From f54b3c4fc62805480fee9b874e695ef9fdb680e3 Mon Sep 17 00:00:00 2001
From: Meixner <andre.meixner@kit.edu>
Date: Tue, 26 Nov 2024 20:34:00 +0100
Subject: [PATCH] Added first implemntation of ArvizProfile
---
.../ArViz/ArVizWidgetController.cpp | 48 +++++-
.../gui-plugins/ArViz/ArVizWidgetController.h | 6 +
.../RobotAPI/gui-plugins/ArViz/CMakeLists.txt | 2 +
.../ArViz/HiddenCoinLayerManagerWidget.cpp | 153 ++++++++++++++++++
.../ArViz/HiddenCoinLayerManagerWidget.h | 92 +++++++++++
5 files changed, 295 insertions(+), 6 deletions(-)
create mode 100644 source/RobotAPI/gui-plugins/ArViz/HiddenCoinLayerManagerWidget.cpp
create mode 100644 source/RobotAPI/gui-plugins/ArViz/HiddenCoinLayerManagerWidget.h
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 945013a99..1633da37a 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -30,6 +30,7 @@
#include <QMessageBox>
#include <QTimer>
#include <QFileDialog>
+#include <qnamespace.h>
namespace armarx
@@ -92,6 +93,10 @@ namespace armarx
connect(this, &This::connectGui, this, &This::onConnectGui, Qt::QueuedConnection);
connect(this, &This::disconnectGui, this, &This::onDisconnectGui, Qt::QueuedConnection);
+ hiddenCoinLayerWidget = new HiddenCoinLayerManagerWidget();
+ widget.verticalLayout->addWidget(hiddenCoinLayerWidget);
+ connect(hiddenCoinLayerWidget, &HiddenCoinLayerManagerWidget::hiddenLayersReset, this, &This::updateHiddenLayers);
+
// Layer info tree.
connect(widget.layerTree, &QTreeWidget::currentItemChanged, this, &This::updateSelectedLayer);
@@ -105,7 +110,6 @@ namespace armarx
layerInfoTree.setEnabled(widget.layerInfoTreeGroupBox->isChecked());
layerInfoTree.registerVisualizerCallbacks(visualizer);
-
// We need a callback from the visualizer, when the layers have changed
// So we can update the tree accordingly
visualizer.layersChangedCallback = [this](std::vector<viz::CoinLayerID> const & layers)
@@ -167,6 +171,32 @@ namespace armarx
emit disconnectGui();
}
+ void ArVizWidgetController::updateHiddenLayers()
+ {
+ {
+ QSignalBlocker blocker(widget.layerTree);
+
+ // Iterate over all items and activate/deactivate layers accordingly
+ for (int compIndex = 0; compIndex < widget.layerTree->topLevelItemCount(); ++compIndex)
+ {
+ QTreeWidgetItem* componentItem = widget.layerTree->topLevelItem(compIndex);
+ bool parentChecked = true;
+ const std::string component = componentItem->text(0).toStdString();
+ for (int layerIndex = 0; layerIndex < componentItem->childCount(); ++layerIndex)
+ {
+ QTreeWidgetItem* layerItem = componentItem->child(layerIndex);
+ const std::string layer = layerItem->text(0).toStdString();
+ const viz::CoinLayerID layerID(component, layer);
+ const bool visible = not hiddenCoinLayerWidget->isHidden(layerID);
+ layerItem->setCheckState(0, visible ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
+ parentChecked &= visible;
+ visualizer.showLayer(layerID, visible);
+ }
+ componentItem->setCheckState(0, parentChecked ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
+ }
+ }
+ }
+
void ArVizWidgetController::onConnectGui()
{
onRefreshRecordings();
@@ -205,6 +235,7 @@ namespace armarx
{
layerItem->setCheckState(0, componentCheck);
}
+ hiddenCoinLayerWidget->update(component, componentCheck == Qt::Checked);
}
return;
}
@@ -217,6 +248,9 @@ namespace armarx
ARMARX_VERBOSE << "Layer: " << layer << ", Visible: " << layerVisible;
viz::CoinLayerID layerID(component, layer);
+
+ hiddenCoinLayerWidget->update(layerID, layerVisible);
+
visualizer.showLayer(layerID, layerVisible);
}
}
@@ -263,8 +297,7 @@ namespace armarx
// Create a new item
currentItem = new QTreeWidgetItem(tree);
currentItem->setText(0, QString::fromStdString(component));
- // A new item is visible by default
- currentItem->setCheckState(0, Qt::Checked);
+ currentItem->setCheckState(0, hiddenCoinLayerWidget->isHidden(entry) ? Qt::Unchecked : Qt::Checked);
componentWasNew = true;
}
@@ -286,8 +319,7 @@ namespace armarx
std::string const& layer = entry.second;
QTreeWidgetItem* layerItem = new QTreeWidgetItem;
layerItem->setText(0, QString::fromStdString(layer));
- // A new item is visible by default
- layerItem->setCheckState(0, Qt::Checked);
+ layerItem->setCheckState(0, hiddenCoinLayerWidget->isHidden(entry) ? Qt::Unchecked : Qt::Checked);
if (currentItem)
{
@@ -308,7 +340,11 @@ namespace armarx
}
else
{
- // Item exists already ==> nothing to be done
+ // Item exists already ==> make sure that it is not shown if necessary
+ if (hiddenCoinLayerWidget->isHidden(iter->first) or iter->second->checkState(0) == Qt::Unchecked)
+ {
+ visualizer.showLayer(iter->first, false);
+ }
}
}
}
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
index cb10e285b..d81dc69bc 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
@@ -21,6 +21,8 @@
*/
#pragma once
+#include <unordered_set>
+
#include <RobotAPI/gui-plugins/ArViz/ui_ArVizWidget.h>
#include <RobotAPI/components/ArViz/Coin/Visualizer.h>
@@ -34,6 +36,7 @@
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include "LayerInfoTree.h"
+#include "HiddenCoinLayerManagerWidget.h"
namespace armarx
@@ -108,6 +111,7 @@ namespace armarx
public slots:
/* QT slot declarations */
+ void updateHiddenLayers();
signals:
/* QT signal declarations */
@@ -224,6 +228,8 @@ namespace armarx
std::vector<double> timings;
+ HiddenCoinLayerManagerWidget* hiddenCoinLayerWidget;
+
public:
static QIcon GetWidgetIcon()
{
diff --git a/source/RobotAPI/gui-plugins/ArViz/CMakeLists.txt b/source/RobotAPI/gui-plugins/ArViz/CMakeLists.txt
index c9f30ffe5..318b4d9bd 100644
--- a/source/RobotAPI/gui-plugins/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/ArViz/CMakeLists.txt
@@ -10,6 +10,7 @@ armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
set(SOURCES
ArVizGuiPlugin.cpp
ArVizWidgetController.cpp
+ HiddenCoinLayerManagerWidget.cpp
LayerInfoTree.cpp
)
@@ -18,6 +19,7 @@ set(SOURCES
set(HEADERS
ArVizGuiPlugin.h
ArVizWidgetController.h
+ HiddenCoinLayerManagerWidget.h
LayerInfoTree.h
)
diff --git a/source/RobotAPI/gui-plugins/ArViz/HiddenCoinLayerManagerWidget.cpp b/source/RobotAPI/gui-plugins/ArViz/HiddenCoinLayerManagerWidget.cpp
new file mode 100644
index 000000000..95ca8de3d
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/ArViz/HiddenCoinLayerManagerWidget.cpp
@@ -0,0 +1,153 @@
+#include "HiddenCoinLayerManagerWidget.h"
+
+#include <ArmarXCore/core/logging/Logging.h>
+#include <QVBoxLayout>
+#include <QMessageBox>
+
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <qboxlayout.h>
+#include <qlabel.h>
+
+namespace armarx
+{
+
+HiddenCoinLayerManagerWidget::HiddenCoinLayerManagerWidget(QWidget* parent) :
+ QWidget(parent),
+ settings(QString((armarx::ArmarXDataPath::GetDefaultUserConfigPath() + "/ArvizHiddenCoinLayerManager.conf").c_str()),
+ QSettings::NativeFormat),
+ hiddenLayers(HiddenLayers{})
+{
+ QHBoxLayout* layout = new QHBoxLayout(this);
+
+ // Setup UI elements
+ hiddenLayersComboBox = new QComboBox(this);
+ hiddenLayersComboBox->addItem("default");
+ connect(hiddenLayersComboBox, QOverload<int>::of(&QComboBox::currentIndexChanged),
+ this, &HiddenCoinLayerManagerWidget::onHiddenLayersSelected);
+
+ nameEdit = new QLineEdit(this);
+ saveButton = new QPushButton("Save", this);
+ deleteButton = new QPushButton("Delete", this);
+
+ layout->addWidget(new QLabel("Arviz Layer Saves: "));
+ layout->addWidget(hiddenLayersComboBox);
+ layout->addWidget(nameEdit);
+ layout->addWidget(saveButton);
+ layout->addWidget(deleteButton);
+ setLayout(layout);
+
+ connect(saveButton, &QPushButton::clicked, this, &HiddenCoinLayerManagerWidget::saveCurrentHiddenLayers);
+ connect(deleteButton, &QPushButton::clicked, this, &HiddenCoinLayerManagerWidget::deleteCurrentHiddenLayersSave);
+
+ loadHiddenLayerNames();
+ loadDefaultHiddenLayer();
+}
+
+void HiddenCoinLayerManagerWidget::onHiddenLayersSelected(int index)
+{
+ const QString name = hiddenLayersComboBox->currentText();
+
+ loadHiddenLayers(name);
+ emit hiddenLayersReset();
+}
+
+void HiddenCoinLayerManagerWidget::saveCurrentHiddenLayers()
+{
+ const QString name = nameEdit->text();
+ if (name.isEmpty() or name == "default")
+ {
+ QMessageBox::warning(this, "Warning", "Please enter a valid name.");
+ return;
+ }
+
+ if (saveHiddenLayers(name, hiddenLayers))
+ {
+ if (hiddenLayersComboBox->findText(name) == -1)
+ {
+ hiddenLayersComboBox->addItem(name);
+ }
+ hiddenLayersComboBox->setCurrentText(name);
+ }
+}
+
+void HiddenCoinLayerManagerWidget::deleteCurrentHiddenLayersSave()
+{
+ const QString name = hiddenLayersComboBox->currentText();
+ if (name == "default")
+ {
+ QMessageBox::warning(this, "Warning", "Cannot delete the default.");
+ return;
+ }
+
+ settings.remove(name);
+
+ int index = hiddenLayersComboBox->currentIndex();
+ hiddenLayersComboBox->removeItem(index);
+ loadDefaultHiddenLayer();
+ emit hiddenLayersReset();
+}
+
+void HiddenCoinLayerManagerWidget::loadHiddenLayerNames()
+{
+ for (const QString& groups : settings.childGroups())
+ {
+ hiddenLayersComboBox->addItem(groups);
+ }
+}
+
+void HiddenCoinLayerManagerWidget::loadDefaultHiddenLayer()
+{
+ hiddenLayersComboBox->setCurrentText("default");
+ hiddenLayers.clear();
+}
+
+void HiddenCoinLayerManagerWidget::loadHiddenLayers(const QString& name)
+{
+ std::scoped_lock lock(mtx);
+ hiddenLayers.clear();
+
+ if (name != "default")
+ {
+ settings.beginGroup(name);
+ const int size = settings.beginReadArray("layers");
+ for (int i = 0; i < size; ++i)
+ {
+ settings.setArrayIndex(i);
+ QString first = settings.value("component").toString();
+ QString second = settings.value("layer").toString();
+ hiddenLayers.insert({first.toStdString(), second.toStdString()});
+ }
+ settings.endArray();
+ settings.endGroup();
+
+ nameEdit->setText(name);
+ deleteButton->setEnabled(true);
+ }
+ else
+ {
+ deleteButton->setEnabled(false);
+ }
+}
+
+bool HiddenCoinLayerManagerWidget::saveHiddenLayers(const QString& name, const HiddenLayers& hiddenLayers)
+{
+ if (name != "default")
+ {
+ settings.beginGroup(name);
+ settings.remove("layers");
+ settings.beginWriteArray("layers", hiddenLayers.size());
+ int i = 0;
+ for (const auto& pair : hiddenLayers)
+ {
+ settings.setArrayIndex(i++);
+ settings.setValue("component", QString::fromStdString(pair.first));
+ settings.setValue("layer", QString::fromStdString(pair.second));
+ }
+ settings.endArray();
+ settings.endGroup();
+ return true;
+ }
+ return false;
+}
+
+}
\ No newline at end of file
diff --git a/source/RobotAPI/gui-plugins/ArViz/HiddenCoinLayerManagerWidget.h b/source/RobotAPI/gui-plugins/ArViz/HiddenCoinLayerManagerWidget.h
new file mode 100644
index 000000000..f10140d09
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/ArViz/HiddenCoinLayerManagerWidget.h
@@ -0,0 +1,92 @@
+#pragma once
+
+#include <QWidget>
+#include <QComboBox>
+#include <QPushButton>
+#include <QLineEdit>
+#include <QSettings>
+#include <QString>
+
+#include <mutex>
+#include <qobjectdefs.h>
+#include <shared_mutex>
+#include <unordered_set>
+#include <string>
+#include <utility>
+
+#include <RobotAPI/components/ArViz/Coin/Visualizer.h>
+
+namespace armarx
+{
+ struct pair_hash
+ {
+ template <typename T1, typename T2>
+ std::size_t operator ()(const std::pair<T1, T2>& p) const
+ {
+ auto h1 = std::hash<T1>{}(p.first);
+ auto h2 = std::hash<T2>{}(p.second);
+ return h1 ^ (h2 << 1);
+ }
+ };
+
+ using HiddenLayers = std::unordered_set<viz::CoinLayerID, pair_hash>;
+
+ class HiddenCoinLayerManagerWidget : public QWidget
+ {
+ Q_OBJECT
+
+ public:
+ explicit HiddenCoinLayerManagerWidget(QWidget* parent = nullptr);
+
+ inline void update(const viz::CoinLayerID& layerID, bool visible)
+ {
+ std::scoped_lock lock(mtx);
+
+ if (visible and hiddenLayers.count(layerID) > 0)
+ {
+ hiddenLayers.erase(layerID);
+ hiddenLayers.erase({layerID.first, "*"});
+ }
+ else if (not visible)
+ {
+ hiddenLayers.insert(layerID);
+ }
+ }
+
+ inline void update(const std::string& componentName, bool visible)
+ {
+ update({componentName, "*"}, visible);
+ }
+
+ inline bool isHidden(const viz::CoinLayerID& layerID) const
+ {
+ std::scoped_lock lock(mtx);
+
+ return hiddenLayers.count(layerID) > 0 or hiddenLayers.count({layerID.first, "*"}) > 0;
+ }
+
+ signals:
+ // Signal emitted when the saveHiddenLayer is reset (reselected)
+ void hiddenLayersReset();
+
+ private slots:
+ void onHiddenLayersSelected(int index);
+ void saveCurrentHiddenLayers();
+ void deleteCurrentHiddenLayersSave();
+
+ private:
+ void loadHiddenLayerNames();
+ void loadDefaultHiddenLayer();
+ void loadHiddenLayers(const QString& name);
+ bool saveHiddenLayers(const QString& name, const HiddenLayers& hiddenLayers);
+
+ QComboBox* hiddenLayersComboBox;
+ QLineEdit* nameEdit;
+ QPushButton* saveButton;
+ QPushButton* deleteButton;
+ QSettings settings;
+ mutable std::mutex mtx;
+ HiddenLayers hiddenLayers;
+ };
+
+}
\ No newline at end of file
--
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