dxlib_gui_node_displayer.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_DXLIB_GUI_NODE_DISPLAYER_H_
#define DESIGNLAB_DXLIB_GUI_NODE_DISPLAYER_H_
 
#include <array>
#include <memory>
#include <string>
#include <vector>
 
#include "abstract_dxlib_gui.h"
#include "interface_dxlib_node_setter.h"
#include "interface_hexapod_joint_calculator.h"
#include "interface_hexapod_posture_validator.h"
#include "robot_state_node.h"
#include "simple_button.h"
 
 
namespace designlab
{
 
class DxlibGuiNodeDisplayer final :
    public AbstractDxlibGui,
    public IDxlibNodeSetter
{
public:
    DxlibGuiNodeDisplayer(
      int window_x,
      int window_y,
      const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
      const std::shared_ptr<const IHexapodJointCalculator>& calculator_ptr,
      const std::shared_ptr<const IHexapodPostureValidator>& checker_ptr);
 
    void SetNode(const RobotStateNode& node) override;
 
    void Update() override;
 
    void Draw() const override;
 
private:
    enum class DisplayMode : int
    {
        kDefualt,       
        kJointState,    
        kGlobalPos,     
    };
 
    void DrawNodeInfo() const;
 
    void DrawJointInfo() const;
 
    void DrawGlobalPosInfo() const;
 
    bool IsInWindow() const;
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
 
    const std::shared_ptr<const IHexapodJointCalculator> calculator_ptr_;
    const std::shared_ptr<const IHexapodPostureValidator> checker_ptr_;
 
    RobotStateNode display_node_;  
 
    std::array<HexapodJointState, HexapodConst::kLegNum> joint_state_;
    DisplayMode display_type_;  
 
    const int window_x_, window_y_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_DXLIB_GUI_NODE_DISPLAYER_H_