Merge remote-tracking branch 'origin/master' into Ice3.7

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

@@ -7,20 +7,92 @@
     <x>0</x>
     <y>0</y>
     <width>400</width>
-    <height>300</height>
+    <height>94</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>DebugDrawerViewerWidget</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
+   <item row="3" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QComboBox" name="comboClearLayer">
+       <property name="toolTip">
+        <string>Select a layer to clear</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="btnClearLayer">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="toolTip">
+        <string>Clear the selected layer</string>
+       </property>
+       <property name="text">
+        <string>Clear Layer</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
     <widget class="QPushButton" name="btnClearAll">
+     <property name="toolTip">
+      <string>Clear all layers</string>
+     </property>
      <property name="text">
-      <string>Remove All Visualizations</string>
+      <string>Clear All Layers</string>
      </property>
     </widget>
    </item>
+   <item row="0" column="0">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="4" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Preferred</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <resources/>

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

@@ -19,35 +19,37 @@
  * \copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-
 #include "DebugDrawerViewerWidgetController.h"
+
 #include <ArmarXCore/core/ArmarXManager.h>
+
+#include <QTimer>
+
 #include <string>
 
+
 using namespace armarx;
 
+
 DebugDrawerViewerWidgetController::DebugDrawerViewerWidgetController()
 {
-    rootVisu = NULL;
+    rootVisu = nullptr;
     widget.setupUi(getWidget());
 
-}
-
-
-DebugDrawerViewerWidgetController::~DebugDrawerViewerWidgetController()
-{
-
+    QTimer* timer = new QTimer(this);
+    connect(timer, SIGNAL(timeout()), this, SLOT(updateComboClearLayer()));
+    timer->start(100);
 }
 
 
 void DebugDrawerViewerWidgetController::loadSettings(QSettings* settings)
 {
-
+    (void) settings;  // unused
 }
 
 void DebugDrawerViewerWidgetController::saveSettings(QSettings* settings)
 {
-
+    (void) settings;  // unused
 }
 
 
@@ -59,6 +61,7 @@ void DebugDrawerViewerWidgetController::onInitComponent()
 
     enableMainWidgetAsync(false);
     connect(widget.btnClearAll, SIGNAL(clicked()), this, SLOT(on_btnClearAll_clicked()), Qt::UniqueConnection);
+    connect(widget.btnClearLayer, SIGNAL(clicked()), this, SLOT(on_btnClearLayer_clicked()), Qt::UniqueConnection);
 }
 
 
@@ -89,28 +92,195 @@ void DebugDrawerViewerWidgetController::onConnectComponent()
     enableMainWidgetAsync(true);
 }
 
-
-SoNode* DebugDrawerViewerWidgetController::getScene()
-{
-    return rootVisu;
-}
-
-
 void armarx::DebugDrawerViewerWidgetController::onExitComponent()
 {
     if (rootVisu)
     {
         rootVisu->removeAllChildren();
         rootVisu->unref();
-        rootVisu = NULL;
+        rootVisu = nullptr;
     }
 }
 
+
+SoNode* DebugDrawerViewerWidgetController::getScene()
+{
+    return rootVisu;
+}
+
 void armarx::DebugDrawerViewerWidgetController::on_btnClearAll_clicked()
 {
-    ARMARX_INFO << "Clearing visu";
     if (debugDrawer)
     {
+        ARMARX_INFO << "Clearing all visualization layers";
         debugDrawer->clearAll();
     }
 }
+
+void DebugDrawerViewerWidgetController::on_btnClearLayer_clicked()
+{
+    if (debugDrawer)
+    {
+        int index = widget.comboClearLayer->currentIndex();
+        std::string layerName = widget.comboClearLayer->itemData(index).toString().toStdString();
+
+        if (!layerName.empty())
+        {
+            ARMARX_INFO << "Clearing layer: '" << layerName << "'";
+            debugDrawer->clearLayer(layerName);
+        }
+    }
+}
+
+
+void DebugDrawerViewerWidgetController::updateComboClearLayer()
+{
+    QComboBox* combo = widget.comboClearLayer;
+
+    auto setItalic = [combo](bool italic)
+    {
+        QFont font = combo->font();
+        font.setItalic(italic);
+        combo->setFont(font);
+    };
+
+    auto disableButton = [combo, this, &setItalic](const std::string & hint)
+    {
+        QString itemText(hint.c_str());
+        QString itemData("");
+        setItalic(true);
+
+        if (combo->count() != 1)
+        {
+            combo->clear();
+            combo->insertItem(0, itemText, itemData);
+        }
+        else
+        {
+            combo->setItemText(0, itemText);
+            combo->setItemData(0, itemData);
+        }
+
+        this->widget.btnClearLayer->setEnabled(false);
+    };
+
+    if (!debugDrawer)
+    {
+        disableButton("not connected");
+        return;
+    }
+
+    // fetch layer information
+    LayerInformationSequence layers = debugDrawer->layerInformation();
+
+    if (layers.empty())
+    {
+        disableButton("no layers");
+        return;
+    }
+    else
+    {
+        setItalic(false);
+        this->widget.btnClearLayer->setEnabled(true);
+    }
+
+    // sort the layers by name
+    std::sort(layers.begin(), layers.end(), [](const LayerInformation & lhs, const LayerInformation & rhs)
+    {
+        // compare case insensitively
+        for (std::size_t i = 0; i < lhs.layerName.size() && i < lhs.layerName.size(); ++i)
+        {
+            auto lhsLow = std::tolower(lhs.layerName[i]);
+            auto rhsLow = std::tolower(rhs.layerName[i]);
+            if (lhsLow < rhsLow)
+            {
+                return true;
+            }
+            else if (lhsLow > rhsLow)
+            {
+                return false;
+            }
+        }
+        // if one is a prefix of the other, the shorter one "smaller"
+        return lhs.layerName.size() < rhs.layerName.size();
+    });
+
+
+    const int numLayers = static_cast<int>(layers.size());
+
+    for (int i = 0; i < numLayers; ++i)
+    {
+        const LayerInformation& layer = layers[static_cast<std::size_t>(i)];
+
+        QString layerName(layer.layerName.c_str());
+
+        if (i < combo->count())  // in range
+        {
+            QString itemData = combo->itemData(i).toString();
+
+            // remove deleted layers
+            while (itemData.size() != 0 && itemData < layerName)
+            {
+                // item layer is smaller than next layer
+                // => item layer was deleted
+                combo->removeItem(i);
+                itemData = i < combo->count() ? combo->itemData(i).toString() : "";
+            }
+
+            // update existing layer
+            if (itemData == layerName)
+            {
+                combo->setItemText(i, makeLayerItemText(layer));
+            }
+            else // (itemData > layerName)
+            {
+                // item layer is further down than current layer
+                // => insert current layer here
+                combo->insertItem(i, makeLayerItemText(layer), layerName);
+            }
+        }
+        else  // out of range
+        {
+            combo->insertItem(i, makeLayerItemText(layer), layerName);
+        }
+
+        // check invariant
+        ARMARX_CHECK_EQUAL(combo->itemData(i).toString(), layerName);
+    }
+
+    // remove excessive items
+    while (combo->count() > numLayers)
+    {
+        combo->removeItem(combo->count() - 1);
+    }
+}
+
+
+
+QString DebugDrawerViewerWidgetController::makeLayerItemText(const LayerInformation& layer)
+{
+    std::vector<std::string> annotations;
+    if (layer.elementCount == 0)
+    {
+        annotations.push_back("empty");
+    }
+    if (!layer.visible)
+    {
+        annotations.push_back("hidden");
+    }
+
+    if (annotations.empty())
+    {
+        return { layer.layerName.c_str() };
+    }
+    else
+    {
+        std::stringstream itemText;
+        itemText << layer.layerName
+                 << " (" << boost::algorithm::join(annotations, ", ") << ")";
+        return { itemText.str().c_str() };
+    }
+}
+
+
+

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

@@ -31,6 +31,7 @@
 
 #include <ArmarXCore/core/system/ImportExportComponent.h>
 
+
 namespace armarx
 {
     /**
@@ -51,30 +52,23 @@ namespace armarx
      * Detailed description
      */
     class ARMARXCOMPONENT_IMPORT_EXPORT
-        DebugDrawerViewerWidgetController:
+        DebugDrawerViewerWidgetController :
         public ArmarXComponentWidgetControllerTemplate<DebugDrawerViewerWidgetController>
     {
         Q_OBJECT
 
     public:
-        /**
-         * Controller Constructor
-         */
+
+        /// Controller Constructor
         explicit DebugDrawerViewerWidgetController();
 
-        /**
-         * Controller destructor
-         */
-        ~DebugDrawerViewerWidgetController() override;
+        /// Controller destructor
+        virtual ~DebugDrawerViewerWidgetController() override = default;
 
-        /**
-         * @see ArmarXWidgetController::loadSettings()
-         */
+        /// @see ArmarXWidgetController::loadSettings()
         void loadSettings(QSettings* settings) override;
 
-        /**
-         * @see ArmarXWidgetController::saveSettings()
-         */
+        /// @see ArmarXWidgetController::saveSettings()
         void saveSettings(QSettings* settings) override;
 
         /**
@@ -86,39 +80,54 @@ namespace armarx
             return "Visualization.DebugDrawerViewer";
         }
 
-        /**
-         * \see armarx::Component::onInitComponent()
-         */
+        /// @see armarx::Component::onInitComponent()
         void onInitComponent() override;
 
-        /**
-         * \see armarx::Component::onConnectComponent()
-         */
+        /// @see armarx::Component::onConnectComponent()
         void onConnectComponent() override;
 
         void onExitComponent() override;
 
+
     public slots:
         /* QT slot declarations */
 
     signals:
         /* QT signal declarations */
 
+
+    private slots:
+
+        /// Clear all layers.
+        void on_btnClearAll_clicked();
+
+        /// Clear the selected layer.
+        void on_btnClearLayer_clicked();
+
+        /// Fetch the layer information and update the combo box items.
+        void updateComboClearLayer();
+
+
     private:
-        /**
-         * Widget Form
-         */
+
+        /// Make an item text for a layer entry in the clear layer combo box.
+        static QString makeLayerItemText(const LayerInformation& layer);
+
+
+    private:
+
+        /// Widget Form
         Ui::DebugDrawerViewerWidget widget;
+
+        /// The debug drawer.
         armarx::DebugDrawerComponentPtr debugDrawer;
+
         SoSeparator* rootVisu;
 
         // ArmarXWidgetController interface
     public:
         SoNode* getScene() override;
 
-    private slots:
-        void on_btnClearAll_clicked();
-
         // ArmarXWidgetController interface
     public:
         static QIcon GetWidgetIcon()

source/RobotAPI/libraries/RobotAPINJointControllers/CMakeLists.txt

@@ -11,13 +11,14 @@ find_package(MMMTools QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+armarx_build_if(DMP_FOUND "DMP not available")
+
 
 if (Eigen3_FOUND AND Simox_FOUND)
     include_directories(${Simox_INCLUDE_DIRS})
     include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
 endif()
 
-
 set(LIBS RobotAPIInterfaces ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreEigen3Variants
     VirtualRobot
     Saba
@@ -33,7 +34,6 @@ set(LIB_HEADERS
 )
 
 
-if (DMP_FOUND )
     message(STATUS "DMP libraries is ${DMP_LIBRARIES}")
 
     include_directories(${DMP_INCLUDE_DIRS})
@@ -61,7 +61,6 @@ if (DMP_FOUND )
            )
 
     list(APPEND LIBS ${DMP_LIBRARIES} DMPController)
-endif ()
 
 armarx_add_library("${LIB_NAME}"  "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")