mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"

#include "dependencies/json.hpp"

#include "OpenGL/widgets/A2_2Dwidget.h"
#include "OpenGL/layers/A2_2dlayer.h"
#include "solution/a2solution.h"


#include <QFileDialog>
#include <QFile>
#include <QMessageBox>

#include <QJsonArray>
#include <QJsonObject>
#include <QJsonDocument>

extern bool global_reguralizer;

using json = nlohmann::json;


MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);

    mode_group = new QActionGroup(this);
    mode_group->addAction(ui->actionSelect_and_Edit_Links);
    mode_group->addAction(ui->actionSelect_and_Edit_Joints);
    mode_group->addAction(ui->actionSelect_and_Edit_Obstacles);
    mode_group->addAction(ui->actionShowtime);
    mode_group->setExclusive(true);
}

MainWindow::~MainWindow()
{
    delete ui;
    delete mode_group;
}

void MainWindow::on_actionLoad_triggered()
{

    // Logic for file opening, putting into JSON format
    QString filename = QFileDialog::getOpenFileName(this, tr("Load scene."), "", tr("JSON File (*.json)"));

    if (filename.isEmpty())
        return;

    QFile file(filename);

    if (!file.open(QIODevice::ReadOnly)) {
        QMessageBox::information(this, tr("Unable to open file"),
            file.errorString());
        return;
    }

    QTextStream in(&file);
    QString json_data = in.readAll();
    json j = json::parse(json_data.toStdString());

    A2_2DWidget* w = ui->OpenGL;
    A2_2DLayer* l = dynamic_cast<A2_2DLayer*>(w->m_layers[0]);

    // Deletes existing structures
    for(unsigned int i =0; i<l->m_joints.size(); i++){
        // Note, deleting a joint also deletes any associated links
        delete l->m_joints[i];
        l->m_joints[i] = nullptr;
    }
    l->m_joints.clear();
    l->m_links.clear();
    for(unsigned int i =0; i<l->m_obstacles.size(); i++){
        // Note, deleting a joint also deletes any associated links
        delete l->m_obstacles[i];
        l->m_obstacles[i] = nullptr;
    }
    l->m_obstacles.clear();


    // Logic for deserialization

    // Map for efficiently creating links
    std::map<std::string, Joint2D*> id_map;

    for (auto itr = j["joints"].begin(); itr!= j["joints"].end(); itr++){
        Joint2D* joint = new Joint2D(l->m_parent);
        joint->m_id = (*itr)["id"].get<std::string>();
        id_map[joint->m_id] = joint;
        joint->set_locked((*itr)["locked"]);
        QVector2D pos((*itr)["pos_x"], (*itr)["pos_y"]);
        joint->set_position(pos);
        l->m_joints.push_back(joint);
    }
    for (auto itr = j["links"].begin(); itr!= j["links"].end(); itr++){
        Link2D* link = new Link2D(l->m_parent);
        link->m_id = (*itr)["id"].get<std::string>();
        link->set_first_joint(id_map[(*itr)["first_joint_id"]]);
        link->set_second_joint(id_map[(*itr)["second_joint_id"]]);
        link->compute(QVector2D(0,0));
        l->m_links.push_back(link);
    }
    for (auto itr = j["obstacles"].begin(); itr!= j["obstacles"].end(); itr++){
        Obstacle2D* obstacle = new Obstacle2D(l->m_parent);
        obstacle->m_id = (*itr)["id"].get<std::string>();
        QVector2D pos((*itr)["pos_x"], (*itr)["pos_y"]);
        obstacle->compute(pos, 20, 100);
        obstacle->m_color = QVector3D(1,0,0);
        l->m_obstacles.push_back(obstacle);
    }



    if(w->m_layers.size()!=0){


    }
    w->update();
}

void MainWindow::on_actionSave_triggered()
{

    // Logic for file opening
    QString filename = QFileDialog::getSaveFileName(this, tr("Save scene."), "", tr("JSON File (*.json)"));

    if (filename.isEmpty())
        return;

    QFile file(filename);
    if (!file.open(QIODevice::WriteOnly)) {
        QMessageBox::information(this, tr("Unable to open file"),
        file.errorString());
        return;
    }

    // Logic for serialization
    json j;

    A2_2DWidget* w = ui->OpenGL;
    A2_2DLayer* l = dynamic_cast<A2_2DLayer*>(w->m_layers[0]);

    j["joints"] = json::array();
    j["links"] = json::array();
    j["obstacles"] = json::array();

    for(unsigned int i =0; i<l->m_joints.size(); i++){
        Joint2D* joint = l->m_joints[i];
        json saved_joint = json::object();
        QVector2D pos = joint->get_position();
        saved_joint["pos_x"] = pos.x();
        saved_joint["pos_y"] = pos.y();
        saved_joint["id"] = joint->m_id;
        saved_joint["locked"] = joint->is_locked();
        j["joints"].push_back(saved_joint);
    }
    for(unsigned int i =0; i<l->m_links.size(); i++){
        Link2D* link = l->m_links[i];
        json saved_link = json::object();
        saved_link["id"] = link->m_id;
        saved_link["first_joint_id"] = link->get_first_joint()->m_id;
        saved_link["second_joint_id"] = link->get_second_joint()->m_id;
        j["links"].push_back(saved_link);
    }
    for(unsigned int i =0; i<l->m_obstacles.size(); i++){
        Obstacle2D* obstacle = l->m_obstacles[i];
        json saved_obstacle = json::object();
        QVector2D pos = obstacle->m_center;
        saved_obstacle["pos_x"] = pos.x();
        saved_obstacle["pos_y"] = pos.y();
        saved_obstacle["id"] = obstacle->m_id;
        j["obstacles"].push_back(saved_obstacle);
    }

    // Completes the saving process
    QString out_string = QString::fromUtf8(j.dump(4).c_str());

    QTextStream out(&file);
    out << out_string;

}

void MainWindow::on_actionReset_View_triggered()
{
    A2_2DWidget* w = ui->OpenGL;
    if(w->m_layers.size()!=0){
        w->m_layers[0]->reset_view();
    }

     w->update();
}

void MainWindow::on_actionSelect_and_Edit_Joints_triggered()
{
    A2_2DWidget* w = ui->OpenGL;
    if(w->m_layers.size()!=0){
        w->m_layers[0]->setUIMode(1);
    }

    w->update();

}

void MainWindow::on_actionSelect_and_Edit_Links_triggered()
{
    A2_2DWidget* w = ui->OpenGL;
    if(w->m_layers.size()!=0){
        w->m_layers[0]->setUIMode(2);
    }

    w->update();
}

void MainWindow::on_actionSelect_and_Edit_Obstacles_triggered()
{
    A2_2DWidget* w = ui->OpenGL;
    if(w->m_layers.size()!=0){
        w->m_layers[0]->setUIMode(3);
    }

    w->update();
}

void MainWindow::on_actionShowtime_triggered()
{
    A2_2DWidget* w = ui->OpenGL;
    if(w->m_layers.size()!=0){
        w->m_layers[0]->setUIMode(4);
    }

    w->update();

}

void MainWindow::on_actionTest_Eigen_triggered()
{
    A2Solution::test_eigen_library();
}