ComponentInspector.hh

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/*
 * Copyright (C) 2020 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 IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_HH_
#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_HH_

#include <map>
#include <memory>
#include <string>

#include <sdf/Material.hh>
#include <sdf/Physics.hh>

#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>

#include <ignition/gazebo/components/Component.hh>
#include <ignition/gazebo/gui/GuiSystem.hh>
#include <ignition/gazebo/Types.hh>

#include <ignition/msgs/light.pb.h>

Q_DECLARE_METATYPE(ignition::gazebo::ComponentTypeId)

namespace ignition
{
namespace gazebo
{
  class ComponentInspectorPrivate;

  template <class DataType>
  void setData(QStandardItem *_item, const DataType &_data)
  {
    // cppcheck-suppress syntaxError
    // cppcheck-suppress unmatchedSuppression
    if constexpr (traits::IsOutStreamable<std::ostream, DataType>::value)
    {
      std::stringstream ss;
      ss << _data;
      setData(_item, ss.str());
    }
    else
    {
      ignwarn << "Attempting to set unsupported data type to item ["
              << _item->text().toStdString() << "]" << std::endl;
    }
  }

  template<>
  void setData(QStandardItem *_item, const std::string &_data);

  template<>
  void setData(QStandardItem *_item, const math::Pose3d &_data);

  template<>
  void setData(QStandardItem *_item, const msgs::Light &_data);

  template<>
  void setData(QStandardItem *_item, const math::Vector3d &_data);

  template<>
  void setData(QStandardItem *_item, const sdf::Physics &_data);

  template<>
  void setData(QStandardItem *_item, const math::SphericalCoordinates &_data);

  template<>
  void setData(QStandardItem *_item, const bool &_data);

  template<>
  void setData(QStandardItem *_item, const int &_data);

  template<>
  void setData(QStandardItem *_item, const double &_data);

  template<>
  void setData(QStandardItem *_item, const std::ostream &_data);

  template<>
  void setData(QStandardItem *_item, const sdf::Material &_data);


  void setUnit(QStandardItem *_item, const std::string &_unit);

  class ComponentsModel : public QStandardItemModel
  {
    Q_OBJECT

    public: explicit ComponentsModel();

    public: ~ComponentsModel() override = default;

    // Documentation inherited
    public: QHash<int, QByteArray> roleNames() const override;

    public: static QHash<int, QByteArray> RoleNames();

    public slots: QStandardItem *AddComponentType(
        ignition::gazebo::ComponentTypeId _typeId);

    public slots: void RemoveComponentType(
        ignition::gazebo::ComponentTypeId _typeId);

    public: std::map<ComponentTypeId, QStandardItem *> items;
  };

  class ComponentInspector : public gazebo::GuiSystem
  {
    Q_OBJECT

    Q_PROPERTY(
      Entity entity
      READ GetEntity
      WRITE SetEntity
      NOTIFY EntityChanged
    )

    
    Q_PROPERTY(
      QString type
      READ Type
      WRITE SetType
      NOTIFY TypeChanged
    )

    
    Q_PROPERTY(
      bool locked
      READ Locked
      WRITE SetLocked
      NOTIFY LockedChanged
    )

    
    Q_PROPERTY(
      bool paused
      READ Paused
      WRITE SetPaused
      NOTIFY PausedChanged
    )

    
    Q_PROPERTY(
      bool nestedModel
      READ NestedModel
      NOTIFY NestedModelChanged
    )

    
    public: ComponentInspector();

    public: ~ComponentInspector() override;

    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;

    // Documentation inherited
    public: void Update(const UpdateInfo &, EntityComponentManager &) override;

    public: Q_INVOKABLE void OnPose(double _x, double _y, double _z,
        double _roll, double _pitch, double _yaw);

    public: Q_INVOKABLE void OnLight(
      double _rSpecular, double _gSpecular, double _bSpecular,
      double _aSpecular, double _rDiffuse, double _gDiffuse,
      double _bDiffuse, double _aDiffuse, double _attRange,
      double _attLinear, double _attConstant, double _attQuadratic,
      bool _castShadows, double _directionX, double _directionY,
      double _directionZ, double _innerAngle, double _outerAngle,
      double _falloff, double _intensity, int _type);

    public: Q_INVOKABLE void OnPhysics(double _stepSize,
        double _realTimeFactor);

    // \brief Callback in Qt thread when material color changes for a visual
    public: Q_INVOKABLE void OnMaterialColor(
      double _rAmbient, double _gAmbient, double _bAmbient,
      double _aAmbient, double _rDiffuse, double _gDiffuse,
      double _bDiffuse, double _aDiffuse, double _rSpecular,
      double _gSpecular, double _bSpecular, double _aSpecular,
      double _rEmissive, double _gEmissive, double _bEmissive,
      double _aEmissive, QString _type, QColor _currColor);

    public: Q_INVOKABLE void OnSphericalCoordinates(QString _surface,
        double _latitude, double _longitude, double _elevation,
        double _heading);

    public: Q_INVOKABLE bool NestedModel() const;

    signals: void NestedModelChanged();

    // Documentation inherited
    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;

    public: Q_INVOKABLE Entity GetEntity() const;

    public: Q_INVOKABLE void SetEntity(const Entity &_entity);

    signals: void EntityChanged();

    public: Q_INVOKABLE QString Type() const;

    public: Q_INVOKABLE void SetType(const QString &_entity);

    signals: void TypeChanged();

    public: Q_INVOKABLE bool Locked() const;

    public: Q_INVOKABLE void SetLocked(bool _locked);

    signals: void LockedChanged();

    public: Q_INVOKABLE bool Paused() const;

    public: Q_INVOKABLE void SetPaused(bool _paused);

    signals: void PausedChanged();

    private: std::unique_ptr<ComponentInspectorPrivate> dataPtr;
  };
}
}

#endif