osi-visualizer/include/glwidget.h at 6bc4090d8f39982ecfda115cf9ece53ab38b4562 · OpenSimulationInterface/osi-visualizer · GitHub

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///
/// @file
/// @copyright Copyright (C) 2017, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
///
/// @brief
///

#pragma once
#include "types.h"
#include "globject.h"
#include "glgrid.h"
#include "camera.h"
#include "appconfig.h"
#include "lane.h"
#include "imessagesource.h"

#include "glfieldofview.h"

#include <QOpenGLWidget>
#include <QTreeWidgetItem>
#include <QOpenGLFunctions>
#include <QOpenGLShaderProgram>
#include <QOpenGLFunctions_4_3_Core>


class QWheelEvent;

class GLWidget : public QOpenGLWidget, protected QOpenGLFunctions_4_3_Core
{
    Q_OBJECT

    public:
        GLWidget(QWidget* parent,
                 IMessageSource* msgSource,
                 QMap<ObjectType, QTreeWidgetItem*>& treeNodes,
                 const AppConfig& config);

        void UpdateIMessageSource(IMessageSource* msgSource);

        void UpdateFOVPaint(const bool showFOV);

        void UpdateFOVParam(const float minRadius,
                            const float maxRadius,
                            const float azimuthPosAngle,
                            const float azimuthNegAngle);

    signals:
        void DisplayObjectInformation(GLObject* object);
        void SetTrackingEnabled(bool enable);

    public slots:

        void UpdateGrid();
        void Disconnected();
        void StartTracking();
        void ResetCameraAll();
        void ResetCameraOrient();
        void Connected(DataType dataType);
        void TreeItemChanged(QTreeWidgetItem* item, int column);
        void TreeItemClicked(QTreeWidgetItem* item, int column);
        void MessageParsed(const Message& message, const LaneMessage& laneMessage);

    protected:
        void paintGL();
        void initializeGL();
        void resizeGL(int width, int height);
        bool eventFilter(QObject* obj, QEvent* event);

    private:

        void ResetObjectTextOrientations();
        void RenderObject(GLObject* object);
        void MouseWheel(QWheelEvent* event);
        void KeyPressed(QSet<int> pressedKeys);

        float minCameraY_;
        bool ignoreUpdate_;
        bool isOpenGLInitizalized_;
        int uniformMvpLocation_;
        int uniformColorLocation_;
        int uniformUseTextureLocation_;
        DataType currentDataType_;

        Camera* camera_;
        QPoint mousePos_;
        const AppConfig& config_;
        QVector<Lane*> lanes_;
        QSet<int> pressedKeys_;
        QList<int> sceneKeys_;
        IMessageSource* msgSource_;
        bool isFirstMsgReceived_;
        GLObject* selectedObject_;
        QMatrix4x4 projectionMatrix_;
        QVector<GLObject*> staticObjects_;
        QVector<GLObject*> simulationObjects_;
        QOpenGLShaderProgram shaderProgram_;
        QMap<ObjectType, QTreeWidgetItem*>& treeNodes_;

        bool showFOV_;
        GLFieldOfView* objFOV_;

};