ModelCreator.hh

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/*
 * Copyright (C) 2014-2015 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 _MODEL_CREATOR_HH_
#define _MODEL_CREATOR_HH_

#include <sdf/sdf.hh>

#include <list>
#include <map>
#include <string>
#include <vector>

#include "gazebo/common/KeyEvent.hh"
#include "gazebo/common/MouseEvent.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/gui/model/LinkInspector.hh"
#include "gazebo/gui/qt.h"

#include "gazebo/util/system.hh"

namespace boost
{
  class recursive_mutex;
}

namespace gazebo
{
  namespace msgs
  {
    class Visual;
  }

  namespace gui
  {
    class LinkData;
    class SaveDialog;
    class JointMaker;


    class GZ_GUI_MODEL_VISIBLE ModelCreator : public QObject
    {
      Q_OBJECT

      public: enum LinkType
      {
        LINK_NONE,
        LINK_BOX,
        LINK_SPHERE,
        LINK_CYLINDER,
        LINK_MESH,
        LINK_POLYLINE
      };

      public: enum SaveState
      {
        // NEVER_SAVED: The model has never been saved.
        NEVER_SAVED,

        // ALL_SAVED: All changes have been saved.
        ALL_SAVED,

        // UNSAVED_CHANGES: Has been saved before, but has unsaved changes.
        UNSAVED_CHANGES
      };

      public: ModelCreator();

      public: virtual ~ModelCreator();

      public: void SetModelName(const std::string &_modelName);

      public: std::string GetModelName() const;

      public: void ModelChanged();

      private: void OnNew();

      public: void SaveModelFiles();

      private: bool OnSave();

      private: bool OnSaveAs();

      private: void OnNameChanged(const std::string &_modelName);

      private: void OnExit();

      private: void Update();

      public: void FinishModel();

      public: std::string AddShape(LinkType _type,
          const math::Vector3 &_size = math::Vector3::One,
          const math::Pose &_pose = math::Pose::Zero,
          const std::string &_uri = "", unsigned int _samples = 5);

      public: std::string AddBox(
          const math::Vector3 &_size = math::Vector3::One,
          const math::Pose &_pose = math::Pose::Zero);

      public: std::string AddSphere(double _radius = 0.5,
          const math::Pose &_pose = math::Pose::Zero);

      public: std::string AddCylinder(double _radius = 0.5,
          double _length = 1.0, const math::Pose &_pose = math::Pose::Zero);

      public: std::string AddCustom(const std::string &_name,
          const math::Vector3 &_scale = math::Vector3::One,
          const math::Pose &_pose = math::Pose::Zero);

      public: void AddJoint(const std::string &_type);

      public: void RemoveLink(const std::string &_linkName);

      public: void SetStatic(bool _static);

      public: void SetAutoDisable(bool _auto);

      public: void Reset();

      public: void Stop();

      public: JointMaker *GetJointMaker() const;

      public: void SetSelected(const std::string &_name, const bool selected);

      public: void SetSelected(rendering::VisualPtr _linkVis,
          const bool selected);

      public: enum SaveState GetCurrentSaveState() const;

      public: void AddLink(LinkType _type);

      public: void GenerateSDF();

      private: sdf::ElementPtr GenerateLinkSDF(LinkData *_link);

      private: void RemoveLinkImpl(const std::string &_linkName);

      private slots: void OnEdit(bool _checked);

      private slots: void OnEditModel(const std::string &_modelName);

      private slots: void OnCopy();

      private slots: void OnPaste();

      private: bool OnMousePress(const common::MouseEvent &_event);

      private: bool OnMouseRelease(const common::MouseEvent &_event);

      private: bool OnMouseMove(const common::MouseEvent &_event);

      private: bool OnMouseDoubleClick(const common::MouseEvent &_event);

      private: bool OnKeyPress(const common::KeyEvent &_event);

      private: void OnManipMode(const std::string &_mode);

      private: void OnSetSelectedEntity(const std::string &_name,
          const std::string &_mode);

      private: void OnSetSelectedLink(const std::string &_name,
          const bool _selected);

      private: void CreateLink(const rendering::VisualPtr &_visual);

      private: LinkData *CloneLink(const std::string &_linkName);

      private: void CreateLinkFromSDF(sdf::ElementPtr _linkElem);

      private: void OpenInspector(const std::string &_name);

      // Documentation inherited
      private: virtual void CreateTheEntity();

      private: bool Init();

      private: std::string CreateModel();

      private: void LoadSDF(sdf::ElementPtr _sdf);

      private: void OnAlignMode(const std::string &_axis,
          const std::string &_config, const std::string &_target,
          bool _preview);

      private: void OnEntityScaleChanged(const std::string &_name,
          const math::Vector3 &_scale);

      private: void DeselectAll();

      private: void SetModelVisible(const std::string &_name, bool _visible);

      private: void SetModelVisible(rendering::VisualPtr _visual,
          bool _visible);

      private: void ShowContextMenu(const std::string &_link);

      private slots: void OnDelete();

      private slots: void OnDelete(const std::string &_name);

      private slots: void OnOpenInspector();

      Q_SIGNALS: void LinkAdded();

      private: sdf::SDFPtr modelSDF;

      private: sdf::SDFPtr modelTemplateSDF;

      private: std::string modelName;

      private: std::string folderName;

      private: static const std::string previewName;

      private: rendering::VisualPtr previewVisual;

      private: rendering::VisualPtr mouseVisual;

      private: math::Pose modelPose;

      private: bool isStatic;

      private: bool autoDisable;

      private: std::vector<event::ConnectionPtr> connections;

      private: int linkCounter;

      private: int modelCounter;

      private: LinkType addLinkType;

      private: std::map<std::string, LinkData *> allLinks;

      private: transport::NodePtr node;

      private: transport::PublisherPtr makerPub;

      private: transport::PublisherPtr requestPub;

      private: JointMaker *jointMaker;

      private: math::Pose origin;

      private: std::vector<rendering::VisualPtr> selectedLinks;

      private: std::vector<std::string> copiedLinkNames;

      private: common::MouseEvent lastMouseEvent;

      private: QAction *inspectAct;

      private: std::string inspectName;

      private: bool active;

      private: std::string manipMode;

      private: static const std::string modelDefaultName;

      private: SaveDialog *saveDialog;

      private: enum SaveState currentSaveState;

      private: boost::recursive_mutex *updateMutex;

      private: std::map<std::string, math::Vector3> linkScaleUpdate;

      private: std::string serverModelName;

      private: sdf::ElementPtr serverModelSDF;

      private: std::map<uint32_t, bool> serverModelVisible;

      private: std::string canonicalLink;
    };
  }
}

#endif