STransformEditor.cpp

/* ***** BEGIN LICENSE BLOCK *****
 * FW4SPL - Copyright (C) IRCAD, 2017-2018.
 * Distributed under the terms of the GNU Lesser General Public License (LGPL) as
 * published by the Free Software Foundation.
 * ****** END LICENSE BLOCK ****** */

#include "uiVisuQt/STransformEditor.hpp"

#include <fwCom/Signal.hxx>

#include <fwData/TransformationMatrix3D.hpp>

#include <fwDataTools/TransformationMatrix3D.hpp>

#include <fwGuiQt/container/QtContainer.hpp>

#include <fwServices/macros.hpp>

#include <boost/regex.hpp>

#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/mat4x4.hpp>

#include <QHBoxLayout>
#include <QLabel>
#include <QLineEdit>
#include <QSlider>
#include <QString>
#include <QVBoxLayout>

namespace uiVisuQt
{

fwServicesRegisterMacro( ::fwGui::editor::IEditor, ::uiVisuQt::STransformEditor, ::fwData::TransformationMatrix3D);

//------------------------------------------------------------------------------

STransformEditor::STransformEditor() noexcept :
    m_rotation("xyz"),
    m_translation("xyz")
{
    m_translationRange[0] = -300;
    m_translationRange[1] = +300;
    m_rotationRange[0]    = -180;
    m_rotationRange[1]    = 180;
}

//------------------------------------------------------------------------------

STransformEditor::~STransformEditor() noexcept
{

}

//------------------------------------------------------------------------------

void STransformEditor::configuring()
{
    static const ::boost::regex s_REGEX("[xyz][xyz]?[xyz]?");

    this->initialize();

    ::fwServices::IService::ConfigType config = this->getConfigTree();

    const std::string rotation = config.get< std::string >("rotation.<xmlattr>.enabled", "yes");

    if(rotation == "no")
    {
        m_rotation = "";
    }
    else if(rotation == "yes")
    {
        m_rotation = "xyz";
    }
    else if( ::boost::regex_match(rotation, s_REGEX) )
    {
        m_rotation = rotation;
    }
    else
    {
        SLM_ERROR("Attribute 'rotation' should be 'yes', 'no' or a combination of [xyz]");
    }

    m_rotationRange[0] = config.get< int >("rotation.<xmlattr>.min", m_rotationRange[0]);
    m_rotationRange[1] = config.get< int >("rotation.<xmlattr>.max", m_rotationRange[1]);

    const std::string translation = config.get< std::string >("translation.<xmlattr>.enabled", "yes");

    if(translation == "no")
    {
        m_translation = "";
    }
    else if(translation == "yes")
    {
        m_translation = "xyz";
    }
    else if( ::boost::regex_match(translation, s_REGEX) )
    {
        m_translation = translation;
    }
    else
    {
        SLM_ERROR("Attribute 'translation' should be 'yes', 'no' or a combination of [xyz]");
    }

    m_translationRange[0] = config.get< int >("translation.<xmlattr>.min", m_translationRange[0]);
    m_translationRange[1] = config.get< int >("translation.<xmlattr>.max", m_translationRange[1]);
}

//------------------------------------------------------------------------------

void STransformEditor::starting()
{
    const char* description[] = {"Translation X", "Translation Y", "Translation Z",
                                 "Rotation X", "Rotation Y", "Rotation Z"};

    this->create();
    ::fwGuiQt::container::QtContainer::sptr qtContainer =
        ::fwGuiQt::container::QtContainer::dynamicCast( this->getContainer() );

    QVBoxLayout* layout = new QVBoxLayout();

    qtContainer->setLayout( layout );

    for (unsigned int i = 0; i < MAX_SLIDER_INDEX; i++)
    {
        QHBoxLayout* sliderLayout = new QHBoxLayout();

        m_sliders[i].m_sliderValue     = new QLineEdit();
        m_sliders[i].m_labelMin        = new QLabel();
        m_sliders[i].m_labelMax        = new QLabel();
        m_sliders[i].m_labelDefinition = new QLabel();

        m_sliders[i].m_slider = new QSlider(Qt::Horizontal);
        m_sliders[i].m_slider->setTickInterval(1);

        m_sliders[i].m_labelDefinition->setText(description[i]);

        sliderLayout->addWidget( m_sliders[i].m_labelDefinition, 0);
        sliderLayout->addWidget( m_sliders[i].m_labelMin, 0);
        sliderLayout->addWidget( m_sliders[i].m_slider, 3);
        sliderLayout->addWidget( m_sliders[i].m_labelMax, 0);
        sliderLayout->addWidget( m_sliders[i].m_sliderValue, 1);

        layout->addLayout(sliderLayout, 0);
        QObject::connect(m_sliders[i].m_slider, SIGNAL(valueChanged(int)), this, SLOT(onSliderChanged(int)));
        QObject::connect(m_sliders[i].m_sliderValue, SIGNAL(editingFinished()), this, SLOT(onTextChanged()));
    }

    for (unsigned int i = POSITION_X; i <= POSITION_Z; i++)
    {
        m_sliders[i].m_labelMin->setText(std::to_string(m_translationRange[0]).c_str());
        m_sliders[i].m_labelMax->setText(std::to_string(m_translationRange[1]).c_str());
        m_sliders[i].m_slider->setRange(m_translationRange[0], m_translationRange[1]);
    }

    const char axes[] = {"xyzxyz"};

    for (unsigned int i = POSITION_X; i <= POSITION_Z; i++)
    {
        const bool visible = m_translation.find(axes[i]) != std::string::npos;
        m_sliders[i].m_sliderValue->setVisible( visible );
        m_sliders[i].m_labelMin->setVisible( visible );
        m_sliders[i].m_labelMax->setVisible( visible );
        m_sliders[i].m_labelDefinition->setVisible( visible );
        m_sliders[i].m_slider->setVisible( visible );
    }

    for (unsigned int i = ROTATION_X; i <= ROTATION_Z; i++)
    {
        m_sliders[i].m_labelMin->setText(std::to_string(m_rotationRange[0]).c_str());
        m_sliders[i].m_labelMax->setText(std::to_string(m_rotationRange[1]).c_str());
        m_sliders[i].m_slider->setRange(m_rotationRange[0], m_rotationRange[1]);
    }

    for (unsigned int i = ROTATION_X; i <= ROTATION_Z; i++)
    {
        const bool visible = m_rotation.find(axes[i]) != std::string::npos;
        m_sliders[i].m_sliderValue->setVisible( visible );
        m_sliders[i].m_labelMin->setVisible( visible );
        m_sliders[i].m_labelMax->setVisible( visible );
        m_sliders[i].m_labelDefinition->setVisible( visible );
        m_sliders[i].m_slider->setVisible( visible );
    }

    this->updateFromMatrix();
}

//------------------------------------------------------------------------------

void STransformEditor::stopping()
{
    for (unsigned int i = 0; i < MAX_SLIDER_INDEX; i++)
    {
        QObject::disconnect(m_sliders[i].m_slider, SIGNAL(valueChanged(int)), this, SLOT(onSliderChanged(int)));
        QObject::disconnect(m_sliders[i].m_sliderValue, SIGNAL(editingFinished()), this, SLOT(onTextChanged()));
    }

    this->destroy();
}

//------------------------------------------------------------------------------

void STransformEditor::updating()
{
    this->updateFromMatrix();
}

//------------------------------------------------------------------------------

void STransformEditor::onSliderChanged(int value)
{
    ::fwData::TransformationMatrix3D::sptr matrix = this->getInOut< ::fwData::TransformationMatrix3D >("matrix");

    const double rx = ::glm::radians<double>(m_sliders[ROTATION_X].m_slider->value());
    const double ry = ::glm::radians<double>(m_sliders[ROTATION_Y].m_slider->value());
    const double rz = ::glm::radians<double>(m_sliders[ROTATION_Z].m_slider->value());

    const double tx = m_sliders[POSITION_X].m_slider->value();
    const double ty = m_sliders[POSITION_Y].m_slider->value();
    const double tz = m_sliders[POSITION_Z].m_slider->value();

    ::glm::dquat quat  = ::glm::dquat(::glm::dvec3(rx, ry, rz));
    ::glm::dmat4x4 mat = ::glm::mat4_cast(quat);

    mat[3] = ::glm::dvec4(tx, ty, tz, 1.);

    ::fwDataTools::TransformationMatrix3D::setTF3DFromMatrix(matrix, mat);

    for (unsigned int i = 0; i < MAX_SLIDER_INDEX; i++)
    {
        m_sliders[i].m_sliderValue->setText(QString("%1").arg(m_sliders[i].m_slider->value()));
    }

    auto sig = matrix->signal< ::fwData::Object::ModifiedSignalType >(::fwData::Object::s_MODIFIED_SIG);
    {
        ::fwCom::Connection::Blocker block(sig->getConnection(m_slotUpdate));
        sig->asyncEmit();
    }
}

//------------------------------------------------------------------------------

void STransformEditor::onTextChanged()
{
    for (unsigned int i = 0; i < MAX_SLIDER_INDEX; i++)
    {
        QString string = m_sliders[i].m_sliderValue->text();
        m_sliders[i].m_slider->setValue(string.toInt());
    }
}

//------------------------------------------------------------------------------

void STransformEditor::updateFromMatrix()
{
    ::fwData::TransformationMatrix3D::sptr matrix = this->getInOut< ::fwData::TransformationMatrix3D >("matrix");

    SLM_ASSERT("Unable to get matrix", matrix);
    const ::glm::dmat4x4 mat = ::fwDataTools::TransformationMatrix3D::getMatrixFromTF3D(matrix);

    const ::glm::dquat quat(mat);
    const ::glm::dvec3 angles = ::glm::eulerAngles(quat);

    const ::glm::dvec4 translation = mat[3];

    // Block
    for (unsigned int i = 0; i < MAX_SLIDER_INDEX; i++)
    {
        m_sliders[i].m_slider->blockSignals(true);
        m_sliders[i].m_sliderValue->blockSignals(true);
    }

    for (::glm::length_t i = POSITION_X, j = 0; i <= POSITION_Z; i++, ++j)
    {
        m_sliders[i].m_slider->setValue(static_cast<int>(translation[j]));
    }

    for (::glm::length_t i = ROTATION_X, j = 0; i <= ROTATION_Z; i++, ++j)
    {
        m_sliders[i].m_slider->setValue(static_cast<int>(::glm::degrees<double>(angles[j])));
    }

    for (unsigned int i = 0; i < MAX_SLIDER_INDEX; i++)
    {
        m_sliders[i].m_sliderValue->setText(QString("%1").arg(m_sliders[i].m_slider->value()));
    }

    for (unsigned int i = 0; i < MAX_SLIDER_INDEX; i++)
    {
        m_sliders[i].m_slider->blockSignals(false);
        m_sliders[i].m_sliderValue->blockSignals(false);
    }
}

//------------------------------------------------------------------------------

} // namespace uiVisuQt