNames();
 
    public slots: QStandardItem *AddJoint(Entity _entity);
 
    public slots: void RemoveJoint(Entity _entity);
 
    public slots: void Clear();
 
    public: std::map<Entity, QStandardItem *> items;
  };
 
  class JointPositionController : public ignition::gazebo::GuiSystem
  {
    Q_OBJECT
 
    Q_PROPERTY(
      Entity modelEntity
      READ ModelEntity
      WRITE SetModelEntity
      NOTIFY ModelEntityChanged
    )
 
    
    Q_PROPERTY(
      QString modelName
      READ ModelName
      WRITE SetModelName
      NOTIFY ModelNameChanged
    )
 
    
    Q_PROPERTY(
      bool locked
      READ Locked
      WRITE SetLocked
      NOTIFY LockedChanged
    )
 
    
    public: JointPositionController();
 
    public: ~JointPositionController() override;
 
    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
 
    // Documentation inherited
    public: void Update(const UpdateInfo &, EntityComponentManager &) override;
 
    public: Q_INVOKABLE void OnCommand(const QString &_jointName, double _pos);
 
    public: Q_INVOKABLE void OnReset();
 
    public: Q_INVOKABLE Entity ModelEntity() const;
 
    public: Q_INVOKABLE void SetModelEntity(Entity _entity);
 
    signals: void ModelEntityChanged();
 
    public: Q_INVOKABLE QString ModelName() const;
 
    public: Q_INVOKABLE void SetModelName(const QString &_name);
 
    signals: void ModelNameChanged();
 
    public: Q_INVOKABLE bool Locked() const;
 
    public: Q_INVOKABLE void SetLocked(bool _locked);
 
    signals: void LockedChanged();
 
    // Documentation inherited
    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
 
    private: std::unique_ptr<JointPositionControllerPrivate> dataPtr;
  };
}
}
}
 
#endif