keyframemodel.h

// Handles operations on keyframes
// Authors: Max Schwarz <max.schwarz@uni-bonn.de>, Dmytro Pavlichenko <dm.mark999@gmail.com>

#ifndef KEYFRAME_MODEL_H
#define KEYFRAME_MODEL_H

#include <QAbstractListModel>
#include <QItemSelection>

#include <motion_file/motionfile.h>

#include <trajectory_editor/jointperspective.h>
#include <trajectory_editor/robotdisplay.h>
#include <trajectory_editor/headerview.h>

class KeyframeModel : public QAbstractListModel
{
Q_OBJECT
public:
    typedef boost::shared_ptr<motionfile::Keyframe> KeyframePtr;
    
    explicit KeyframeModel(QObject* parent = 0);
    virtual ~KeyframeModel();
    
    int rowCount(const QModelIndex &parent = QModelIndex()) const;
    
    void removeFrame(unsigned position);
    void moveFrame(unsigned position, int direction); // Move frame from position by +1/-1 within the vector
    
    void copySelectedFrames(QModelIndexList selectedIndexes);
    void insertCopiedFrames();
    
    void setSaved();
    void setMotion(motionfile::Motion motion);
    
    joint_perspective::PerspectiveManager* getPerspectiveManager();
    
    KeyframePtr getCurrentFrameCopy();
    
    motionfile::Motion& getMotion();
    motionfile::Motion  getMotionCopy();
    std::vector<std::string> getJointList();
    
    bool hasMotion();
    bool hasUnsavedChanges();
    
Q_SIGNALS:
    void setViewSelection(int row);
    void setViewSelection(QItemSelection selection);
    void updateCurrentFileLabel(QString newTitle);
    
    void currentFrameChanged(KeyframePtr frame);
    void jointListChanged(std::vector<std::string> list);
    void perspectiveChanged(const joint_perspective::JointPerspective& perspective);
    
    void headerDataChanged(HeaderData);
    
    void gotMotion(bool); // Emmited when model got motion
    void gotRules(const std::vector<motionfile::Rule> &rules);
    
    void updateRobot(std::vector<std::string> &joint_list, std::vector<double> &joint_positions);
    void modelChanged(std::string model_path);
    
    void getInverseLimits(bool &limit, double &epsilon);

public Q_SLOTS:
    void addFrame(int row);
    void showMotionInFolder(); // Show current motion file in folder
    
    void updateHeaderData(HeaderData); // Update name, states, etc
    void updateRobotDisplay();
    
    void handleIndexChange(const QModelIndex& index);
    void handleChangeEffortForAllFrames(std::vector<int> indexes, double newEffort);
    void handleUpdateFrame();
    void handeFrameLoaded(KeyframePtr frame);
    void disableFrame(unsigned position); // Disables specified frame if its enabled, wise wersa otherwise
    
    void handleTabChange(int id);
    
    void applyRule(double delta, int rule_id);
    
private:
    int findNextID(); // Find valid ID which is not used yet
    int idToPosition(int id); // Find frame's position in vector by its ID
    void setCurrentFrame(KeyframePtr frame);
    
    KeyframePtr createFrame();
    KeyframePtr createFrame(KeyframePtr oldFrame, bool copyNameAndID = false);
    
    QVariant        data(const QModelIndex &index, int role = Qt::DisplayRole) const;
    QStringList     mimeTypes() const;
    QMimeData*      mimeData(const QModelIndexList &indexes) const;
    Qt::DropActions supportedDropActions() const;
    Qt::ItemFlags   flags(const QModelIndex &index) const;
    
    bool dropMimeData(const QMimeData *data, Qt::DropAction action, int row, int column, const QModelIndex &parent);
    bool removeRows(int row, int count, const QModelIndex &parent = QModelIndex());
    void insertRow(int row, KeyframePtr frame, const QModelIndex &parent = QModelIndex());

private:
    joint_perspective::PerspectiveManager *m_perspective_manager;

    motionfile::Motion m_motion;
    KeyframePtr m_current_frame;
    
    // Dump of motion at a time it is being loaded. Used to define if there are some changes of motion
    std::string m_canonic_dump; 
    
    bool m_has_motion;
    
    std::vector<KeyframePtr> m_copied_frames;
    std::vector<std::string> m_copied_joint_list;
};


#endif