Allowing deletion of lift cabin vertices (#518)

Signed-off-by: tanjunkiat <tanjunkiat@outlook.sg>

rmf_traffic_editor/CMakeLists.txt

@@ -52,6 +52,7 @@ set(gui_sources
   gui/building_dialog.cpp
   gui/constraint.cpp
   gui/coordinate_system.cpp
+  gui/delete_dialog.cpp
   gui/feature.cpp
   gui/edge.cpp
   gui/editor.cpp

rmf_traffic_editor/gui/building.cpp

@@ -810,6 +810,14 @@ Lift Building::get_lift(const std::string& name) const
   return Lift();
 }
 
+void Building::purge_lift_cabin_vertices(std::string lift_name)
+{
+  for (auto& level : levels)
+  {
+    level.delete_lift_vertex(lift_name);
+  }
+}
+
 void Building::add_constraint(
   const int level_idx,
   const QUuid& a,

rmf_traffic_editor/gui/building.h

@@ -198,6 +198,8 @@ class Building
 
   Lift get_lift(const std::string& name) const;
 
+  void purge_lift_cabin_vertices(std::string lift_name);
+
 private:
   std::string filename;
 };

rmf_traffic_editor/gui/delete_dialog.cpp

@@ -0,0 +1,119 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include "delete_dialog.h"
+#include <QtWidgets>
+
+DeleteDialog::DeleteDialog(
+  QWidget* parent,
+  const Building& building,
+  int level_idx,
+  int selected_vertex_idx)
+: QDialog(parent)
+{
+
+  setWindowTitle("Warning");
+  QVBoxLayout* warning_message_vbox_layout = new QVBoxLayout;
+
+  // check if vertex is a lift cabin
+  std::vector<std::string> lift_levels;
+  const auto& level = building.levels[level_idx];
+  const auto& v = level.vertices[selected_vertex_idx];
+  auto it = v.params.find("lift_cabin");
+  if ((it != v.params.end()))
+  {
+    auto lift = building.get_lift(v.lift_cabin());
+
+    for (const auto& level_door : lift.level_doors)
+    {
+      lift_levels.push_back(level_door.first);
+    }
+
+    std::string s;
+    for (uint i = 0; i < lift_levels.size(); i++)
+    {
+      s = s + lift_levels[i];
+      if (i < lift_levels.size() - 1)
+      {
+        s = s + ", ";
+      }
+    }
+    warning_message_vbox_layout->addWidget(new QLabel(
+        QString("This item is a lift cabin and is used in %1.\n "
+        "Are you sure you want to delete this item?")
+        .arg(QString::fromStdString(s))));
+  }
+  else
+  {
+    std::string s;
+    std::map<std::string, int> edge_types;
+    for (const auto& edge : level.edges_with_vertex(selected_vertex_idx))
+    {
+      edge_types[edge.type_to_string()]++;
+    }
+    for (const auto& edge_type : edge_types)
+    {
+      s = s + " - " + std::to_string(edge_type.second) + " " + edge_type.first +
+        " edge(s) \n";
+    }
+
+    std::map<std::string, int> polygon_types;
+    for (const auto& polygon : level.polygons_with_vertex(selected_vertex_idx))
+    {
+      polygon_types[polygon.type_to_string()]++;
+    }
+    for (const auto& polygon_type : polygon_types)
+    {
+      s = s + " - " + std::to_string(polygon_type.second) + " " +
+        polygon_type.first + " polygon(s) \n";
+    }
+
+    warning_message_vbox_layout->addWidget(new QLabel(
+        QString("This item is linked to: \n%1"
+        "Are you sure you want to delete this item?")
+        .arg(QString::fromStdString(s))));
+
+  }
+
+  QHBoxLayout* bottom_buttons_layout = new QHBoxLayout;
+  _ok_button = new QPushButton("OK", this);  // first button = [enter] button
+  bottom_buttons_layout->addWidget(_ok_button);
+  connect(
+    _ok_button, &QAbstractButton::clicked,
+    this, &DeleteDialog::ok_button_clicked);
+
+  _cancel_button = new QPushButton("Cancel", this);
+  bottom_buttons_layout->addWidget(_cancel_button);
+  connect(
+    _cancel_button, &QAbstractButton::clicked,
+    this, &QDialog::reject);
+
+  QVBoxLayout* vbox_layout = new QVBoxLayout;
+  vbox_layout->addLayout(warning_message_vbox_layout);
+  vbox_layout->addLayout(bottom_buttons_layout);
+
+  setLayout(vbox_layout);
+}
+
+DeleteDialog::~DeleteDialog()
+{
+}
+
+void DeleteDialog::ok_button_clicked()
+{
+  accept();
+}

rmf_traffic_editor/gui/delete_dialog.h

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef DELETE_DIALOG_H
+#define DELETE_DIALOG_H
+
+#include <QDialog>
+#include <map>
+#include "building.h"
+
+class DeleteDialog : public QDialog
+{
+  Q_OBJECT
+
+public:
+  DeleteDialog(
+    QWidget* parent,
+    const Building& building,
+    int level_idx,
+    int selected_vertex_idx);
+  ~DeleteDialog();
+
+private:
+  QPushButton* _ok_button, * _cancel_button;
+
+private slots:
+  void ok_button_clicked();
+};
+
+#endif

rmf_traffic_editor/gui/edge.cpp

@@ -202,3 +202,8 @@ double Edge::get_width() const
     return -1.0;// shouldn't get here
   return it->second.value_double;
 }
+
+bool Edge::contains(const int idx) const
+{
+  return start_idx == idx || end_idx == idx;
+}

rmf_traffic_editor/gui/edge.h

@@ -71,6 +71,7 @@ class Edge
   int get_graph_idx() const;
 
   double get_width() const;
+  bool contains(const int idx) const;
 };
 
 #endif

rmf_traffic_editor/gui/editor.cpp

@@ -48,6 +48,7 @@
 
 #include "add_param_dialog.h"
 #include "building_dialog.h"
+#include "delete_dialog.h"
 #include "editor.h"
 #include "layer_dialog.h"
 #include "layer_table.h"
@@ -978,14 +979,49 @@ void Editor::keyPressEvent(QKeyEvent* e)
       }
       else
       {
-        QMessageBox::critical(
-          this,
-          "Could not delete item",
-          "If deleting a vertex, it must not be in any edges or polygons "
-          "or lifts. "
-          "If deleting a feature, it must not be in any constraints.");
+        // Get the selected vertex index
+        int selected_vertex_idx = -1;
+        for (int i = 0;
+          i < static_cast<int>(building.levels[level_idx].vertices.size());
+          i++)
+        {
+          if (building.levels[level_idx].vertices[i].selected)
+          {
+            selected_vertex_idx = i;
+            break;
+          }
+        }
 
-        building.clear_selection(level_idx);
+        if (selected_vertex_idx != -1)
+        {
+          DeleteDialog dialog(this, building, level_idx, selected_vertex_idx);
+          if (dialog.exec() == QDialog::Accepted)
+          {
+            // Get the selected vertex
+            const auto v =
+              building.levels[level_idx].vertices[selected_vertex_idx];
+            auto it = v.params.find("lift_cabin");
+            if ((it != v.params.end()))
+            {
+              // Remove all vertices with a lift cabin property that matches the selected vertex
+              building.purge_lift_cabin_vertices(v.lift_cabin());
+            }
+
+            building.levels[level_idx].delete_used_entities(
+              selected_vertex_idx);
+            undo_stack.push(new DeleteCommand(&building, level_idx));
+            clear_current_tool_buffer();
+            update_property_editor();
+            create_scene();
+          }
+          else
+          {
+            building.clear_selection(level_idx);
+            clear_current_tool_buffer();
+            update_property_editor();
+            create_scene();
+          }
+        }
       }
       break;
     case Qt::Key_S:

rmf_traffic_editor/gui/level.cpp

@@ -498,6 +498,35 @@ bool Level::delete_selected()
   return true;
 }
 
+bool Level::delete_used_entities(int selected_vertex_idx)
+{
+  if (selected_vertex_idx >= 0)
+  {
+    edges.erase(
+      std::remove_if(
+        edges.begin(),
+        edges.end(),
+        [selected_vertex_idx](const Edge& edge)
+        {
+          return edge.contains(selected_vertex_idx);
+        }),
+      edges.end());
+
+    polygons.erase(
+      std::remove_if(
+        polygons.begin(),
+        polygons.end(),
+        [selected_vertex_idx](const Polygon& polygon)
+        {
+          return polygon.contains_vertex(selected_vertex_idx);
+        }),
+      polygons.end());
+
+    return true;
+  }
+  return false;
+}
+
 bool Level::delete_lift_vertex(std::string lift_name)
 {
   std::vector<int> selected_vertex_idxes;
@@ -542,6 +571,28 @@ bool Level::delete_lift_vertex(std::string lift_name)
   return true;
 }
 
+std::vector<Edge> Level::edges_with_vertex(int vertex_idx) const
+{
+  std::vector<Edge> result;
+  for (const auto& edge : edges)
+  {
+    if (edge.contains(vertex_idx))
+      result.push_back(edge);
+  }
+  return result;
+}
+
+std::vector<Polygon> Level::polygons_with_vertex(int vertex_idx) const
+{
+  std::vector<Polygon> result;
+  for (const auto& polygon : polygons)
+  {
+    if (polygon.contains_vertex(vertex_idx))
+      result.push_back(polygon);
+  }
+  return result;
+}
+
 void Level::get_selected_items(
   std::vector<Level::SelectedItem>& items)
 {

rmf_traffic_editor/gui/level.h

@@ -145,7 +145,10 @@ class Level
 
   bool can_delete_current_selection();
   bool delete_selected();
+  bool delete_used_entities(int selected_vertex_idx);
   bool delete_lift_vertex(std::string lift_name);
+  std::vector<Edge> edges_with_vertex(int vertex_idx) const;
+  std::vector<Polygon> polygons_with_vertex(int vertex_idx) const;
   void calculate_scale(const CoordinateSystem& coordinate_system);
   void clear_selection();
 

rmf_traffic_editor/gui/polygon.cpp

@@ -138,3 +138,22 @@ void Polygon::create_param_if_needed(
   if (it == params.end() || it->second.type != param_type)
     params[name] = param_value;
 }
+
+bool Polygon::contains_vertex(const int vertex_idx) const
+{
+  return std::find(vertices.begin(), vertices.end(),
+      vertex_idx) != vertices.end();
+}
+
+std::string Polygon::type_to_string() const
+{
+  if (type == FLOOR)
+    return string("floor");
+  else if (type == ZONE)
+    return string("zone");
+  else if (type == ROI)
+    return string("roi");
+  else if (type == HOLE)
+    return string("hole");
+  return string("undefined");
+}

rmf_traffic_editor/gui/polygon.h

@@ -67,6 +67,9 @@ class Polygon
     const std::string& name,
     const Param::Type& param_type,
     const T& param_value);
+
+  bool contains_vertex(const int vertex_idx) const;
+  std::string type_to_string() const;
 };
 
 #endif