hpp-native-graph.hh

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// BSD 2-Clause License

// Copyright (c) 2025, hpp-plot
// Authors: Paul Sardin
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#ifndef HPP_PLOT_HPP_NATIVE_GRAPH_HH
#define HPP_PLOT_HPP_NATIVE_GRAPH_HH

#include <QMenu>
#include <QPushButton>
#include <hpp/manipulation/graph/graph.hh>
#include <hpp/plot/graph-widget.hh>

namespace hpp {
namespace plot {

class HppNativeGraphWidget : public GraphWidget {
 Q_OBJECT

 public:
 HppNativeGraphWidget(graph = nullptr,
 QWidget* parent = nullptr);

 ~HppNativeGraphWidget();

 void setGraph(graph);

 const std::string& graphName() const { return graphName_; }

 bool selectionID(std::size_t& id);

 void highlightNode(long nodeId);

 void highlightEdge(long edgeId);

 public Q_SLOTS:
 void displayStateConstraints(std::size_t id);

 void displayEdgeConstraints(std::size_t id);

 void displayEdgeTargetConstraints(std::size_t id);

 Q_SIGNALS:
 void nodeContextMenuAboutToShow(std::size_t nodeId, QString nodeName,
 QMenu* menu);

 void edgeContextMenuAboutToShow(std::size_t edgeId, QString edgeName,
 QMenu* menu);

 protected:
 void fillScene() override;

 protected Q_SLOTS:
 void nodeContextMenu(QGVNode* node) override;
 void nodeDoubleClick(QGVNode* node) override;
 void edgeContextMenu(QGVEdge* edge) override;
 void edgeDoubleClick(QGVEdge* edge) override;
 void selectionChanged();

 private:
 QString getConstraints(
 const hpp::manipulation::graph::GraphComponentPtr_t& component);

 QString getDetailedStateConstraints(std::size_t stateId);

 QString getDetailedEdgeConstraints(std::size_t edgeId);

 QString getDetailedEdgeTargetConstraints(std::size_t edgeId);

 void updateEdgeStyle(QGVEdge* edge, long weight);

 hpp::manipulation::graph::GraphPtr_t graph_;
 std::string graphName_;

 struct GraphInfo {
 std::size_t id;
 QString constraintStr;
 } graphInfo_;

 struct NodeInfo {
 std::size_t id;
 QString name;
 QString constraintStr;
 QGVNode* node;
 bool isWaypoint;
 };

 struct EdgeInfo {
 std::size_t id;
 QString name;
 QString constraintStr;
 QString containingStateName;
 long weight;
 bool isShort;
 std::size_t nbWaypoints; // Number of waypoints (0 for regular edges)
 QGVEdge* edge;
 };

 QMap<QGVNode*, NodeInfo> nodeInfos_;
 QMap<QGVEdge*, EdgeInfo> edgeInfos_;
 QMap<std::size_t, QGVNode*> nodes_;
 QMap<std::size_t, QGVEdge*> edges_;

 QPushButton* showWaypoints_;

 long currentId_;

 long highlightedNodeId_;
 long highlightedEdgeId_;
};

} // namespace plot
} // namespace hpp

#endif // HPP_PLOT_HPP_NATIVE_GRAPH_HH