icons to visualize logic flow

This commit is contained in:
janEbert 2018-02-22 15:39:42 +01:00 committed by Robert Haschke
parent d731e943f1
commit 1f6bea9438
15 changed files with 385 additions and 0 deletions

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@ -8,6 +8,7 @@ qt_wrap_ui(UIC_FILES
add_library(${MOVEIT_LIB_NAME}
factory_model.cpp
icons.cpp
job_queue.cpp
local_task_model.cpp
meta_task_list_model.cpp

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@ -0,0 +1,19 @@
#include "icons.h"
#include <QColor>
using namespace moveit_rviz_plugin::utils;
namespace moveit_rviz_plugin { namespace icons {
const Icon CONNECT({
{QLatin1String(":icons/connectarrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
const Icon FORWARD({
{QLatin1String(":icons/downarrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
const Icon BACKWARD({
{QLatin1String(":icons/uparrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
const Icon BOTHWAY({
{QLatin1String(":icons/updownarrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
const Icon GENERATE({
{QLatin1String(":icons/generatearrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
} }

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@ -0,0 +1,13 @@
#pragma once
#include <utils/icon.h>
namespace moveit_rviz_plugin { namespace icons {
extern const moveit_rviz_plugin::utils::Icon CONNECT;
extern const moveit_rviz_plugin::utils::Icon FORWARD;
extern const moveit_rviz_plugin::utils::Icon BACKWARD;
extern const moveit_rviz_plugin::utils::Icon BOTHWAY;
extern const moveit_rviz_plugin::utils::Icon GENERATE;
} }

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@ -200,6 +200,10 @@ QVariant RemoteTaskModel::data(const QModelIndex &index, int role) const
if (index.column() == 0 && !index.parent().isValid())
return (flags_ & IS_DESTROYED) ? QColor(Qt::red) : QApplication::palette().text().color();
break;
case Qt::DecorationRole:
if (index.column() == 0 && index.parent().isValid())
return flowIcon(n->interface_flags_);
break;
}
return BaseTaskModel::data(index, role);

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@ -6,5 +6,10 @@
<file>icons/new-stage.png</file>
<file>icons/success.png</file>
<file>icons/tasks.png</file>
<file>icons/connectarrow.png</file>
<file>icons/downarrow.png</file>
<file>icons/generatearrow.png</file>
<file>icons/uparrow.png</file>
<file>icons/updownarrow.png</file>
</qresource>
</RCC>

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@ -38,6 +38,7 @@
#include "local_task_model.h"
#include "remote_task_model.h"
#include "factory_model.h"
#include "icons.h"
#include <ros/console.h>
#include <ros/service_client.h>
@ -48,6 +49,8 @@
#include <qevent.h>
#include <numeric>
using namespace moveit::task_constructor;
namespace moveit_rviz_plugin {
static const std::string LOGNAME("TaskListModel");
@ -109,6 +112,23 @@ Qt::ItemFlags BaseTaskModel::flags(const QModelIndex &index) const
return flags;
}
QVariant BaseTaskModel::flowIcon(moveit::task_constructor::InterfaceFlags f)
{
static const QIcon CONNECT_ICON = icons::CONNECT.icon();
static const QIcon FORWARD_ICON = icons::FORWARD.icon();
static const QIcon BACKWARD_ICON = icons::BACKWARD.icon();
static const QIcon BOTHWAY_ICON = icons::BOTHWAY.icon();
static const QIcon GENERATE_ICON = icons::GENERATE.icon();
if (f == InterfaceFlags(CONNECT)) return CONNECT_ICON;
if (f == InterfaceFlags(PROPAGATE_FORWARDS)) return FORWARD_ICON;
if (f == InterfaceFlags(PROPAGATE_BACKWARDS)) return BACKWARD_ICON;
if (f == PROPAGATE_BOTHWAYS) return BOTHWAY_ICON;
if (f == InterfaceFlags(GENERATE)) return GENERATE_ICON;
return QVariant();
}
StageFactoryPtr getStageFactory()
{

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@ -84,6 +84,7 @@ public:
virtual void setStageFactory(const StageFactoryPtr &factory) {}
Qt::ItemFlags flags(const QModelIndex &index) const override;
unsigned int taskFlags() const { return flags_; }
static QVariant flowIcon(moveit::task_constructor::InterfaceFlags f);
/// get solution model for given stage index
virtual QAbstractItemModel* getSolutionModel(const QModelIndex& index) = 0;

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@ -3,6 +3,7 @@ set(MOVEIT_LIB_NAME motion_planning_tasks_utils)
set(SOURCES
flat_merge_proxy_model.cpp
tree_merge_proxy_model.cpp
icon.cpp
)
add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})

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@ -0,0 +1,236 @@
/****************************************************************************
**
** Copyright (C) 2016 The Qt Company Ltd.
** Contact: https://www.qt.io/licensing/
**
** This file is adapted from Qt Creator (replacing theme stuff by QColor)
**
** Commercial License Usage
** Licensees holding valid commercial Qt licenses may use this file in
** accordance with the commercial license agreement provided with the
** Software or, alternatively, in accordance with the terms contained in
** a written agreement between you and The Qt Company. For licensing terms
** and conditions see https://www.qt.io/terms-conditions. For further
** information use the contact form at https://www.qt.io/contact-us.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU
** General Public License version 3 as published by the Free Software
** Foundation with exceptions as appearing in the file LICENSE.GPL3-EXCEPT
** included in the packaging of this file. Please review the following
** information to ensure the GNU General Public License requirements will
** be met: https://www.gnu.org/licenses/gpl-3.0.html.
**
****************************************************************************/
#include "icon.h"
#include <QApplication>
#include <QIcon>
#include <QImage>
#include <QMetaEnum>
#include <QPainter>
#include <QPaintEngine>
#include <QWidget>
namespace moveit_rviz_plugin { namespace utils {
static const qreal PunchEdgeWidth = 0.5;
static const qreal PunchEdgeIntensity = 0.6;
static QPixmap maskToColorAndAlpha(const QPixmap &mask, const QColor &color)
{
QImage result(mask.toImage().convertToFormat(QImage::Format_ARGB32));
result.setDevicePixelRatio(mask.devicePixelRatio());
QRgb *bitsStart = reinterpret_cast<QRgb*>(result.bits());
const QRgb *bitsEnd = bitsStart + result.width() * result.height();
const QRgb tint = color.rgb() & 0x00ffffff;
const QRgb alpha = QRgb(color.alpha());
for (QRgb *pixel = bitsStart; pixel < bitsEnd; ++pixel) {
QRgb pixelAlpha = (((~*pixel) & 0xff) * alpha) >> 8;
*pixel = (pixelAlpha << 24) | tint;
}
return QPixmap::fromImage(result);
}
typedef QPair<QPixmap, QColor> MaskAndColor;
typedef QList<MaskAndColor> MasksAndColors;
static MasksAndColors masksAndColors(const Icon &icon, int dpr)
{
MasksAndColors result;
for (const IconMaskAndColor &i: icon) {
const QString &fileName = i.first;
const QColor color = i.second;
result.append(qMakePair(QPixmap(fileName), color));
}
return result;
}
static void smearPixmap(QPainter *painter, const QPixmap &pixmap, qreal radius)
{
const qreal nagative = -radius - 0.01; // Workaround for QPainter rounding behavior
const qreal positive = radius;
painter->drawPixmap(QPointF(nagative, nagative), pixmap);
painter->drawPixmap(QPointF(0, nagative), pixmap);
painter->drawPixmap(QPointF(positive, nagative), pixmap);
painter->drawPixmap(QPointF(positive, 0), pixmap);
painter->drawPixmap(QPointF(positive, positive), pixmap);
painter->drawPixmap(QPointF(0, positive), pixmap);
painter->drawPixmap(QPointF(nagative, positive), pixmap);
painter->drawPixmap(QPointF(nagative, 0), pixmap);
}
static QPixmap combinedMask(const MasksAndColors &masks, Icon::IconStyleOptions style)
{
if (masks.count() == 1)
return masks.first().first;
QPixmap result(masks.first().first);
QPainter p(&result);
p.setCompositionMode(QPainter::CompositionMode_Darken);
auto maskImage = masks.constBegin();
maskImage++;
for (;maskImage != masks.constEnd(); ++maskImage) {
if (style & Icon::PunchEdges) {
p.save();
p.setOpacity(PunchEdgeIntensity);
p.setCompositionMode(QPainter::CompositionMode_Lighten);
smearPixmap(&p, maskToColorAndAlpha((*maskImage).first, Qt::white), PunchEdgeWidth);
p.restore();
}
p.drawPixmap(0, 0, (*maskImage).first);
}
p.end();
return result;
}
static QPixmap masksToIcon(const MasksAndColors &masks, const QPixmap &combinedMask, Icon::IconStyleOptions style)
{
QPixmap result(combinedMask.size());
result.setDevicePixelRatio(combinedMask.devicePixelRatio());
result.fill(Qt::transparent);
QPainter p(&result);
for (MasksAndColors::const_iterator maskImage = masks.constBegin();
maskImage != masks.constEnd(); ++maskImage) {
if (style & Icon::PunchEdges && maskImage != masks.constBegin()) {
// Punch a transparent outline around an overlay.
p.save();
p.setOpacity(PunchEdgeIntensity);
p.setCompositionMode(QPainter::CompositionMode_DestinationOut);
smearPixmap(&p, maskToColorAndAlpha((*maskImage).first, Qt::white), PunchEdgeWidth);
p.restore();
}
p.drawPixmap(0, 0, maskToColorAndAlpha((*maskImage).first, (*maskImage).second));
}
if (style & Icon::DropShadow) {
const QPixmap shadowMask = maskToColorAndAlpha(combinedMask, Qt::black);
p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
p.setOpacity(0.05);
p.drawPixmap(QPointF(0, -0.501), shadowMask);
p.drawPixmap(QPointF(-0.501, 0), shadowMask);
p.drawPixmap(QPointF(0.5, 0), shadowMask);
p.drawPixmap(QPointF(0.5, 0.5), shadowMask);
p.drawPixmap(QPointF(-0.501, 0.5), shadowMask);
p.setOpacity(0.2);
p.drawPixmap(0, 1, shadowMask);
}
p.end();
return result;
}
static QPixmap combinedPlainPixmaps(const QVector<IconMaskAndColor> &images)
{
QPixmap result(images.first().first);
auto pixmap = images.constBegin();
pixmap++;
for (;pixmap != images.constEnd(); ++pixmap) {
const QPixmap overlay((*pixmap).first);
result.paintEngine()->painter()->drawPixmap(0, 0, overlay);
}
return result;
}
Icon::Icon()
{
}
Icon::Icon(std::initializer_list<IconMaskAndColor> args, Icon::IconStyleOptions style)
: QVector<IconMaskAndColor>(args)
, m_style(style)
{
}
Icon::Icon(const QString &imageFileName)
: m_style(None)
{
append({imageFileName, QColor()});
}
QIcon Icon::icon() const
{
if (isEmpty()) {
return QIcon();
} else if (m_style == None) {
return QIcon(combinedPlainPixmaps(*this));
} else {
QIcon result;
const int maxDpr = qRound(qApp->devicePixelRatio());
for (int dpr = 1; dpr <= maxDpr; dpr++) {
const MasksAndColors masks = masksAndColors(*this, dpr);
const QPixmap combined_mask = combinedMask(masks, m_style);
result.addPixmap(masksToIcon(masks, combined_mask, m_style));
const QColor disabledColor = QColor::fromRgba(0x60a4a6a8);
result.addPixmap(maskToColorAndAlpha(combined_mask, disabledColor), QIcon::Disabled);
}
return result;
}
}
QPixmap Icon::pixmap() const
{
if (isEmpty()) {
return QPixmap();
} else if (m_style == None) {
return combinedPlainPixmaps(*this);
} else {
const MasksAndColors masks =
masksAndColors(*this, qRound(qApp->devicePixelRatio()));
const QPixmap combined_mask = combinedMask(masks, m_style);
return masksToIcon(masks, combined_mask, m_style);
}
}
QString Icon::imageFileName() const
{
return first().first;
}
QIcon Icon::sideBarIcon(const Icon &classic, const Icon &flat)
{
return flat.icon();
}
QIcon Icon::modeIcon(const Icon &classic, const Icon &flat, const Icon &flatActive)
{
QIcon result = sideBarIcon(classic, flat);
result.addPixmap(flatActive.pixmap(), QIcon::Active);
return result;
}
QIcon Icon::combinedIcon(const QList<QIcon> &icons)
{
QIcon result;
QWindow *window = QApplication::allWidgets().first()->windowHandle();
for (const QIcon &icon: icons)
for (const QIcon::Mode mode: {QIcon::Disabled, QIcon::Normal})
for (const QSize &size: icon.availableSizes(mode))
result.addPixmap(icon.pixmap(window, size, mode), mode);
return result;
}
} }

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@ -0,0 +1,85 @@
/****************************************************************************
**
** Copyright (C) 2016 The Qt Company Ltd.
** Contact: https://www.qt.io/licensing/
**
** This file is adapted from Qt Creator (replacing theme stuff by QColor)
**
** Commercial License Usage
** Licensees holding valid commercial Qt licenses may use this file in
** accordance with the commercial license agreement provided with the
** Software or, alternatively, in accordance with the terms contained in
** a written agreement between you and The Qt Company. For licensing terms
** and conditions see https://www.qt.io/terms-conditions. For further
** information use the contact form at https://www.qt.io/contact-us.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU
** General Public License version 3 as published by the Free Software
** Foundation with exceptions as appearing in the file LICENSE.GPL3-EXCEPT
** included in the packaging of this file. Please review the following
** information to ensure the GNU General Public License requirements will
** be met: https://www.gnu.org/licenses/gpl-3.0.html.
**
****************************************************************************/
#pragma once
#include <QPair>
#include <QVector>
class QColor;
class QIcon;
class QPixmap;
class QString;
namespace moveit_rviz_plugin { namespace utils {
typedef QPair<QString, QColor> IconMaskAndColor;
// Returns a recolored icon with shadow and custom disabled state for a
// series of grayscalemask|Theme::Color mask pairs
class Icon : public QVector<IconMaskAndColor>
{
public:
enum IconStyleOption {
None = 0,
Tint = 1,
DropShadow = 2,
PunchEdges = 4,
ToolBarStyle = Tint | DropShadow | PunchEdges,
MenuTintedStyle = Tint | PunchEdges
};
Q_DECLARE_FLAGS(IconStyleOptions, IconStyleOption)
Icon();
Icon(std::initializer_list<IconMaskAndColor> args, IconStyleOptions style = ToolBarStyle);
Icon(const QString &imageFileName);
Icon(const Icon &other) = default;
QIcon icon() const;
// Same as icon() but without disabled state.
QPixmap pixmap() const;
// Try to avoid it. it is just there for special API cases in Qt Creator
// where icons are still defined as filename.
QString imageFileName() const;
// Returns either the classic or a themed icon depending on
// the current Theme::FlatModeIcons flag.
static QIcon sideBarIcon(const Icon &classic, const Icon &flat);
// Like sideBarIcon plus added action mode for the flat icon
static QIcon modeIcon(const Icon &classic, const Icon &flat, const Icon &flatActive);
// Combined icon pixmaps in Normal and Disabled states from several QIcons
static QIcon combinedIcon(const QList<QIcon> &icons);
private:
IconStyleOptions m_style = None;
};
} }
Q_DECLARE_OPERATORS_FOR_FLAGS(moveit_rviz_plugin::utils::Icon::IconStyleOptions)