hpp-native-graph.hh

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// BSD 2-Clause License
 
// Copyright (c) 2025, hpp-plot
// Authors: Paul Sardin
// All rights reserved.
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
 
// * Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
 
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in
//   the documentation and/or other materials provided with the
//   distribution.
 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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// OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef HPP_PLOT_HPP_NATIVE_GRAPH_HH
#define HPP_PLOT_HPP_NATIVE_GRAPH_HH
 
#include <QMenu>
#include <QPushButton>
#include <hpp/manipulation/graph/graph.hh>
#include <hpp/plot/graph-widget.hh>
 
namespace hpp {
namespace plot {
 
class HppNativeGraphWidget : public GraphWidget {
  Q_OBJECT
 
 public:
  HppNativeGraphWidget(hpp::manipulation::graph::GraphPtr_t graph = nullptr,
                       QWidget* parent = nullptr);
 
  ~HppNativeGraphWidget();
 
  void setGraph(hpp::manipulation::graph::GraphPtr_t graph);
 
  const std::string& graphName() const { return graphName_; }
 
  bool selectionID(std::size_t& id);
 
  void highlightNode(long nodeId);
 
  void highlightEdge(long edgeId);
 
 public Q_SLOTS:
  void displayStateConstraints(std::size_t id);
 
  void displayEdgeConstraints(std::size_t id);
 
  void displayEdgeTargetConstraints(std::size_t id);
 
 Q_SIGNALS:
  void nodeContextMenuAboutToShow(std::size_t nodeId, QString nodeName,
                                  QMenu* menu);
 
  void edgeContextMenuAboutToShow(std::size_t edgeId, QString edgeName,
                                  QMenu* menu);
 
 protected:
  void fillScene() override;
 
 protected Q_SLOTS:
  void nodeContextMenu(QGVNode* node) override;
  void nodeDoubleClick(QGVNode* node) override;
  void edgeContextMenu(QGVEdge* edge) override;
  void edgeDoubleClick(QGVEdge* edge) override;
  void selectionChanged();
 
 private:
  QString getConstraints(
      const hpp::manipulation::graph::GraphComponentPtr_t& component);
 
  QString getDetailedStateConstraints(std::size_t stateId);
 
  QString getDetailedEdgeConstraints(std::size_t edgeId);
 
  QString getDetailedEdgeTargetConstraints(std::size_t edgeId);
 
  void updateEdgeStyle(QGVEdge* edge, long weight);
 
  hpp::manipulation::graph::GraphPtr_t graph_;
  std::string graphName_;
 
  struct GraphInfo {
    std::size_t id;
    QString constraintStr;
  } graphInfo_;
 
  struct NodeInfo {
    std::size_t id;
    QString name;
    QString constraintStr;
    QGVNode* node;
    bool isWaypoint;
  };
 
  struct EdgeInfo {
    std::size_t id;
    QString name;
    QString constraintStr;
    QString containingStateName;
    long weight;
    bool isShort;
    std::size_t nbWaypoints;  // Number of waypoints (0 for regular edges)
    QGVEdge* edge;
  };
 
  QMap<QGVNode*, NodeInfo> nodeInfos_;
  QMap<QGVEdge*, EdgeInfo> edgeInfos_;
  QMap<std::size_t, QGVNode*> nodes_;
  QMap<std::size_t, QGVEdge*> edges_;
 
  QPushButton* showWaypoints_;
 
  long currentId_;
 
  long highlightedNodeId_;
  long highlightedEdgeId_;
};
 
}  // namespace plot
}  // namespace hpp
 
#endif  // HPP_PLOT_HPP_NATIVE_GRAPH_HH