From fc29bde83854311eaef276adb04ffa753aa31ee3 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Mon, 14 Oct 2019 14:14:52 +0200
Subject: [PATCH] Implement tree view to select layers to show
---
.../components/ArViz/ArVizStorage.cpp | 4 +-
.../components/ArViz/Coin/Visualizer.cpp | 58 ++++++++++++-
.../components/ArViz/Coin/Visualizer.h | 38 ++++++++
.../RobotAPI/gui-plugins/ArViz/ArVizWidget.ui | 22 ++++-
.../ArViz/ArVizWidgetController.cpp | 86 +++++++++++++++++++
.../gui-plugins/ArViz/ArVizWidgetController.h | 4 +
6 files changed, 205 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index f52f5cfc5..610ed669a 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -179,8 +179,8 @@ void ArVizStorage::compressHistory()
updateHistory.push_back(std::move(layer));
}
- ARMARX_INFO << "Compressed history from " << currentHistorySize
- << " to " << newHistorySize;
+ ARMARX_VERBOSE << "Compressed history from " << currentHistorySize
+ << " to " << newHistorySize;
long updateCounterAfterCompression = updateCounterBase + newHistorySize;
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index 834e43bd8..25c01e3c0 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -101,9 +101,7 @@ namespace armarx
coinNode->ref();
root->addChild(coinNode);
- CoinLayer newLayer;
- newLayer.node = coinNode;
- layerIt = layers.emplace(layerID, std::move(newLayer)).first;
+ layerIt = layers.emplace(layerID, CoinLayer(coinNode)).first;
}
CoinLayer& layer = layerIt->second;
@@ -232,12 +230,20 @@ namespace armarx
// We never block the GUI thread with Ice calls: Only get result when call is completed
if (pullUpdateResult->isCompleted())
{
+ auto layerIDsBefore = getLayerIDs();
+
LayerUpdates pulledUpdates = storage->end_pullUpdatesSince(pullUpdateResult);
for (LayerUpdate const& update : pulledUpdates.updates)
{
apply(update);
}
updateCounter = pulledUpdates.updateCounter;
+
+ auto layerIDsAfter = getLayerIDs();
+ if (layerIDsAfter != layerIDsBefore)
+ {
+ emitLayersChanged(layerIDsAfter);
+ }
}
else
{
@@ -258,5 +264,51 @@ namespace armarx
}
}
+ void CoinVisualizer::showLayer(CoinLayerID const& id, bool visible)
+ {
+ auto iter = layers.find(id);
+ if (iter == layers.end())
+ {
+ return;
+ }
+
+ viz::CoinLayer& layer = iter->second;
+ int childIndex = root->findChild(layer.node);
+ if (childIndex < 0)
+ {
+ // Layer is currently not visible
+ if (visible)
+ {
+ root->addChild(layer.node);
+ }
+ }
+ else
+ {
+ // Layer is currently visible
+ if (!visible)
+ {
+ root->removeChild(childIndex);
+ }
+ }
+ }
+
+ std::vector<CoinLayerID> CoinVisualizer::getLayerIDs()
+ {
+ std::vector<CoinLayerID> result;
+ for (auto& entry : layers)
+ {
+ result.push_back(entry.first);
+ }
+ return result;
+ }
+
+ void CoinVisualizer::emitLayersChanged(std::vector<CoinLayerID> const& layerIDs)
+ {
+ if (layersChangedCallback)
+ {
+ layersChangedCallback(layerIDs);
+ }
+ }
+
}
}
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.h b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
index 25906d711..24aa055ce 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -18,6 +18,37 @@ namespace armarx::viz
struct CoinLayer
{
+ CoinLayer(SoSeparator* node)
+ : node(node)
+ {
+ // Increase ref-count, so we can add/remove this node without it being deleted
+ // This is needed for showing/hiding layers
+ node->ref();
+ }
+
+ CoinLayer(CoinLayer&& other)
+ : node(other.node)
+ {
+ other.node = nullptr;
+ }
+
+ ~CoinLayer()
+ {
+ if (node)
+ {
+ node->unref();
+ }
+ }
+
+ CoinLayer(CoinLayer const&) = delete;
+ void operator= (CoinLayer const&) = delete;
+
+ void operator= (CoinLayer&& other)
+ {
+ node = other.node;
+ other.node = nullptr;
+ }
+
SoSeparator* node = nullptr;
std::map<std::string, std::unique_ptr<coin::ElementVisualization>> elements;
};
@@ -56,6 +87,11 @@ namespace armarx::viz
elementVisualizers.emplace_back(typeid(ElementT), std::make_unique<VisualizerT>());
}
+ void showLayer(CoinLayerID const& id, bool visible);
+
+ std::vector<CoinLayerID> getLayerIDs();
+ void emitLayersChanged(std::vector<CoinLayerID> const& layerIDs);
+
std::mutex storageMutex;
viz::StorageInterfacePrx storage;
Ice::AsyncResultPtr pullUpdateResult;
@@ -72,5 +108,7 @@ namespace armarx::viz
std::atomic<CoinVisualizerState> state{CoinVisualizerState::STOPPED};
viz::StorageInterfacePrx stateStorage;
+ std::function<void(std::vector<CoinLayerID> const&)> layersChangedCallback;
+
};
}
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
index 855fb9993..75deb8dc0 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
@@ -6,13 +6,31 @@
<rect>
<x>0</x>
<y>0</y>
- <width>400</width>
- <height>300</height>
+ <width>576</width>
+ <height>400</height>
</rect>
</property>
<property name="windowTitle">
<string>ArVizWidget</string>
</property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QTreeWidget" name="layerTree">
+ <column>
+ <property name="text">
+ <string>Layer</string>
+ </property>
+ </column>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="title">
+ <string>Layer Information</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
</widget>
<resources/>
<connections/>
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 78611085d..a8716ed3f 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -31,6 +31,15 @@ using namespace armarx;
ArVizWidgetController::ArVizWidgetController()
{
widget.setupUi(getWidget());
+
+ connect(widget.layerTree, &QTreeWidget::itemChanged, this, &ArVizWidgetController::layerTreeChanged);
+
+ // 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)
+ {
+ layersChanged(layers);
+ };
}
ArVizWidgetController::~ArVizWidgetController()
@@ -44,6 +53,7 @@ void ArVizWidgetController::onInitComponent()
{
usingProxy(storageName);
}
+ ARMARX_IMPORTANT << "OnInit: " << storageName;
}
void armarx::ArVizWidgetController::onExitComponent()
@@ -54,11 +64,87 @@ void ArVizWidgetController::onConnectComponent()
{
getProxy(storage, storageName);
visualizer.startAsync(storage);
+
+ ARMARX_IMPORTANT << "OnConnect: " << storageName;
}
void armarx::ArVizWidgetController::onDisconnectComponent()
{
visualizer.stop();
+
+ ARMARX_IMPORTANT << "OnDisconnect: " << storageName;
+}
+
+void ArVizWidgetController::layerTreeChanged(QTreeWidgetItem* item, int /*column*/)
+{
+ // Iterate over all items and activate/deactivate layers accordingly
+ for (QTreeWidgetItemIterator compIter(widget.layerTree); *compIter; ++compIter)
+ {
+ QTreeWidgetItem* componentItem = *compIter;
+ std::string component = componentItem->text(0).toStdString();
+ Qt::CheckState componentCheck = componentItem->checkState(0);
+
+ if (componentItem == item)
+ {
+ // The parent was selected or deselected, so all children should be set accordingly
+ for (QTreeWidgetItemIterator layerIter(componentItem); *layerIter; ++layerIter)
+ {
+ QTreeWidgetItem* layerItem = *layerIter;
+ if (layerItem->checkState(0) != componentCheck)
+ {
+ layerItem->setCheckState(0, componentCheck);
+ }
+ }
+ return;
+ }
+
+ for (QTreeWidgetItemIterator layerIter(componentItem); *layerIter; ++layerIter)
+ {
+ QTreeWidgetItem* layerItem = *layerIter;
+ std::string layer = layerItem->text(0).toStdString();
+ bool layerVisible = (layerItem->checkState(0) == Qt::Checked);
+
+ bool visible = layerVisible;
+
+ viz::CoinLayerID layerID(component, layer);
+ visualizer.showLayer(layerID, visible);
+ }
+ }
+}
+
+void ArVizWidgetController::layersChanged(std::vector<viz::CoinLayerID> const& layers)
+{
+ QTreeWidget* tree = widget.layerTree;
+ QTreeWidgetItem* currentItem = nullptr;
+
+ // TODO: We need to keep the state of the old tree items
+ // HACK: Just remove all the children before adding them again
+ tree->clear();
+
+ std::string currentComponent;
+ for (auto& entry : layers)
+ {
+ std::string const& component = entry.first;
+ if (component != currentComponent)
+ {
+ // 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);
+
+ currentComponent = component;
+ }
+
+ std::string const& layer = entry.second;
+ QTreeWidgetItem* layerItem = new QTreeWidgetItem;
+ layerItem->setText(0, QString::fromStdString(layer));
+ // A new item is visible by default
+ // TODO: Take into account the old state!
+ layerItem->setCheckState(0, Qt::Checked);
+
+ currentItem->addChild(layerItem);
+ }
}
SoNode* ArVizWidgetController::getScene()
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
index a596a42da..b1d4e3c3a 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
@@ -100,10 +100,14 @@ namespace armarx
public slots:
/* QT slot declarations */
+ void layerTreeChanged(QTreeWidgetItem* item, int column);
signals:
/* QT signal declarations */
+ private:
+ void layersChanged(std::vector<viz::CoinLayerID> const& layers);
+
private:
Ui::ArVizWidget widget;
--
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