sequencewindow.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 SEQUENCEWINDOW_H
#define SEQUENCEWINDOW_H
 
#include <QMainWindow>
#include <QCloseEvent>
#include <QTreeWidgetItem>
#include <QDropEvent>
#include <QDebug>
#include <QItemDelegate>
#include <yarp/conf/compiler.h>
 
class SequenceTreeWidget;
class SequenceItem;
 
namespace Ui {
class SequenceWindow;
}
 
 
class SequenceWindow : public QMainWindow
{
    Q_OBJECT
 
public:
    explicit SequenceWindow(QString partName, int count,QWidget *parent = 0);
    ~SequenceWindow();
    bool checkAndGo();
    bool checkAndRun();
    bool checkAndRunTime();
    bool checkAndCycleSeq();
    bool checkAndCycleTimeSeq();
    void save(QString global_filename);
    void loadSequence(QList<SequenceItem>);
 
protected:
    void closeEvent(QCloseEvent *event) override;
 
private:
     QList<SequenceItem> getValuesFromList();
     QAction *goAction;
     QAction *runTimeAction;
     QAction *saveAction;
     QAction *openAction;
     QAction *cycleAllAction;
     QAction *cycleTimeAction;
     QAction *stopAction;
 
     int prevCurrentIndex;
 
 
private:
    Ui::SequenceWindow *ui;
    int jointCount;
 
signals:
    void itemDoubleClicked(int sequenceNum);
    void goToPosition(SequenceItem);
    void runTime(QList <SequenceItem>);
    void run(QList <SequenceItem>);
    void cycle(QList <SequenceItem>);
    void cycleTime(QList <SequenceItem>);
    void saveSequence(QList <SequenceItem>, QString);
    void openSequence();
    void stopSequence();
 
public slots:
    void onReceiveValues(int sequenceNum, QList<double>, QList<double> speeds);
private slots:
    void onDoubleClickPositions(QTreeWidgetItem*, int);
    void onDoubleClickSpeed(QTreeWidgetItem *item,int column);
    void onGo();
    void onRunTime();
    void onCycleTime();
    void onCycle();
    void onSave();
    void onOpen();
    void onStopSequence();
 
    void onRunTimeSequence();
    void onCycleTimeSequence();
    void onCycleSequence();
    void onStoppedSequence();
    void onSetCurrentSequenceIndex(int index);
    void onDeletePosition(int index);
    void onMovePositions(int index, int dragIndex);
 
};
 
 
 
class SequenceTreeWidget : public QTreeWidget
{
    Q_OBJECT
 
public:
    SequenceTreeWidget(QWidget * parent = 0);
 
private:
    QStringList copyValues;
 
protected:
    void dropEvent(QDropEvent *event) override;
 
signals:
    void deletedItem(int index);
    void moveItem(int itemBefore,int item);
 
 
 
private slots:
    void onContextMenuRequested(QPoint point);
 
 
};
 
class SequenceItem
{
 
 
public:
    SequenceItem(){
        sequenceNumber = 0;
        timing = -1;
    }
 
    void setSequenceNumber(int index){
        this->sequenceNumber = index;
    }
 
    void setTiming(double timing){
        this->timing = timing;
    }
 
    void addValue(double pos, double speed){
        positionsList.append(pos);
        speedsList.append(speed);
    }
    void addPositionValue(double pos){
        positionsList.append(pos);
    }
    void addSpeedValue(double speed){
        //qDebug() << "speedsList.append(speed);" << speed;
        speedsList.append(speed);
    }
 
    int getSequenceNumber(){
        return sequenceNumber;
    }
 
    double getTiming(){
        return timing;
    }
 
    QList<double> getPositions(){
        return positionsList;
    }
 
    QList<double> getSpeeds(){
        return speedsList;
    }
 
private:
 
    int sequenceNumber;
    double timing;
    QList<double>positionsList;
    QList<double>speedsList;
};
 
 
 
#endif // SEQUENCEWINDOW_H