void RobotsPluginFacade::initKitPlugins(qReal::PluginConfigurator const &configurer)
{
/// @todo: Check that this code works when different kit is selected
for (QString const &kitId : mKitPluginManager.kitIds()) {
for (interpreterBase::KitPluginInterface * const kit : mKitPluginManager.kitsById(kitId)) {
kit->init(mEventsForKitPlugin, configurer.systemEvents(), configurer.graphicalModelApi()
, configurer.logicalModelApi(), configurer.mainWindowInterpretersInterface(), *mInterpreter);
for (interpreterBase::robotModel::RobotModelInterface const *model : kit->robotModels()) {
initFactoriesFor(kitId, model, configurer);
connect(&mEventsForKitPlugin, &interpreterBase::EventsForKitPluginInterface::interpretationStarted
, model, &interpreterBase::robotModel::RobotModelInterface::onInterpretationStarted);
}
mDevicesConfigurationManager->connectDevicesConfigurationProvider(kit->devicesConfigurationProvider());
}
for (generatorBase::GeneratorKitPluginInterface * const generator : mKitPluginManager.generatorsById(kitId)) {
generator->init(configurer, mRobotModelManager, *mParser);
}
}
}
void RobotsPluginFacade::initFactoriesFor(QString const &kitId
, interpreterBase::robotModel::RobotModelInterface const *model
, qReal::PluginConfigurator const &configurer)
{
// Pulling each robot model to each kit plugin with same ids. We need it for supporting
// plugin-based blocks set extension for concrete roobt model.
for (interpreterBase::KitPluginInterface * const kit : mKitPluginManager.kitsById(kitId)) {
interpreterBase::blocksBase::BlocksFactoryInterface * const factory = kit->blocksFactoryFor(model);
if (factory) {
/// @todo Non-obvious dependency on mParser, which may or may not be constructed here.
/// More functional style will be helpful here.
factory->configure(configurer.graphicalModelApi()
, configurer.logicalModelApi()
, mRobotModelManager
, *configurer.mainWindowInterpretersInterface().errorReporter()
, *mParser
);
mBlocksFactoryManager.addFactory(factory, model);
}
}
}
void RobotsPluginFacade::init(qReal::PluginConfigurator const &configurer)
{
mRobotSettingsPage = new ui::RobotsSettingsPage(mKitPluginManager, mRobotModelManager);
mDevicesConfigurationManager.reset(new DevicesConfigurationManager(
configurer.graphicalModelApi()
, configurer.logicalModelApi()
, configurer.mainWindowInterpretersInterface()
, configurer.systemEvents()
));
if (!selectKit(configurer)) {
/// @todo Correctly handle unselected kit.
return;
}
mParser.reset(new textLanguage::RobotsBlockParser(mRobotModelManager
, [this]() { return mInterpreter ? mInterpreter->timeElapsed() : 0; }));
interpreterBase::blocksBase::BlocksFactoryInterface * const coreFactory = new coreBlocks::CoreBlocksFactory();
coreFactory->configure(configurer.graphicalModelApi()
, configurer.logicalModelApi()
, mRobotModelManager
, *configurer.mainWindowInterpretersInterface().errorReporter()
, *mParser
);
mBlocksFactoryManager.addFactory(coreFactory);
interpreter::Interpreter *interpreter = new interpreter::Interpreter(
configurer.graphicalModelApi()
, configurer.logicalModelApi()
, configurer.mainWindowInterpretersInterface()
, configurer.projectManager()
, mBlocksFactoryManager
, mRobotModelManager
, *mParser
, mActionsManager.connectToRobotAction()
);
mInterpreter = interpreter;
connect(&configurer.systemEvents(), &qReal::SystemEvents::closedMainWindow
, mInterpreter, &interpreter::InterpreterInterface::stopRobot);
connect(&mRobotModelManager, &RobotModelManager::robotModelChanged
, mInterpreter, &interpreter::InterpreterInterface::stopRobot);
initKitPlugins(configurer);
initSensorWidgets();
auto paletteUpdateManager = new PaletteUpdateManager(configurer.mainWindowInterpretersInterface()
, mBlocksFactoryManager, this);
connect(&mRobotModelManager, &RobotModelManager::robotModelChanged
, paletteUpdateManager, &PaletteUpdateManager::updatePalette);
mDevicesConfigurationManager->connectDevicesConfigurationProvider(interpreter);
// It will subscribe to all signals itself and free memory too.
new KitAutoSwitcher(configurer.projectManager(), configurer.logicalModelApi()
, mBlocksFactoryManager, mKitPluginManager, mRobotModelManager, this);
connectInterpreterToActions();
connectEventsForKitPlugin();
connect(&mActionsManager.robotSettingsAction(), &QAction::triggered
, [=] () { configurer.mainWindowInterpretersInterface().openSettingsDialog(tr("Robots")); });
connect(&configurer.systemEvents(), &qReal::SystemEvents::activeTabChanged
, &mActionsManager, &ActionsManager::onActiveTabChanged);
sync();
}
void RobotsPluginFacade::init(const qReal::PluginConfigurator &configurer)
{
mActionsManager.init(&configurer.mainWindowInterpretersInterface());
mRobotSettingsPage = new ui::RobotsSettingsPage(mKitPluginManager, mRobotModelManager
, configurer.logicalModelApi());
connect(&configurer.systemEvents(), &qReal::SystemEvents::activeTabChanged
, mRobotSettingsPage, &ui::RobotsSettingsPage::onProjectOpened);
mDevicesConfigurationManager.reset(new DevicesConfigurationManager(
configurer.graphicalModelApi()
, configurer.logicalModelApi()
, configurer.mainWindowInterpretersInterface()
, configurer.projectManager()
));
if (!selectKit(configurer)) {
/// @todo Correctly handle unselected kit.
return;
}
mParser.reset(new textLanguage::RobotsBlockParser(mRobotModelManager
, [this]() { return mInterpreter ? mInterpreter->timeElapsed() : 0; }));
kitBase::blocksBase::BlocksFactoryInterface * const coreFactory = new coreBlocks::CoreBlocksFactory();
coreFactory->configure(configurer.graphicalModelApi()
, configurer.logicalModelApi()
, mRobotModelManager
, *configurer.mainWindowInterpretersInterface().errorReporter()
, *mParser
);
mBlocksFactoryManager.addFactory(coreFactory);
mUiManager.reset(new UiManager(mActionsManager.debugModeAction()
, mActionsManager.editModeAction()
, configurer.mainWindowDockInterface()
, configurer.systemEvents()
, mEventsForKitPlugin
, mRobotModelManager));
interpreter::Interpreter *interpreter = new interpreter::Interpreter(
configurer.graphicalModelApi()
, configurer.logicalModelApi()
, configurer.mainWindowInterpretersInterface()
, configurer.projectManager()
, mBlocksFactoryManager
, mRobotModelManager
, *mParser
, mActionsManager.connectToRobotAction()
);
mInterpreter = interpreter;
connect(&configurer.systemEvents(), &qReal::SystemEvents::closedMainWindow
, mInterpreter, &interpreter::InterpreterInterface::userStopRobot);
connect(&mRobotModelManager, &RobotModelManager::robotModelChanged
, mInterpreter, &interpreter::InterpreterInterface::userStopRobot);
initKitPlugins(configurer);
initSensorWidgets();
auto paletteUpdateManager = new PaletteUpdateManager(configurer.mainWindowInterpretersInterface()
, mBlocksFactoryManager, this);
connect(&mRobotModelManager, &RobotModelManager::robotModelChanged
, paletteUpdateManager, &PaletteUpdateManager::updatePalette);
mDevicesConfigurationManager->connectDevicesConfigurationProvider(interpreter);
// It will subscribe to all signals itself and free memory too.
new KitAutoSwitcher(configurer.projectManager(), configurer.logicalModelApi()
, mBlocksFactoryManager, mKitPluginManager, mRobotModelManager, this);
mSaveAsTaskManager.reset(new ExerciseExportManager(configurer.logicalModelApi()
, configurer.repoControlInterface(), configurer.projectManager()));
connectInterpreterToActions();
connectEventsForKitPlugin();
connect(&mActionsManager.robotSettingsAction(), &QAction::triggered
, [=] () { configurer.mainWindowInterpretersInterface().openSettingsDialog(tr("Robots")); });
connect(&configurer.systemEvents(), &qReal::SystemEvents::activeTabChanged
, &mActionsManager, &ActionsManager::onActiveTabChanged);
// Just to capture them, not configurer.
qReal::ProjectManagementInterface &projectManager = configurer.projectManager();
qReal::gui::MainWindowInterpretersInterface &mainWindow = configurer.mainWindowInterpretersInterface();
qReal::GraphicalModelAssistInterface &graphicalModel = configurer.graphicalModelApi();
connect(&mActionsManager.homeAction(), &QAction::triggered, [&projectManager, &mainWindow, &graphicalModel]() {
if (projectManager.somethingOpened()) {
for (const qReal::Id &diagram : graphicalModel.children(qReal::Id::rootId())) {
if (diagram.type() == qReal::Id("RobotsMetamodel", "RobotsDiagram", "RobotsDiagramNode")) {
mainWindow.activateItemOrDiagram(diagram);
return;
}
}
} else {
mainWindow.openStartTab();
}
});
const qrRepo::LogicalRepoApi &repoApi = configurer.logicalModelApi().logicalRepoApi();
connect(&configurer.systemEvents(), &qReal::SystemEvents::activeTabChanged, this
, [this, &repoApi] (const qReal::TabInfo &info) {
Q_UNUSED(info);
mDockDevicesConfigurer->setEnabled(
!repoApi.metaInformation("twoDModelSensorsReadOnly").toBool());
const bool hasReadOnlyFlags = repoApi.metaInformation("twoDModelWorldReadOnly").toBool()
| repoApi.metaInformation("twoDModelSensorsReadOnly").toBool()
| repoApi.metaInformation("twoDModelRobotPositionReadOnly").toBool()
| repoApi.metaInformation("twoDModelRobotConfigurationReadOnly").toBool()
| repoApi.metaInformation("twoDModelSimulationSettingsReadOnly").toBool()
;
mActionsManager.exportExerciseAction().setEnabled(!hasReadOnlyFlags);
});
connect(&mActionsManager.exportExerciseAction(), &QAction::triggered
, [this] () { mSaveAsTaskManager->save(); });
sync();
}