Merge branch 'RobotAPIVariantWidget' into 'master'

add factories for variant data classes from RobotAPI to be used by the variant widget

See merge request !25

source/RobotAPI/libraries/RobotAPIVariantWidget/CMakeLists.txt

+set(LIB_NAME       RobotAPIVariantWidget)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QtDesigner)
+armarx_build_if(QT_FOUND "Qt not available")
+if(QT_FOUND)
+    include(${QT_USE_FILE})
+endif()
+
+set(COMPONENT_LIBS
+    ${QT_LIBRARIES}
+    VariantWidget
+    RobotAPIInterfaces
+    RobotAPICore
+)
+
+set(SOURCES
+    RobotAPIVariantWidget.cpp
+)
+set(HEADERS
+    RobotAPIVariantWidget.h
+)
+
+set(GUI_MOC_HDRS
+
+)
+
+set(GUI_UIS
+)
+
+armarx_gui_library("${LIB_NAME}" "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+
+# add unit tests
+add_subdirectory(test)

source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.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::ArmarXObjects::RobotAPIVariantWidget
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "RobotAPIVariantWidget.h"
+
+#include <QLabel>
+#include <QString>
+#include <QVBoxLayout>
+#include <QFormLayout>
+#include <QTableWidget>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/interface/core/FramedPoseBase.h>
+#include <RobotAPI/interface/core/LinkedPoseBase.h>
+#include <RobotAPI/interface/core/OrientedPoint.h>
+#include <RobotAPI/interface/core/PoseBase.h>
+
+namespace armarx
+{
+    namespace detail
+    {
+        RobotAPIVariantWidgetDummySymbol::RobotAPIVariantWidgetDummySymbol(int) {}
+    }
+
+    namespace VariantDataWidgets
+    {
+        class Vector2BaseWidget: public VariantDataWidgetBase
+        {
+        public:
+            Vector2BaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelX = new QLabel;
+                labelY = new QLabel;
+                l->addRow("X", labelX);
+                l->addRow("Y", labelY);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                Vector2BasePtr v = Vector2BasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                labelX->setText(QString::number(v->x));
+                labelY->setText(QString::number(v->y));
+            }
+        private:
+            QLabel* labelX;
+            QLabel* labelY;
+        };
+        VariantDataWidgetFactoryRegistration<Vector2BaseWidget> registerVector2BaseWidget {Vector2Base::ice_staticId()};
+
+        class Vector3BaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            Vector3BaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelX = new QLabel;
+                labelY = new QLabel;
+                labelZ = new QLabel;
+                l->addRow("X", labelX);
+                l->addRow("Y", labelY);
+                l->addRow("Z", labelZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                Vector3BasePtr v = Vector3BasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                labelX->setText(QString::number(v->x));
+                labelY->setText(QString::number(v->y));
+                labelZ->setText(QString::number(v->z));
+            }
+        private:
+            QLabel* labelX;
+            QLabel* labelY;
+            QLabel* labelZ;
+        };
+        VariantDataWidgetFactoryRegistration<Vector3BaseWidget> registerVector3BaseWidget {Vector3Base::ice_staticId()};
+
+        class FramedPositionBaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            FramedPositionBaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelAg = new QLabel;
+                labelFr = new QLabel;
+                labelX = new QLabel;
+                labelY = new QLabel;
+                labelZ = new QLabel;
+                l->addRow("Agent", labelAg);
+                l->addRow("Frame", labelFr);
+                l->addRow("X", labelX);
+                l->addRow("Y", labelY);
+                l->addRow("Z", labelZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                FramedPositionBasePtr v = FramedPositionBasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                labelAg->setText(QString::fromStdString(v->agent));
+                labelFr->setText(QString::fromStdString(v->frame));
+                labelX->setText(QString::number(v->x));
+                labelY->setText(QString::number(v->y));
+                labelZ->setText(QString::number(v->z));
+            }
+        private:
+            QLabel* labelAg;
+            QLabel* labelFr;
+            QLabel* labelX;
+            QLabel* labelY;
+            QLabel* labelZ;
+        };
+        VariantDataWidgetFactoryRegistration<FramedPositionBaseWidget> registerFramedPositionBaseWidget {FramedPositionBase::ice_staticId()};
+
+        class FramedDirectionBaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            FramedDirectionBaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelAg = new QLabel;
+                labelFr = new QLabel;
+                labelX = new QLabel;
+                labelY = new QLabel;
+                labelZ = new QLabel;
+                l->addRow("Agent", labelAg);
+                l->addRow("Frame", labelFr);
+                l->addRow("X", labelX);
+                l->addRow("Y", labelY);
+                l->addRow("Z", labelZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                FramedDirectionBasePtr v = FramedDirectionBasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                labelAg->setText(QString::fromStdString(v->agent));
+                labelFr->setText(QString::fromStdString(v->frame));
+                labelX->setText(QString::number(v->x));
+                labelY->setText(QString::number(v->y));
+                labelZ->setText(QString::number(v->z));
+            }
+        private:
+            QLabel* labelAg;
+            QLabel* labelFr;
+            QLabel* labelX;
+            QLabel* labelY;
+            QLabel* labelZ;
+        };
+        VariantDataWidgetFactoryRegistration<FramedDirectionBaseWidget> registerFramedDirectionBaseWidget {FramedDirectionBase::ice_staticId()};
+
+        class OrientedPointBaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            OrientedPointBaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelPX = new QLabel;
+                labelPY = new QLabel;
+                labelPZ = new QLabel;
+                labelNX = new QLabel;
+                labelNY = new QLabel;
+                labelNZ = new QLabel;
+                l->addRow("PX", labelPX);
+                l->addRow("PY", labelPY);
+                l->addRow("PZ", labelPZ);
+                l->addRow("NX", labelNX);
+                l->addRow("NY", labelNY);
+                l->addRow("NZ", labelNZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                OrientedPointBasePtr v = OrientedPointBasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                labelPX->setText(QString::number(v->px));
+                labelPY->setText(QString::number(v->py));
+                labelPZ->setText(QString::number(v->pz));
+                labelNX->setText(QString::number(v->nx));
+                labelNY->setText(QString::number(v->ny));
+                labelNZ->setText(QString::number(v->nz));
+            }
+        private:
+            QLabel* labelPX;
+            QLabel* labelPY;
+            QLabel* labelPZ;
+            QLabel* labelNX;
+            QLabel* labelNY;
+            QLabel* labelNZ;
+        };
+        VariantDataWidgetFactoryRegistration<OrientedPointBaseWidget> registerOrientedPointBaseWidget {OrientedPointBase::ice_staticId()};
+
+        class FramedOrientedPointBaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            FramedOrientedPointBaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelAg = new QLabel;
+                labelFr = new QLabel;
+                labelPX = new QLabel;
+                labelPY = new QLabel;
+                labelPZ = new QLabel;
+                labelNX = new QLabel;
+                labelNY = new QLabel;
+                labelNZ = new QLabel;
+                l->addRow("Agent", labelAg);
+                l->addRow("Frame", labelFr);
+                l->addRow("PX", labelPX);
+                l->addRow("PY", labelPY);
+                l->addRow("PZ", labelPZ);
+                l->addRow("NX", labelNX);
+                l->addRow("NY", labelNY);
+                l->addRow("NZ", labelNZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                FramedOrientedPointBasePtr v = FramedOrientedPointBasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                labelAg->setText(QString::fromStdString(v->agent));
+                labelFr->setText(QString::fromStdString(v->frame));
+                labelPX->setText(QString::number(v->px));
+                labelPY->setText(QString::number(v->py));
+                labelPZ->setText(QString::number(v->pz));
+                labelNX->setText(QString::number(v->nx));
+                labelNY->setText(QString::number(v->ny));
+                labelNZ->setText(QString::number(v->nz));
+            }
+        private:
+            QLabel* labelAg;
+            QLabel* labelFr;
+            QLabel* labelPX;
+            QLabel* labelPY;
+            QLabel* labelPZ;
+            QLabel* labelNX;
+            QLabel* labelNY;
+            QLabel* labelNZ;
+        };
+        VariantDataWidgetFactoryRegistration<FramedOrientedPointBaseWidget> registerFramedOrientedPointBaseWidget {FramedOrientedPointBase::ice_staticId()};
+
+        class QuaternionBaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            QuaternionBaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelQW = new QLabel;
+                labelQX = new QLabel;
+                labelQY = new QLabel;
+                labelQZ = new QLabel;
+                l->addRow("QW", labelQW);
+                l->addRow("QX", labelQX);
+                l->addRow("QY", labelQY);
+                l->addRow("QZ", labelQZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                QuaternionBasePtr v = QuaternionBasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                labelQW->setText(QString::number(v->qw));
+                labelQX->setText(QString::number(v->qx));
+                labelQY->setText(QString::number(v->qy));
+                labelQZ->setText(QString::number(v->qz));
+            }
+        private:
+            QLabel* labelQW;
+            QLabel* labelQX;
+            QLabel* labelQY;
+            QLabel* labelQZ;
+        };
+        VariantDataWidgetFactoryRegistration<QuaternionBaseWidget> registerQuaternionBaseWidget {QuaternionBase::ice_staticId()};
+
+        class FramedOrientationBaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            FramedOrientationBaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelAg = new QLabel;
+                labelFr = new QLabel;
+                labelQW = new QLabel;
+                labelQX = new QLabel;
+                labelQY = new QLabel;
+                labelQZ = new QLabel;
+                l->addRow("Agent", labelAg);
+                l->addRow("Frame", labelFr);
+                l->addRow("QW", labelQW);
+                l->addRow("QX", labelQX);
+                l->addRow("QY", labelQY);
+                l->addRow("QZ", labelQZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                FramedOrientationBasePtr v = FramedOrientationBasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                labelAg->setText(QString::fromStdString(v->agent));
+                labelFr->setText(QString::fromStdString(v->frame));
+                labelQW->setText(QString::number(v->qw));
+                labelQX->setText(QString::number(v->qx));
+                labelQY->setText(QString::number(v->qy));
+                labelQZ->setText(QString::number(v->qz));
+            }
+        private:
+            QLabel* labelAg;
+            QLabel* labelFr;
+            QLabel* labelQW;
+            QLabel* labelQX;
+            QLabel* labelQY;
+            QLabel* labelQZ;
+        };
+        VariantDataWidgetFactoryRegistration<FramedOrientationBaseWidget> registerFramedOrientationBaseWidget {FramedOrientationBase::ice_staticId()};
+
+        class PoseBaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            PoseBaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelX = new QLabel;
+                labelY = new QLabel;
+                labelZ = new QLabel;
+                labelQW = new QLabel;
+                labelQX = new QLabel;
+                labelQY = new QLabel;
+                labelQZ = new QLabel;
+                l->addRow("X", labelX);
+                l->addRow("Y", labelY);
+                l->addRow("Z", labelZ);
+                l->addRow("QW", labelQW);
+                l->addRow("QX", labelQX);
+                l->addRow("QY", labelQY);
+                l->addRow("QZ", labelQZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                PoseBasePtr v = PoseBasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                ARMARX_CHECK_EXPRESSION(v->position);
+                ARMARX_CHECK_EXPRESSION(v->orientation);
+                labelX->setText(QString::number(v->position->x));
+                labelY->setText(QString::number(v->position->y));
+                labelZ->setText(QString::number(v->position->z));
+                labelQW->setText(QString::number(v->orientation->qw));
+                labelQX->setText(QString::number(v->orientation->qx));
+                labelQY->setText(QString::number(v->orientation->qy));
+                labelQZ->setText(QString::number(v->orientation->qz));
+            }
+        private:
+            QLabel* labelX;
+            QLabel* labelY;
+            QLabel* labelZ;
+            QLabel* labelQW;
+            QLabel* labelQX;
+            QLabel* labelQY;
+            QLabel* labelQZ;
+        };
+        VariantDataWidgetFactoryRegistration<PoseBaseWidget> registerPoseBaseWidget {PoseBase::ice_staticId()};
+
+        class FramedPoseBaseWidget: public VariantDataWidgetBase
+        {
+        public:
+
+            FramedPoseBaseWidget(const VariantDataPtr& v)
+            {
+                auto l = new QFormLayout;
+                l->setContentsMargins(0, 0, 0, 0);
+                setLayout(l);
+                labelAg = new QLabel;
+                labelFr = new QLabel;
+                labelX = new QLabel;
+                labelY = new QLabel;
+                labelZ = new QLabel;
+                labelQW = new QLabel;
+                labelQX = new QLabel;
+                labelQY = new QLabel;
+                labelQZ = new QLabel;
+                l->addRow("Agent", labelAg);
+                l->addRow("Frame", labelFr);
+                l->addRow("X", labelX);
+                l->addRow("Y", labelY);
+                l->addRow("Z", labelZ);
+                l->addRow("QW", labelQW);
+                l->addRow("QX", labelQX);
+                l->addRow("QY", labelQY);
+                l->addRow("QZ", labelQZ);
+                update(v);
+            }
+            void update(const VariantDataPtr& p)
+            {
+                FramedPoseBasePtr v = FramedPoseBasePtr::dynamicCast(p);
+                ARMARX_CHECK_EXPRESSION(v);
+                ARMARX_CHECK_EXPRESSION(v->position);
+                ARMARX_CHECK_EXPRESSION(v->orientation);
+                labelAg->setText(QString::fromStdString(v->agent));
+                labelFr->setText(QString::fromStdString(v->frame));
+                labelX->setText(QString::number(v->position->x));
+                labelY->setText(QString::number(v->position->y));
+                labelZ->setText(QString::number(v->position->z));
+                labelQW->setText(QString::number(v->orientation->qw));
+                labelQX->setText(QString::number(v->orientation->qx));
+                labelQY->setText(QString::number(v->orientation->qy));
+                labelQZ->setText(QString::number(v->orientation->qz));
+            }
+        private:
+            QLabel* labelAg;
+            QLabel* labelFr;
+            QLabel* labelX;
+            QLabel* labelY;
+            QLabel* labelZ;
+            QLabel* labelQW;
+            QLabel* labelQX;
+            QLabel* labelQY;
+            QLabel* labelQZ;
+        };
+        VariantDataWidgetFactoryRegistration<FramedPoseBaseWidget> registerFramedPoseBaseWidget {FramedPoseBase::ice_staticId()};
+    }
+}
+
+

source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.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::ArmarXObjects::RobotAPIVariantWidget
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_RobotAPIVariantWidget_H
+#define _ARMARX_LIB_RobotAPI_RobotAPIVariantWidget_H
+
+#include <ArmarXGui/libraries/VariantWidget/VariantWidget.h>
+
+namespace armarx
+{
+    namespace detail
+    {
+        struct RobotAPIVariantWidgetDummySymbol
+        {
+            RobotAPIVariantWidgetDummySymbol(int);
+        };
+        const RobotAPIVariantWidgetDummySymbol robotAPIVariantWidgetDummySymbolInstanceGlobal(1);
+        inline std::size_t robotAPIVariantWidgetDummySymbolFunction()
+        {
+            return sizeof(robotAPIVariantWidgetDummySymbolInstanceGlobal);
+        }
+    }
+}
+#endif

source/RobotAPI/libraries/RobotAPIVariantWidget/test/CMakeLists.txt

+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore RobotAPIVariantWidget)
+ 
+armarx_add_test(RobotAPIVariantWidgetTest RobotAPIVariantWidgetTest.cpp "${LIBS}")
\ No newline at end of file

source/RobotAPI/libraries/RobotAPIVariantWidget/test/RobotAPIVariantWidgetTest.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::ArmarXObjects::RobotAPIVariantWidget
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::RobotAPIVariantWidget
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include "../RobotAPIVariantWidget.h"
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+
+    BOOST_CHECK_EQUAL(true, true);
+}