GraphWidget.h

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#ifndef CNOID_BASE_GRAPH_WIDGET_H
#define CNOID_BASE_GRAPH_WIDGET_H
 
#include <cnoid/Archive>
#include <QWidget>
#include <QLabel>
#include <memory>
#include <string>
#include <vector>
#include "exportdecl.h"
 
namespace cnoid {
 
class View;
class ToolBar;
class Archive;
class GraphDataHandler;
class GraphDataHandlerImpl;
class GraphWidgetImpl;
    
typedef std::shared_ptr<GraphDataHandler> GraphDataHandlerPtr;
    
class CNOID_EXPORT GraphDataHandler
{
public:
    GraphDataHandler();
    ~GraphDataHandler();
 
    void setID(int id) { this->id = id; }
    int getID() const { return id; }
 
    void setColor(float r, float g, float b);
    void setLabel(const std::string& label);
 
    void setFrameProperties(int numFrames, double frameRate, double offset = 0.0);
 
    void setValueLimits(double lower, double upper);
    void setVelocityLimits(double lower, double upper);
 
    void addVerticalLine(double x, const std::string& label);
    void addHorizontalLine(double y, const std::string& label);
    void clearLines();
        
    void update();
 
    typedef std::function<void(int frame, int size, double* out_values)> DataRequestCallback;
    void setDataRequestCallback(DataRequestCallback callback);
 
    typedef std::function<void(int frame, int size, double* values)> DataModifiedCallback;
    void setDataModifiedCallback(DataModifiedCallback callback);
 
private:
 
    int id;
        
    friend class GraphWidgetImpl;
 
    GraphDataHandlerImpl* impl;
};
 
 
class CNOID_EXPORT GraphWidget : public QWidget
{
public:
 
    GraphWidget(View* parentView);
    ~GraphWidget();
 
    void addDataHandler(GraphDataHandlerPtr handler);
    void clearDataHandlers();
 
    void setRenderingTypes(bool showOriginalValues, bool showVelocities, bool showAccelerations);
    void getRenderingTypes(bool& showOriginalValues, bool& showVelocities, bool& showAccelerations);
 
    bool setCursorPosition(double pos);
 
    void setTimeBarSyncMode(bool on);
    bool isTimeBarSyncMode();
        
    enum ScrollMode { OFF, CONTINUOUS, PAGE };
    void setAutoScrollMode(ScrollMode on);
    ScrollMode autoScrollMode();
        
    void setVerticalValueRange(double lower, double upper);
    void getVerticalValueRange(double& lower, double& upper);
 
    void setLineWidth(double width);
    double getLineWidth();
 
    void showRulers(bool show);
    bool showsRulers();
        
    void showLimits(bool show);
    bool showsLimits();
        
    void showGrid(bool show);
    bool showsGrid();
        
    void setGridSize(double width, double height);
    void getGridSize(double& width, double& height);
        
    void setControlPointStep(int step, int offset = 0);
    void getControlPointStep(int& step, int& offset);
        
    void highlightControlPoints(bool on);
    bool highlightsControlPoints();
 
    enum Mode { VIEW_MODE, EDIT_MODE };
    void changeMode(Mode mode);
    Mode mode();
 
    enum EditMode { FREE_LINE_MODE, LINE_MODE };
    void changeEditMode(EditMode mode);
    EditMode editMode();
 
    QLabel& statusLabel();
 
    bool saveImage(const std::string& filename);
 
    virtual bool storeState(Archive& archive);
    virtual bool restoreState(const Archive& archive);
 
protected:
    virtual bool eventFilter(QObject* obj, QEvent* event);
 
private:
 
    friend class GraphDataHandler;
        
    GraphWidgetImpl* impl;
};
 
}
 
#endif