Merge pull request moveit#146 from v4hn/pr-master-rework-panel

rework RViz panel

Author: v4hn

visualization/motion_planning_tasks/src/local_task_model.cpp

@@ -134,6 +134,8 @@ Qt::ItemFlags LocalTaskModel::flags(const QModelIndex& index) const {
 	// dropping into containers is enabled
 	if (c && stage_factory_)
 		flags |= Qt::ItemIsDropEnabled;
+	if (index.column() == 0)
+		flags |= Qt::ItemIsEditable;  // name is editable
 	return flags;
 }
 

visualization/motion_planning_tasks/src/remote_task_model.cpp

@@ -232,13 +232,6 @@ QModelIndex RemoteTaskModel::parent(const QModelIndex& child) const {
 	return this->index(p);
 }
 
-Qt::ItemFlags RemoteTaskModel::flags(const QModelIndex& index) const {
-	Qt::ItemFlags flags = BaseTaskModel::flags(index);
-	if (index.column() == 0)
-		flags |= Qt::ItemIsEditable;  // name is editable
-	return flags;
-}
-
 QVariant RemoteTaskModel::data(const QModelIndex& index, int role) const {
 	Node* n = node(index);
 	if (!n)
@@ -495,7 +488,7 @@ QVariant RemoteSolutionModel::headerData(int section, Qt::Orientation orientatio
 						return tr("comment");
 				}
 			case Qt::TextAlignmentRole:
-				return section == 2 ? Qt::AlignLeft : Qt::AlignRight;
+				return Qt::AlignLeft;
 		}
 	}
 	return QAbstractItemModel::headerData(section, orientation, role);
@@ -509,9 +502,11 @@ QVariant RemoteSolutionModel::data(const QModelIndex& index, int role) const {
 
 	switch (role) {
 		case Qt::UserRole:
-		case Qt::ToolTipRole:
 			return item.id;
 
+		case Qt::ToolTipRole:
+			return item.comment;
+
 		case Qt::DisplayRole:
 			switch (index.column()) {
 				case 0:

visualization/motion_planning_tasks/src/remote_task_model.h

@@ -81,7 +81,6 @@ class RemoteTaskModel : public BaseTaskModel
 	QModelIndex index(int row, int column, const QModelIndex& parent = QModelIndex()) const override;
 	QModelIndex parent(const QModelIndex& index) const override;
 
-	Qt::ItemFlags flags(const QModelIndex& index) const override;
 	QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override;
 	bool setData(const QModelIndex& index, const QVariant& value, int role = Qt::EditRole) override;
 

visualization/motion_planning_tasks/src/task_list_model.cpp

@@ -2,6 +2,7 @@
  * Software License Agreement (BSD License)
  *
  *  Copyright (c) 2017, Bielefeld University
+ *  Copyright (c) 2020, Hamburg University
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -60,7 +61,7 @@ QVariant TaskListModel::horizontalHeader(int column, int role) {
 		case Qt::DisplayRole:
 			switch (column) {
 				case 0:
-					return tr("Name");
+					return tr("name");
 				case 1:
 					return tr(u8"✓");
 				case 2:
@@ -80,7 +81,7 @@ QVariant TaskListModel::horizontalHeader(int column, int role) {
 			break;
 
 		case Qt::TextAlignmentRole:
-			return column == 0 ? Qt::AlignLeft : Qt::AlignRight;
+			return Qt::AlignLeft;
 
 		case Qt::ToolTipRole:
 			switch (column) {
@@ -113,13 +114,6 @@ QVariant BaseTaskModel::data(const QModelIndex& index, int role) const {
 	return QVariant();
 }
 
-Qt::ItemFlags BaseTaskModel::flags(const QModelIndex& index) const {
-	Qt::ItemFlags flags = QAbstractItemModel::flags(index);
-	if (index.column() == 0)
-		flags |= Qt::ItemIsEditable;  // name is editable
-	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();
@@ -359,107 +353,73 @@ Qt::DropActions TaskListModel::supportedDropActions() const {
 	return Qt::CopyAction | Qt::MoveAction;
 }
 
-AutoAdjustingTreeView::AutoAdjustingTreeView(QWidget* parent) : QTreeView(parent) {
-// consider viewportSizeHint()
-#if QT_VERSION >= QT_VERSION_CHECK(5, 2, 0)
-	setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
-#endif
-}
-
-void AutoAdjustingTreeView::setStretchSection(int section) {
-	stretch_section_ = section;
-	updateGeometry();
-}
+TaskListView::TaskListView(QWidget* parent) : QTreeView(parent) {}
 
-void AutoAdjustingTreeView::setAutoHideSections(const QList<int>& sections) {
-	auto_hide_cols_ = sections;
-	updateGeometry();
+// dropping onto an item, should expand this item
+void TaskListView::dropEvent(QDropEvent* event) {
+	QModelIndex index = indexAt(event->pos());
+	QTreeView::dropEvent(event);
+	if (event->isAccepted())
+		expand(index);
 }
 
-void AutoAdjustingTreeView::setModel(QAbstractItemModel* model) {
-	size_hints_.clear();
+void TaskListView::setModel(QAbstractItemModel* model) {
 	QTreeView::setModel(model);
-
-	updateGeometry();
+	if (header()->count() >= 4) {
+		header()->setSectionResizeMode(0, QHeaderView::Stretch);
+		updateColumnWidth();
+	}
 }
 
-QSize AutoAdjustingTreeView::viewportSizeHint() const {
-	bool preferred = sizePolicy().horizontalPolicy() & QSizePolicy::ShrinkFlag;
-	auto m = model();
-	auto* h = header();
-	size_hints_.clear();
-
-	int width = 0;
-	for (int i = 0, end = m ? m->columnCount() : 0; i < end; ++i) {
-		size_hints_.push_back(h->sectionSizeHint(i));
-		if (preferred || !auto_hide_cols_.contains(i))
-			width += size_hints_.back();
+void TaskListView::dataChanged(const QModelIndex& /*topLeft*/, const QModelIndex& bottomRight,
+                               const QVector<int>& /*roles*/) {
+	if (bottomRight.column() > 0) {
+		updateColumnWidth();
 	}
+}
 
-	QSize main_size(width, sizeHintForRow(0) * ((!preferred || !m) ? 2 : m->rowCount()));
-
-	// add size for header
-	QSize header_size(0, header()->isVisible() ? header()->height() : 0);
+void TaskListView::updateColumnWidth() {
+	for (int i = 3; i > 0; --i) {
+		header()->setSectionResizeMode(i, QHeaderView::ResizeToContents);
+	}
+}
 
-	// add size for scrollbars
-	QSize scrollbars(verticalScrollBar()->isVisible() ? verticalScrollBar()->width() : 0,
-	                 horizontalScrollBar()->isVisible() ? horizontalScrollBar()->height() : 0);
+SolutionListView::SolutionListView(QWidget* parent) : QTreeView(parent) {}
 
-	return main_size + header_size + scrollbars;
+void SolutionListView::setModel(QAbstractItemModel* model) {
+	QTreeView::setModel(model);
+	updateColumnWidth();
 }
 
-void AutoAdjustingTreeView::resizeEvent(QResizeEvent* event) {
-	auto* m = model();
-	int columns = m ? m->columnCount() : 0;
-	if ((int)size_hints_.size() != columns)
-		viewportSizeHint();
-
-	// auto hide/show columns > 0, stretch last column to width
-	int available_width = event->size().width();
+void SolutionListView::dataChanged(const QModelIndex& /*topLeft*/, const QModelIndex& bottomRight,
+                                   const QVector<int>& /*roles*/) {
+	if (bottomRight.column() > 0) {
+		updateColumnWidth();
+	}
+}
 
-	int required_width = std::accumulate(size_hints_.begin(), size_hints_.end(), 0);
-	std::vector<int> width = size_hints_;
+void SolutionListView::resizeEvent(QResizeEvent* e) {
+	QTreeView::resizeEvent(e);
+	updateColumnWidth();
+}
 
-	// if required is larger than available width, try to hide some columns
-	QListIterator<int> it(auto_hide_cols_);
-	for (it.toBack(); it.hasPrevious() && required_width > available_width;) {
-		int section = it.previous();
-		required_width -= size_hints_[section];
-		width[section] = 0;
+void SolutionListView::updateColumnWidth() {
+	// do nothing if current model is not what we expect
+	if (header()->count() < 3) {
+		return;
 	}
 
-	// extend width to current column width if possible
-	for (int i = 0; i < columns; ++i) {
-		if (i == stretch_section_)
-			continue;  // ignore auto-stretch section for now
-		int delta = columnWidth(i) > 0 ? columnWidth(i) - width[i] : 0;
-		if (delta < 0 || required_width + delta <= available_width) {
-			width[i] += delta;
-			required_width += delta;
-		}
+	for (int i = 0; i < 2; ++i) {
+		header()->setSectionResizeMode(i, QHeaderView::ResizeToContents);
 	}
 
-	// stretch section if there is still space available
-	if (stretch_section_ >= 0 && stretch_section_ < (int)width.size() && width[stretch_section_] > 0 &&
-	    available_width > required_width)
-		width[stretch_section_] += available_width - required_width;
+	const int stretch_size = viewport()->size().width() - header()->sectionPosition(2);
 
-	// apply stuff
-	for (int i = 0; i < columns; ++i)
-		setColumnWidth(i, width[i]);
-}
+	const int content_size = sizeHintForColumn(2);
 
-TaskListView::TaskListView(QWidget* parent) : AutoAdjustingTreeView(parent) {
-	setStretchSection(0);
+	header()->resizeSection(2, std::max(stretch_size, content_size));
 }
 
-// dropping onto an item, should expand this item
-void TaskListView::dropEvent(QDropEvent* event) {
-	QModelIndex index = indexAt(event->pos());
-	QTreeView::dropEvent(event);
-	if (event->isAccepted())
-		expand(index);
-}
 }  // namespace moveit_rviz_plugin
 
 #include "moc_task_list_model.cpp"

visualization/motion_planning_tasks/src/task_list_model.h

@@ -2,6 +2,7 @@
  * Software License Agreement (BSD License)
  *
  *  Copyright (c) 2017, Bielefeld University
+ *  Copyright (c) 2020, Hamburg University
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -47,6 +48,7 @@
 
 #include <QAbstractItemModel>
 #include <QTreeView>
+#include <QTableView>
 #include <memory>
 #include <QPointer>
 
@@ -94,7 +96,6 @@ class BaseTaskModel : public QAbstractItemModel
 	QVariant data(const QModelIndex& index, int role) const override;
 
 	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);
 
@@ -178,34 +179,34 @@ protected Q_SLOTS:
 	void highlightStage(size_t id);
 };
 
-class AutoAdjustingTreeView : public QTreeView
+class TaskListView : public QTreeView
 {
 	Q_OBJECT
-	Q_PROPERTY(int stretchSection READ stretchSection WRITE setStretchSection)
-
-	mutable std::vector<int> size_hints_;  // size hints for sections
-	QList<int> auto_hide_cols_;  // auto-hiding sections
-	int stretch_section_ = -1;
-
 public:
-	AutoAdjustingTreeView(QWidget* parent = nullptr);
-
-	int stretchSection() const { return stretch_section_; }
-	void setStretchSection(int section);
+	TaskListView(QWidget* parent = nullptr);
 
-	void setAutoHideSections(const QList<int>& sections);
+	void dropEvent(QDropEvent* event) override;
 
 	void setModel(QAbstractItemModel* model) override;
-	QSize viewportSizeHint() const override;
-	void resizeEvent(QResizeEvent* event) override;
+	void dataChanged(const QModelIndex& topLeft, const QModelIndex& bottomRight,
+	                 const QVector<int>& roles = QVector<int>()) override;
+
+protected:
+	void updateColumnWidth();
 };
 
-class TaskListView : public AutoAdjustingTreeView
+class SolutionListView : public QTreeView
 {
 	Q_OBJECT
 public:
-	TaskListView(QWidget* parent = nullptr);
+	SolutionListView(QWidget* parent = nullptr);
 
-	void dropEvent(QDropEvent* event) override;
+	void setModel(QAbstractItemModel* model) override;
+	void dataChanged(const QModelIndex& topLeft, const QModelIndex& bottomRight,
+	                 const QVector<int>& roles = QVector<int>()) override;
+	void resizeEvent(QResizeEvent* event) override;
+
+protected:
+	void updateColumnWidth();
 };
 }  // namespace moveit_rviz_plugin