us.ihmc.scs2.sessionVisualizer.jfx.controllers.yoGraphic.YoGraphicItemCreatorDialogController Maven / Gradle / Ivy
package us.ihmc.scs2.sessionVisualizer.jfx.controllers.yoGraphic;
import javafx.beans.property.BooleanProperty;
import javafx.beans.property.SimpleBooleanProperty;
import javafx.collections.FXCollections;
import javafx.collections.ListChangeListener;
import javafx.collections.ObservableList;
import javafx.event.ActionEvent;
import javafx.fxml.FXML;
import javafx.fxml.FXMLLoader;
import javafx.scene.Node;
import javafx.scene.Scene;
import javafx.scene.control.Accordion;
import javafx.scene.control.Button;
import javafx.scene.control.TextField;
import javafx.scene.control.TitledPane;
import javafx.scene.control.Toggle;
import javafx.scene.control.ToggleButton;
import javafx.scene.control.ToggleGroup;
import javafx.scene.image.ImageView;
import javafx.scene.layout.GridPane;
import javafx.scene.layout.Pane;
import javafx.stage.Stage;
import javafx.stage.StageStyle;
import org.apache.commons.lang3.StringUtils;
import us.ihmc.scs2.definition.robot.RobotDefinition;
import us.ihmc.scs2.definition.terrain.TerrainObjectDefinition;
import us.ihmc.scs2.sessionVisualizer.jfx.SessionVisualizerIOTools;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.ReferenceFrameManager;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.ReferenceFrameWrapper;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.SessionVisualizerToolkit;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.YoManager;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.YoRobotFXManager;
import us.ihmc.scs2.sessionVisualizer.jfx.yoGraphic.*;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Collection;
import java.util.LinkedHashMap;
import java.util.Map;
import static us.ihmc.scs2.sessionVisualizer.jfx.controllers.yoGraphic.YoGraphicFXControllerTools.createAvailableYoGraphicFXItemName;
public class YoGraphicItemCreatorDialogController
{
@FXML
private Pane mainPane;
@FXML
private ToggleButton yoLineFX2DToggleButton, yoPointcloudFX2DToggleButton, yoPointFX2DToggleButton, yoPolygonFX2DToggleButton;
@FXML
private ToggleButton yoArrowFX3DToggleButton, yoBoxFX3DToggleButton, yoCapsuleFX3DToggleButton, yoConeFX3DToggleButton, yoCoordinateSystemFX3DToggleButton, yoCylinderFX3DToggleButton, yoEllipsoidFX3DToggleButton, yoPointcloudFX3DToggleButton, yoPointFX3DToggleButton, yoPolygonExtrudedFX3DToggleButton, yoConvexPolytopeFX3DToggleButton, yoPolynomialFX3DToggleButton, yoRampFX3DToggleButton, yoSTPBoxFX3DToggleButton;
@FXML
private ToggleButton yoAddRobotFXToggleButton;
@FXML
private GridPane miscPane;
@FXML
private ToggleButton yoGroupFXToggleButton;
@FXML
private TextField itemNameTextField;
@FXML
private TextField itemNamespaceTextField;
@FXML
private ImageView itemNameValidImageView;
@FXML
private Button createItemButton;
@FXML
private TitledPane graphics2DTitledPane, graphics3DTitledPane, miscTitledPane;
@FXML
private Accordion accordion;
// These ToggleButtons are created on the fly when start/stop session and added to the miscFlowPane
private final ObservableList robotCollisionsToggleButtons = FXCollections.observableArrayList();
private ToggleButton terrainCollisionsToggleButton = null;
private final ObservableList robotMassPropertiesToggleButtons = FXCollections.observableArrayList();
private final ToggleGroup toggleGroup = new ToggleGroup();
private final Stage stage = new Stage(StageStyle.UTILITY);
private final BooleanProperty itemNameValidityProperty = new SimpleBooleanProperty(this, "itemNameValidity", false);
private final BooleanProperty userValidatedProperty = new SimpleBooleanProperty(this, "userValidated", false);
private final Map> buttonToTypeMap = new LinkedHashMap<>();
private final Map, String> typeToDefaultNameMap = new LinkedHashMap<>();
private ReferenceFrameWrapper worldFrame;
private YoRobotFXManager robotFXManager;
private YoManager yoManager;
private ReferenceFrameManager referenceFrameManager;
private ObservableList sessionRobotDefinitions;
private ObservableList sessionTerrainObjectDefinitions;
private YoGroupFX parent;
public void initialize(SessionVisualizerToolkit toolkit)
{
accordion.setExpandedPane(graphics2DTitledPane);
referenceFrameManager = toolkit.getReferenceFrameManager();
worldFrame = referenceFrameManager.getWorldFrame();
robotFXManager = toolkit.getYoRobotFXManager();
yoManager = toolkit.getYoManager();
sessionRobotDefinitions = toolkit.getSessionRobotDefinitions();
sessionTerrainObjectDefinitions = toolkit.getSessionTerrainObjectDefinitions();
// Buttons to types:
// Graphic 2D:
buttonToTypeMap.put(yoLineFX2DToggleButton, YoLineFX2D.class);
buttonToTypeMap.put(yoPointcloudFX2DToggleButton, YoPointcloudFX2D.class);
buttonToTypeMap.put(yoPointFX2DToggleButton, YoPointFX2D.class);
buttonToTypeMap.put(yoPolygonFX2DToggleButton, YoPolygonFX2D.class);
// Graphic 3D:
buttonToTypeMap.put(yoArrowFX3DToggleButton, YoArrowFX3D.class);
buttonToTypeMap.put(yoBoxFX3DToggleButton, YoBoxFX3D.class);
buttonToTypeMap.put(yoCapsuleFX3DToggleButton, YoCapsuleFX3D.class);
buttonToTypeMap.put(yoConeFX3DToggleButton, YoConeFX3D.class);
buttonToTypeMap.put(yoCoordinateSystemFX3DToggleButton, YoCoordinateSystemFX3D.class);
buttonToTypeMap.put(yoCylinderFX3DToggleButton, YoCylinderFX3D.class);
buttonToTypeMap.put(yoEllipsoidFX3DToggleButton, YoEllipsoidFX3D.class);
buttonToTypeMap.put(yoPointcloudFX3DToggleButton, YoPointcloudFX3D.class);
buttonToTypeMap.put(yoPointFX3DToggleButton, YoPointFX3D.class);
buttonToTypeMap.put(yoPolygonExtrudedFX3DToggleButton, YoPolygonExtrudedFX3D.class);
buttonToTypeMap.put(yoConvexPolytopeFX3DToggleButton, YoConvexPolytopeFX3D.class);
buttonToTypeMap.put(yoPolynomialFX3DToggleButton, YoPolynomialFX3D.class);
buttonToTypeMap.put(yoRampFX3DToggleButton, YoRampFX3D.class);
buttonToTypeMap.put(yoSTPBoxFX3DToggleButton, YoSTPBoxFX3D.class);
// Misc.:
buttonToTypeMap.put(yoGroupFXToggleButton, YoGroupFX.class);
buttonToTypeMap.put(yoAddRobotFXToggleButton, YoGhostRobotFX.class);
// Default Names:
// Graphic 2D:
typeToDefaultNameMap.put(YoLineFX2D.class, "Line 2D");
typeToDefaultNameMap.put(YoPointcloudFX2D.class, "Pointcloud 2D");
typeToDefaultNameMap.put(YoPointFX2D.class, "Point 2D");
typeToDefaultNameMap.put(YoPolygonFX2D.class, "Polygon 2D");
// Graphic 3D:
typeToDefaultNameMap.put(YoArrowFX3D.class, "Arrow 3D");
typeToDefaultNameMap.put(YoBoxFX3D.class, "Box 3D");
typeToDefaultNameMap.put(YoCapsuleFX3D.class, "Capsule 3D");
typeToDefaultNameMap.put(YoConeFX3D.class, "Cone 3D");
typeToDefaultNameMap.put(YoCoordinateSystemFX3D.class, "Coordinate System 3D");
typeToDefaultNameMap.put(YoCylinderFX3D.class, "Cylinder 3D");
typeToDefaultNameMap.put(YoEllipsoidFX3D.class, "Ellipsoid 3D");
typeToDefaultNameMap.put(YoPointcloudFX3D.class, "Pointcloud 3D");
typeToDefaultNameMap.put(YoPointFX3D.class, "Point 3D");
typeToDefaultNameMap.put(YoPolygonExtrudedFX3D.class, "Polygon Extruded 3D");
typeToDefaultNameMap.put(YoConvexPolytopeFX3D.class, "Convex Polytope 3D");
typeToDefaultNameMap.put(YoPolynomialFX3D.class, "Polynomial 3D");
typeToDefaultNameMap.put(YoRampFX3D.class, "Ramp 3D");
typeToDefaultNameMap.put(YoSTPBoxFX3D.class, "STP Box 3D");
// Misc.:
typeToDefaultNameMap.put(YoGroupFX.class, "Group");
typeToDefaultNameMap.put(YoGhostRobotFX.class, "Ghost Robot");
buttonToTypeMap.keySet().forEach(button -> button.setToggleGroup(toggleGroup));
sessionRobotDefinitions.addListener((ListChangeListener) change -> refreshRobotCollisionsToggleButtons());
refreshRobotCollisionsToggleButtons();
sessionTerrainObjectDefinitions.addListener((ListChangeListener) change -> refreshTerrainCollisionsToggleButton());
refreshTerrainCollisionsToggleButton();
sessionRobotDefinitions.addListener((ListChangeListener) change -> refreshRobotMassPropertiesToggleButtons());
refreshRobotMassPropertiesToggleButtons();
toggleGroup.selectedToggleProperty().addListener((observable, oldValue, newValue) ->
{
Class newItemType;
String name;
if (robotCollisionsToggleButtons.contains(newValue))
{
newItemType = YoGroupFX.class;
name = sessionRobotDefinitions.get(robotCollisionsToggleButtons.indexOf(newValue)).getName()
+ " collisions";
}
else if (terrainCollisionsToggleButton != null && terrainCollisionsToggleButton == newValue)
{
newItemType = YoGroupFX.class;
name = "Terrain collisions";
}
else if (robotMassPropertiesToggleButtons.contains(newValue))
{
newItemType = YoGroupFX.class;
name = sessionRobotDefinitions.get(robotMassPropertiesToggleButtons.indexOf(newValue)).getName()
+ " mass properties";
}
else
{
newItemType = toItemType(newValue);
name = typeToDefaultNameMap.get(newItemType);
}
name = newItemType == null ? "" : createAvailableYoGraphicFXItemName(parent, name, newItemType);
itemNameTextField.setText(name);
itemNameValidityProperty.set(isYoGraphicFXItemNameValid(name, newItemType));
});
itemNameTextField.textProperty().addListener((observable, oldValue, newValue) ->
{
if (robotCollisionsToggleButtons.contains(toggleGroup.getSelectedToggle()))
itemNameValidityProperty.set(isYoGraphicFXItemNameValid(newValue, YoGroupFX.class));
else if (terrainCollisionsToggleButton != null
&& terrainCollisionsToggleButton == toggleGroup.getSelectedToggle())
itemNameValidityProperty.set(isYoGraphicFXItemNameValid(newValue, YoGroupFX.class));
else if (robotMassPropertiesToggleButtons.contains(toggleGroup.getSelectedToggle()))
itemNameValidityProperty.set(isYoGraphicFXItemNameValid(newValue, YoGroupFX.class));
else
itemNameValidityProperty.set(isYoGraphicFXItemNameValid(newValue,
toItemType(toggleGroup.getSelectedToggle())));
});
YoGraphicFXControllerTools.bindValidityImageView(itemNameValidityProperty, itemNameValidImageView);
createItemButton.disableProperty().bind(itemNameValidityProperty.not());
stage.initOwner(toolkit.getMainWindow());
Scene scene = new Scene(mainPane);
stage.setTitle("YoGraphicFXItem creation");
SessionVisualizerIOTools.addSCSIconToWindow(stage);
stage.setScene(scene);
}
private void refreshRobotCollisionsToggleButtons()
{
miscPane.getChildren().removeAll(robotCollisionsToggleButtons);
robotCollisionsToggleButtons.forEach(button -> button.setToggleGroup(null));
cleanupMiscPane();
robotCollisionsToggleButtons.clear();
robotCollisionsToggleButtons.addAll(sessionRobotDefinitions.stream().map(this::createRobotCollisionsToggleButton).toList());
addNodesToMiscPane(robotCollisionsToggleButtons);
robotCollisionsToggleButtons.forEach(button -> button.setToggleGroup(toggleGroup));
}
private void refreshTerrainCollisionsToggleButton()
{
if (sessionTerrainObjectDefinitions.isEmpty())
{ // There's no terrain collision, let's remove the button.
if (terrainCollisionsToggleButton != null)
{
terrainCollisionsToggleButton.setToggleGroup(null);
miscPane.getChildren().remove(terrainCollisionsToggleButton);
terrainCollisionsToggleButton = null;
cleanupMiscPane();
}
}
else
{ // There's some terrain, let's add the button.
if (terrainCollisionsToggleButton == null)
{
terrainCollisionsToggleButton = createTerrainCollisionsToggleButton();
addNodeToMiscPane(terrainCollisionsToggleButton);
terrainCollisionsToggleButton.setToggleGroup(toggleGroup);
}
}
}
private void refreshRobotMassPropertiesToggleButtons()
{
miscPane.getChildren().removeAll(robotMassPropertiesToggleButtons);
robotMassPropertiesToggleButtons.forEach(button -> button.setToggleGroup(null));
cleanupMiscPane();
robotMassPropertiesToggleButtons.clear();
robotMassPropertiesToggleButtons.addAll(sessionRobotDefinitions.stream().map(this::createRobotMassPropertiesToggleButton).toList());
addNodesToMiscPane(robotMassPropertiesToggleButtons);
robotMassPropertiesToggleButtons.forEach(button -> button.setToggleGroup(toggleGroup));
}
private void cleanupMiscPane()
{
ArrayList nodes = new ArrayList<>(miscPane.getChildren());
miscPane.getChildren().clear();
addNodesToMiscPane(nodes);
}
private void addNodesToMiscPane(Collection nodes)
{
int numberOfColumns = miscPane.getColumnConstraints().size();
int row = miscPane.getChildren().size() / numberOfColumns;
int col = miscPane.getChildren().size() % numberOfColumns;
for (Node node : nodes)
{
miscPane.add(node, col, row);
col++;
if (col >= numberOfColumns)
{
col = 0;
row++;
}
}
}
private void addNodeToMiscPane(Node node)
{
int numberOfColumns = miscPane.getColumnConstraints().size();
int row = miscPane.getChildren().size() / numberOfColumns;
int col = miscPane.getChildren().size() % numberOfColumns;
miscPane.add(node, col, row);
}
public void setParent(YoGroupFX parent)
{
this.parent = parent;
userValidatedProperty.set(false);
itemNamespaceTextField.setText(parent.getFullname());
Class itemType = toItemType(toggleGroup.getSelectedToggle());
if (itemType != null)
{
String name = itemNameTextField.getText();
if (name.trim().isEmpty())
name = typeToDefaultNameMap.get(itemType);
itemNameTextField.setText(createAvailableYoGraphicFXItemName(parent, name, itemType));
}
itemNameValidityProperty.set(isYoGraphicFXItemNameValid(itemNameTextField.getText(), itemType));
}
public void showAndWait()
{
stage.showAndWait();
}
public YoGraphicFXItem createItem()
{
if (!userValidatedProperty.get())
return null;
if (!itemNameValidityProperty.get())
return null;
if (toggleGroup.getSelectedToggle() == null)
return null;
Class itemType = toItemType(toggleGroup.getSelectedToggle());
if (itemType == YoGhostRobotFX.class)
{
YoGhostRobotFX yoGhostRobotFX = new YoGhostRobotFX(yoManager);
yoGhostRobotFX.setName(itemNameTextField.getText());
parent.addYoGraphicFX3D(yoGhostRobotFX);
return yoGhostRobotFX;
}
else if (itemType != null)
{
return YoGraphicFXControllerTools.createYoGraphicFXItemAndRegister(worldFrame, parent, itemNameTextField.getText(), itemType);
}
else if (robotCollisionsToggleButtons.contains(toggleGroup.getSelectedToggle()))
{
RobotDefinition robotDefinition = sessionRobotDefinitions.get(robotCollisionsToggleButtons.indexOf(toggleGroup.getSelectedToggle()));
YoGroupFX robotCollisionShapeDefinitions = YoGraphicTools.convertRobotCollisionShapeDefinitions(robotFXManager.getRobotRootBody(robotDefinition.getName()),
robotDefinition,
referenceFrameManager);
robotCollisionShapeDefinitions.setName(itemNameTextField.getText());
boolean success = parent.addChild(robotCollisionShapeDefinitions);
return success ? robotCollisionShapeDefinitions : null;
}
else if (terrainCollisionsToggleButton != null && terrainCollisionsToggleButton == toggleGroup.getSelectedToggle())
{
YoGroupFX terrainCollisionShapeDefinitions = YoGraphicTools.convertTerrainObjectsCollisionShapeDefinitions(worldFrame,
sessionTerrainObjectDefinitions);
terrainCollisionShapeDefinitions.setName(itemNameTextField.getText());
boolean success = parent.addChild(terrainCollisionShapeDefinitions);
return success ? terrainCollisionShapeDefinitions : null;
}
else if (robotMassPropertiesToggleButtons.contains(toggleGroup.getSelectedToggle()))
{
RobotDefinition robotDefinition = sessionRobotDefinitions.get(robotMassPropertiesToggleButtons.indexOf(toggleGroup.getSelectedToggle()));
YoGroupFX robotMassPropertiesShapeDefinitions = YoGraphicTools.convertRobotMassPropertiesShapeDefinitions(robotFXManager.getRobotRootBody(
robotDefinition.getName()), robotDefinition, referenceFrameManager);
robotMassPropertiesShapeDefinitions.setName(itemNameTextField.getText());
boolean success = parent.addChild(robotMassPropertiesShapeDefinitions);
return success ? robotMassPropertiesShapeDefinitions : null;
}
else
{
return null;
}
}
private Class toItemType(Toggle toggle)
{
if (toggle == null)
return null;
return buttonToTypeMap.get(toggle);
}
private boolean isYoGraphicFXItemNameValid(String itemName, Class itemClass)
{
if (itemName == null || itemName.isEmpty())
return false;
if (itemClass == null)
return false;
if (YoGroupFX.class.isAssignableFrom(itemClass))
return isYoGraphicFXGroupNameValid(itemName);
else if (YoGraphicFX2D.class.isAssignableFrom(itemClass))
return isYoGraphicFX2DNameValid(itemName);
else if (YoGraphicFX3D.class.isAssignableFrom(itemClass))
return isYoGraphicFX3DNameValid(itemName);
else
throw new RuntimeException("Unexpected item type: " + itemClass.getSimpleName());
}
private boolean isYoGraphicFXGroupNameValid(String itemName)
{
return !parent.containsChild(itemName);
}
private boolean isYoGraphicFX2DNameValid(String itemName)
{
return !parent.containsYoGraphicFX2D(itemName);
}
private boolean isYoGraphicFX3DNameValid(String itemName)
{
return !parent.containsYoGraphicFX3D(itemName);
}
@FXML
private void cancelAndDispose(ActionEvent event)
{
userValidatedProperty.set(false);
stage.close();
}
@FXML
private void validateItemAndDispose(ActionEvent event)
{
userValidatedProperty.set(true);
stage.close();
}
private ToggleButton createRobotCollisionsToggleButton(RobotDefinition robotdefinition)
{
FXMLLoader loader = new FXMLLoader(SessionVisualizerIOTools.YO_GRAPHIC_ROBOT_COLLISIONS_BUTTON_URL);
try
{
ToggleButton button = loader.load();
button.setText(StringUtils.capitalize(robotdefinition.getName()) + " Collisions");
return button;
}
catch (IOException e)
{
e.printStackTrace();
return null;
}
}
private ToggleButton createTerrainCollisionsToggleButton()
{
FXMLLoader loader = new FXMLLoader(SessionVisualizerIOTools.YO_GRAPHIC_TERRAIN_COLLISIONS_BUTTON_URL);
try
{
return loader.load();
}
catch (IOException e)
{
e.printStackTrace();
return null;
}
}
private ToggleButton createRobotMassPropertiesToggleButton(RobotDefinition robotdefinition)
{
FXMLLoader loader = new FXMLLoader(SessionVisualizerIOTools.YO_GRAPHIC_ROBOT_MASS_PROPERTIES_BUTTON_URL);
try
{
ToggleButton button = loader.load();
button.setText(StringUtils.capitalize(robotdefinition.getName()) + " Mass Properties");
return button;
}
catch (IOException e)
{
e.printStackTrace();
return null;
}
}
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