added debugdrawer viewer gui that runs without any other component

source/RobotAPI/gui-plugins/CMakeLists.txt

@@ -7,3 +7,5 @@ add_subdirectory(RobotViewerPlugin)
 
 
 
+
+add_subdirectory(DebugDrawerViewer)
\ No newline at end of file

source/RobotAPI/gui-plugins/DebugDrawerViewer/CMakeLists.txt

+
+armarx_set_target("DebugDrawerViewerGuiPlugin")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QtDesigner)
+
+armarx_build_if(QT_FOUND "Qt not available")
+# ArmarXGui gets included through depends_on_armarx_package(ArmarXGui "OPTIONAL")
+# in the toplevel CMakeLists.txt
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+
+
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+if(QT_FOUND)
+    include(${QT_USE_FILE})
+endif()
+
+set(SOURCES
+./DebugDrawerViewerGuiPlugin.cpp ./DebugDrawerViewerWidgetController.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@GuiPlugin.cpp @COMPONENT_PATH@/@COMPONENT_NAME@WidgetController.cpp
+)
+
+set(HEADERS
+./DebugDrawerViewerGuiPlugin.h ./DebugDrawerViewerWidgetController.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@GuiPlugin.h @COMPONENT_PATH@/@COMPONENT_NAME@WidgetController.h
+)
+
+set(GUI_MOC_HDRS ${HEADERS})
+
+set(GUI_UIS
+./DebugDrawerViewerWidget.ui
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@Widget.ui
+)
+
+# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
+set(COMPONENT_LIBS DebugDrawer ${QT_LIBRARIES})
+
+if(ArmarXGui_FOUND)
+	armarx_gui_library(DebugDrawerViewerGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+endif()

source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package    RobotAPI::gui-plugins::DebugDrawerViewerGuiPlugin
+ * \author     Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * \date       2016
+ * \copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "DebugDrawerViewerGuiPlugin.h"
+
+#include "DebugDrawerViewerWidgetController.h"
+
+using namespace armarx;
+
+DebugDrawerViewerGuiPlugin::DebugDrawerViewerGuiPlugin()
+{
+    addWidget < DebugDrawerViewerWidgetController > ();
+}
+
+Q_EXPORT_PLUGIN2(armarx_gui_DebugDrawerViewerGuiPlugin, DebugDrawerViewerGuiPlugin)

source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package    RobotAPI::gui-plugins::DebugDrawerViewer
+ * \author     Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * \date       2016
+ * \copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_DebugDrawerViewer_GuiPlugin_H
+#define _ARMARX_RobotAPI_DebugDrawerViewer_GuiPlugin_H
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+namespace armarx
+{
+    /**
+     * \class DebugDrawerViewerGuiPlugin
+     * \ingroup ArmarXGuiPlugins
+     * \brief DebugDrawerViewerGuiPlugin brief description
+     *
+     * Detailed description
+     */
+    class ARMARXCOMPONENT_IMPORT_EXPORT DebugDrawerViewerGuiPlugin:
+		public armarx::ArmarXGuiPlugin
+    {
+    public:
+        /**
+         * All widgets exposed by this plugin are added in the constructor
+         * via calls to addWidget()
+         */
+        DebugDrawerViewerGuiPlugin();
+    };
+}
+
+#endif

source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DebugDrawerViewerWidget</class>
+ <widget class="QWidget" name="DebugDrawerViewerWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>DebugDrawerViewerWidget</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <widget class="QPushButton" name="btnClearAll">
+     <property name="text">
+      <string>Remove All Visualizations</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package    RobotAPI::gui-plugins::DebugDrawerViewerWidgetController
+ * \author     Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * \date       2016
+ * \copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "DebugDrawerViewerWidgetController.h"
+#include <ArmarXCore/core/ArmarXManager.h>
+#include <string>
+
+using namespace armarx;
+
+DebugDrawerViewerWidgetController::DebugDrawerViewerWidgetController()
+{
+    rootVisu = NULL;
+    widget.setupUi(getWidget());
+
+}
+
+
+DebugDrawerViewerWidgetController::~DebugDrawerViewerWidgetController()
+{
+
+}
+
+
+void DebugDrawerViewerWidgetController::loadSettings(QSettings* settings)
+{
+
+}
+
+void DebugDrawerViewerWidgetController::saveSettings(QSettings* settings)
+{
+
+}
+
+
+void DebugDrawerViewerWidgetController::onInitComponent()
+{
+    rootVisu = new SoSeparator;
+    rootVisu->ref();
+
+
+    enableMainWidgetAsync(false);
+    connect(widget.btnClearAll, SIGNAL(clicked()), this, SLOT(on_btnClearAll_clicked()), Qt::UniqueConnection);
+}
+
+
+void DebugDrawerViewerWidgetController::onConnectComponent()
+{
+    // create the debugdrawer component
+    std::string debugDrawerComponentName = "GUIDebugDrawer_" + getName();
+    ARMARX_INFO << "Creating component " << debugDrawerComponentName;
+    debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
+
+    if (mutex3D)
+    {
+        //ARMARX_IMPORTANT << "mutex3d:" << mutex3D.get();
+        debugDrawer->setMutex(mutex3D);
+    }
+    else
+    {
+        ARMARX_ERROR << " No 3d mutex available...";
+    }
+
+    ArmarXManagerPtr m = getArmarXManager();
+    m->addObject(debugDrawer, false);
+
+    {
+        boost::recursive_mutex::scoped_lock lock(*mutex3D);
+        rootVisu->addChild(debugDrawer->getVisualization());
+    }
+    enableMainWidgetAsync(true);
+}
+
+
+SoNode *DebugDrawerViewerWidgetController::getScene()
+{
+    return rootVisu;
+}
+
+
+void armarx::DebugDrawerViewerWidgetController::onExitComponent()
+{
+    if (rootVisu)
+    {
+        rootVisu->removeAllChildren();
+        rootVisu->unref();
+        rootVisu = NULL;
+    }
+}
+
+void armarx::DebugDrawerViewerWidgetController::on_btnClearAll_clicked()
+{
+    ARMARX_INFO << "Clearing visu";
+    if(debugDrawer)
+    {
+        debugDrawer->clearAll();
+    }
+}

source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::gui-plugins::DebugDrawerViewerWidgetController
+ * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date       2016
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_DebugDrawerViewer_WidgetController_H
+#define _ARMARX_RobotAPI_DebugDrawerViewer_WidgetController_H
+
+#include "ui_DebugDrawerViewerWidget.h"
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+namespace armarx
+{
+    /**
+    \page ArmarXGui-GuiPlugins-DebugDrawerViewer DebugDrawerViewer
+    \brief The DebugDrawerViewer listens on the DebugDrawer topic and visualizes all the data coming in.
+    This GUI only display the DebugDrawer content and nothing else.
+    The content is shown in the 3D Viewer Widget.
+
+    API Documentation \ref DebugDrawerViewerWidgetController
+
+    \see DebugDrawerViewerGuiPlugin
+    */
+
+    /**
+     * \class DebugDrawerViewerWidgetController
+     * \brief DebugDrawerViewerWidgetController
+     *
+     * Detailed description
+     */
+    class ARMARXCOMPONENT_IMPORT_EXPORT
+        DebugDrawerViewerWidgetController:
+    public armarx::ArmarXComponentWidgetController
+    {
+        Q_OBJECT
+
+    public:
+        /**
+         * Controller Constructor
+         */
+        explicit DebugDrawerViewerWidgetController();
+
+        /**
+         * Controller destructor
+         */
+        virtual ~DebugDrawerViewerWidgetController();
+
+        /**
+         * @see ArmarXWidgetController::loadSettings()
+         */
+        virtual void loadSettings(QSettings* settings);
+
+        /**
+         * @see ArmarXWidgetController::saveSettings()
+         */
+        virtual void saveSettings(QSettings* settings);
+
+        /**
+         * Returns the Widget name displayed in the ArmarXGui to create an
+         * instance of this class.
+         */
+        virtual QString getWidgetName() const
+        {
+            return "DebugDrawerViewer";
+        }
+
+        /**
+         * \see armarx::Component::onInitComponent()
+         */
+        virtual void onInitComponent();
+
+        /**
+         * \see armarx::Component::onConnectComponent()
+         */
+        virtual void onConnectComponent();
+
+        void onExitComponent();
+
+    public slots:
+        /* QT slot declarations */
+
+    signals:
+        /* QT signal declarations */
+
+    private:
+        /**
+         * Widget Form
+         */
+        Ui::DebugDrawerViewerWidget widget;
+        armarx::DebugDrawerComponentPtr debugDrawer;
+        SoSeparator* rootVisu;
+
+        // ArmarXWidgetController interface
+    public:
+        SoNode *getScene();
+
+
+
+    private slots:
+        void on_btnClearAll_clicked();
+    };
+}
+
+#endif