mtsComponentViewerQt.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*- */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
  Author(s):  Anton Deguet
  Created on: 2025-10-28
 
  (C) Copyright 2025-2026 Johns Hopkins University (JHU), All Rights Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 
#ifndef _mtsComponentViewerQt_h
#define _mtsComponentViewerQt_h
 
#include <cisstConfig.h>
#if !CISST_HAS_QTNODES
#error "mtsComponentViewerQt.h requires CISST_HAS_QTNODES"
#endif
 
#include <cisstMultiTask/mtsTaskFromSignal.h>
 
#include <cisstMultiTask/mtsManagerComponentServices.h>
#include <cisstMultiTask/mtsParameterTypes.h>
 
#include <QTimer>
#include <QWidget>
 
class QToolBar;
 
namespace QtNodes {
    class NodeDelegateModelRegistry;
    class DataFlowGraphModel;
    class DataFlowGraphicsScene;
    class GraphicsView;
} // namespace QtNodes
 
// Always include last
#include <cisstMultiTask/mtsExportQt.h>
 
class CISST_EXPORT mtsComponentViewerQt : public QWidget,
                                                public mtsTaskFromSignal {
    Q_OBJECT
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);
 
 public:
    mtsComponentViewerQt(const std::string &componentName = "ComponentViewer");
    ~mtsComponentViewerQt() = default;
 
    void Configure(const std::string &filename = "") override;
    void Startup(void) override;
    void Cleanup(void) override;
    void Run(void) override;
 
 protected slots:
    void onExportDOT(void);
    void onAutoLayout(void);
 
    void AddComponentHandler(const mtsDescriptionComponent &component_description);
    void AddConnectionHandler(const mtsDescriptionConnection &connection_description);
    void RemoveConnectionHandler(const mtsDescriptionConnection &connection_description);
    void ChangeStateHandler(const mtsComponentStateChange &state_change);
 
 protected:
    QToolBar *ToolBar;
 
    void setupUi(void);
 
    // Qt Nodes objects
    std::shared_ptr<QtNodes::NodeDelegateModelRegistry> Registry;
    QtNodes::DataFlowGraphModel *GraphModel;
    QtNodes::DataFlowGraphicsScene *Scene;
    QtNodes::GraphicsView *View;
 
    // Keep track of components and their node IDs.
    typedef std::pair<std::string, std::string> ComponentKey;
    std::vector<ComponentKey> m_components;
 
    // Keep NodeId as an unsigned int in the public header to avoid pulling
    // QtNodes types into all translation units; the implementation will use
    // QtNodes::NodeId where needed.
    std::map<ComponentKey, unsigned int> NodeIds;
 
    // Track interface to port index mapping.
    std::map<ComponentKey, std::map<std::string, unsigned int>>
        m_provided_interface_to_port;
    std::map<ComponentKey, std::map<std::string, unsigned int>>
        m_required_interface_to_port;
 
    // Cache for rebuilding graph
    std::vector<mtsDescriptionComponent> m_component_infos;
    std::vector<mtsDescriptionConnection> m_connection_infos;
 
    std::set<std::string> m_show_component_tags;
    std::set<std::string> m_show_interface_tags;
 
    void UpdateGraph(void);
 
 protected slots:
    void onFilterComponents(bool checked);
    void onFilterInterfaces(bool checked);
 
 private:
    // no copy constructor
    mtsComponentViewerQt(const mtsComponentViewerQt &other) = delete;
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsComponentViewerQt);
 
#endif // _mtsComponentViewerQt_h