JointPublisherView.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
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 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#ifndef _MIRA_JOINTPUBLISHERVIEW_H_
#define _MIRA_JOINTPUBLISHERVIEW_H_

#include <QTimer>
#include <QVBoxLayout>
#include <QLineEdit>
#include <QSlider>

#include <fw/Framework.h>
#include <rcp/ViewPart.h>
#include <views/PropertyViewPage.h>

#include <model/RigidModelProvider.h>

namespace mira { namespace model {


class JointPublisherView : public ViewPart
{
MIRA_META_OBJECT(JointPublisherView,
                ("Name", "JointPublisher")
                ("Category", "Models")
                ("Description", "Modify and publish joints of a rigid model"))
Q_OBJECT

public:
    JointPublisherView();
    virtual ~JointPublisherView();

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("RigidModelProvider", modelProvider, "Service used for providing a rigid model", "");
    }

    virtual Object* getAdapter(const Class& adapter);

protected:

    virtual QWidget* createPartControl();

public:

    std::string modelProvider;

private:
    PropertyViewPage* mControl;

    class UI;
    UI* ui;
};


class JointPublisherView::UI : public QWidget
{
    Q_OBJECT
public:
    UI(JointPublisherView* parent);

public slots:

    void updateService();
    void revolute(int value);
    void prismatic(int value);
    void revolute(const QString& value);
    void prismatic(const QString& value);

public:

    void setupModel();
    void clearModel();

    QTimer* serviceTimer;
    Authority authority;
    std::string service;
    RigidModelPtr model;

private:
    struct JointInfo
    {
        float min;
        float max;
        QLineEdit* edit;
        QSlider* slider;
    };
    std::map<std::string, JointInfo> mJointInfos;
    JointPublisherView* mParent;
    QVBoxLayout* mLayout;
};


}}

#endif