void OutputPaneManager::shortcutTriggered()
{
QAction *action = qobject_cast<QAction*>(sender());
QTC_ASSERT(action, return);
int idx = m_actions.indexOf(action);
QTC_ASSERT(idx != -1, return);
Core::IOutputPane *outputPane = m_panes.at(idx);
// Now check the special case, the output window is already visible,
// we are already on that page but the outputpane doesn't have focus
// then just give it focus.
int current = currentIndex();
if (OutputPanePlaceHolder::isCurrentVisible() && current == idx) {
if (!outputPane->hasFocus() && outputPane->canFocus())
outputPane->setFocus();
else
slotHide();
} else {
// Else do the same as clicking on the button does.
buttonTriggered(idx);
}
}
/**
* \brief Callback for joystick messages
*
* @param joy
*/
void TeleopNaoJoy::joyCallback(const Joy::ConstPtr& joy) {
initializePreviousJoystick(joy);
// Buttons:
// TODO: make buttons generally configurable by mapping btn_id => pose_string
if (m_enabled && buttonTriggered(m_crouchBtn, joy) && m_bodyPoseClient.isServerConnected()) {
if (callBodyPoseClient("crouch")) {
std_srvs::Empty e;
m_stiffnessDisableClient.call(e);
}
}
if (m_enabled && buttonTriggered(m_initPoseBtn, joy) && m_bodyPoseClient.isServerConnected()) {
callBodyPoseClient("init");
ROS_INFO("going to init pose");
}
/*if(m_enabled && buttonTriggered(m_stopWalkBtn, joy)){
// not yet inhibited: publish zero walk command before inhibiting joystick
m_motion.linear.x = 0.0;
m_motion.linear.y = 0.0;
m_motion.linear.z = 0.0;
m_motion.angular.x = 0.0;
m_motion.angular.y = 0.0;
m_motion.angular.z = 0.0;
naoqi_bridge_msgs::CmdVelService service_call;
service_call.request.twist = m_motion;
m_cmdVelClient.call(service_call);
ROS_INFO("-- stop walk asked");
}*/
if (buttonTriggered(m_enableBtn, joy)) {
std_msgs::String string;
if (m_enabled) {
m_enabled = false;
string.data = "Gamepad control disabled";
} else {
m_enabled = true;
string.data = "Gamepad control enabled";
std_srvs::Empty e;
m_stiffnessEnableClient.call(e);
}
m_speechPub.publish(string);
ROS_INFO("%s", (string.data).c_str());
}
// directional commands
// walking velocities and head movements
if (!axisValid(m_xAxis, joy) || !axisValid(m_yAxis, joy) || !axisValid(m_turnAxis, joy)) {
m_motion.linear.x = m_motion.linear.y = m_motion.angular.z = 0.0f;
m_headAngles.joint_angles[0] = m_headAngles.joint_angles[1] = 0.0f;
ROS_WARN("Joystick message too short for Move or Turn axis!\n");
} else {
if (buttonPressed(m_modifyHeadBtn, joy)) {
ROS_INFO_STREAM("moving the head");
// move head
m_headAngles.header.stamp = ros::Time::now();
m_headAngles.relative = 1;
m_headAngles.joint_angles[0] = joy->axes[m_turnAxis];
m_headAngles.joint_angles[1] = joy->axes[m_xAxis];
} else {
// stop head:
//m_headAngles.joint_angles[0] = m_headAngles.joint_angles[1] = 0.0f;
// move base:
m_motion.linear.x = m_maxVx * std::max(std::min(joy->axes[m_xAxis], 1.0f), -1.0f);
m_motion.linear.y = m_maxVy * std::max(std::min(joy->axes[m_yAxis], 1.0f), -1.0f);
m_motion.angular.z = m_maxVw * std::max(std::min(joy->axes[m_turnAxis], 1.0f), -1.0f);
}
}
/*
// Head pos:
if (!axisValid(m_headPitchAxis, joy) || !axisValid(m_headYawAxis, joy)){
m_headAngles.absolute = 0;
m_headAngles.yaw = 0.0;
m_headAngles.pitch = 0.0;
} else {
m_headAngles.absolute = 0;
m_headAngles.yaw = joy->axes[m_headYawAxis];
m_headAngles.pitch = joy->axes[m_headPitchAxis];
}
*/
setPreviousJoystick(joy);
}
void OutputPaneManager::buttonTriggered()
{
OutputPaneToggleButton *button = qobject_cast<OutputPaneToggleButton *>(sender());
buttonTriggered(m_buttons.indexOf(button));
}
void OutputPaneManager::init()
{
ActionContainer *mwindow = ActionManager::actionContainer(Constants::M_WINDOW);
const Context globalContext(Constants::C_GLOBAL);
// Window->Output Panes
ActionContainer *mpanes = ActionManager::createMenu(Constants::M_WINDOW_PANES);
mwindow->addMenu(mpanes, Constants::G_WINDOW_PANES);
mpanes->menu()->setTitle(tr("Output &Panes"));
mpanes->appendGroup("Coreplugin.OutputPane.ActionsGroup");
mpanes->appendGroup("Coreplugin.OutputPane.PanesGroup");
Command *cmd;
cmd = ActionManager::registerAction(m_clearAction, "Coreplugin.OutputPane.clear", globalContext);
m_clearButton->setDefaultAction(cmd->action());
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
cmd = ActionManager::registerAction(m_prevAction, "Coreplugin.OutputPane.previtem", globalContext);
cmd->setDefaultKeySequence(QKeySequence(tr("Shift+F6")));
m_prevToolButton->setDefaultAction(cmd->action());
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
cmd = ActionManager::registerAction(m_nextAction, "Coreplugin.OutputPane.nextitem", globalContext);
m_nextToolButton->setDefaultAction(cmd->action());
cmd->setDefaultKeySequence(QKeySequence(tr("F6")));
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
cmd = ActionManager::registerAction(m_minMaxAction, "Coreplugin.OutputPane.minmax", globalContext);
cmd->setDefaultKeySequence(QKeySequence(UseMacShortcuts ? tr("Ctrl+9") : tr("Alt+9")));
cmd->setAttribute(Command::CA_UpdateText);
cmd->setAttribute(Command::CA_UpdateIcon);
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
connect(m_minMaxAction, SIGNAL(triggered()), this, SLOT(slotMinMax()));
m_minMaxButton->setDefaultAction(cmd->action());
mpanes->addSeparator(globalContext, "Coreplugin.OutputPane.ActionsGroup");
QFontMetrics titleFm = m_titleLabel->fontMetrics();
int minTitleWidth = 0;
m_panes = ExtensionSystem::PluginManager::getObjects<IOutputPane>();
qSort(m_panes.begin(), m_panes.end(), &comparePanes);
const int n = m_panes.size();
int shortcutNumber = 1;
const Id baseId = "QtCreator.Pane.";
for (int i = 0; i != n; ++i) {
IOutputPane *outPane = m_panes.at(i);
const int idx = m_outputWidgetPane->addWidget(outPane->outputWidget(this));
QTC_CHECK(idx == i);
connect(outPane, SIGNAL(showPage(int)), this, SLOT(showPage(int)));
connect(outPane, SIGNAL(hidePage()), this, SLOT(slotHide()));
connect(outPane, SIGNAL(togglePage(int)), this, SLOT(togglePage(int)));
connect(outPane, SIGNAL(navigateStateUpdate()), this, SLOT(updateNavigateState()));
connect(outPane, SIGNAL(flashButton()), this, SLOT(flashButton()));
connect(outPane, SIGNAL(setBadgeNumber(int)), this, SLOT(setBadgeNumber(int)));
QWidget *toolButtonsContainer = new QWidget(m_opToolBarWidgets);
QHBoxLayout *toolButtonsLayout = new QHBoxLayout;
toolButtonsLayout->setMargin(0);
toolButtonsLayout->setSpacing(0);
foreach (QWidget *toolButton, outPane->toolBarWidgets())
toolButtonsLayout->addWidget(toolButton);
toolButtonsLayout->addStretch(5);
toolButtonsContainer->setLayout(toolButtonsLayout);
m_opToolBarWidgets->addWidget(toolButtonsContainer);
minTitleWidth = qMax(minTitleWidth, titleFm.width(outPane->displayName()));
QString suffix = outPane->displayName().simplified();
suffix.remove(QLatin1Char(' '));
const Id id = baseId.withSuffix(suffix);
QAction *action = new QAction(outPane->displayName(), this);
Command *cmd = ActionManager::registerAction(action, id, globalContext);
mpanes->addAction(cmd, "Coreplugin.OutputPane.PanesGroup");
m_actions.append(action);
m_ids.append(id);
cmd->setDefaultKeySequence(QKeySequence(paneShortCut(shortcutNumber)));
OutputPaneToggleButton *button = new OutputPaneToggleButton(shortcutNumber, outPane->displayName(),
cmd->action());
++shortcutNumber;
m_buttonsWidget->layout()->addWidget(button);
m_buttons.append(button);
connect(button, SIGNAL(clicked()), this, SLOT(buttonTriggered()));
bool visible = outPane->priorityInStatusBar() != -1;
button->setVisible(visible);
connect(action, SIGNAL(triggered()), this, SLOT(shortcutTriggered()));
}
m_titleLabel->setMinimumWidth(minTitleWidth + m_titleLabel->contentsMargins().left()
+ m_titleLabel->contentsMargins().right());
m_buttonsWidget->layout()->addWidget(m_manageButton);
connect(m_manageButton, SIGNAL(clicked()), this, SLOT(popupMenu()));
readSettings();
}
void OutputPaneManager::init()
{
ActionManager *am = Core::ICore::instance()->actionManager();
ActionContainer *mwindow = am->actionContainer(Constants::M_WINDOW);
const Context globalcontext(Core::Constants::C_GLOBAL);
// Window->Output Panes
ActionContainer *mpanes = am->createMenu(Constants::M_WINDOW_PANES);
mwindow->addMenu(mpanes, Constants::G_WINDOW_PANES);
mpanes->menu()->setTitle(tr("Output &Panes"));
mpanes->appendGroup("Coreplugin.OutputPane.ActionsGroup");
mpanes->appendGroup("Coreplugin.OutputPane.PanesGroup");
Core::Command *cmd;
cmd = am->registerAction(m_clearAction, "Coreplugin.OutputPane.clear", globalcontext);
m_clearButton->setDefaultAction(cmd->action());
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
cmd = am->registerAction(m_prevAction, "Coreplugin.OutputPane.previtem", globalcontext);
cmd->setDefaultKeySequence(QKeySequence("Shift+F6"));
m_prevToolButton->setDefaultAction(cmd->action());
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
cmd = am->registerAction(m_nextAction, "Coreplugin.OutputPane.nextitem", globalcontext);
m_nextToolButton->setDefaultAction(cmd->action());
cmd->setDefaultKeySequence(QKeySequence("F6"));
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
cmd = am->registerAction(m_minMaxAction, "Coreplugin.OutputPane.minmax", globalcontext);
#ifdef Q_WS_MAC
cmd->setDefaultKeySequence(QKeySequence("Ctrl+9"));
#else
cmd->setDefaultKeySequence(QKeySequence("Alt+9"));
#endif
cmd->setAttribute(Command::CA_UpdateText);
cmd->setAttribute(Command::CA_UpdateIcon);
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
connect(m_minMaxAction, SIGNAL(triggered()), this, SLOT(slotMinMax()));
m_minMaxButton->setDefaultAction(cmd->action());
QAction *sep = new QAction(this);
sep->setSeparator(true);
cmd = am->registerAction(sep, "Coreplugin.OutputPane.Sep", globalcontext);
mpanes->addAction(cmd, "Coreplugin.OutputPane.ActionsGroup");
QList<IOutputPane*> panes = ExtensionSystem::PluginManager::instance()
->getObjects<IOutputPane>();
QMultiMap<int, IOutputPane*> sorted;
foreach (IOutputPane* outPane, panes)
sorted.insertMulti(outPane->priorityInStatusBar(), outPane);
QMultiMap<int, IOutputPane*>::const_iterator it, begin;
begin = sorted.constBegin();
it = sorted.constEnd();
int shortcutNumber = 1;
while (it != begin) {
--it;
IOutputPane* outPane = it.value();
const int idx = m_outputWidgetPane->addWidget(outPane->outputWidget(this));
m_pageMap.insert(idx, outPane);
connect(outPane, SIGNAL(showPage(bool,bool)), this, SLOT(showPage(bool,bool)));
connect(outPane, SIGNAL(hidePage()), this, SLOT(slotHide()));
connect(outPane, SIGNAL(togglePage(bool)), this, SLOT(togglePage(bool)));
connect(outPane, SIGNAL(navigateStateUpdate()), this, SLOT(updateNavigateState()));
QWidget *toolButtonsContainer = new QWidget(m_opToolBarWidgets);
QHBoxLayout *toolButtonsLayout = new QHBoxLayout;
toolButtonsLayout->setMargin(0);
toolButtonsLayout->setSpacing(0);
foreach (QWidget *toolButton, outPane->toolBarWidgets())
toolButtonsLayout->addWidget(toolButton);
toolButtonsLayout->addStretch(5);
toolButtonsContainer->setLayout(toolButtonsLayout);
m_opToolBarWidgets->addWidget(toolButtonsContainer);
QString actionId = QString("QtCreator.Pane.%1").arg(outPane->displayName().simplified());
actionId.remove(QLatin1Char(' '));
QAction *action = new QAction(outPane->displayName(), this);
Command *cmd = am->registerAction(action, Id(actionId), Context(Constants::C_GLOBAL));
mpanes->addAction(cmd, "Coreplugin.OutputPane.PanesGroup");
m_actions.insert(cmd->action(), idx);
if (outPane->priorityInStatusBar() != -1) {
cmd->setDefaultKeySequence(QKeySequence(paneShortCut(shortcutNumber)));
QToolButton *button = new OutputPaneToggleButton(shortcutNumber, outPane->displayName(),
cmd->action());
++shortcutNumber;
m_buttonsWidget->layout()->addWidget(button);
connect(button, SIGNAL(clicked()), this, SLOT(buttonTriggered()));
m_buttons.insert(idx, button);
}
// Now add the entry to the combobox, since the first item we add sets the currentIndex, thus we need to be set up for that
m_widgetComboBox->addItem(outPane->displayName(), idx);
connect(cmd->action(), SIGNAL(triggered()), this, SLOT(shortcutTriggered()));
}
changePage();
}
