reference/latest/LinkDeviceTreeWidget_8h_source.html

#ifndef CNOID_BODY_PLUGIN_LINK_DEVICE_TREE_WIDGET_H

#define CNOID_BODY_PLUGIN_LINK_DEVICE_TREE_WIDGET_H


#include <cnoid/TreeWidget>

#include <cnoid/Signal>

#include <cnoid/Link>

#include <cnoid/Device>

#include <vector>

#include "exportdecl.h"


namespace cnoid {


class LinkDeviceTreeItem;

class BodyItem;

class Link;

class Device;

class LinkGroup;

class MenuManager;

class Archive;


class CNOID_EXPORT LinkDeviceTreeWidget : public TreeWidget

{

public:

    LinkDeviceTreeWidget(QWidget* parent = 0);

    virtual ~LinkDeviceTreeWidget();


    enum ListingMode { List, Tree, GroupedTree };

    void setListingMode(int mode);

    int listingMode() const;

    void setLinkItemVisible(bool on);

    bool isLinkItemVisible() const;

    void setVisibleLinkPredicate(std::function<bool(Link* link)> pred);

    void setJointItemVisible(bool on);

    bool isJointItemVisible() const;

    void setDeviceItemVisible(bool on);

    bool isDeviceItemVisible() const;

    enum NumberColumnMode { Index, Identifier };

    void setNumberColumnMode(int mode);

    int numberColumnMode() const;

    void setDefaultExpansionLevel(int level);

    void setCacheEnabled(bool on);

    bool isCacheEnabled() const;


    int nameColumn() const;

    int numberColumn() const;

    int setNumColumns(int n);

    int addColumn();

    int addColumn(const QString& headerText);

    void setColumnStretchResizeMode(int column);

    void setColumnInteractiveResizeMode(int column);

    void setColumnResizeToContentsMode(int column);

    void setNameColumnMarginEnabled(bool on);

    void moveVisualColumnIndex(int column, int visualIndex);


    typedef std::function<QVariant(const LinkDeviceTreeItem* item, int role)> ColumnDataGetter;

    typedef std::function<void(const LinkDeviceTreeItem* item, int role, const QVariant& value)> ColumnDataSetter;

    typedef std::function<QWidget*(const LinkDeviceTreeItem* item)> ColumnWidgetFunction;


    void setColumnDataGetter(int column, ColumnDataGetter getter);

    void setColumnDataSetter(int column, ColumnDataSetter func);

    void setColumnWidgetFunction(int column, ColumnWidgetFunction func);


    void setAlignedItemWidget(

        LinkDeviceTreeItem* item, int column, QWidget* widget, Qt::Alignment alignment = Qt::AlignCenter);

    QWidget* alignedItemWidget(LinkDeviceTreeItem* item, int column);


    void setBodyItem(BodyItem* bodyItem, bool forceTreeUpdate = false);

    BodyItem* bodyItem();

    void updateTreeItems();

    void addCustomRow(LinkDeviceTreeItem* treeItem);

    SignalProxy<void(bool isInitialCreation)> sigUpdateRequest();

    LinkDeviceTreeItem* itemOfLink(int linkIndex);

    int numLinkDeviceTreeItems();


    SignalProxy<void(LinkDeviceTreeItem* item, int column)> sigTreeItemChanged();


    SignalProxy<void()> sigLinkSelectionChanged();

    const std::vector<bool>& linkSelection() const;

    const std::vector<int>& selectedLinkIndices() const;


    // The following functions are available when the cache is enabled

    SignalProxy<void()> sigSelectionChanged(BodyItem* bodyItem);

    const std::vector<bool>& linkSelection(BodyItem* bodyItem);

    const std::vector<int>& selectedLinkIndices(BodyItem* bodyItem);


    // This funtions does not emit sigSelectionChanged.

    void setLinkSelection(BodyItem* bodyItem, const std::vector<bool>& selection);


    MenuManager& popupMenuManager();


    bool storeState(Archive& archive);


    // This function must be called after all the items are restored

    bool restoreState(const Archive& archive);


protected:

    virtual void changeEvent(QEvent* event) override;


private:

    class Impl;

    Impl* impl;


    friend class LinkDeviceTreeItem;

};


class CNOID_EXPORT LinkDeviceTreeItem : public QTreeWidgetItem

{

public:

    LinkDeviceTreeItem(const std::string& name, LinkDeviceTreeWidget::Impl* treeImpl = nullptr);

    int rowIndex() const { return rowIndex_; }

    const std::string& name() const { return name_; }

    const QString& nameText() const { return nameText_; }

    Link* link() { return link_; }

    const Link* link() const { return link_; }

    const Device* device() const { return device_; }

    bool isLinkGroup() const { return isLinkGroup_; }

    int numberColumnMode() const;


    virtual QVariant data(int column, int role) const override;

    virtual void setData(int column, int role, const QVariant& value) override;


private:

    int rowIndex_;

    std::string name_;

    QString nameText_;

    LinkPtr link_;

    DevicePtr device_;

    LinkDeviceTreeWidget::Impl* treeImpl;

    bool isLinkGroup_;


    LinkDeviceTreeItem(Link* link, LinkDeviceTreeWidget::Impl* treeImpl);

    LinkDeviceTreeItem(Device* device, LinkDeviceTreeWidget::Impl* treeImpl);

    LinkDeviceTreeItem(LinkGroup* linkGroup, LinkDeviceTreeWidget::Impl* treeImpl);


    friend class LinkDeviceTreeWidget;

    friend class LinkDeviceTreeWidget::Impl;

};


}


#endif