void BodyStateViewImpl::updateDeviceStates(DevicePtr device, int rowIndex)
{
if(currentBody){
StateItem* item = static_cast<StateItem*>(stateTreeWidget.topLevelItem(rowIndex));
int size = device->stateSize();
buf.resize(size);
device->writeState(&buf.front());
int i;
for(i=0; i < size; ++i){
item->setText(i + 1, QString::number(buf[i], 'f', 2));
}
for( ; i < item->lastNumValidColumns; ++i){
item->setText(i + 1, "");
}
item->lastNumValidColumns = size;
}
}
void BodyStateViewImpl::updateExtraStates()
{
if(!currentBody){
return;
}
const int prec = 3;
for(int i=0 ;i < accessors.size(); ++i){
const ExtraBodyStateAccessor& accessor = *accessors[i];
const vector<int>& itemMap = extraStateItemMap[i];
accessor.getState(extraState);
for(int j=0; j < extraState.size(); ++j){
const ExtraBodyStateAccessor::Value& s = extraState[j];
StateItem* item = static_cast<StateItem*>(stateTreeWidget.topLevelItem(itemMap[j]));
int column = 1;
switch(s.which()){
case ExtraBodyStateAccessor::BOOL:
item->setText(column++, s.getBool() ? _("ON") : _("OFF"));
break;
case ExtraBodyStateAccessor::INT:
item->setText(column++, QString::number(s.getInt(), 'f', prec));
break;
case ExtraBodyStateAccessor::DOUBLE:
item->setText(column++, QString::number(s.getDouble(), 'f', prec));
break;
case ExtraBodyStateAccessor::ANGLE:
item->setText(column++, QString::number(s.getAngle(), 'f', prec));
break;
case ExtraBodyStateAccessor::STRING:
item->setText(column++, s.getString().c_str());
break;
/*
case ExtraBodyStateAccessor::VECTOR2:
{
const Vector2& v = get<Vector2>(s);
item->setText(column++, QString::number(v[0], 'f', prec));
item->setText(column++, QString::number(v[1], 'f', prec));
break;
}
*/
case ExtraBodyStateAccessor::VECTOR3:
{
const Vector3f& v = s.getVector3f();
item->setText(column++, QString::number(v[0], 'f', prec));
item->setText(column++, QString::number(v[1], 'f', prec));
item->setText(column++, QString::number(v[2], 'f', prec));
break;
}
case ExtraBodyStateAccessor::VECTORX:
{
const VectorX& v = s.getVectorX();
for(int i=0; i < v.size(); ++i){
item->setText(column++, QString::number(v[i], 'f', prec));
}
break;
}
default:
break;
}
for(int i=column; i < item->lastNumValidColumns; ++i){
item->setText(i, "");
}
item->lastNumValidColumns = column;
}
}
}
void BodyStateViewImpl::updateStateList(BodyItem* bodyItem)
{
stateConnections.disconnect();
DeviceList<Sensor> devices;
extraStateItemMap.clear();
stateTreeWidget.clear();
int maxNumStateElements = 0;
if(currentBody){
devices = currentBody->devices();
for(int i=0; i < devices.size(); ++i){
Device* device = devices.get(i);
StateItem* deviceItem = new StateItem();
deviceItem->setText(0, QString(" %1 ").arg(device->name().c_str()));
stateTreeWidget.addTopLevelItem(deviceItem);
if(device->stateSize() > maxNumStateElements){
maxNumStateElements = device->stateSize();
}
stateConnections.add(
device->sigStateChanged().connect(
boost::bind(&BodyStateViewImpl::updateDeviceStates, this, device, i)));
}
vector<string> names;
currentBody->getCaches(accessors, names);
for(int i=0; i < accessors.size(); ++i){
ExtraBodyStateAccessor& accessor = *accessors[i];
vector<int> itemMap;
accessor.getState(extraState);
if(!extraState.empty()){
for(int j=0; j < extraState.size(); ++j){
QTreeWidgetItem* stateItem = new StateItem();
stateItem->setText(0, QString(" %1 ").arg(accessor.getStateItemLabel(j)));
itemMap.push_back(stateTreeWidget.topLevelItemCount());
stateTreeWidget.addTopLevelItem(stateItem);
int m = ExtraBodyStateAccessor::getNumValueElements(extraState[j]);
if(m > maxNumStateElements){
maxNumStateElements = m;
}
}
stateConnections.add(
accessor.sigStateChanged().connect(
boost::bind(&BodyStateViewImpl::updateExtraStates, this)));
}
extraStateItemMap.push_back(itemMap);
}
}
int lastColumn = maxNumStateElements + 1;
stateTreeWidget.setColumnCount(lastColumn + 1);
stateTreeWidget.setHeaderSectionResizeMode(0, QHeaderView::ResizeToContents);
for(int i=0; i < maxNumStateElements; ++i){
stateTreeWidget.setHeaderSectionResizeMode(i+1, QHeaderView::Stretch);
}
stateTreeWidget.setHeaderSectionResizeMode(lastColumn, QHeaderView::Fixed);
stateTreeWidget.header()->resizeSection(lastColumn, 0);
const int n = stateTreeWidget.topLevelItemCount();
for(int i=0; i < n; ++i){
QTreeWidgetItem* item = stateTreeWidget.topLevelItem(i);
item->setTextAlignment(0, Qt::AlignHCenter);
for(int j=0; j < maxNumStateElements; ++j){
//item->setTextAlignment(j + 1, Qt::AlignHCenter);
item->setTextAlignment(j + 1, Qt::AlignRight);
}
}
}