[issue #678] deleted 3d viewer and stategui of kobukiViewer

src/tools/kobukiViewer/CMakeLists.txt

@@ -13,14 +13,13 @@ if (${QT5_COMPILE} AND ${roscpp_FOUND})
     )
 
 
-    SET(HEADERS robot/robot.h gui/gui.h gui/widget/cameraswidget.h gui/widget/controlvw.h gui/widget/glwidget.h)
+    SET(HEADERS robot/robot.h gui/gui.h gui/widget/cameraswidget.h gui/widget/controlvw.h)
     SET(RESOURCES resources.qrc)
 
-	SET(SOURCE main.cpp depuratewindow.cpp 
+	SET(SOURCE main.cpp  
 				    robot/actuators.cpp robot/robot.cpp robot/sensors.cpp  
-			        pioneer/pioneer.c pioneer/pioneeropengl.c
-			        gui/gui.cpp gui/stategui.cpp gui/threadupdategui.cpp
-			        gui/widget/cameraswidget.cpp gui/widget/controlvw.cpp gui/widget/glwidget.cpp gui/widget/laserwidget.cpp
+			        gui/gui.cpp gui/threadupdategui.cpp
+			        gui/widget/cameraswidget.cpp gui/widget/controlvw.cpp gui/widget/laserwidget.cpp
 			        ${HEADERS}
 			        ${RESOURCES}
     )

src/tools/kobukiViewer/gui/gui.cpp

@@ -1,9 +1,8 @@
 #include "gui.h"
 
-GUI::GUI(Robot* robot, StateGUI *state, Ice::CommunicatorPtr ic)
+GUI::GUI(Robot* robot, Ice::CommunicatorPtr ic)
 {
 
-    this->state = state;
     this->robot = robot;
 
     QGridLayout* mainLayout = new QGridLayout();
@@ -12,12 +11,10 @@ GUI::GUI(Robot* robot, StateGUI *state, Ice::CommunicatorPtr ic)
 
 
     camerasWidget = new CamerasWidget(robot);
-    glwidget = new GLWidget(state, robot);
 
     buttonStopRobot = new QPushButton("Stop Robot");
     checkLaser = new QCheckBox("Laser");
     checkCameras = new QCheckBox("Cameras");
-    check3DWorld = new QCheckBox("3DWorld");
 
 	InfoCurrentV = new QLabel("Current v (m/s):");
 	InfoCurrentW = new QLabel("Current w (rad/s):");
@@ -28,8 +25,6 @@ GUI::GUI(Robot* robot, StateGUI *state, Ice::CommunicatorPtr ic)
     canvasVW->setIC(ic);
     laserWidget =new LaserWidget();
 
-    depurateWindow = new DepurateWindow();
-    state->setDepurateWindow(depurateWindow);
 
     int indiceFilaGui = 0;
     layoutControl->addWidget(canvasVW, 0, 0);
@@ -43,9 +38,8 @@ GUI::GUI(Robot* robot, StateGUI *state, Ice::CommunicatorPtr ic)
 	layoutButtons->addItem(item);
 
     layoutButtons->addWidget(buttonStopRobot, 2);
-    layoutButtons->addWidget(check3DWorld, 3);
-    layoutButtons->addWidget(checkCameras, 4);
-    layoutButtons->addWidget(checkLaser, 5);
+    layoutButtons->addWidget(checkCameras, 3);
+    layoutButtons->addWidget(checkLaser, 4);
 
 
 
@@ -64,19 +58,15 @@ GUI::GUI(Robot* robot, StateGUI *state, Ice::CommunicatorPtr ic)
 
     connect(canvasVW, SIGNAL(VW_changed(float,float)), this, SLOT(on_update_canvas_recieved(float, float)));
 
-    connect(check3DWorld, SIGNAL(stateChanged(int)), this, SLOT(on_checks_changed()));
     connect(checkLaser, SIGNAL(stateChanged(int)), this, SLOT(on_checks_changed()));
     connect(checkCameras, SIGNAL(stateChanged(int)), this, SLOT(on_checks_changed()));
 
     show();
 
-    depurateWindow->setVisible(false);
-
 }
 
 void GUI::on_checks_changed()
 {
-    glwidget->setVisible(check3DWorld->isChecked());
     camerasWidget->setVisible(checkCameras->isChecked());
     laserWidget->setVisible(checkLaser->isChecked());
 }
@@ -101,10 +91,8 @@ void GUI::updateThreadGUI()
 void GUI::on_updateGUI_recieved()
 {
     camerasWidget->update();
-    glwidget->updateGL();
     laserWidget->update(this->robot->getSensors()->getLaserData());
 	currentV->setText( QString::number(canvasVW->getV()));
 	currentW->setText( QString::number(canvasVW->getW()));
-    depurateWindow->update();
 }
 

src/tools/kobukiViewer/gui/gui.h

@@ -4,36 +4,28 @@
 #include <QtWidgets>
 
 #include "../robot/robot.h"
-#include "stategui.h"
 
 #include "widget/controlvw.h"
 #include "widget/cameraswidget.h"
-#include "widget/glwidget.h"
 #include "widget/laserwidget.h"
 
-#include "../depuratewindow.h"
-
 class GUI:public QWidget
 {
     Q_OBJECT
 
 public:
-    GUI(Robot* robot, StateGUI* state, Ice::CommunicatorPtr ic);
+    GUI(Robot* robot, Ice::CommunicatorPtr ic);
     void updateThreadGUI();
 
 private:
     QPushButton* buttonStopRobot;
 
     controlVW* canvasVW;
     CamerasWidget* camerasWidget;
-    GLWidget* glwidget;
     LaserWidget* laserWidget;
-    DepurateWindow* depurateWindow;
 
     Robot* robot;
-    StateGUI* state;
 
-    QCheckBox* check3DWorld;
     QCheckBox* checkCameras;
     QCheckBox* checkLaser;
 

src/tools/kobukiViewer/gui/threadupdategui.cpp

@@ -1,10 +1,10 @@
 #include "threadupdategui.h"
 
-ThreadUpdateGUI::ThreadUpdateGUI(Robot* robot, StateGUI* state, Ice::CommunicatorPtr ic)
+ThreadUpdateGUI::ThreadUpdateGUI(Robot* robot, Ice::CommunicatorPtr ic)
 {
     this->robot = robot;
 
-    gui = new GUI(robot, state, ic);
+    gui = new GUI(robot, ic);
     gui->show();
 
 }

src/tools/kobukiViewer/gui/threadupdategui.h

@@ -14,7 +14,7 @@
 class ThreadUpdateGUI: public QThread
 {
 public:
-    ThreadUpdateGUI(Robot *robot, StateGUI *state, Ice::CommunicatorPtr ic);
+    ThreadUpdateGUI(Robot *robot, Ice::CommunicatorPtr ic);
 
 private:
     GUI* gui;