worldsim/src/simplecontrol.cpp

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  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 General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#include "simplecontrol.h"
#include "world.h"
#include <QLabel>
#include <QBoxLayout>
#include <QPushButton>
#include "renderworld.h"

namespace farsa {

SimpleControl::SimpleControl( QWidget* centralUI, World* world, QWidget* parent )
    : QWidget( parent ) {
    cui = centralUI;
    cui->setParent( this );
    this->world = world;

    QBoxLayout* toplay = new QVBoxLayout( this );
    
    //--- if cui is a RenderWorld it also add infoObject label on top
    RenderWorld* rw = dynamic_cast<RenderWorld*>(cui);
    if ( rw ) {
        infoObject = new QLabel("Info about selected Object", this );
        infoObject->setFixedHeight( 50 );
        connect( rw, SIGNAL( drawFinished(bool) ),
                this, SLOT( updateInfoObject() ), Qt::DirectConnection );
        toplay->addWidget( infoObject );
    }
    toplay->addWidget( cui );

    QBoxLayout* inlay = new QHBoxLayout(  );
    toplay->addLayout( inlay );

    QPushButton* bt = new QPushButton( "Play", this );
    connect( bt, SIGNAL( clicked() ),
             world, SLOT( play() ), Qt::DirectConnection );
    inlay->addWidget( bt );

    bt = new QPushButton( "Pause", this );
    connect( bt, SIGNAL( clicked() ),
             world, SLOT( pause() ), Qt::DirectConnection );
    inlay->addWidget( bt );

    bt = new QPushButton( "Stop", this );
    connect( bt, SIGNAL( clicked() ),
             world, SLOT( stop() ), Qt::DirectConnection );
    inlay->addWidget( bt );

    bt = new QPushButton( "Step", this );
    connect( bt, SIGNAL( clicked() ),
             world, SLOT( advance() ), Qt::DirectConnection );
    bt->setAutoRepeat( true );
    inlay->addWidget( bt );
}

void SimpleControl::onQuit() {
    delete world;
}

void SimpleControl::updateInfoObject() {
    RenderWorld* rw = (RenderWorld*)(cui);
    int i = rw->selectedName();
    if ( i != -1 ) {
        QString name = rw->graphics()[i]->object()->name();
        wVector pos = rw->graphics()[i]->object()->matrix().w_pos;
        infoObject->setText( QString("Name: %1 \t Pos: %2, %3, %4").arg(name).arg(pos[0]).arg(pos[1]).arg(pos[2]) );
    }
}

} // end namespace farsa