Switch to leveraging event filters (#22)

acm/CMakeLists.txt

@@ -1,44 +1,60 @@
 find_package(tesseract_common REQUIRED)
 find_package(tesseract_scene_graph REQUIRED)
+find_package(tesseract_environment REQUIRED)
 find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
 
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
+qt5_wrap_cpp(ACM_MODEL_headers_MOC include/tesseract_qt/acm/models/allowed_collision_matrix_model.h)
+
+add_library(${PROJECT_NAME}_acm_models SHARED ${ACM_MODEL_headers_MOC} src/models/allowed_collision_matrix_model.cpp)
+
+target_link_libraries(
+  ${PROJECT_NAME}_acm_models
+  PUBLIC tesseract::tesseract_scene_graph
+         tesseract::tesseract_common
+         Qt5::Core
+         Qt5::Gui
+         ${PROJECT_NAME}_common)
+target_include_directories(
+  ${PROJECT_NAME}_acm_models PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                                    "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/acm>" "$<INSTALL_INTERFACE:include>")
+
 qt5_wrap_cpp(
-  ACM_headers_MOC
-  include/tesseract_qt/acm/allowed_collision_matrix_model.h
-  include/tesseract_qt/acm/allowed_collision_matrix_widget.h
-  include/tesseract_qt/acm/allowed_collision_matrix_tree_view.h
-  include/tesseract_qt/acm/add_allowed_collision_entry_dialog.h)
-qt5_wrap_ui(ACM_WIDGET_headers_UI include/tesseract_qt/acm/allowed_collision_matrix_widget.ui
-            include/tesseract_qt/acm/add_allowed_collision_entry_dialog.ui)
+  ACM_WIDGET_headers_MOC
+  include/tesseract_qt/acm/widgets/allowed_collision_matrix_widget.h
+  include/tesseract_qt/acm/widgets/allowed_collision_matrix_editor_widget.h
+  include/tesseract_qt/acm/widgets/add_allowed_collision_entry_dialog.h)
+
+qt5_wrap_ui(ACM_WIDGET_headers_UI include/tesseract_qt/acm/widgets/allowed_collision_matrix_editor_widget.ui
+            include/tesseract_qt/acm/widgets/add_allowed_collision_entry_dialog.ui)
 
 add_library(
-  ${PROJECT_NAME}_acm SHARED
-  ${ACM_headers_MOC}
+  ${PROJECT_NAME}_acm_widgets SHARED
+  ${ACM_WIDGET_headers_MOC}
   ${ACM_WIDGET_headers_UI}
-  src/allowed_collision_matrix_model.cpp
-  src/allowed_collision_matrix_widget.cpp
-  src/allowed_collision_matrix_tree_view.cpp
-  src/add_allowed_collision_entry_dialog.cpp)
+  src/widgets/allowed_collision_matrix_widget.cpp
+  src/widgets/allowed_collision_matrix_editor_widget.cpp
+  src/widgets/add_allowed_collision_entry_dialog.cpp)
 
 target_link_libraries(
-  ${PROJECT_NAME}_acm
+  ${PROJECT_NAME}_acm_widgets
   PUBLIC tesseract::tesseract_scene_graph
          tesseract::tesseract_common
+         tesseract::tesseract_environment
          Qt5::Core
          Qt5::Widgets
          Qt5::Gui
+         ${PROJECT_NAME}_acm_models
          ${PROJECT_NAME}_common)
 target_include_directories(
-  ${PROJECT_NAME}_acm PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                             "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/acm>" "$<INSTALL_INTERFACE:include>")
-
+  ${PROJECT_NAME}_acm_widgets PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                                     "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/acm>" "$<INSTALL_INTERFACE:include>")
 add_subdirectory(demo)
 
 # Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
 
 # Install
-install_targets(TARGETS ${PROJECT_NAME}_acm)
+install_targets(TARGETS ${PROJECT_NAME}_acm_models ${PROJECT_NAME}_acm_widgets)

acm/demo/CMakeLists.txt

@@ -1,4 +1,4 @@
 add_executable(${PROJECT_NAME}_acm_demo acm_demo.cpp)
-target_link_libraries(${PROJECT_NAME}_acm_demo PRIVATE ${PROJECT_NAME}_acm)
+target_link_libraries(${PROJECT_NAME}_acm_demo PRIVATE ${PROJECT_NAME}_acm_widgets)
 
 install_targets(TARGETS ${PROJECT_NAME}_acm_demo)

acm/demo/acm_demo.cpp

@@ -27,35 +27,25 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <sstream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_qt/acm/allowed_collision_matrix_model.h>
-#include <tesseract_qt/acm/allowed_collision_matrix_widget.h>
-
-void onEntrySelected(const tesseract_common::AllowedCollisionEntries& selection)
-{
-  std::stringstream ss;
-  ss << "Selected Rows:" << std::endl;
-  for (const auto& s : selection)
-    ss << "     (" << s.first.first << ", " << s.first.second << ", " << s.second << ")" << std::endl;
-
-  qDebug() << QString::fromStdString(ss.str());
-}
+#include <tesseract_qt/acm/widgets/allowed_collision_matrix_editor_widget.h>
+#include <tesseract_qt/common/events/allowed_collision_matrix_events.h>
+#include <tesseract_qt/common/component_info.h>
 
 int main(int argc, char** argv)
 {
   QApplication app(argc, argv);
 
-  std::vector<std::string> links{ "link_1", "link_2", "link_3", "link_4" };
+  tesseract_gui::ComponentInfo component_info{ "scene_name" };
 
-  tesseract_gui::AllowedCollisionMatrixModel model;
-  model.add("link_1", "link_2", "Adjacent");
-  model.add("link_2", "link_3", "Adjacent");
-  model.add("link_3", "link_4", "Adjacent");
+  tesseract_gui::AllowedCollisionMatrixEditorWidget widget(component_info);
+  widget.show();
 
-  tesseract_gui::AllowedCollisionMatrixWidget widget;
-  QObject::connect(&widget, &tesseract_gui::AllowedCollisionMatrixWidget::entrySelected, &onEntrySelected);
+  std::vector<std::array<std::string, 3>> entries;
+  entries.push_back({ "link_1", "link_2", "Adjacent" });
+  entries.push_back({ "link_2", "link_3", "Adjacent" });
+  entries.push_back({ "link_3", "link_4", "Adjacent" });
 
-  widget.setModel(&model);
-  widget.show();
+  QApplication::sendEvent(qApp, new tesseract_gui::events::AllowedCollisionMatrixAdd(component_info, entries));
 
-  return app.exec();
+  return QApplication::exec();
 }

acm/include/tesseract_qt/acm/allowed_collision_matrix_model.h → acm/include/tesseract_qt/acm/models/allowed_collision_matrix_model.h

@@ -26,41 +26,48 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #ifndef Q_MOC_RUN
-#include <tesseract_common/allowed_collision_matrix.h>
+#include <memory>
 #include <QStandardItemModel>
-#include <QMetaType>
 #endif
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+namespace tesseract_common
+{
+class AllowedCollisionMatrix;
+}
+
 namespace tesseract_gui
 {
+struct ComponentInfo;
 class AllowedCollisionMatrixModel : public QStandardItemModel
 {
   Q_OBJECT
 public:
   AllowedCollisionMatrixModel(QObject* parent = nullptr);
+  explicit AllowedCollisionMatrixModel(ComponentInfo component_info, QObject* parent = nullptr);
   AllowedCollisionMatrixModel(const AllowedCollisionMatrixModel& other);
   AllowedCollisionMatrixModel& operator=(const AllowedCollisionMatrixModel& other);
-  ~AllowedCollisionMatrixModel() override = default;
+  ~AllowedCollisionMatrixModel() override;
 
-  Q_INVOKABLE void setAllowedCollisionMatrix(const tesseract_common::AllowedCollisionMatrix& acm);
-  Q_INVOKABLE void add(const QString& link1_name, const QString& link2_name, const QString& reason);
-  Q_INVOKABLE void clear();
+  const ComponentInfo& getComponentInfo() const;
 
-  bool removeRows(int row, int count, const QModelIndex& parent = QModelIndex()) override;
+  bool setData(const QModelIndex& index, const QVariant& value, int role = Qt::EditRole) override;
 
   tesseract_common::AllowedCollisionMatrix getAllowedCollisionMatrix() const;
 
-  QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
+private:
+  struct Implementation;
+  std::unique_ptr<Implementation> data_;
 
-Q_SIGNALS:
-  void entryRemoved(QString link1_name, QString link2_name);
-  void entryAdded(QString link1_name, QString link2_name, QString reason);
+  void set(const tesseract_common::AllowedCollisionMatrix& acm);
+  void add(const std::string& link1_name, const std::string& link2_name, const std::string& reason);
+  void remove(const std::string& link1_name, const std::string& link2_name);
+  void remove(const std::string& link_name);
+  void clear();
 
-private:
-  tesseract_common::AllowedCollisionMatrix acm_;
+  // Documentation inherited
+  bool eventFilter(QObject* obj, QEvent* event) override;
 };
 }  // namespace tesseract_gui
-Q_DECLARE_METATYPE(tesseract_gui::AllowedCollisionMatrixModel)
 
 #endif  // TESSERACT_QT_ACM_ALLOWED_COLLISION_MATRIX_MODEL_H

acm/include/tesseract_qt/acm/add_allowed_collision_entry_dialog.h → acm/include/tesseract_qt/acm/widgets/add_allowed_collision_entry_dialog.h

@@ -39,20 +39,25 @@ class AddAllowedCollisionEntryDialog;
 
 namespace tesseract_gui
 {
+struct ComponentInfo;
 class AddAllowedCollisionEntryDialog : public QDialog
 {
   Q_OBJECT
 
 public:
-  explicit AddAllowedCollisionEntryDialog(QWidget* parent = nullptr);
+  AddAllowedCollisionEntryDialog(QWidget* parent = nullptr);
+  explicit AddAllowedCollisionEntryDialog(ComponentInfo component_info, QWidget* parent = nullptr);
   ~AddAllowedCollisionEntryDialog();
 
   QString getLinkName1() const;
   QString getLinkName2() const;
   QString getReason() const;
 
+  void accept() override;
+
 private:
   std::unique_ptr<Ui::AddAllowedCollisionEntryDialog> ui_;
+  std::unique_ptr<ComponentInfo> component_info_;
 };
 }  // namespace tesseract_gui
 

acm/include/tesseract_qt/acm/widgets/allowed_collision_matrix_editor_widget.h

@@ -0,0 +1,80 @@
+/**
+ * @author Levi Armstrong <[email protected]>
+ *
+ * @copyright Copyright (C) 2022 Levi Armstrong <[email protected]>
+ *
+ * @par License
+ * GNU Lesser General Public License Version 3, 29 June 2007
+ * @par
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ * @par
+ * This program 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
+ * Lesser General Public License for more details.
+ * @par
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ */
+#ifndef TESSERACT_QT_ACM_GENERATE_ALLOWED_COLLISION_MATRIX_WIDGET_H
+#define TESSERACT_QT_ACM_GENERATE_ALLOWED_COLLISION_MATRIX_WIDGET_H
+
+#include <tesseract_common/macros.h>
+TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
+#ifndef Q_MOC_RUN
+#include <tesseract_qt/acm/models/allowed_collision_matrix_model.h>
+#include <tesseract_common/allowed_collision_matrix.h>
+#include <memory>
+#endif
+TESSERACT_COMMON_IGNORE_WARNINGS_POP
+
+#include <QWidget>
+
+namespace Ui
+{
+class AllowedCollisionMatrixEditorWidget;
+}
+
+class QItemSelectionModel;
+
+namespace tesseract_gui
+{
+class AddAllowedCollisionEntryDialog;
+class AllowedCollisionMatrixEditorWidget : public QWidget
+{
+  Q_OBJECT
+
+public:
+  explicit AllowedCollisionMatrixEditorWidget(QWidget* parent = nullptr);
+  explicit AllowedCollisionMatrixEditorWidget(ComponentInfo component_info, QWidget* parent = nullptr);
+  ~AllowedCollisionMatrixEditorWidget();
+
+  void setComponentInfo(ComponentInfo component_info);
+  const ComponentInfo& getComponentInfo() const;
+
+  void setModel(std::shared_ptr<AllowedCollisionMatrixModel> model);
+  std::shared_ptr<AllowedCollisionMatrixModel> getModel();
+  std::shared_ptr<const AllowedCollisionMatrixModel> getModel() const;
+
+  QItemSelectionModel& getSelectionModel();
+  const QItemSelectionModel& getSelectionModel() const;
+
+public Q_SLOTS:
+  void onRemoveButtonClicked();
+  void onAddButtonClicked();
+  void onGenerateButtonClicked();
+  void onApplyButtonClicked();
+
+private:
+  struct Implementation;
+  std::unique_ptr<Ui::AllowedCollisionMatrixEditorWidget> ui_;
+  std::unique_ptr<Implementation> data_;
+};
+
+}  // namespace tesseract_gui
+
+#endif  // TESSERACT_QT_ACM_GENERATE_ALLOWED_COLLISION_MATRIX_WIDGET_H

acm/include/tesseract_qt/acm/allowed_collision_matrix_widget.ui → acm/include/tesseract_qt/acm/widgets/allowed_collision_matrix_editor_widget.ui

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>AllowedCollisionMatrixWidget</class>
- <widget class="QWidget" name="AllowedCollisionMatrixWidget">
+ <class>AllowedCollisionMatrixEditorWidget</class>
+ <widget class="QWidget" name="AllowedCollisionMatrixEditorWidget">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -87,9 +87,12 @@
     </widget>
    </item>
    <item>
-    <widget class="tesseract_gui::AllowedCollisionMatrixTreeView" name="acmTreeView">
-     <property name="editTriggers">
-      <set>QAbstractItemView::NoEditTriggers</set>
+    <widget class="tesseract_gui::AllowedCollisionMatrixWidget" name="acm_widget" native="true">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>1</verstretch>
+      </sizepolicy>
      </property>
     </widget>
    </item>
@@ -153,16 +156,30 @@
         </property>
        </widget>
       </item>
+      <item>
+       <widget class="QPushButton" name="applyPushButton">
+        <property name="minimumSize">
+         <size>
+          <width>80</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>Apply</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>
   </layout>
  </widget>
  <customwidgets>
   <customwidget>
-   <class>tesseract_gui::AllowedCollisionMatrixTreeView</class>
-   <extends>QTreeView</extends>
-   <header>tesseract_qt/acm/allowed_collision_matrix_tree_view.h</header>
+   <class>tesseract_gui::AllowedCollisionMatrixWidget</class>
+   <extends>QWidget</extends>
+   <header>tesseract_qt/acm/widgets/allowed_collision_matrix_widget.h</header>
+   <container>1</container>
   </customwidget>
  </customwidgets>
  <resources/>