SchematicViewWidget.hh

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/*
 * Copyright (C) 2015-2016 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 _GAZEBO_SCHEMATIC_VIEW_WIDGET_HH_
#define _GAZEBO_SCHEMATIC_VIEW_WIDGET_HH_

#include <utility>
#include <map>
#include <string>
#include <vector>

#include "gazebo/common/CommonTypes.hh"
#include "gazebo/gui/qt.h"

class QGVNode;
class QGVEdge;

namespace gazebo
{
  namespace gui
  {
    class GraphView;
    class GraphScene;

    class GZ_GUI_VISIBLE SchematicViewWidget : public QWidget
    {
      Q_OBJECT

      public: SchematicViewWidget(QWidget *_parent = 0);

      public: ~SchematicViewWidget() = default;

      public: void Init();

      public: void Reset();

      public: void AddNode(const std::string &_node);

      public: void RemoveNode(const std::string &_node);

      public: bool HasNode(const std::string &_name) const;

      public: void AddEdge(const std::string &_id, const std::string &_name,
          const std::string &_type, const std::string &_parent,
          const std::string &_child);

      public: void RemoveEdge(const std::string &_id);

      public: void UpdateEdge(const std::string &_id, const std::string &_name,
          const std::string &_type, const std::string &_parent,
          const std::string &_child);

      public: bool HasEdge(const std::string &_id) const;

      public: unsigned int GetNodeCount() const;

      public: unsigned int GetEdgeCount() const;

      public: void FitInView();

      private: std::string UnscopedName(const std::string &_scopedName);

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

      private: void OnSetSelectedJoint(const std::string &_id,
          bool _selected);

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

      private: void resizeEvent(QResizeEvent *_event);

      private slots: void OnCustomContextMenu(const QString &_id);

      private slots: void OnItemDoubleClicked(const QString &_id);

      private slots: void OnSelectionChanged();

      private: GraphScene *scene;

      private: GraphView *view;

      private: int minimumWidth;

      private: int minimumHeight;

      private: std::map<std::string, QGVEdge *> edges;

      private: std::map<std::string, QGVNode *> nodes;

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

      private: QList<QGraphicsItem *> selectedItems;
    };
  }
}

#endif