322 lines
11 KiB
C++
322 lines
11 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_GUI_MAINWINDOW_HH_
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#define _GAZEBO_GUI_MAINWINDOW_HH_
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#include <memory>
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#include <string>
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#include "gazebo/gazebo_config.h"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/gui/qt.h"
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#include "gazebo/util/system.hh"
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#ifdef HAVE_OCULUS
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#include "gazebo/gui/OculusWindow.hh"
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#endif
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namespace gazebo
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{
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namespace gui
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{
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class Editor;
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class RenderWidget;
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// Forward declare private data
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class MainWindowPrivate;
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class GZ_GUI_VISIBLE MainWindow : public QMainWindow
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{
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Q_OBJECT
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/// \brief Constructor
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public: MainWindow();
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/// \brief Destructor
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public: virtual ~MainWindow();
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/// \brief Load the mainwindow
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public: void Load();
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/// \brief Initialization
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public: void Init();
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/// \brief Get an entity id
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/// \param[in] _name The name of the entity
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/// \return The entity id
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public: unsigned int EntityId(const std::string &_name);
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/// \brief Has an entity name
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/// \param[in] _name The entity name
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/// \return True if the entity has a name
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public: bool HasEntityName(const std::string &_name);
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/// \brief Add a widget to the left column stack of widgets.
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/// \param[in] _name Name of the widget
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/// \param[in] _widget Pointer to the widget to add.
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public: void AddToLeftColumn(const std::string &_name, QWidget *_widget);
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/// \brief Show a widget in the left column.
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/// \sa AddToLeftColumn
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/// \param[in] _name Name of the widge to show. The widget must have
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/// been added using AddToLeftColumn. The string "default" will show
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/// the main tab.
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public: void ShowLeftColumnWidget(const std::string &_name = "default");
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/// \brief Get a pointer to the render widget.
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/// \return A pointer to the render widget.
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/// \deprecated See RenderWidget() const.
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public: gui::RenderWidget *GetRenderWidget() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get a pointer to the render widget.
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/// \return A pointer to the render widget.
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public: gui::RenderWidget *RenderWidget() const;
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/// \brief Returns the state of the simulation, true if paused.
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/// \return True if paused, false otherwise.
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public: bool IsPaused() const;
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/// \brief Play simulation.
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public slots: void Play();
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/// \brief Pause simulation.
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public slots: void Pause();
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/// \brief Set whether the left pane is visible
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/// \param[in] _on True to show the left pane, false to hide.
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public: void SetLeftPaneVisibility(bool _on);
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/// \brief Add a menu to the main window menu bar.
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/// \param[in] _menu Menu to be added.
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public: void AddMenu(QMenu *_menu);
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/// \brief Show a custom menubar. If NULL is used, the default menubar
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/// is shown.
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/// \param[in] _bar The menubar to show. NULL will show the default
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/// menubar.
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public: void ShowMenuBar(QMenuBar *_bar = NULL);
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/// \brief Create a new action with information from the given action,
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/// such as text and tooltip. The new action triggers the original action
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/// and follows its checked state. This is used for example to have the
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/// "same" action on the main window menu and the model editor menu,
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/// since an action can't be added to 2 different menus.
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/// \param[in] _action Action to be cloned.
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/// \param[in] _parent Parent for the new action.
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/// \return The new action.
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public: QAction *CloneAction(QAction *_action, QObject *_parent);
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/// \brief Get an editor by name
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/// \param[in] _name Name of the editor.
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/// \return Pointer to the editor.
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/// \deprecated See Editor(const std::string &_name) const.
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public: gui::Editor *GetEditor(
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const std::string &_name) const GAZEBO_DEPRECATED(7.0);
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/// \brief Get an editor by name
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/// \param[in] _name Name of the editor.
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/// \return Pointer to the editor.
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public: gui::Editor *Editor(const std::string &_name) const;
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/// \brief A signal to trigger loading of GUI plugins.
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signals: void AddPlugins();
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/// \brief A signal to indicate the main window is about to close.
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signals: void Close();
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protected: void closeEvent(QCloseEvent *_event);
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private: void OnGUI(ConstGUIPtr &_msg);
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private slots: void ItemSelected(QTreeWidgetItem *, int);
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private slots: void New();
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private slots: void Open();
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private slots: void Save();
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private slots: void SaveAs();
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/// \brief Save GUI configuration to INI file.
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private slots: void SaveINI();
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/// \brief Clone a simulation.
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private slots: void Clone();
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/// \brief Qt callback when the hotkey chart is triggered,
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private slots: void HotkeyChart();
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/// \brief Qt callback when about is triggered,
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private slots: void About();
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private slots: void Step();
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/// \brief Qt callback when the arrow mode is triggered.
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private slots: void Arrow();
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/// \brief Qt callback when the translate mode is triggered.
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private slots: void Translate();
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/// \brief Qt callback when the rotate mode is triggered.
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private slots: void Rotate();
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/// \brief Qt callback when the scale mode is triggered.
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private slots: void Scale();
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/// \brief Qt callback when the main align action is triggered. Currently
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/// just resets the child align actions.
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private slots: void Align();
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/// \brief Qt callback when the snap mode is triggered.
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private slots: void Snap();
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private slots: void CreateBox();
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private slots: void CreateSphere();
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private slots: void CreateCylinder();
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private slots: void CreateMesh();
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private slots: void CreatePointLight();
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private slots: void CreateSpotLight();
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private slots: void CreateDirectionalLight();
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/// \brief Qt callback when the screenshot action is triggered
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private slots: void CaptureScreenshot();
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private slots: void InsertModel();
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/// \brief Qt callback when the show grid action is triggered.
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private slots: void ShowGrid();
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/// \brief Qt callback when the show origin action is triggered.
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private slots: void ShowOrigin();
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/// \brief Qt callback when the show collisions action is triggered.
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private slots: void ShowCollisions();
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/// \brief Qt callback when the show joints action is triggered.
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private slots: void ShowJoints();
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/// \brief Qt callback when the show contacts action is triggered.
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private slots: void ShowContacts();
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/// \brief Qt callback when the show center of mass action is triggered.
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private slots: void ShowCOM();
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/// \brief Qt callback when the show inertia action is triggered.
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private slots: void ShowInertia();
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/// \brief Qt callback when the show link frame action is triggered.
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private slots: void ShowLinkFrame();
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/// \brief Qt callback when the full screen action is triggered.
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private slots: void FullScreen();
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/// \brief Qt callback when the show toolbars action is triggered.
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private slots: void ShowToolbars();
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private slots: void FPS();
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private slots: void Orbit();
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private slots: void ViewOculus();
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private slots: void OnResetModelOnly();
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private slots: void OnResetWorld();
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private slots: void SetTransparent();
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private slots: void SetWireframe();
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/// \brief Qt callback when the show GUI overlays action is triggered.
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private slots: void ShowGUIOverlays();
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/// \brief QT slot to open the data logger utility
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private slots: void DataLogger();
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/// \brief QT callback when the data logger is shut down.
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private slots: void OnDataLoggerClosed();
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/// \brief Callback when topic selection action.
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private slots: void SelectTopic();
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/// \brief Callback for diagnostics action.
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private slots: void Diagnostics();
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/// \brief Callback for adding plugins.
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private slots: void OnAddPlugins();
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/// \brief Qt call back when one of the editor actions is triggered.
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/// \param[in] _action Action in the group which was triggered.
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private slots: void OnEditorGroup(QAction *_action);
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/// \brief Toggle full screen display.
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/// \param[in] _value True to display in full screen mode.
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private: void OnFullScreen(bool _value);
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/// \brief Toggle toolbars display.
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/// \param[in] _value True to display toolbars.
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private: void OnShowToolbars(bool _value);
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private: void OnMoveMode(bool _mode);
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/// \brief Create most of the actions.
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private: void CreateActions();
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/// \brief Delete the actions created in CreateActions.
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private: void DeleteActions();
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/// \brief Create menus.
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private: void CreateMenus();
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/// \brief Create the main menu bar.
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private: void CreateMenuBar();
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/// \brief Create all the editors.
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private: void CreateEditors();
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private: void OnModel(ConstModelPtr &_msg);
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/// \brief Light message callback.
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/// \param[in] _msg Pointer to the light message.
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private: void OnLight(ConstLightPtr &_msg);
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private: void OnResponse(ConstResponsePtr &_msg);
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private: void OnWorldModify(ConstWorldModifyPtr &_msg);
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private: void OnManipMode(const std::string &_mode);
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private: void OnSetSelectedEntity(const std::string &_name,
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const std::string &_mode);
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/// \brief Handle event for changing the manual step size.
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/// \param[in] _value New input step size.
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private: void OnInputStepSizeChanged(int _value);
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/// \brief Handle follow model user event.
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/// \param[in] _modelName Name of the model that is being followed.
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private: void OnFollow(const std::string &_modelName);
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/// \brief Helper function that creates a greyed out icon for an
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/// action. This lets the action have a visible disabled state.
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/// \param[in] _pixmap The image to use as an greyed out icon.
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/// \param[in, out] _act Action that receives the icon.
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private: void CreateDisabledIcon(const std::string &_pixmap,
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QAction *_act);
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/// \brief Callback when window mode has changed.
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/// \param[in] _mode Window mode, such as "Simulation", "LogPlayback"...
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private: void OnWindowMode(const std::string &_mode);
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<MainWindowPrivate> dataPtr;
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};
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}
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}
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#endif
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