modestreemanager.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef MODESTREEMANAGER_H
#define MODESTREEMANAGER_H
 
#include <QObject>
#include <QTreeWidget>
#include <QVBoxLayout>
#include <QIcon>
#include <QTabWidget>
#include <QTimer>
#include <string>
#include <unordered_map>
#include "partitem.h"
#include "robotWidgetTree.h"
 
class ModesListWidget : public QTreeWidget
{
    Q_OBJECT
 
public:
    ModesListWidget(QWidget * parent = nullptr);
};
 
class ModesTreeManager : public QObject
{
    Q_OBJECT
 
public:
    ModesTreeManager(QHBoxLayout* layout, QWidget* parent = nullptr);
 
    void addRobot(const std::string& robotName);
 
    void addRobotPart(const std::string& robotName, const std::string &partName, int partIndex, PartItem* part);
 
    void updateRobotPart(int index);
 
signals:
 
    void sig_jointClicked(int partIndex, int jointIndex);
 
    void sig_partDoubleClicked(int index);
 
private slots:
 
    void onTabChanged(int index);
 
    void onJointClicked(int partIndex, int jointIndex);
 
    void onJointHomeFromTree(int partIndex, int jointIndex);
 
    void onJointRunFromTree(int partIndex, int jointIndex);
 
    void onJointIdleFromTree(int partIndex, int jointIndex);
 
    void onJointPIDFromTree(int partIndex, int jointIndex);
 
    void onPartDoubleClicked(int partIndex);
 
private:
 
    void addRobotInList(const std::string& robotName);
 
    void addRobotInWidget(const std::string& robotName);
 
    void addRobotPartInList(const std::string& robotName, const std::string &partName, int partIndex, PartItem* part);
 
    void addRobotPartInWidget(const std::string& robotName, const std::string &partName, int partIndex, PartItem* part);
 
    void updateRobotPartInList(int index, const QVector<JointItem::JointState>& modes);
 
    void updateRobotPartInWidget(int index, const QVector<JointItem::JointState>& modes);
 
    struct PartPointers
    {
        PartItem* partItem;
        QTreeWidgetItem* listWidget;
        RobotWidgetTree* robotWidget;
    };
 
    QTabWidget* m_tabs;
    ModesListWidget* m_list;
    QVBoxLayout* m_widgetLayout;
    std::unordered_map<std::string, QTreeWidgetItem*> m_robotMapList;
    std::unordered_map<std::string, RobotWidgetTree*> m_robotMapWidget;
    std::unordered_map<int, PartPointers> m_indexToPartMap;
    QIcon m_okIcon;
    QIcon m_warningIcon;
};
 
#endif // MODESTREEMANAGER_H