SelectionEvent are sent by the body tree

include/gepetto/gui/bodytreewidget.hh

@@ -59,11 +59,10 @@ namespace gepetto {
         return model_;
       }
 
-      /// Handle a selection event
-      ///
-      /// Does not re-emit a selection event when the body tree selection
-      /// is updated.
-      void handleSelectionEvent (const SelectionEvent* event);
+      void emitBodySelected (SelectionEvent* event);
+
+    signals:
+      void bodySelected (SelectionEvent* event);
 
     public slots:
       /// \addtogroup available_in_python Python API
@@ -111,6 +110,12 @@ namespace gepetto {
                            const QModelIndex &previous);
 
     private:
+      /// Handle a selection event
+      ///
+      /// Does not re-emit a selection event when the body tree selection
+      /// is updated.
+      void handleSelectionEvent (const SelectionEvent* event);
+
       QTreeView* view_;
       QStandardItemModel* model_;
       WindowsManagerPtr_t osg_;

include/gepetto/gui/osgwidget.hh

@@ -57,9 +57,6 @@ namespace gepetto {
 
         WindowsManager::WindowID windowID () const;
 
-signals:
-      void clicked (SelectionEvent* event);
-
         public slots:
         /// Load an urdf file in the viewer.
         /// \param robotName name of the robot
@@ -76,7 +73,6 @@ signals:
         void cameraManipulationMode ();
         void addFloor();
         void attachToWindow (const std::string nodeName);
-        void emitClicked (SelectionEvent* event);
 
       protected:
 

include/gepetto/gui/selection-handler.hh

@@ -78,8 +78,6 @@ namespace gepetto {
       SelectionHandler(WindowsManagerPtr_t wsm, QWidget* parent = 0);
       ~SelectionHandler();
 
-      void setParentOSG(OSGWidget* parent);
-
       SelectionMode* mode ();
 
     public slots:
@@ -95,7 +93,6 @@ namespace gepetto {
       void initWidget();
 
       std::vector<SelectionMode *> modes_;
-      OSGWidget* osg_;
       int index_;
       WindowsManagerPtr_t wsm_;
       QStringList selected_;

pyplugins/gepetto/gui/pythonwidget.py

@@ -100,10 +100,11 @@ class Plugin(QtGui.QDockWidget):
         self.main = mainWindow
         self.windowsManager = windowsManager
         mainWindow.connect('refresh()', self.refresh)
+        mainWindow.bodyTree().connect('bodySelected(SelectionEvent*)', self.selected)
 
     ### If present, this function is called when a new OSG Widget is created.
     def osgWidget(self, osgWindow):
-        osgWindow.connect('clicked(SelectionEvent*)', self.selected)
+        pass
 
     def resetConnection(self):
         self.client = Client()

src/gui/bodytreewidget.cc

@@ -132,7 +132,6 @@ namespace gepetto {
         if (matches.empty())
           view_->clearSelection();
         else {
-          qDebug() << event->modKey();
           if (event->modKey() == Qt::ControlModifier)
             view_->selectionModel()->setCurrentIndex
                 (matches.first()->index(),
@@ -147,6 +146,16 @@ namespace gepetto {
           SLOT (currentChanged(QModelIndex,QModelIndex)));
     }
 
+    void BodyTreeWidget::emitBodySelected(SelectionEvent* event)
+    {
+      emit bodySelected (event);
+      if (event->type() != SelectionEvent::FromBodyTree) {
+        MainWindow* main = MainWindow::instance();
+        handleSelectionEvent(event);
+        main->requestSelectJointFromBodyName(event->nodeName());
+      }
+    }
+
     void BodyTreeWidget::currentChanged (const QModelIndex &current,
         const QModelIndex &/*previous*/)
     {
@@ -160,7 +169,7 @@ namespace gepetto {
          );
       if (item) {
         SelectionEvent *event = new SelectionEvent(SelectionEvent::FromBodyTree, item->node(), QApplication::keyboardModifiers());
-        MainWindow::instance()->centralWidget()->emitClicked(event);
+        emit bodySelected(event);
       }
     }
 

src/gui/mainwindow.cc

@@ -244,7 +244,6 @@ namespace gepetto {
 
         osg()->addSceneToWindow("hpp-gui", centralWidget_->windowID());
         connect(ui_->actionAdd_floor, SIGNAL (triggered()), centralWidget_, SLOT (addFloor()));
-        selectionHandler_->setParentOSG(centralWidget());
       }
       osgWindows_.append(osgWidget);
     }

src/gui/osgwidget.cc

@@ -36,7 +36,6 @@
 #include <gepetto/viewer/OSGManipulator/keyboard-manipulator.h>
 
 #include <gepetto/gui/windows-manager.hh>
-#include <gepetto/gui/bodytreewidget.hh>
 #include <gepetto/gui/selection-event.hh>
 
 namespace gepetto {
@@ -180,16 +179,6 @@ namespace gepetto {
       //        wsm_->lock().unlock();
     }
 
-    void OSGWidget::emitClicked(SelectionEvent* event)
-    {
-      emit clicked (event);
-      if (event->type() != SelectionEvent::FromBodyTree) {
-        MainWindow* main = MainWindow::instance();
-        main->bodyTree()->handleSelectionEvent(event);
-        main->requestSelectJointFromBodyName(event->nodeName());
-      }
-    }
-
     void OSGWidget::onHome()
     {
       viewer_->home ();

src/gui/pick-handler.cc

@@ -89,6 +89,7 @@ namespace gepetto {
                                                                     const float &x, const float &y,
 								    int modKeyMask)
     {
+      BodyTreeWidget* bt = MainWindow::instance()->bodyTree();
       std::list<graphics::NodePtr_t> nodes;
       osgViewer::View* viewer = dynamic_cast<osgViewer::View*>( &aa );
       if( viewer )
@@ -108,7 +109,7 @@ namespace gepetto {
           camera->accept( iv );
 
           if( !intersector->containsIntersections() ) {
-            parent_->emitClicked(new SelectionEvent(SelectionEvent::FromOsgWindow, QApplication::keyboardModifiers()));
+            bt->emitBodySelected(new SelectionEvent(SelectionEvent::FromOsgWindow, QApplication::keyboardModifiers()));
             return nodes;
           }
 
@@ -125,12 +126,12 @@ namespace gepetto {
                   n,
                   mapper_.getQtModKey(modKeyMask));
               event->setupIntersection(intersection);
-              parent_->emitClicked(event);
+              bt->emitBodySelected(event);
               return nodes;
             }
           }
         }
-      parent_->emitClicked(new SelectionEvent(SelectionEvent::FromOsgWindow, QApplication::keyboardModifiers()));
+      bt->emitBodySelected(new SelectionEvent(SelectionEvent::FromOsgWindow, QApplication::keyboardModifiers()));
       return nodes;
     }
 

src/gui/selection-handler.cc

@@ -4,16 +4,16 @@
 #include <QAction>
 #include <QDebug>
 
+#include <gepetto/gui/bodytreewidget.hh>
+#include <gepetto/gui/mainwindow.hh>
 #include <gepetto/gui/selection-event.hh>
 #include <gepetto/gui/windows-manager.hh>
-#include "gepetto/gui/osgwidget.hh"
 #include "gepetto/gui/selection-handler.hh"
 
 namespace gepetto {
   namespace gui {
     SelectionHandler::SelectionHandler(WindowsManagerPtr_t wsm, QWidget *parent)
       : QComboBox(parent),
-	osg_(NULL),
 	index_(-1),
 	wsm_(wsm)
     {
@@ -24,12 +24,6 @@ namespace gepetto {
     {
     }
 
-    void SelectionHandler::setParentOSG(OSGWidget* parent)
-    {
-      osg_ = parent;
-      changeMode(currentIndex());
-    }
-
     SelectionMode* SelectionHandler::mode ()
     {
       assert(index_ >= 0 && index_ < (int)modes_.size());
@@ -38,23 +32,22 @@ namespace gepetto {
 
     void SelectionHandler::changeMode(int index)
     {
-      if (osg_ != NULL) {
-	foreach(QString name, selected_) {
-	  wsm_->setHighlight(name.toStdString(), 0);	
-	}
-	if (index_ != -1) {
-	  modes_[index_]->reset();
-	  disconnect(osg_, SIGNAL(clicked(SelectionEvent*)),
-		     modes_[index_], SLOT(onSelect(SelectionEvent*)));
-	  disconnect(modes_[index_], SIGNAL(selectedBodies(QStringList)),
-		     this, SLOT(getBodies(QStringList)));
-	}
-	index_ = index;
-	connect(osg_, SIGNAL(clicked(SelectionEvent*)),
-		modes_[index], SLOT(onSelect(SelectionEvent*)));
-	connect(modes_[index], SIGNAL(selectedBodies(QStringList)),
-		SLOT(getBodies(QStringList)));
+      BodyTreeWidget* bt = MainWindow::instance()->bodyTree();
+      foreach(QString name, selected_) {
+        wsm_->setHighlight(name.toStdString(), 0);
+      }
+      if (index_ != -1) {
+        modes_[index_]->reset();
+        disconnect(bt, SIGNAL(bodySelected(SelectionEvent*)),
+                   modes_[index_], SLOT(onSelect(SelectionEvent*)));
+        disconnect(modes_[index_], SIGNAL(selectedBodies(QStringList)),
+                   this, SLOT(getBodies(QStringList)));
       }
+      index_ = index;
+      connect(bt, SIGNAL(bodySelected(SelectionEvent*)),
+              modes_[index], SLOT(onSelect(SelectionEvent*)));
+      connect(modes_[index], SIGNAL(selectedBodies(QStringList)),
+              SLOT(getBodies(QStringList)));
     }
 
     void SelectionHandler::addMode(SelectionMode* mode)