Program Listing for File MolaViz.h

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/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 *
 * Copyright (C) 2018-2025 Jose Luis Blanco, University of Almeria
 * Licensed under the GNU GPL v3 for non-commercial applications.
 *
 * This file is part of MOLA.
 * MOLA is free software: you can redistribute it and/or modify it under the
 * terms of the GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option) any later
 * version.
 *
 * MOLA is distributed in the hope that it will be useful, but WITHOUT ANY
 * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
 * A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with
 * MOLA. If not, see <https://www.gnu.org/licenses/>.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mola_kernel/interfaces/Dataset_UI.h>
#include <mola_kernel/interfaces/ExecutableBase.h>
#include <mola_kernel/interfaces/VizInterface.h>
#include <mrpt/gui/CDisplayWindowGUI.h>

#include <future>
#include <memory>
#include <shared_mutex>
#include <vector>

namespace mola
{
class MolaViz : public ExecutableBase, public VizInterface
{
  DEFINE_MRPT_OBJECT(MolaViz, mola)

 public:
  MolaViz();
  ~MolaViz() override;

  // See docs in base class
  void initialize(const Yaml& cfg) override;
  void spinOnce() override;

  using window_name_t    = std::string;
  using subwindow_name_t = std::string;

  const static window_name_t DEFAULT_WINDOW_NAME;

  static bool     IsRunning();
  static MolaViz* Instance();

  std::future<nanogui::Window*> create_subwindow(
      const std::string& subWindowTitle,
      const std::string& parentWindow = DEFAULT_WINDOW_NAME) override;

  std::future<void> subwindow_grid_layout(
      const std::string& subWindowTitle, const bool orientationVertical, int resolution,
      const std::string& parentWindow = DEFAULT_WINDOW_NAME) override;

  std::future<void> subwindow_move_resize(
      const std::string& subWindowTitle, const mrpt::math::TPoint2D_<int>& location,
      const mrpt::math::TPoint2D_<int>& size,
      const std::string&                parentWindow = DEFAULT_WINDOW_NAME) override;

  std::future<bool> subwindow_update_visualization(
      const mrpt::rtti::CObject::Ptr& obj, const std::string& subWindowTitle,
      const std::string& parentWindow = DEFAULT_WINDOW_NAME) override;

  std::future<bool> update_3d_object(
      const std::string& objName, const std::shared_ptr<mrpt::opengl::CSetOfObjects>& obj,
      const std::string& viewportName = "main",
      const std::string& parentWindow = DEFAULT_WINDOW_NAME) override;

  std::future<bool> update_viewport_look_at(
      const mrpt::math::TPoint3Df& lookAt, const std::string& viewportName = "main",
      const std::string& parentWindow = DEFAULT_WINDOW_NAME) override;

  std::future<bool> update_viewport_camera_azimuth(
      const double azimuth, bool absolute_falseForRelative = true,
      const std::string& viewportName = "main", const std::string& parentWindow = "main") override;

  std::future<bool> update_viewport_camera_orthographic(
      const bool orthographic, const std::string& viewportName = "main",
      const std::string& parentWindow = "main") override;

  std::future<bool> execute_custom_code_on_background_scene(
      const std::function<void(mrpt::opengl::Scene&)>& userCode,
      const std::string&                               parentWindow = "main") override;

  std::future<bool> output_console_message(
      const std::string& msg, const std::string& parentWindow = "main") override;

  std::future<void> enqueue_custom_nanogui_code(const std::function<void(void)>& userCode) override;

  using update_handler_t = std::function<void(
      const mrpt::rtti::CObject::Ptr&, nanogui::Window* subWin, window_name_t parentWin,
      MolaViz* instance)>;
  using class_name_t     = std::string;

  static void register_gui_handler(class_name_t name, update_handler_t handler);

  double       console_text_font_size_   = 9.0;
  unsigned int max_console_lines_        = 5;
  bool         show_rgbd_as_point_cloud_ = false;  // too CPU demanding!

  void markWindowForReLayout(const window_name_t& name)
  {
    guiThreadMustReLayoutTheseWindows_.insert(name);
  }

 private:
  static MolaViz*          instance_;
  static std::shared_mutex instanceMtx_;

  mrpt::gui::CDisplayWindowGUI::Ptr create_and_add_window(const window_name_t& name);

  struct PerWindowData
  {
    mrpt::gui::CDisplayWindowGUI::Ptr win;
    std::vector<std::string>          console_messages = {};
  };

  std::map<window_name_t, PerWindowData>                                windows_;
  std::map<window_name_t, std::map<subwindow_name_t, nanogui::Window*>> subWindows_;

  std::thread guiThread_;
  void        gui_thread();

  using task_queue_t = std::vector<std::function<void()>>;
  task_queue_t            guiThreadPendingTasks_;
  std::set<window_name_t> guiThreadMustReLayoutTheseWindows_;
  std::mutex              guiThreadPendingTasksMtx_;

  double lastTimeCheckForNewModules_ = 0;
  double lastTimeUpdateDatasetUIs_   = 0;
  struct DataPerDatasetUI
  {
    std::weak_ptr<mola::Dataset_UI> module;

    bool               first_time_seen    = true;
    nanogui::Window*   ui                 = nullptr;
    nanogui::Label*    lbPlaybackPosition = nullptr;
    nanogui::Slider*   slider             = nullptr;
    nanogui::CheckBox* cbPaused           = nullptr;
    nanogui::ComboBox* cmRate             = nullptr;
  };
  std::map<std::string, DataPerDatasetUI> datasetUIs_;

  void dataset_ui_check_new_modules();
  void dataset_ui_update();
};

}  // namespace mola