CWindowManager.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/system/COutputLogger.h>

#include "CWindowObserver.h"

namespace mrpt::graphslam
{
/**\brief Class acts as a container for storing pointers to
 * mrpt::gui::CDisplayWindow3D,
 * mrpt::graphslam::CWindowObserver instances.
 *
 * CWindowManager also provides methods for adding/positioning textMessages
 * and viewports in the CDisplayWindow in a compact and consistent way.
 *
 * \ingroup mrpt_graphslam_grp
 */
class CWindowManager : public mrpt::system::COutputLogger
{
   public:
    /**\brief Default class constructor */
    CWindowManager() { this->initCWindowManager(); }
    /**\brief Class constructor*/
    CWindowManager(mrpt::gui::CDisplayWindow3D* win_in)
    {
        this->initCWindowManager();
        this->setCDisplayWindow3DPtr(win_in);
    }
    /**\brief Class constructor*/
    CWindowManager(
        mrpt::gui::CDisplayWindow3D* win_in,
        mrpt::graphslam::CWindowObserver* observer_in)
    {
        this->initCWindowManager();

        this->setWindowObserverPtr(observer_in);
        this->setCDisplayWindow3DPtr(win_in);
    }
    /**\brief Class destructor. */
    ~CWindowManager() override = default;
    /**\brief Store the CDisplayWindow3D pointer in the CWindowManager
     * instance.
     *
     * \sa setWindowObserverPtr
     */
    void setCDisplayWindow3DPtr(mrpt::gui::CDisplayWindow3D* win_in)
    {
        m_fetched_displaywindow_pointer = true;
        win = win_in;

        MRPT_LOG_DEBUG_STREAM("Fetched the CDisplayWindow3D* successfully");
    }
    /**\brief Store the CWindowObserver pointer in the CWindowManager instance.
     *
     * \sa setCDisplayWindow3DPtr
     */
    void setWindowObserverPtr(mrpt::graphslam::CWindowObserver* obsever_in)
    {
        m_fetched_observer_pointer = true;
        observer = obsever_in;

        MRPT_LOG_DEBUG_STREAM("Fetched the CWindowObserver* successfully");
    }

    /**\brief Assign the next available offset_y and text_index for the
     * textMessage under construction.
     *
     * Used for consistent positioning of textMessages in the
     * CDisplayWindow3D.
     *
     * \sa assignViewPortParameters
     */
    void assignTextMessageParameters(double* offset_y, int* text_index)
    {
        *offset_y = m_curr_offset_y;
        m_curr_offset_y += m_offset_y_step;

        *text_index = m_curr_text_index;
        m_curr_text_index += m_index_text_step;
    }

    /**\brief Wrapper call around the CWindowDisplay3D */
    bool isOpen()
    {
        if (win)
        {
            return win->isOpen();
        }
        else
        {
            return false;
        }
    }

    /**\brief Wrapper around the CDisplayWindow3D::addTextMessage method, so
     * that the
     * user does not have to specify the font name and size.
     *
     * \note see initCWindowManager method for the default fontName and
     * fontSize used.
     */
    void addTextMessage(
        const double x, const double y, const std::string& text,
        const mrpt::img::TColorf& color = mrpt::img::TColorf(1.0, 1.0, 1.0),
        const size_t unique_index = 0)
    {
        if (!win)
        {
            return;
        }

        win->addTextMessage(
            x, y, text, color, m_font_name, m_font_size, mrpt::opengl::NICE,
            unique_index);
    }

    /**\brief Assign position and size values for the placement of the next
     * viewport
     *
     * Used for consistent positioning of the Viewports in the CDisplayWindow3D
     *
     * \sa assignTextMessageParameters
     */
    void assignViewportParameters(
        double* x, double* y, double* width, double* height)
    {
        *x = m_viewp_x;
        *y = m_viewp_y;

        *width = m_viewp_width;
        *height = m_viewp_height;

        m_viewp_y -= m_viewp_height + m_viewp_margin;
    }

    mrpt::gui::CDisplayWindow3D* win; /**< CDisplayWindow instance */
    mrpt::graphslam::CWindowObserver* observer; /**< CWindowObserver instance */
   private:
    /**\brief Initialization method, to be called from the various Constructors.
     */
    void initCWindowManager()
    {
        m_fetched_displaywindow_pointer = false;
        m_fetched_observer_pointer = false;
        win = nullptr;
        observer = nullptr;

        m_offset_y_step = 20.0;
        m_index_text_step = 1;
        m_font_name = "sans";
        m_font_size = 12;
        m_curr_offset_y = 30;
        m_curr_text_index = 1;

        m_viewp_width = 0.2;
        m_viewp_height = 0.2;
        m_viewp_x = 0.75;
        m_viewp_margin = 0.01;
        m_viewp_y = 0.72;

        // loger related directives
        this->setLoggerName("CWindowManager");
    }

    bool m_fetched_observer_pointer;
    bool m_fetched_displaywindow_pointer;

    double m_offset_y_step;
    int m_index_text_step;
    double m_curr_offset_y;
    int m_curr_text_index;

    std::string m_font_name;
    int m_font_size;

    // viewports configuration
    double m_viewp_width;
    double m_viewp_height;
    double m_viewp_x;
    double m_viewp_y; /**< vertical layout of the viewports */
    double m_viewp_margin;
};
}  // namespace mrpt::graphslam