system_main_graph_viewer.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_SYSTEM_MAIN_GRAPH_VIEWER_H_
#define DESIGNLAB_SYSTEM_MAIN_GRAPH_VIEWER_H_
 
#include <memory>
#include <vector>
 
#include "application_setting_record.h"
#include "graph_tree_creator.h"
#include "graphic_data_broker.h"
#include "interface_map_creator.h"
#include "interface_system_main.h"
#include "map_state.h"
#include "stopwatch.h"
 
namespace designlab {
 
class SystemMainGraphViewer final : public ISystemMain {
 public:
  SystemMainGraphViewer(
      std::unique_ptr<GraphTreeCreator>&& graph_tree_creator,
      std::unique_ptr<IMapCreator>&& map_creator,
      const std::shared_ptr<GraphicDataBroker>& broker_ptr,
      const std::shared_ptr<const ApplicationSettingRecord>& setting_ptr);
 
  void Main() override;
 
 private:
  void CreateGraph(const RobotStateNode parent,
                   std::vector<RobotStateNode>* graph);
 
  void OutputGraphStatus(const std::vector<RobotStateNode>& graph) const;
 
  RobotStateNode SelectNodeByInput(
      const std::vector<RobotStateNode>& graph) const;
 
  const std::unique_ptr<GraphTreeCreator> graph_tree_creator_ptr_;
 
  const std::unique_ptr<IMapCreator> map_creator_ptr_;
 
  const std::shared_ptr<GraphicDataBroker> broker_ptr_;
 
  const std::shared_ptr<const ApplicationSettingRecord> setting_ptr_;
 
  MapState map_state_;
 
  Stopwatch stopwatch_;
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_SYSTEM_MAIN_GRAPH_VIEWER_H_