309 lines
10 KiB
C++
309 lines
10 KiB
C++
/*
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* Copyright (C) 2015 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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#include "gazebo/gui/Actions.hh"
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#include "gazebo/gui/TimeWidget.hh"
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#include "gazebo/gui/TimeWidgetPrivate.hh"
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using namespace gazebo;
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using namespace gui;
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/////////////////////////////////////////////////
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TimeWidget::TimeWidget(QWidget *_parent)
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: QWidget(_parent), dataPtr(new TimeWidgetPrivate)
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{
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this->setObjectName("timeWidget");
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this->dataPtr->timePanel = dynamic_cast<TimePanel *>(_parent);
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QHBoxLayout *mainLayout = new QHBoxLayout;
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QScrollArea *scrollArea = new QScrollArea(this);
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scrollArea->setLineWidth(1);
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scrollArea->setFrameShape(QFrame::NoFrame);
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scrollArea->setFrameShadow(QFrame::Plain);
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scrollArea->setWidgetResizable(true);
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scrollArea->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
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scrollArea->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
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// Play control (Play/Step/Pause)
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QSpinBox *stepSpinBox = new QSpinBox;
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stepSpinBox->setRange(1, 9999);
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connect(stepSpinBox, SIGNAL(valueChanged(int)), this,
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SLOT(OnStepValueChanged(int)));
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QWidget *stepWidget = new QWidget;
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QLabel *stepLabel = new QLabel(tr("Steps:"));
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QVBoxLayout *stepLayout = new QVBoxLayout;
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stepLayout->addWidget(stepLabel);
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stepLayout->addWidget(stepSpinBox);
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stepWidget->setLayout(stepLayout);
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QLabel *stepToolBarLabel = new QLabel(tr("Steps:"));
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QMenu *stepMenu = new QMenu;
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this->dataPtr->stepButton = new QToolButton;
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this->dataPtr->stepButton->setMaximumSize(35,
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this->dataPtr->stepButton->height());
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QWidgetAction *stepAction = new QWidgetAction(stepMenu);
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stepAction->setDefaultWidget(stepWidget);
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stepMenu->addAction(stepAction);
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this->dataPtr->stepButton->setMenu(stepMenu);
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this->dataPtr->stepButton->setPopupMode(QToolButton::InstantPopup);
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this->dataPtr->stepButton->setToolButtonStyle(Qt::ToolButtonTextOnly);
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this->dataPtr->stepButton->setContentsMargins(0, 0, 0, 0);
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this->OnStepValueChanged(1);
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connect(stepSpinBox, SIGNAL(editingFinished()), stepMenu,
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SLOT(hide()));
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QFrame *frame = new QFrame(scrollArea);
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frame->setFrameShape(QFrame::NoFrame);
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scrollArea->setWidget(frame);
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QToolBar *playToolbar = new QToolBar;
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playToolbar->setObjectName("playToolBar");
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playToolbar->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
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if (g_playAct)
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playToolbar->addAction(g_playAct);
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if (g_pauseAct)
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playToolbar->addAction(g_pauseAct);
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this->dataPtr->paused = false;
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QLabel *emptyLabel = new QLabel(tr(" "));
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playToolbar->addWidget(emptyLabel);
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if (g_stepAct)
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{
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playToolbar->addAction(g_stepAct);
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g_stepAct->setEnabled(this->dataPtr->paused);
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}
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this->dataPtr->stepToolBarLabelAction =
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playToolbar->addWidget(stepToolBarLabel);
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this->dataPtr->stepButtonAction =
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playToolbar->addWidget(this->dataPtr->stepButton);
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this->dataPtr->stepButtonAction->setObjectName("timeWidgetStepAction");
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this->dataPtr->percentRealTimeEdit = new QLineEdit;
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this->dataPtr->percentRealTimeEdit->setObjectName(
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"timeWidgetPercentRealTime");
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this->dataPtr->percentRealTimeEdit->setReadOnly(true);
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this->dataPtr->percentRealTimeEdit->setFixedWidth(90);
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this->dataPtr->simTimeEdit = new QLineEdit;
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this->dataPtr->simTimeEdit->setObjectName("timeWidgetSimTime");
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this->dataPtr->simTimeEdit->setReadOnly(true);
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this->dataPtr->simTimeEdit->setFixedWidth(110);
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this->dataPtr->realTimeEdit = new QLineEdit;
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this->dataPtr->realTimeEdit->setObjectName("timeWidgetRealTime");
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this->dataPtr->realTimeEdit->setReadOnly(true);
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this->dataPtr->realTimeEdit->setFixedWidth(110);
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this->dataPtr->iterationsEdit = new QLineEdit;
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this->dataPtr->iterationsEdit->setReadOnly(true);
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this->dataPtr->iterationsEdit->setFixedWidth(110);
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this->dataPtr->iterationsEdit->setObjectName("timeWidgetIterations");
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this->dataPtr->fpsEdit = new QLineEdit;
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this->dataPtr->fpsEdit->setReadOnly(true);
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this->dataPtr->fpsEdit->setFixedWidth(90);
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this->dataPtr->fpsEdit->setObjectName("timeWidgetFPS");
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QPushButton *timeResetButton = new QPushButton("Reset Time");
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timeResetButton->setFocusPolicy(Qt::NoFocus);
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connect(timeResetButton, SIGNAL(clicked()), this, SLOT(OnTimeReset()));
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QHBoxLayout *frameLayout = new QHBoxLayout;
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frameLayout->setContentsMargins(0, 0, 0, 0);
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frameLayout->addItem(new QSpacerItem(5, -1, QSizePolicy::Expanding,
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QSizePolicy::Minimum));
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frameLayout->addWidget(playToolbar);
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this->dataPtr->realTimeFactorLabel = new QLabel(tr("Real Time Factor:"));
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frameLayout->addWidget(this->dataPtr->realTimeFactorLabel);
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frameLayout->addWidget(this->dataPtr->percentRealTimeEdit);
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this->dataPtr->simTimeLabel = new QLabel(tr("Sim Time:"));
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frameLayout->addWidget(this->dataPtr->simTimeLabel);
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frameLayout->addWidget(this->dataPtr->simTimeEdit);
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this->dataPtr->realTimeLabel = new QLabel(tr("Real Time:"));
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frameLayout->addWidget(this->dataPtr->realTimeLabel);
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frameLayout->addWidget(this->dataPtr->realTimeEdit);
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this->dataPtr->iterationsLabel = new QLabel(tr("Iterations:"));
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frameLayout->addWidget(this->dataPtr->iterationsLabel);
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frameLayout->addWidget(this->dataPtr->iterationsEdit);
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this->dataPtr->fpsLabel = new QLabel(tr("FPS:"));
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frameLayout->addWidget(this->dataPtr->fpsLabel);
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frameLayout->addWidget(this->dataPtr->fpsEdit);
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frameLayout->addWidget(timeResetButton);
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frameLayout->addItem(new QSpacerItem(15, -1, QSizePolicy::Expanding,
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QSizePolicy::Minimum));
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frame->setLayout(frameLayout);
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frame->layout()->setContentsMargins(0, 0, 0, 0);
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mainLayout->addWidget(scrollArea);
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this->setLayout(mainLayout);
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this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
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this->layout()->setContentsMargins(0, 0, 0, 0);
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// Create a QueuedConnection to set avg fps.
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// This is used for thread safety.
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connect(this, SIGNAL(SetFPS(QString)), this->dataPtr->fpsEdit,
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SLOT(setText(QString)), Qt::QueuedConnection);
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// Create a QueuedConnection to set iterations.
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// This is used for thread safety.
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connect(this, SIGNAL(SetIterations(QString)), this->dataPtr->iterationsEdit,
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SLOT(setText(QString)), Qt::QueuedConnection);
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// Create a QueuedConnection to set sim time.
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// This is used for thread safety.
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connect(this, SIGNAL(SetSimTime(QString)), this->dataPtr->simTimeEdit,
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SLOT(setText(QString)), Qt::QueuedConnection);
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// Create a QueuedConnection to set real time.
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// This is used for thread safety.
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connect(this, SIGNAL(SetRealTime(QString)), this->dataPtr->realTimeEdit,
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SLOT(setText(QString)), Qt::QueuedConnection);
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}
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/////////////////////////////////////////////////
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TimeWidget::~TimeWidget()
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{
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delete this->dataPtr;
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this->dataPtr = NULL;
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}
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/////////////////////////////////////////////////
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void TimeWidget::ShowRealTimeFactor(bool _show)
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{
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this->dataPtr->realTimeFactorLabel->setVisible(_show);
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this->dataPtr->percentRealTimeEdit->setVisible(_show);
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}
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/////////////////////////////////////////////////
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void TimeWidget::ShowRealTime(bool _show)
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{
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this->dataPtr->realTimeLabel->setVisible(_show);
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this->dataPtr->realTimeEdit->setVisible(_show);
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}
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/////////////////////////////////////////////////
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void TimeWidget::ShowSimTime(bool _show)
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{
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this->dataPtr->simTimeLabel->setVisible(_show);
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this->dataPtr->simTimeEdit->setVisible(_show);
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}
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/////////////////////////////////////////////////
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void TimeWidget::ShowIterations(bool _show)
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{
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this->dataPtr->iterationsLabel->setVisible(_show);
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this->dataPtr->iterationsEdit->setVisible(_show);
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}
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/////////////////////////////////////////////////
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void TimeWidget::ShowFPS(bool _show)
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{
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this->dataPtr->fpsLabel->setVisible(_show);
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this->dataPtr->fpsEdit->setVisible(_show);
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}
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/////////////////////////////////////////////////
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bool TimeWidget::IsPaused() const
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{
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return this->dataPtr->paused;
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}
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/////////////////////////////////////////////////
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void TimeWidget::SetPaused(bool _paused)
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{
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this->dataPtr->paused = _paused;
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if (g_pauseAct)
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g_pauseAct->setVisible(!_paused);
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if (g_playAct)
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g_playAct->setVisible(_paused);
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}
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/////////////////////////////////////////////////
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void TimeWidget::ShowStepWidget(bool _show)
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{
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if (g_stepAct)
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g_stepAct->setVisible(_show);
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this->dataPtr->stepToolBarLabelAction->setVisible(_show);
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this->dataPtr->stepButtonAction->setVisible(_show);
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}
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/////////////////////////////////////////////////
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void TimeWidget::OnTimeReset()
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{
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this->dataPtr->timePanel->OnTimeReset();
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}
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/////////////////////////////////////////////////
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void TimeWidget::OnStepValueChanged(int _value)
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{
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// text formating and resizing for better presentation
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std::string numStr = QString::number(_value).toStdString();
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QFont stepFont = this->dataPtr->stepButton->font();
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stepFont.setPointSizeF(11 - numStr.size()/2.0);
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this->dataPtr->stepButton->setFont(stepFont);
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numStr.insert(numStr.end(), 4 - numStr.size(), ' ');
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this->dataPtr->stepButton->setText(tr(numStr.c_str()));
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this->dataPtr->timePanel->OnStepValueChanged(_value);
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}
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/////////////////////////////////////////////////
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void TimeWidget::EmitSetSimTime(QString _time)
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{
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this->SetSimTime(_time);
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}
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/////////////////////////////////////////////////
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void TimeWidget::EmitSetRealTime(QString _time)
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{
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this->SetRealTime(_time);
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}
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/////////////////////////////////////////////////
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void TimeWidget::EmitSetIterations(QString _time)
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{
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this->SetIterations(_time);
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}
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/////////////////////////////////////////////////
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void TimeWidget::EmitSetFPS(QString _time)
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{
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this->SetFPS(_time);
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}
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/////////////////////////////////////////////////
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void TimeWidget::SetPercentRealTimeEdit(QString _text)
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{
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this->dataPtr->percentRealTimeEdit->setText(_text);
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}
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