component_canvas3d.h

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#pragma once
#include <map>
#include "webcface/component_view.h"
#include "webcface/geometry.h"
#include "webcface/transform.h"
#ifdef WEBCFACE_MESON
#include "webcface-config.h"
#else
#include "webcface/common/webcface-config.h"
#endif
 
WEBCFACE_NS_BEGIN
namespace message {
struct Canvas3DComponentData;
}
namespace internal {
struct TemporalCanvas3DComponentData;
}
 
enum class Canvas3DComponentType {
    geometry = 0,
    robot_model = 1,
    // scatter = 2,
};
 
class WEBCFACE_DLL Canvas3DComponent {
    std::shared_ptr<message::Canvas3DComponentData> msg_data;
    std::weak_ptr<internal::ClientData> data_w;
    SharedString id_;
 
    void checkData() const;
 
  public:
    Canvas3DComponent();
 
    Canvas3DComponent(
        const std::shared_ptr<message::Canvas3DComponentData> &msg_data,
        const std::weak_ptr<internal::ClientData> &data_w,
        const SharedString &id);
 
    StringView id() const;
    WStringView idW() const;
 
    bool operator==(const Canvas3DComponent &other) const;
    bool operator!=(const Canvas3DComponent &other) const {
        return !(*this == other);
    }
 
    Canvas3DComponentType type() const;
    Transform origin() const;
    ViewColor color() const;
    std::optional<Geometry> geometry() const;
    template <WEBCFACE_COMPLETE(RobotModel)>
    std::optional<RobotModel_> robotModel() const;
};
extern template std::optional<RobotModel>
Canvas3DComponent::robotModel<RobotModel, true>() const;
 
class WEBCFACE_DLL TemporalCanvas3DComponent {
    std::unique_ptr<internal::TemporalCanvas3DComponentData> msg_data;
 
  public:
    explicit TemporalCanvas3DComponent(std::nullptr_t = nullptr);
    explicit TemporalCanvas3DComponent(Canvas3DComponentType type);
    TemporalCanvas3DComponent(const TemporalCanvas3DComponent &other);
    TemporalCanvas3DComponent &
    operator=(const TemporalCanvas3DComponent &other);
    ~TemporalCanvas3DComponent() noexcept;
 
    std::unique_ptr<internal::TemporalCanvas3DComponentData>
    lockTmp(const std::shared_ptr<internal::ClientData> &data,
            const SharedString &view_name,
            std::unordered_map<Canvas3DComponentType, int> *idx_next = nullptr);
 
    TemporalCanvas3DComponent &id(StringInitializer id);
    TemporalCanvas3DComponent &origin(const Transform &origin) &;
    TemporalCanvas3DComponent &&origin(const Transform &origin) && {
        this->origin(origin);
        return std::move(*this);
    }
    TemporalCanvas3DComponent &color(ViewColor color) &;
    TemporalCanvas3DComponent &&color(ViewColor color) && {
        this->color(color);
        return std::move(*this);
    }
    TemporalCanvas3DComponent &geometry(const Geometry &g) &;
    TemporalCanvas3DComponent &&geometry(const Geometry &g) && {
        this->geometry(g);
        return std::move(*this);
    }
 
    TemporalCanvas3DComponent &robotModel(const RobotModel &field) &;
    TemporalCanvas3DComponent &&robotModel(const RobotModel &field) && {
        this->robotModel(field);
        return std::move(*this);
    }
    TemporalCanvas3DComponent &
    angles(const std::map<std::string, double, std::less<>> &angles) &;
    TemporalCanvas3DComponent &&
    angles(const std::map<std::string, double, std::less<>> &angles) && {
        this->angles(angles);
        return std::move(*this);
    }
 
    TemporalCanvas3DComponent &
    angles(const std::map<std::wstring, double, std::less<>> &angles) &;
    TemporalCanvas3DComponent &&
    angles(const std::map<std::wstring, double, std::less<>> &angles) && {
        this->angles(angles);
        return std::move(*this);
    }
 
    TemporalCanvas3DComponent &angle(std::string_view joint_name,
                                     double angle) &;
    TemporalCanvas3DComponent &&angle(std::string_view joint_name,
                                      double angle) && {
        this->angle(joint_name, angle);
        return std::move(*this);
    }
    TemporalCanvas3DComponent &angle(std::wstring_view joint_name,
                                     double angle) &;
    TemporalCanvas3DComponent &&angle(std::wstring_view joint_name,
                                      double angle) && {
        this->angle(joint_name, angle);
        return std::move(*this);
    }
};
 
WEBCFACE_NS_END