include/ui/mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include "ui_mainWindow.h"
#include "ConfigFile.h"
#include "simulatedModel.h"
#include "team.h"
#include <QPixmap>
#include <QActionGroup>
#include <QGraphicsScene>
#include <QGraphicsView>
#include <QThread>


/**
* @brief Class used to attend the stop button
*
*/
class waitEnding : public QThread{
        Q_OBJECT;
public:
        team* t;
        waitEnding(team* theteam): t(theteam){};
        void run();

signals:
        void simulationFinished(bool);

};


/**
* @brief QT main window. Implements the slots for the events.
*
*/
class MainWindow : public QMainWindow, public Ui::MainWindow
{
        Q_OBJECT
private:

        int numrobots;
        ConfigFile* expConf;
        ConfigFile* scenarioConf;
        ConfigFile* slamConf;
        ConfigFile* appConf;
        simulatedModel* scene;
        team* myteam;
        slamInterface* slam;
        bool mapLoaded;
        QActionGroup* strategiesGroup;
        QGraphicsScene qscene;
        QGraphicsView view;
        double scale;
        bool scaleInitialized;
        std::vector<QGraphicsItemGroup*> robotShapes;
        waitEnding* waitTh;

        void drawRobots();
        void drawScene();


public:

        MainWindow(QWidget *parent = 0);

        ~MainWindow();

public slots:

        void randomPoses(bool checked);
        void openScenario(bool checked);
        void saveOmap(bool checked);
        void saveVmap(bool checked);
        void saveSLAMlog(bool checked);
        void saveGTlog(bool checked);
        void changeNumRobots(int n);
        void updatePoses(rposes poses);
        void updateSlam();
        void startSimulation(bool);
        void stopSimulation(bool);
        void openScenePropDiag(bool=true);
        void openRobotSetDiag(bool=true);
        void openStrategyOptDiag(bool=true);
        void openSLAMOptSetDiag(bool=true);
        void openAboutDiag(bool);
        void openAppConfigDiag(bool);
        void changeStrategy(bool=true);
        void changeSlam(bool=true);
        void sceneZoom(int newscale);

};
#endif