MainWindow.cpp

//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//

#include <QApplication>
#include <QDateTime>
#include <QHeaderView>
#include <QStatusBar>
#include <Inventor/actions/SoWriteAction.h>
#include <Inventor/Qt/SoQt.h>
#include <rl/mdl/UrdfFactory.h>
#include <rl/mdl/XmlFactory.h>
#include <rl/sg/UrdfFactory.h>
#include <rl/sg/XmlFactory.h>

#if QT_VERSION >= 0x060000
#include <QOpenGLWindow>
#else
#include <QGLWidget>
#endif

#include "ConfigurationDelegate.h"
#include "ConfigurationModel.h"
#include "MainWindow.h"
#include "OperationalDelegate.h"
#include "OperationalModel.h"
#include "Server.h"
#include "SoGradientBackground.h"

MainWindow::MainWindow(QWidget* parent, Qt::WindowFlags f) :
	QMainWindow(parent, f),
	configurationModels(),
	geometryModels(),
	ikAlgorithmComboBox(new QComboBox(this)),
	ikDurationSpinBox(new QSpinBox(this)),
	ikIterationsSpinBox(new QSpinBox(this)),
	ikJacobianComboBox(new QComboBox(this)),
	kinematicModels(),
	operationalGoals(),
	operationalModels(),
	scene(),
	configurationDelegates(),
	configurationDockWidget(new QDockWidget(this)),
	configurationTabWidget(new QTabWidget(this)),
	configurationViews(),
	gradientBackground(),
	operationalDelegates(),
	operationalDockWidget(new QDockWidget(this)),
	operationalTabWidget(new QTabWidget(this)),
	operationalViews(),
	saveImageWithAlphaAction(new QAction(this)),
	saveImageWithoutAlphaAction(new QAction(this)),
	saveSceneAction(new QAction(this)),
	server(new Server(this)),
	viewer(nullptr)
{
	MainWindow::singleton = this;
	
	SoQt::init(this);
	SoDB::init();
	SoGradientBackground::initClass();
	
#if QT_VERSION >= 0x060000
	QSurfaceFormat format;
	format.setSamples(8);
	QSurfaceFormat::setDefaultFormat(format);
#else
	QGLFormat format;
	format.setAlpha(true);
	format.setSampleBuffers(true);
	QGLFormat::setDefaultFormat(format);
#endif
	
	std::shared_ptr<rl::sg::Factory> geometryFactory;
	std::string geometryFilename = QApplication::arguments()[1].toStdString();
	
	if ("urdf" == geometryFilename.substr(geometryFilename.length() - 4, 4))
	{
		geometryFactory = std::make_shared<rl::sg::UrdfFactory>();
	}
	else
	{
		geometryFactory = std::make_shared<rl::sg::XmlFactory>();
	}
	
	this->scene = std::make_shared<rl::sg::so::Scene>();
	geometryFactory->load(geometryFilename, this->scene.get());
	
	for (int i = 2; i < QApplication::arguments().size(); ++i)
	{
		std::shared_ptr<rl::mdl::Factory> kinematicFactory;
		std::string kinematicFilename = QApplication::arguments()[i].toStdString();
		
		if ("urdf" == kinematicFilename.substr(kinematicFilename.length() - 4, 4))
		{
			kinematicFactory = std::make_shared<rl::mdl::UrdfFactory>();
		}
		else
		{
			kinematicFactory = std::make_shared<rl::mdl::XmlFactory>();
		}
		
		this->geometryModels.push_back(this->scene->getModel(i - 2));
		this->kinematicModels.push_back(std::dynamic_pointer_cast<rl::mdl::Kinematic>(kinematicFactory->create(kinematicFilename)));
	}
	
	for (std::size_t i = 0; i < this->kinematicModels.size(); ++i)
	{
		this->operationalGoals.push_back(std::vector<bool>(this->kinematicModels[i]->getOperationalDof(), true));
		
		ConfigurationDelegate* configurationDelegate = new ConfigurationDelegate(this);
		configurationDelegate->id = i;
		this->configurationDelegates.push_back(configurationDelegate);
		
		ConfigurationModel* configurationModel = new ConfigurationModel(this);
		configurationModel->id = i;
		this->configurationModels.push_back(configurationModel);
		
		QTableView* configurationView = new QTableView(this);
#if QT_VERSION >= 0x050000
		configurationView->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
#else // QT_VERSION
		configurationView->horizontalHeader()->setResizeMode(QHeaderView::Stretch);
#endif // QT_VERSION
		configurationView->horizontalHeader()->hide();
		configurationView->setAlternatingRowColors(true);
		configurationView->setItemDelegate(configurationDelegate);
		configurationView->setModel(configurationModel);
		this->configurationViews.push_back(configurationView);
		
		this->configurationTabWidget->addTab(configurationView, QString::number(i));
		
		OperationalDelegate* operationalDelegate = new OperationalDelegate(this);
		this->operationalDelegates.push_back(operationalDelegate);
		
		OperationalModel* operationalModel = new OperationalModel(this);
		operationalModel->id = i;
		this->operationalModels.push_back(operationalModel);
		
		QTableView* operationalView = new QTableView(this);
#if QT_VERSION >= 0x050000
		operationalView->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
#else // QT_VERSION
		operationalView->horizontalHeader()->setResizeMode(QHeaderView::Stretch);
#endif // QT_VERSION
		operationalView->setAlternatingRowColors(true);
		operationalView->setItemDelegate(operationalDelegate);
		operationalView->setModel(operationalModel);
		this->operationalViews.push_back(operationalView);
		
		this->operationalTabWidget->addTab(operationalView, QString::number(i));
		
		QObject::connect(
			configurationModel,
			SIGNAL(dataChanged(const QModelIndex&, const QModelIndex&)),
			operationalModel,
			SLOT(configurationChanged(const QModelIndex&, const QModelIndex&))
		);
		
		QObject::connect(
			operationalModel,
			SIGNAL(dataChanged(const QModelIndex&, const QModelIndex&)),
			configurationModel,
			SLOT(operationalChanged(const QModelIndex&, const QModelIndex&))
		);
		
		configurationModel->setData(this->kinematicModels[i]->getHomePosition());
	}
	
	this->configurationDockWidget->resize(160, 320);
	this->configurationDockWidget->setWidget(this->configurationTabWidget);
	this->configurationDockWidget->setWindowTitle("Configuration");
	
	this->operationalDockWidget->resize(160, 320);
	this->operationalDockWidget->setWidget(this->operationalTabWidget);
	this->operationalDockWidget->setWindowTitle("Operational");
	
	this->addDockWidget(Qt::LeftDockWidgetArea, this->configurationDockWidget);
	this->addDockWidget(Qt::BottomDockWidgetArea, this->operationalDockWidget);
	
#if QT_VERSION >= 0x050600
	QList<QDockWidget*> resizeDocksWidgets;
	resizeDocksWidgets.append(this->operationalDockWidget);
	QList<int> resizeDocksSizes;
	resizeDocksSizes.append(1);
	this->resizeDocks(resizeDocksWidgets, resizeDocksSizes, Qt::Vertical);
#endif // QT_VERSION
	
	this->ikAlgorithmComboBox->addItem("JacobianInverseKinematics");
#ifdef RL_MDL_NLOPT
	this->ikAlgorithmComboBox->addItem("NloptInverseKinematics");
#endif
	this->ikAlgorithmComboBox->setToolTip("IK Algorithm");
	
#ifdef RL_MDL_NLOPT
	this->ikAlgorithmComboBox->setCurrentIndex(this->ikAlgorithmComboBox->findText("NloptInverseKinematics"));
#endif
	
	QObject::connect(this->ikAlgorithmComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(changeIkAlgorithm()));
	
	this->ikDurationSpinBox->setMaximum(10000);
	this->ikDurationSpinBox->setMinimum(1);
	this->ikDurationSpinBox->setSuffix(" ms");
	this->ikDurationSpinBox->setToolTip("Max. IK Duration");
	this->ikDurationSpinBox->setValue(500);
	
	this->ikIterationsSpinBox->setMaximum(100000);
	this->ikIterationsSpinBox->setMinimum(1);
	this->ikIterationsSpinBox->setToolTip("Max. IK Iterations");
	this->ikIterationsSpinBox->setValue(10000);
	
	this->ikJacobianComboBox->addItem("DLS");
	this->ikJacobianComboBox->addItem("SVD");
	this->ikJacobianComboBox->addItem("Transpose");
	this->ikJacobianComboBox->setToolTip("Jacobian Method");
	this->ikJacobianComboBox->setCurrentIndex(this->ikJacobianComboBox->findText("SVD"));
	
	this->statusBar()->addPermanentWidget(this->ikAlgorithmComboBox);
	this->statusBar()->addPermanentWidget(this->ikJacobianComboBox);
	this->statusBar()->addPermanentWidget(this->ikIterationsSpinBox);
	this->statusBar()->addPermanentWidget(this->ikDurationSpinBox);
	
	this->changeIkAlgorithm();
	
	this->gradientBackground = new SoGradientBackground();
	this->gradientBackground->ref();
	
	if (this->palette().color(QPalette::Window).lightness() < 128)
	{
		this->gradientBackground->color0.setValue(0.0f, 0.0f, 0.0f);
		this->gradientBackground->color1.setValue(0.2f, 0.2f, 0.2f);
	}
	else
	{
		this->gradientBackground->color0.setValue(0.8f, 0.8f, 0.8f);
		this->gradientBackground->color1.setValue(1.0f, 1.0f, 1.0f);
	}
	
	this->scene->root->insertChild(this->gradientBackground, 0);
	
	this->viewer = new SoQtExaminerViewer(this, nullptr, true, SoQtFullViewer::BUILD_POPUP);
	this->viewer->setSceneGraph(this->scene->root);
	this->viewer->setTransparencyType(SoGLRenderAction::SORTED_OBJECT_BLEND);
	this->viewer->viewAll();
	
	this->resize(1024, 768);
	this->setCentralWidget(this->viewer->getWidget());
	this->setWindowIconText("rlCoachMdl");
	this->setWindowTitle("rlCoachMdl");
	
	this->init();
	
	this->server->listen(QHostAddress::Any, 11235);
}

MainWindow::~MainWindow()
{
	this->gradientBackground->unref();
	MainWindow::singleton = nullptr;
}

void
MainWindow::changeEvent(QEvent* event)
{
	if (QEvent::PaletteChange == event->type())
	{
		if (this->palette().color(QPalette::Window).lightness() < 128)
		{
			this->gradientBackground->color0.setValue(0.0f, 0.0f, 0.0f);
			this->gradientBackground->color1.setValue(0.2f, 0.2f, 0.2f);
		}
		else
		{
			this->gradientBackground->color0.setValue(0.8f, 0.8f, 0.8f);
			this->gradientBackground->color1.setValue(1.0f, 1.0f, 1.0f);
		}
	}
	
	QMainWindow::changeEvent(event);
}

void
MainWindow::changeIkAlgorithm()
{
	if ("JacobianInverseKinematics" == this->ikAlgorithmComboBox->currentText())
	{
		this->ikDurationSpinBox->setVisible(true);
		this->ikIterationsSpinBox->setVisible(true);
		this->ikJacobianComboBox->setVisible(true);
	}
	else if ("NloptInverseKinematics" == this->ikAlgorithmComboBox->currentText())
	{
		this->ikDurationSpinBox->setVisible(true);
		this->ikIterationsSpinBox->setVisible(true);
		this->ikJacobianComboBox->setVisible(false);
	}
}

MainWindow*
MainWindow::instance()
{
	if (nullptr == MainWindow::singleton)
	{
		new MainWindow();
	}
	
	return MainWindow::singleton;
}

void
MainWindow::init()
{
	this->configurationDockWidget->toggleViewAction()->setShortcut(QKeySequence("F5"));
	this->addAction(this->configurationDockWidget->toggleViewAction());
	
	this->saveImageWithoutAlphaAction->setShortcut(QKeySequence("Return"));
	QObject::connect(this->saveImageWithoutAlphaAction, SIGNAL(triggered()), this, SLOT(saveImageWithoutAlpha()));
	this->addAction(this->saveImageWithoutAlphaAction);
	
	this->saveImageWithAlphaAction->setShortcut(QKeySequence("Shift+Return"));
	QObject::connect(this->saveImageWithAlphaAction, SIGNAL(triggered()), this, SLOT(saveImageWithAlpha()));
	this->addAction(this->saveImageWithAlphaAction);
	
	this->saveSceneAction->setShortcut(QKeySequence("Ctrl+Return"));
	QObject::connect(this->saveSceneAction, SIGNAL(triggered()), this, SLOT(saveScene()));
	this->addAction(this->saveSceneAction);
}

void
MainWindow::saveImage(bool withAlpha)
{
	if (withAlpha)
	{
		this->scene->root->removeChild(this->gradientBackground);
		this->viewer->render();
	}
	
	glReadBuffer(GL_FRONT);
	
#if QT_VERSION >= 0x060000
	QOpenGLWindow* window = this->viewer->getGLWidget()->property("SoQtGLArea").value<QOpenGLWindow*>();
	QSurfaceFormat surfaceFormat = window->format();
	
	if (withAlpha != surfaceFormat.hasAlpha())
	{
		surfaceFormat.setAlphaBufferSize(withAlpha ? 8 : 0);
		window->setFormat(surfaceFormat);
	}
	
	QImage image = window->grabFramebuffer();
#else
	QImage image = static_cast<QGLWidget*>(this->viewer->getGLWidget())->grabFrameBuffer(withAlpha);
#endif
	
	if (withAlpha)
	{
		this->scene->root->insertChild(this->gradientBackground, 0);
		this->viewer->render();
	}
	
	image.save("rlCoachMdl-" + QDateTime::currentDateTime().toString("yyyyMMdd-HHmmsszzz") + ".png", "PNG");
}

void
MainWindow::saveImageWithAlpha()
{
	this->saveImage(true);
}

void
MainWindow::saveImageWithoutAlpha()
{
	this->saveImage(false);
}

void
MainWindow::saveScene()
{
	SoOutput output;
	
	if (!output.openFile(QString("coach-" + QDateTime::currentDateTime().toString("yyyyMMdd-HHmmsszzz") + ".wrl").toStdString().c_str()))
	{
		return;
	}
	
	output.setHeaderString("#VRML V2.0 utf8");
	
	SoWriteAction writeAction(&output);
	writeAction.apply(this->scene->root);
	
	output.closeFile();
}