CUtilityDlg::CUtilityDlg(CUtility *u, const char *szId, unsigned long nPPID,
CICQDaemon *_server)
: QWidget(0, "UtilityDialog", WDestructiveClose)
{
m_szId = szId ? strdup(szId) : 0;
m_nPPID = nPPID;
m_xUtility = u;
server = _server;
m_bIntWin = false;
intwin = NULL;
snOut = snErr = NULL;
m_xUtility->SetFields(m_szId, m_nPPID);
QGridLayout *lay = new QGridLayout(this, 1, 3, 8, 4);
lay->setColStretch(2, 2);
lay->addColSpacing(1, 8);
setCaption(QString(tr("Licq Utility: %1")).arg(m_xUtility->Name()));
lblUtility = new QLabel(tr("Command:"), this);
lay->addWidget(lblUtility, 0, 0);
nfoUtility = new CInfoField(this, true);
nfoUtility->setMinimumWidth(nfoUtility->sizeHint().width()*2);
lay->addWidget(nfoUtility, 0, 2);
nfoUtility->setText(m_xUtility->FullCommand());
lay->addWidget(new QLabel(tr("Window:"), this), 1, 0);
nfoWinType = new CInfoField(this, true);
lay->addWidget(nfoWinType, 1, 2);
switch (m_xUtility->WinType())
{
case UtilityWinGui: nfoWinType->setText(tr("GUI")); break;
case UtilityWinTerm: nfoWinType->setText(tr("Terminal")); break;
case UtilityWinLicq: nfoWinType->setText(tr("Internal")); break;
}
lay->addWidget(new QLabel(tr("Description:"), this), 2, 0);
nfoDesc = new CInfoField(this, true);
lay->addWidget(nfoDesc, 2, 2);
nfoDesc->setText(m_xUtility->Description());
chkEditFinal = new QCheckBox(tr("Edit final command"), this);
lay->addMultiCellWidget(chkEditFinal, 3, 3, 0, 2);
boxFields = new QGroupBox(1, Horizontal, tr("User Fields"), this);
lay->addMultiCellWidget(boxFields, 4, 4, 0, 2);
for (unsigned short i = 0; i < m_xUtility->NumUserFields(); i++)
{
QString s;
s.sprintf("%s (%%%d): ", m_xUtility->UserField(i)->Title(), i+1);
QLabel *lbl = new QLabel(s, boxFields);
lblFields.push_back(lbl);
QLineEdit *edt = new QLineEdit(boxFields);
edt->setText(m_xUtility->UserField(i)->FullDefault());
edt->setMinimumSize(edt->sizeHint());
edtFields.push_back(edt);
}
splOutput = new QSplitter(Vertical, boxFields);
splOutput->setOpaqueResize();
mleOut = new MLEditWrap(true, splOutput);
mleOut->setReadOnly(true);
mleErr = new MLEditWrap(true, splOutput);
mleErr->setReadOnly(true);
splOutput->setResizeMode(mleErr, QSplitter::Stretch);//FollowSizeHint);
splOutput->setResizeMode(mleOut, QSplitter::Stretch);
splOutput->hide();
if (m_xUtility->NumUserFields() == 0) boxFields->hide();
QHBoxLayout *hlay = new QHBoxLayout();
lay->addMultiCell(hlay, 5, 5, 0, 2);
hlay->addStretch(1);
btnRun = new QPushButton(tr("&Run"), this);
btnRun->setDefault(true);
btnRun->setMinimumWidth(75);
hlay->addWidget(btnRun, 0, AlignRight);
hlay->addSpacing(20);
btnCancel = new QPushButton(tr("&Cancel"), this);
btnCancel->setMinimumWidth(75);
hlay->addWidget(btnCancel, 0, AlignLeft);
connect(btnRun, SIGNAL(clicked()), SLOT(slot_run()));
connect(btnCancel, SIGNAL(clicked()), SLOT(slot_cancel()));
show();
}
MainWindow::MainWindow() {
_rrtWidget = new RRTWidget();
setWindowTitle("Interactive RRT");
_iterationCountLabel = new QLabel(this);
_iterationCountLabel->setText("Iterations: 0");
statusBar()->addPermanentWidget(_iterationCountLabel);
QPushButton *run = new QPushButton(this);
run->setText("Run");
run->setStyleSheet("background-color: green;");
QPushButton *runFast = new QPushButton(this);
runFast->setText("Run Fast");
runFast->setStyleSheet("background-color: darkGreen;");
QPushButton *stop = new QPushButton(this);
stop->setText("Stop");
QPushButton *step = new QPushButton(this);
step->setText("Step");
QPushButton *stepBig = new QPushButton(this);
stepBig->setText("Step 100");
QPushButton *reset = new QPushButton(this);
reset->setText("Reset");
QPushButton *clearObstacles = new QPushButton(this);
clearObstacles->setText("Clear Obstacles");
clearObstacles->setStyleSheet("background-color: red;");
QSlider *goalBias = new QSlider(Qt::Horizontal, this);
goalBias->setTickPosition(QSlider::TicksBelow);
goalBias->setMinimum(0);
goalBias->setMaximum(100);
goalBias->setTickInterval(10);
_goalBiasLabel = new QLabel("Goal Bias: 0", this);
QSlider *waypointBias = new QSlider(Qt::Horizontal, this);
waypointBias->setTickPosition(QSlider::TicksBelow);
waypointBias->setMinimum(0);
waypointBias->setMaximum(100);
waypointBias->setTickInterval(10);
_waypointBiasLabel = new QLabel("Waypoint Bias: 0", this);
QDoubleSpinBox *stepSizeBox = new QDoubleSpinBox(this);
stepSizeBox->setMinimum(0.01);
stepSizeBox->setMaximum(1);
stepSizeBox->setValue(0.1);
stepSizeBox->setSingleStep(0.01);
QLabel *stepSizeLabel = new QLabel("Step Size:");
QDoubleSpinBox *curvatureIncreaseFactorBox = new QDoubleSpinBox(this);
curvatureIncreaseFactorBox->setMinimum(1);
curvatureIncreaseFactorBox->setMaximum(5);
curvatureIncreaseFactorBox->setValue(1.1);
curvatureIncreaseFactorBox->setSingleStep(0.01);
QLabel *angleDiffDecayFactorLabel = new QLabel("Curv. Inc. factor");
QGridLayout *layout = new QGridLayout();
layout->addWidget(run, 0, 0);
layout->addWidget(stop, 1, 0);
layout->addWidget(runFast, 2, 0);
layout->addWidget(step, 0, 1);
layout->addWidget(stepBig, 1, 1);
layout->addWidget(reset, 0, 2);
layout->addWidget(clearObstacles, 1, 2);
layout->addWidget(goalBias, 1, 3);
layout->addWidget(_goalBiasLabel, 0, 3);
layout->addWidget(waypointBias, 1, 4);
layout->addWidget(_waypointBiasLabel, 0, 4);
layout->addWidget(stepSizeBox, 1, 5);
layout->addWidget(stepSizeLabel, 0, 5);
layout->addWidget(curvatureIncreaseFactorBox, 1, 6);
layout->addWidget(angleDiffDecayFactorLabel, 0, 6);
layout->addWidget(_rrtWidget, 3, 0, 1, 7);
QWidget *centralWidget = new QWidget(this);
centralWidget->setLayout(layout);
this->setCentralWidget(centralWidget);
// prevent the window from being resized
setFixedSize(sizeHint());
// make the buttons do things
connect(run, SIGNAL(clicked()), _rrtWidget, SLOT(slot_run()));
connect(runFast, SIGNAL(clicked()), _rrtWidget, SLOT(slot_runFast()));
connect(stop, SIGNAL(clicked()), _rrtWidget, SLOT(slot_stop()));
connect(step, SIGNAL(clicked()), _rrtWidget, SLOT(slot_step()));
connect(stepBig, SIGNAL(clicked()), _rrtWidget, SLOT(slot_stepBig()));
connect(reset, SIGNAL(clicked()), _rrtWidget, SLOT(slot_reset()));
connect(clearObstacles, SIGNAL(clicked()), _rrtWidget, SLOT(slot_clearObstacles()));
connect(goalBias, SIGNAL(valueChanged(int)), _rrtWidget, SLOT(slot_setGoalBias(int)));
connect(goalBias, SIGNAL(valueChanged(int)), this, SLOT(slot_updateGoalBiasLabel(int)));
connect(waypointBias, SIGNAL(valueChanged(int)), _rrtWidget, SLOT(slot_setWaypointBias(int)));
connect(waypointBias, SIGNAL(valueChanged(int)), this, SLOT(slot_updateWaypointBiasLabel(int)));
connect(stepSizeBox, SIGNAL(valueChanged(double)), _rrtWidget, SLOT(slot_setStepSize(double)));
connect(curvatureIncreaseFactorBox, SIGNAL(valueChanged(double)), _rrtWidget, SLOT(slot_setCurvatureIncreaseFactor(double)));
connect(_rrtWidget, SIGNAL(signal_stepped(int)), this, SLOT(slot_updateIterationCount(int)));
// keyboard shortcuts
new QShortcut(QKeySequence(Qt::Key_R), _rrtWidget, SLOT(slot_run()));
new QShortcut(QKeySequence(Qt::Key_S), _rrtWidget, SLOT(slot_stop()));
new QShortcut(QKeySequence(Qt::Key_C), _rrtWidget, SLOT(slot_reset()));
new QShortcut(QKeySequence(Qt::Key_F), _rrtWidget, SLOT(slot_runFast()));
}
