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mainwindow.cpp
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#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QDebug>
#include <QSettings>
#include <QTextStream>
#include <QList>
#include <QMap>
#include <QMessageBox>
#include <QFileDialog>
#include <QMenu>
#include <QToolButton>
#include <QWidgetAction>
#include <QTreeWidgetItem>
#include <QSvgWidget>
#include <QShortcut>
#include <QTabBar>
#include <QXmlStreamWriter>
#include <QDesktopServices>
#include <QInputDialog>
#include <nodes/Node>
#include <nodes/NodeData>
#include <nodes/NodeStyle>
#include <nodes/FlowView>
#include "editor_flowscene.h"
#include "utils.h"
#include "XML_utilities.hpp"
#include "models/RootNodeModel.hpp"
#include "models/SubtreeNodeModel.hpp"
#include "utils.h"
#include "ui_about_dialog.h"
using QtNodes::DataModelRegistry;
using QtNodes::FlowView;
using QtNodes::FlowScene;
using QtNodes::NodeGraphicsObject;
using QtNodes::NodeState;
MainWindow::MainWindow(GraphicMode initial_mode, QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
_current_mode(initial_mode),
_current_layout(QtNodes::PortLayout::Vertical)
{
ui->setupUi(this);
QSettings settings;
restoreGeometry(settings.value("MainWindow/geometry").toByteArray());
restoreState(settings.value("MainWindow/windowState").toByteArray());
const QString layout = settings.value("MainWindow/layout").toString();
if( layout == "HORIZONTAL")
{
_current_layout = QtNodes::PortLayout::Horizontal;
}
else{
_current_layout = QtNodes::PortLayout::Vertical;
}
_model_registry = std::make_shared<QtNodes::DataModelRegistry>();
//------------------------------------------------------
auto registerModel = [this](const QString& ID, const NodeModel& model)
{
QString category = QString::fromStdString( BT::toStr(model.type) );
if( ID == "Root")
{
category = "Root";
}
QtNodes::DataModelRegistry::RegistryItemCreator creator;
creator = [model]() -> QtNodes::DataModelRegistry::RegistryItemPtr
{
auto ptr = new BehaviorTreeDataModel( model );
return std::unique_ptr<BehaviorTreeDataModel>(ptr);
};
_model_registry->registerModel( category, creator, ID );
};
for(const auto& model: BuiltinNodeModels())
{
registerModel( model.first, model.second );
_treenode_models.insert( { model.first, model.second } );
qDebug() << "adding model: " << model.first;
}
//------------------------------------------------------
_editor_widget = new SidepanelEditor(_model_registry.get(), _treenode_models, this);
_replay_widget = new SidepanelReplay(this);
ui->leftFrame->layout()->addWidget( _editor_widget );
ui->leftFrame->layout()->addWidget( _replay_widget );
#ifdef ZMQ_FOUND
_monitor_widget = new SidepanelMonitor(this);
ui->leftFrame->layout()->addWidget( _monitor_widget );
connect( ui->toolButtonConnect, &QToolButton::clicked,
_monitor_widget, &SidepanelMonitor::on_Connect );
connect( _monitor_widget, &SidepanelMonitor::connectionUpdate,
this, &MainWindow::onConnectionUpdate );
#else
ui->actionMonitor_mode->setVisible(false);
#endif
_load_shortcut = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_L), this);
updateCurrentMode();
dynamic_cast<QVBoxLayout*>(ui->leftFrame->layout())->setStretch(1,1);
ui->splitter->setStretchFactor(0, 1);
ui->splitter->setStretchFactor(1, 4);
// Shortcuts
QShortcut* arrange_shortcut = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_A), this);
QShortcut* rearrange_shortcut = new QShortcut(QKeySequence(Qt::Key_R), this);
QShortcut* centerview_shortcut = new QShortcut(QKeySequence(Qt::Key_C), this);
QShortcut* layout_shortcut = new QShortcut(QKeySequence(Qt::Key_L), this);
QShortcut* newnode_shortcut = new QShortcut(QKeySequence(Qt::Key_N), this);
connect( arrange_shortcut, &QShortcut::activated,
this, &MainWindow::onAutoArrange );
connect( rearrange_shortcut, &QShortcut::activated,
this, &MainWindow::onAutoArrange );
connect( centerview_shortcut, &QShortcut::activated,
this, &MainWindow::on_toolButtonCenterView_pressed );
connect( layout_shortcut, &QShortcut::activated,
this, &MainWindow::on_toolButtonLayout_clicked );
connect( newnode_shortcut, &QShortcut::activated,
_editor_widget, &SidepanelEditor::addNode );
QShortcut* zoomin_shortcut = new QShortcut(QKeySequence(Qt::Key_Plus), this);
QShortcut* zoomout_shortcut = new QShortcut(QKeySequence(Qt::Key_Minus), this);
connect( zoomin_shortcut, &QShortcut::activated,
this, [this] () { currentTabInfo()->zoomIn(); } );
connect( zoomout_shortcut, &QShortcut::activated,
this, [this] () { currentTabInfo()->zoomOut(); } );
QShortcut* undo_shortcut = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_Z), this);
connect( undo_shortcut, &QShortcut::activated, this, &MainWindow::onUndoInvoked );
QShortcut* redo_shortcut = new QShortcut(QKeySequence(Qt::CTRL + Qt::SHIFT + Qt::Key_Z), this);
connect( redo_shortcut, &QShortcut::activated, this, &MainWindow::onRedoInvoked );
QShortcut* save_shortcut = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_S), this);
connect( save_shortcut, &QShortcut::activated, this, &MainWindow::on_actionSave_triggered );
QShortcut* load_shortcut_option = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_O), this);
connect(load_shortcut_option, &QShortcut::activated, _load_shortcut, &QShortcut::activated);
QShortcut* redo_shortcut_option = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_Y), this);
connect(redo_shortcut_option, &QShortcut::activated, redo_shortcut, &QShortcut::activated);
// Other connections
connect( _editor_widget, &SidepanelEditor::nodeModelEdited,
this, &MainWindow::onTreeNodeEdited);
connect( _editor_widget, &SidepanelEditor::addNewModel,
this, &MainWindow::onAddToModelRegistry);
connect( _editor_widget, &SidepanelEditor::destroySubtree,
this, &MainWindow::onDestroySubTree);
connect( _editor_widget, &SidepanelEditor::modelRemoveRequested,
this, &MainWindow::onModelRemoveRequested);
connect( _editor_widget, &SidepanelEditor::addSubtree,
this, [this](QString ID)
{
this->createTab(ID);
});
connect( _editor_widget, &SidepanelEditor::renameSubtree,
this, [this](QString prev_ID, QString new_ID)
{
if (prev_ID == new_ID)
return;
for (int index = 0; index < ui->tabWidget->count(); index++)
{
if( ui->tabWidget->tabText(index) == prev_ID)
{
ui->tabWidget->setTabText(index, new_ID);
_tab_info.insert( {new_ID, _tab_info.at(prev_ID)} );
_tab_info.erase( prev_ID );
break;
}
}
});
auto createSingleTabBehaviorTree = [this](const AbsBehaviorTree &tree, const QString &bt_name)
{
onCreateAbsBehaviorTree(tree, bt_name, false);
};
connect( _replay_widget, &SidepanelReplay::loadBehaviorTree,
this, createSingleTabBehaviorTree);
connect( _replay_widget, &SidepanelReplay::addNewModel,
this, &MainWindow::onAddToModelRegistry);
connect( ui->toolButtonSaveFile, &QToolButton::clicked,
this, &MainWindow::on_actionSave_triggered );
connect( _replay_widget, &SidepanelReplay::changeNodeStyle,
this, &MainWindow::onChangeNodesStatus);
#ifdef ZMQ_FOUND
connect( _monitor_widget, &SidepanelMonitor::addNewModel,
this, &MainWindow::onAddToModelRegistry);
connect( _monitor_widget, &SidepanelMonitor::changeNodeStyle,
this, &MainWindow::onChangeNodesStatus);
connect( _monitor_widget, &SidepanelMonitor::loadBehaviorTree,
this, createSingleTabBehaviorTree );
#endif
ui->tabWidget->tabBar()->setContextMenuPolicy(Qt::CustomContextMenu);
connect( ui->tabWidget->tabBar(), &QTabBar::customContextMenuRequested,
this, &MainWindow::onTabCustomContextMenuRequested);
createTab("BehaviorTree");
onTabSetMainTree(0);
onSceneChanged();
_current_state = saveCurrentState();
}
void MainWindow::closeEvent(QCloseEvent *event)
{
QSettings settings;
settings.setValue("MainWindow/geometry", saveGeometry());
settings.setValue("MainWindow/windowState", saveState());
switch(_current_layout )
{
case QtNodes::PortLayout::Horizontal: settings.setValue("MainWindow/layout", "HORIZONTAL");
break;
case QtNodes::PortLayout::Vertical: settings.setValue("MainWindow/layout", "VERTICAL");
break;
}
settings.setValue("StartupDialog.Mode", toStr( _current_mode ) );
QMainWindow::closeEvent(event);
}
GraphicContainer* MainWindow::createTab(const QString &name)
{
if( _tab_info.count(name) > 0)
{
throw std::runtime_error(std::string("There is already a Tab named ") + name.toStdString() );
}
GraphicContainer* ti = new GraphicContainer( _model_registry, this );
_tab_info.insert( {name, ti } );
ti->scene()->setLayout( _current_layout );
ui->tabWidget->addTab( ti->view(), name );
ti->scene()->createNodeAtPos( "Root", "Root", QPointF(-30,-30) );
ti->zoomHomeView();
//--------------------------------
connect( ti, &GraphicContainer::undoableChange,
this, &MainWindow::onPushUndo );
connect( ti, &GraphicContainer::undoableChange,
this, &MainWindow::onSceneChanged );
connect( ti, &GraphicContainer::requestSubTreeExpand,
this, &MainWindow::onRequestSubTreeExpand );
connect( ti, &GraphicContainer::requestSubTreeCreate,
this, [this](const AbsBehaviorTree &tree, const QString &bt_name)
{
onCreateAbsBehaviorTree(tree, bt_name, false);
});
connect( ti, &GraphicContainer::addNewModel,
this, &MainWindow::onAddToModelRegistry);
return ti;
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::loadFromXML(const QString& xml_text)
{
QDomDocument document;
try{
QString errorMsg;
int errorLine;
if( ! document.setContent(xml_text, &errorMsg, &errorLine ) )
{
throw std::runtime_error( tr("Error parsing XML (line %1): %2").arg(errorLine).arg(errorMsg).toStdString() );
}
//---------------
std::vector<QString> registered_ID;
for (const auto& it: _treenode_models)
{
registered_ID.push_back( it.first );
}
std::vector<QString> error_messages;
bool done = VerifyXML(document, registered_ID, error_messages );
if( !done )
{
QString merged_error;
for (const auto& err: error_messages)
{
merged_error += err + "\n";
}
throw std::runtime_error( merged_error.toStdString() );
}
}
catch( std::runtime_error& err)
{
QMessageBox messageBox;
messageBox.critical(this,"Error parsing the XML", err.what() );
messageBox.show();
return;
}
//---------------
bool error = false;
QString err_message;
auto saved_state = _current_state;
auto prev_tree_model = _treenode_models;
try {
auto document_root = document.documentElement();
if( document_root.hasAttribute("main_tree_to_execute"))
{
_main_tree = document_root.attribute("main_tree_to_execute");
}
auto custom_models = ReadTreeNodesModel( document_root );
for( const auto& model: custom_models)
{
onAddToModelRegistry( model.second );
}
_editor_widget->updateTreeView();
onActionClearTriggered(false);
const QSignalBlocker blocker( currentTabInfo() );
for (auto bt_root = document_root.firstChildElement("BehaviorTree");
!bt_root.isNull();
bt_root = bt_root.nextSiblingElement("BehaviorTree"))
{
auto tree = BuildTreeFromXML( bt_root, _treenode_models );
QString tree_name("BehaviorTree");
if( bt_root.hasAttribute("ID") )
{
tree_name = bt_root.attribute("ID");
if( _main_tree.isEmpty() ) // valid when there is only one
{
_main_tree = tree_name;
}
}
onCreateAbsBehaviorTree(tree, tree_name);
}
if( !_main_tree.isEmpty() )
{
for (int i=0; i< ui->tabWidget->count(); i++)
{
if( ui->tabWidget->tabText( i ) == _main_tree)
{
ui->tabWidget->tabBar()->moveTab(i, 0);
ui->tabWidget->setCurrentIndex(0);
ui->tabWidget->tabBar()->setTabIcon(0, QIcon(":/icons/svg/star.svg"));
break;
}
}
}
if( currentTabInfo() == nullptr)
{
createTab("BehaviorTree");
_main_tree = "BehaviorTree";
}
else{
currentTabInfo()->nodeReorder();
}
auto models_to_remove = GetModelsToRemove(this, _treenode_models, custom_models);
for( QString model_name: models_to_remove )
{
onModelRemoveRequested(model_name);
}
}
catch (std::exception& err) {
error = true;
err_message = err.what();
}
if( error )
{
_treenode_models = prev_tree_model;
loadSavedStateFromJson( saved_state );
qDebug() << "R: Undo size: " << _undo_stack.size() << " Redo size: " << _redo_stack.size();
QMessageBox::warning(this, tr("Exception!"),
tr("It was not possible to parse the file. Error:\n\n%1"). arg( err_message ),
QMessageBox::Ok);
}
else{
onSceneChanged();
onPushUndo();
}
}
void MainWindow::on_actionLoad_triggered()
{
QSettings settings;
QString directory_path = settings.value("MainWindow.lastLoadDirectory",
QDir::homePath() ).toString();
QString fileName = QFileDialog::getOpenFileName(this,
tr("Load BehaviorTree from file"), directory_path,
tr("BehaviorTree files (*.xml)"));
if (!QFileInfo::exists(fileName)){
return;
}
QFile file(fileName);
if (!file.open(QIODevice::ReadOnly)){
return;
}
directory_path = QFileInfo(fileName).absolutePath();
settings.setValue("MainWindow.lastLoadDirectory", directory_path);
settings.sync();
QString xml_text;
QTextStream in(&file);
while (!in.atEnd()) {
xml_text += in.readLine();
}
loadFromXML(xml_text);
}
QString MainWindow::saveToXML() const
{
QDomDocument doc;
const char* COMMENT_SEPARATOR = " ////////// ";
QDomElement root = doc.createElement( "root" );
doc.appendChild( root );
if( _main_tree.isEmpty() == false)
{
root.setAttribute("main_tree_to_execute", _main_tree.toStdString().c_str());
}
for (auto& it: _tab_info)
{
auto& container = it.second;
auto scene = container->scene();
auto abs_tree = BuildTreeFromScene(container->scene());
auto abs_root = abs_tree.rootNode();
if( abs_root->children_index.size() == 1 &&
abs_root->model.registration_ID == "Root" )
{
// mofe to the child of ROOT
abs_root = abs_tree.node( abs_root->children_index.front() );
}
QtNodes::Node* root_node = abs_root->graphic_node;
root.appendChild( doc.createComment(COMMENT_SEPARATOR) );
QDomElement root_element = doc.createElement("BehaviorTree");
root_element.setAttribute("ID", it.first.toStdString().c_str());
root.appendChild(root_element);
RecursivelyCreateXml(*scene, doc, root_element, root_node );
}
root.appendChild( doc.createComment(COMMENT_SEPARATOR) );
QDomElement root_models = doc.createElement("TreeNodesModel");
for(const auto& tree_it: _treenode_models)
{
const auto& ID = tree_it.first;
const auto& model = tree_it.second;
if( BuiltinNodeModels().count(ID) != 0 )
{
continue;
}
QDomElement node = doc.createElement( QString::fromStdString(toStr(model.type)) );
if( !node.isNull() )
{
node.setAttribute("ID", ID);
for(const auto& port_it: model.ports)
{
const auto& port_name = port_it.first;
const auto& port = port_it.second;
QDomElement port_element = writePortModel(port_name, port, doc);
node.appendChild( port_element );
}
}
root_models.appendChild(node);
}
root.appendChild(root_models);
root.appendChild( doc.createComment(COMMENT_SEPARATOR) );
return xmlDocumentToString(doc);
}
QString MainWindow::xmlDocumentToString(const QDomDocument &document) const
{
QString output_string;
QXmlStreamWriter stream(&output_string);
stream.setAutoFormatting(true);
stream.setAutoFormattingIndent(4);
stream.writeStartDocument();
auto root_element = document.documentElement();
stream.writeStartElement(root_element.tagName());
streamElementAttributes(stream, root_element);
auto next_node = root_element.firstChild();
while ( !next_node.isNull() )
{
recursivelySaveNodeCanonically(stream, next_node);
if ( stream.hasError() )
{
break;
}
next_node = next_node.nextSibling();
}
stream.writeEndElement();
stream.writeEndDocument();
return output_string;
}
void MainWindow::streamElementAttributes(QXmlStreamWriter &stream, const QDomElement &element) const
{
if (element.hasAttributes())
{
QMap<QString, QString> attributes;
const QDomNamedNodeMap attributes_map = element.attributes();
for (int i = 0; i < attributes_map.count(); ++i)
{
auto attribute = attributes_map.item(i);
attributes.insert(attribute.nodeName(), attribute.nodeValue());
}
auto i = attributes.constBegin();
while (i != attributes.constEnd())
{
stream.writeAttribute(i.key(), i.value());
++i;
}
}
}
void MainWindow::recursivelySaveNodeCanonically(QXmlStreamWriter &stream, const QDomNode &parent_node) const
{
if ( stream.hasError() )
{
return;
}
if ( parent_node.isElement() )
{
const QDomElement parent_element = parent_node.toElement();
if ( !parent_element.isNull() )
{
stream.writeStartElement(parent_element.tagName());
streamElementAttributes(stream, parent_element);
if (parent_element.hasChildNodes())
{
auto child = parent_element.firstChild();
while ( !child.isNull() )
{
recursivelySaveNodeCanonically(stream, child);
child = child.nextSibling();
}
}
stream.writeEndElement();
}
}
else if (parent_node.isComment())
{
stream.writeComment(parent_node.nodeValue());
}
else if (parent_node.isText())
{
stream.writeCharacters(parent_node.nodeValue());
}
}
void MainWindow::on_actionSave_triggered()
{
for (auto& it: _tab_info)
{
auto& container = it.second;
if( !container->containsValidTree() )
{
QMessageBox::warning(this, tr("Oops!"),
tr("Malformed behavior tree. File can not be saved"),
QMessageBox::Cancel);
return;
}
}
if( _tab_info.size() == 1 )
{
_main_tree = _tab_info.begin()->first;
}
QSettings settings;
QString directory_path = settings.value("MainWindow.lastSaveDirectory",
QDir::currentPath() ).toString();
auto fileName = QFileDialog::getSaveFileName(this, "Save BehaviorTree to file",
directory_path, "BehaviorTree files (*.xml)");
if (fileName.isEmpty()){
return;
}
if (!fileName.endsWith(".xml"))
{
fileName += ".xml";
}
QString xml_text = saveToXML();
QFile file(fileName);
if (file.open(QIODevice::WriteOnly)) {
QTextStream stream(&file);
stream << xml_text;
}
directory_path = QFileInfo(fileName).absolutePath();
settings.setValue("MainWindow.lastSaveDirectory", directory_path);
}
void MainWindow::onAutoArrange()
{
currentTabInfo()->nodeReorder();
}
void MainWindow::onSceneChanged()
{
const bool valid_BT = currentTabInfo()->containsValidTree();
ui->toolButtonLayout->setEnabled(valid_BT);
ui->toolButtonReorder->setEnabled(valid_BT);
ui->toolButtonReorder->setEnabled(valid_BT);
ui->actionSave->setEnabled(valid_BT);
QPixmap pix;
if(valid_BT)
{
pix.load(":/icons/green-circle.png");
ui->labelSemaphore->setToolTip("Valid Tree");
}
else{
pix.load(":/icons/red-circle.png");
ui->labelSemaphore->setToolTip("NOT a valid Tree");
}
ui->labelSemaphore->setPixmap(pix);
ui->labelSemaphore->setScaledContents(true);
lockEditing( _current_mode != GraphicMode::EDITOR );
}
GraphicContainer* MainWindow::currentTabInfo()
{
int index = ui->tabWidget->currentIndex();
QString tab_name = ui->tabWidget->tabText(index);
return getTabByName(tab_name);
}
GraphicContainer *MainWindow::getTabByName(const QString &tab_name)
{
auto it = _tab_info.find( tab_name );
return (it != _tab_info.end()) ? (it->second) : nullptr;
}
void MainWindow::lockEditing(bool locked)
{
for(auto& tab_it: _tab_info)
{
tab_it.second->lockEditing(locked);
}
}
bool MainWindow::eventFilter(QObject *obj, QEvent *event)
{
auto view = dynamic_cast<QtNodes::FlowView*>(obj);
if( view )
{
qDebug() << "A " << event->type();
return false;
}
else
{
qDebug() << "B " << event->type();
return QMainWindow::eventFilter(obj,event);
}
}
void MainWindow::resizeEvent(QResizeEvent *)
{
on_splitter_splitterMoved();
}
void MainWindow::on_splitter_splitterMoved(int , int )
{
this->update();
QList<int> sizes = ui->splitter->sizes();
const int maxLeftWidth = ui->leftFrame->maximumWidth();
int totalWidth = sizes[0] + sizes[1];
if( sizes[0] > maxLeftWidth)
{
sizes[0] = maxLeftWidth;
sizes[1] = totalWidth - maxLeftWidth;
ui->splitter->setSizes(sizes);
}
}
MainWindow::SavedState MainWindow::saveCurrentState()
{
SavedState saved;
int index = ui->tabWidget->currentIndex();
saved.main_tree = _main_tree;
saved.current_tab_name = ui->tabWidget->tabText(index);
auto current_view = getTabByName( saved.current_tab_name )->view();
saved.view_transform = current_view->transform();
saved.view_area = current_view->sceneRect();
for (auto& it: _tab_info)
{
saved.json_states[it.first] = it.second->scene()->saveToMemory();
}
return saved;
}
void MainWindow::onPushUndo()
{
SavedState saved = saveCurrentState();
if( _undo_stack.empty() || ( saved != _current_state && _undo_stack.back() != _current_state) )
{
_undo_stack.push_back( std::move(_current_state) );
_redo_stack.clear();
}
_current_state = saved;
//qDebug() << "P: Undo size: " << _undo_stack.size() << " Redo size: " << _redo_stack.size();
}
void MainWindow::onUndoInvoked()
{
if ( _current_mode != GraphicMode::EDITOR ) return; //locked
if( _undo_stack.size() > 0)
{
_redo_stack.push_back( std::move(_current_state) );
_current_state = _undo_stack.back();
_undo_stack.pop_back();
loadSavedStateFromJson(_current_state);
// qDebug() << "U: Undo size: " << _undo_stack.size() << " Redo size: " << _redo_stack.size();
}
}
void MainWindow::onRedoInvoked()
{
if ( _current_mode != GraphicMode::EDITOR ) return; //locked
if( _redo_stack.size() > 0)
{
_undo_stack.push_back( _current_state );
_current_state = std::move( _redo_stack.back() );
_redo_stack.pop_back();
loadSavedStateFromJson(_current_state);
// qDebug() << "R: Undo size: " << _undo_stack.size() << " Redo size: " << _redo_stack.size();
}
}
void MainWindow::loadSavedStateFromJson(SavedState saved_state)
{
// TODO crash if the name of the container (tab) changed
for (auto& it: _tab_info)
{
it.second->clearScene();
it.second->deleteLater();
}
_tab_info.clear();
ui->tabWidget->clear();
_main_tree = saved_state.main_tree;
for(const auto& it: saved_state.json_states)
{
QString tab_name = it.first;
_tab_info.insert( {tab_name, createTab(tab_name)} );
}
for(const auto& it: saved_state.json_states)
{
QString name = it.first;
auto container = getTabByName(name);
container->loadFromJson( it.second );
container->view()->setTransform( saved_state.view_transform );
container->view()->setSceneRect( saved_state.view_area );
}
for (int i=0; i< ui->tabWidget->count(); i++)
{
if( ui->tabWidget->tabText( i ) == saved_state.current_tab_name)
{
ui->tabWidget->setCurrentIndex(i);
ui->tabWidget->widget(i)->setFocus();
}
if( ui->tabWidget->tabText(i) == _main_tree)
{
onTabSetMainTree(i);
}
}
if( ui->tabWidget->count() == 1 )
{
onTabSetMainTree(0);
}
onSceneChanged();
}
void MainWindow::onConnectionUpdate(bool connected)
{
if(connected)
{
ui->toolButtonConnect->setStyleSheet("background-color: rgb(50, 150, 0); color:white");
ui->toolButtonConnect->setText("Disconnect");
}
else{
ui->toolButtonConnect->setStyleSheet(
"QToolButton {color:white; }"
"QToolButton:hover{ background-color: rgb(110, 110, 110); }"
"QToolButton:pressed{ background-color: rgb(50, 150, 0) }"
"QToolButton:disabled{color:gray; background-color: rgb(50, 50, 50) }");
ui->toolButtonConnect->setText("Connect");
}
}
void MainWindow::onRequestSubTreeExpand(GraphicContainer& container,
QtNodes::Node& node)
{
auto subtree = dynamic_cast< SubtreeNodeModel*>( node.nodeDataModel() );
if( !subtree )
{
throw std::logic_error("passing to onRequestSubTreeExpand something that is not a SubTree");
}
if( subtree->expanded() )
{
subTreeExpand( container, node, SUBTREE_COLLAPSE );
}
else
{
subTreeExpand( container, node, SUBTREE_EXPAND );
}
}
void MainWindow::onAddToModelRegistry(const NodeModel &model)
{
namespace util = QtNodes::detail;
const auto& ID = model.registration_ID;
DataModelRegistry::RegistryItemCreator node_creator = [model]() -> DataModelRegistry::RegistryItemPtr
{
if( model.type == NodeType::SUBTREE)
{
return util::make_unique<SubtreeNodeModel>(model);
}
return util::make_unique<BehaviorTreeDataModel>(model);
};
_model_registry->registerModel( QString::fromStdString( toStr(model.type)), node_creator, ID);
_treenode_models.insert( {ID, model } );
_editor_widget->updateTreeView();
}
void MainWindow::onDestroySubTree(const QString &ID)
{
auto sub_container = getTabByName(ID);
for(auto& it: _tab_info)
{
if( it.first == ID )
{
continue;
}
auto container = it.second;
auto tree = BuildTreeFromScene(container->scene());
for( const auto& abs_node: tree.nodes())
{
auto qt_node = abs_node.graphic_node;
auto bt_node = dynamic_cast<BehaviorTreeDataModel*>(qt_node->nodeDataModel());
if(bt_node->nodeType() == NodeType::SUBTREE && bt_node->instanceName() == ID)
{
auto new_node = qt_node;
auto subtree_model = dynamic_cast<SubtreeNodeModel*>(bt_node);
if( subtree_model && subtree_model->expanded() == false )
{
new_node = subTreeExpand( *container, *qt_node,
SubtreeExpandOption::SUBTREE_EXPAND );
}
container->lockSubtreeEditing(*new_node, false, false);
container->onSmartRemove( new_node );
}
}
container->nodeReorder();
}
for( int index = 0; index < ui->tabWidget->count(); index++)
{
if( ui->tabWidget->tabText(index) == ID)
{
sub_container->scene()->clearScene();
sub_container->deleteLater();
ui->tabWidget->removeTab( index );
_tab_info.erase(ID);
break;
}
}
if( ui->tabWidget->count() == 1 )
{
onTabSetMainTree(0);
}
// TODO: this is a work around until we find a better solution
clearUndoStacks();
}
void MainWindow::onModelRemoveRequested(QString ID)
{
BehaviorTreeDataModel* node_found = nullptr;
QString tab_containing_node;