Fix sendEvent calls

tesseract-robotics · Oct 29, 2023 · 5a4ab11 · 5a4ab11
1 parent cf9743d
commit 5a4ab11
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Showing 29 changed files with 311 additions and 230 deletions.
diff --git a/acm/demo/acm_demo.cpp b/acm/demo/acm_demo.cpp
@@ -49,7 +49,8 @@ int main(int argc, char** argv)
   entries.push_back({ "link_2", "link_3", "Adjacent" });
   entries.push_back({ "link_3", "link_4", "Adjacent" });
 
-  QApplication::sendEvent(qApp, new tesseract_gui::events::AllowedCollisionMatrixAdd(component_info, entries));
+  tesseract_gui::events::AllowedCollisionMatrixAdd event(component_info, entries);
+  QApplication::sendEvent(qApp, &event);
 
   return QApplication::exec();
 }
diff --git a/acm/src/models/allowed_collision_matrix_model.cpp b/acm/src/models/allowed_collision_matrix_model.cpp
@@ -256,13 +256,13 @@ bool AllowedCollisionMatrixModel::setData(const QModelIndex& index, const QVaria
       }
     }
 
-    QApplication::sendEvent(
-        qApp,
-        new events::SceneGraphModifyLinkVisibilityALL(data_->component_info, LinkVisibilityFlags::WIREBOX, false));
+    events::SceneGraphModifyLinkVisibilityALL event(data_->component_info, LinkVisibilityFlags::WIREBOX, false);
+    QApplication::sendEvent(qApp, &event);
     if (!links.empty())
-      QApplication::sendEvent(
-          qApp,
-          new events::SceneGraphModifyLinkVisibility(data_->component_info, links, LinkVisibilityFlags::WIREBOX, true));
+    {
+      events::SceneGraphModifyLinkVisibility event(data_->component_info, links, LinkVisibilityFlags::WIREBOX, true);
+      QApplication::sendEvent(qApp, &event);
+    }
   }
   return true;
 }

diff --git a/acm/src/widgets/add_allowed_collision_entry_dialog.cpp b/acm/src/widgets/add_allowed_collision_entry_dialog.cpp
@@ -64,7 +64,8 @@ void AddAllowedCollisionEntryDialog::accept()
   entry[2] = ui_->reasonLineEdit->text().toStdString();
   data.push_back(entry);
 
-  QApplication::sendEvent(qApp, new events::AllowedCollisionMatrixAdd(component_info_, data));
+  events::AllowedCollisionMatrixAdd event(component_info_, data);
+  QApplication::sendEvent(qApp, &event);
 }
 
 }  // namespace tesseract_gui
diff --git a/acm/src/widgets/allowed_collision_matrix_editor_widget.cpp b/acm/src/widgets/allowed_collision_matrix_editor_widget.cpp
@@ -112,7 +112,8 @@ void AllowedCollisionMatrixEditorWidget::onRemoveButtonClicked()
     if (idx.isValid() && idx.parent().isValid())
       remove.push_back({ m->data(idx.parent()).toString().toStdString(), m->data(idx).toString().toStdString() });
 
-    QApplication::sendEvent(qApp, new events::AllowedCollisionMatrixRemove(m->getComponentInfo(), remove));
+    events::AllowedCollisionMatrixRemove event(m->getComponentInfo(), remove);
+    QApplication::sendEvent(qApp, &event);
   }
 }
 
@@ -124,16 +125,17 @@ void AllowedCollisionMatrixEditorWidget::onAddButtonClicked()
 
 void AllowedCollisionMatrixEditorWidget::onGenerateButtonClicked()
 {
-  QApplication::sendEvent(
-      qApp, new events::AllowedCollisionMatrixGenerate(getComponentInfo(), ui_->resolutionSlider->value()));
+  events::AllowedCollisionMatrixGenerate event(getComponentInfo(), ui_->resolutionSlider->value());
+  QApplication::sendEvent(qApp, &event);
 }
 
 void AllowedCollisionMatrixEditorWidget::onApplyButtonClicked()
 {
   auto cmd = std::make_shared<tesseract_environment::ModifyAllowedCollisionsCommand>(
       ui_->acm_widget->getModel()->getAllowedCollisionMatrix(),
       tesseract_environment::ModifyAllowedCollisionsType::REPLACE);
-  QApplication::sendEvent(qApp, new events::EnvironmentApplyCommand(getComponentInfo(), { cmd }));
+  events::EnvironmentApplyCommand event(getComponentInfo(), { cmd });
+  QApplication::sendEvent(qApp, &event);
 }
 
 }  // namespace tesseract_gui
diff --git a/collision/src/models/contact_results_model.cpp b/collision/src/models/contact_results_model.cpp
@@ -77,21 +77,20 @@ bool ContactResultsModel::setData(const QModelIndex& index, const QVariant& valu
       auto* derived_item = static_cast<ContactResultStandardItem*>(item);
       auto* parent_item = static_cast<ContactResultVectorStandardItem*>(item->parent());
 
-      QApplication::sendEvent(qApp,
-                              new events::ContactResultsVisbility(data_->component_info,
-                                                                  parent_item->getUUID(),
-                                                                  derived_item->contact_result.getUUID(),
-                                                                  value.value<Qt::CheckState>() == Qt::Checked));
+      events::ContactResultsVisbility event(data_->component_info,
+                                            parent_item->getUUID(),
+                                            derived_item->contact_result.getUUID(),
+                                            value.value<Qt::CheckState>() == Qt::Checked);
+      QApplication::sendEvent(qApp, &event);
     }
     else if (item->type() == static_cast<int>(StandardItemType::COLLISION_CONTACT_RESULT_VECTOR))
     {
       assert(dynamic_cast<ContactResultVectorStandardItem*>(item) != nullptr);
       auto* derived_item = static_cast<ContactResultVectorStandardItem*>(item);
 
-      QApplication::sendEvent(qApp,
-                              new events::ContactResultsVisbility(data_->component_info,
-                                                                  derived_item->getUUID(),
-                                                                  value.value<Qt::CheckState>() == Qt::Checked));
+      events::ContactResultsVisbility event(
+          data_->component_info, derived_item->getUUID(), value.value<Qt::CheckState>() == Qt::Checked);
+      QApplication::sendEvent(qApp, &event);
     }
   }
   return QStandardItemModel::setData(index, value, role);

diff --git a/collision/src/widgets/contact_results_compute_widget.cpp b/collision/src/widgets/contact_results_compute_widget.cpp
@@ -63,10 +63,9 @@ void ContactResultsComputeWidget::onComputeClicked()
   config.contact_request.type =
       static_cast<tesseract_collision::ContactTestType>(ui->contact_test_type->currentIndex());
 
-  QApplication::sendEvent(
-      qApp,
-      new events::ContactResultsCompute(
-          getComponentInfo(), config, events::ContactResultsCompute::StateType::CURRENT_STATE, "Contact Results"));
+  events::ContactResultsCompute event(
+      getComponentInfo(), config, events::ContactResultsCompute::StateType::CURRENT_STATE, "Contact Results");
+  QApplication::sendEvent(qApp, &event);
 }
 
 void ContactResultsComputeWidget::ctor(std::shared_ptr<const ComponentInfo> component_info)

diff --git a/command_language/demo/command_language_demo.cpp b/command_language/demo/command_language_demo.cpp
@@ -105,7 +105,8 @@ int main(int argc, char** argv)
   tesseract_gui::CompositeInstructionWidget widget(component_info);
   widget.show();
 
-  QApplication::sendEvent(qApp, new tesseract_gui::events::CompositeInstructionSet(component_info, program, "general"));
+  tesseract_gui::events::CompositeInstructionSet event(component_info, program, "general");
+  QApplication::sendEvent(qApp, &event);
 
   return QApplication::exec();
 }
diff --git a/common/src/environment_wrapper.cpp b/common/src/environment_wrapper.cpp
@@ -144,8 +144,8 @@ void tesseractEventFilterHelper(const tesseract_environment::Event& event,
     case tesseract_environment::Events::SCENE_STATE_CHANGED:
     {
       const auto& e = static_cast<const tesseract_environment::SceneStateChangedEvent&>(event);
-      QApplication::sendEvent(qApp,
-                              new tesseract_gui::events::SceneStateChanged(env_wrapper.getComponentInfo(), e.state));
+      tesseract_gui::events::SceneStateChanged event(env_wrapper.getComponentInfo(), e.state);
+      QApplication::sendEvent(qApp, &event);
       break;
     }
   }
@@ -199,8 +199,8 @@ void eventFilterHelper(QObject* /*obj*/,
       tracked_object[contact.first] = crv;
     }
 
-    QApplication::sendEvent(
-        qApp, new tesseract_gui::events::ContactResultsSet(component_info, tracked_object, e->getNamespace()));
+    tesseract_gui::events::ContactResultsSet event(component_info, tracked_object, e->getNamespace());
+    QApplication::sendEvent(qApp, &event);
   }
   else if (event->type() == tesseract_gui::events::AllowedCollisionMatrixGenerate::kType)
   {
@@ -266,7 +266,8 @@ void eventFilterHelper(QObject* /*obj*/,
       }
     }
 
-    QApplication::sendEvent(qApp, new tesseract_gui::events::AllowedCollisionMatrixSet(component_info, acm));
+    tesseract_gui::events::AllowedCollisionMatrixSet event(component_info, acm);
+    QApplication::sendEvent(qApp, &event);
   }
   else if (event->type() == tesseract_gui::events::EnvironmentApplyCommand::kType)
   {
@@ -288,19 +289,28 @@ void broadcastHelper(const std::shared_ptr<const tesseract_gui::ComponentInfo>&
     return;
 
   // Broadcast environment data
-  QApplication::sendEvent(qApp, new tesseract_gui::events::SceneGraphSet(component_info, env.getSceneGraph()->clone()));
-  QApplication::sendEvent(qApp, new tesseract_gui::events::SceneStateChanged(component_info, env.getState()));
-  QApplication::sendEvent(qApp,
-                          new tesseract_gui::events::EnvironmentCommandsSet(component_info, env.getCommandHistory()));
-  QApplication::sendEvent(
-      qApp, new tesseract_gui::events::AllowedCollisionMatrixSet(component_info, *env.getAllowedCollisionMatrix()));
+  tesseract_gui::events::SceneGraphSet set_scene_graph_event(component_info, env.getSceneGraph()->clone());
+  QApplication::sendEvent(qApp, &set_scene_graph_event);
+
+  tesseract_gui::events::SceneStateChanged scene_state_changed_event(component_info, env.getState());
+  QApplication::sendEvent(qApp, &scene_state_changed_event);
+
+  tesseract_gui::events::EnvironmentCommandsSet set_environment_commands_event(component_info, env.getCommandHistory());
+  QApplication::sendEvent(qApp, &set_environment_commands_event);
+
+  tesseract_gui::events::AllowedCollisionMatrixSet set_acm_event(component_info, *env.getAllowedCollisionMatrix());
+  QApplication::sendEvent(qApp, &set_acm_event);
 
   auto kin_info = env.getKinematicsInformation();
-  QApplication::sendEvent(qApp,
-                          new tesseract_gui::events::KinematicGroupsSet(
-                              component_info, kin_info.chain_groups, kin_info.joint_groups, kin_info.link_groups));
-  QApplication::sendEvent(qApp, new tesseract_gui::events::GroupJointStatesSet(component_info, kin_info.group_states));
-  QApplication::sendEvent(qApp, new tesseract_gui::events::GroupTCPsSet(component_info, kin_info.group_tcps));
+  tesseract_gui::events::KinematicGroupsSet set_kin_groups_event(
+      component_info, kin_info.chain_groups, kin_info.joint_groups, kin_info.link_groups);
+  QApplication::sendEvent(qApp, &set_kin_groups_event);
+
+  tesseract_gui::events::GroupJointStatesSet set_group_joint_states_event(component_info, kin_info.group_states);
+  QApplication::sendEvent(qApp, &set_group_joint_states_event);
+
+  tesseract_gui::events::GroupTCPsSet set_group_tcps_event(component_info, kin_info.group_tcps);
+  QApplication::sendEvent(qApp, &set_group_tcps_event);
 }
 
 namespace tesseract_gui
@@ -313,12 +323,23 @@ EnvironmentWrapper::EnvironmentWrapper(std::shared_ptr<const ComponentInfo> comp
 EnvironmentWrapper::~EnvironmentWrapper()
 {
   // clear environment data
-  QApplication::sendEvent(qApp, new events::SceneGraphClear(component_info_));
-  QApplication::sendEvent(qApp, new events::EnvironmentCommandsClear(component_info_));
-  QApplication::sendEvent(qApp, new events::AllowedCollisionMatrixClear(component_info_));
-  QApplication::sendEvent(qApp, new events::KinematicGroupsClear(component_info_));
-  QApplication::sendEvent(qApp, new events::GroupJointStatesClear(component_info_));
-  QApplication::sendEvent(qApp, new events::GroupTCPsClear(component_info_));
+  events::SceneGraphClear clear_scene_graph_event(component_info_);
+  QApplication::sendEvent(qApp, &clear_scene_graph_event);
+
+  events::EnvironmentCommandsClear clear_environment_commands_event(component_info_);
+  QApplication::sendEvent(qApp, &clear_environment_commands_event);
+
+  events::AllowedCollisionMatrixClear clear_acm_event(component_info_);
+  QApplication::sendEvent(qApp, &clear_acm_event);
+
+  events::KinematicGroupsClear clear_kin_groups_event(component_info_);
+  QApplication::sendEvent(qApp, &clear_kin_groups_event);
+
+  events::GroupJointStatesClear clear_group_joint_states_event(component_info_);
+  QApplication::sendEvent(qApp, &clear_group_joint_states_event);
+
+  events::GroupTCPsClear clear_group_tcps_event(component_info_);
+  QApplication::sendEvent(qApp, &clear_group_tcps_event);
 }
 
 std::shared_ptr<const ComponentInfo> EnvironmentWrapper::getComponentInfo() const { return component_info_; }

diff --git a/joint_trajectory/demo/joint_trajectory_demo.cpp b/joint_trajectory/demo/joint_trajectory_demo.cpp
@@ -91,12 +91,20 @@ int main(int argc, char** argv)
   window.setCentralWidget(new tesseract_gui::JointTrajectoryWidget(component_info));
   window.show();
 
-  QApplication::sendEvent(qApp, new tesseract_gui::events::JointTrajectoryAdd(component_info, trajectory_set));
-  QApplication::sendEvent(qApp, new tesseract_gui::events::JointTrajectoryAdd(component_info, trajectory_set1));
-  QApplication::sendEvent(qApp, new tesseract_gui::events::JointTrajectoryAdd(component_info, trajectory_set2));
-  QApplication::sendEvent(qApp, new tesseract_gui::events::JointTrajectoryAdd(component_info, trajectory_set3));
-  QApplication::sendEvent(qApp,
-                          new tesseract_gui::events::JointTrajectoryRemove(component_info, trajectory_set2.getUUID()));
+  tesseract_gui::events::JointTrajectoryAdd event(component_info, trajectory_set);
+  QApplication::sendEvent(qApp, &event);
+
+  tesseract_gui::events::JointTrajectoryAdd event1(component_info, trajectory_set1);
+  QApplication::sendEvent(qApp, &event1);
+
+  tesseract_gui::events::JointTrajectoryAdd event2(component_info, trajectory_set2);
+  QApplication::sendEvent(qApp, &event2);
+
+  tesseract_gui::events::JointTrajectoryAdd event3(component_info, trajectory_set3);
+  QApplication::sendEvent(qApp, &event3);
+
+  tesseract_gui::events::JointTrajectoryRemove event4(component_info, trajectory_set2.getUUID());
+  QApplication::sendEvent(qApp, &event4);
 
   return QApplication::exec();
 }
diff --git a/joint_trajectory/src/models/joint_trajectory_utils.cpp b/joint_trajectory/src/models/joint_trajectory_utils.cpp
@@ -49,15 +49,18 @@ bool openJointTrajectorySet(const std::shared_ptr<const ComponentInfo>& componen
   {
     auto jts = tesseract_common::Serialization::fromArchiveFileXML<tesseract_common::JointTrajectorySet>(
         filename.toStdString());
-    QApplication::sendEvent(qApp, new events::JointTrajectoryAdd(component_info, std::move(jts)));
+
+    events::JointTrajectoryAdd event(component_info, std::move(jts));
+    QApplication::sendEvent(qApp, &event);
     return true;
   }
 
   if (suffix == "jtsb" && file_info.suffix() == "jtsb")
   {
     auto jts = tesseract_common::Serialization::fromArchiveFileBinary<tesseract_common::JointTrajectorySet>(
         filename.toStdString());
-    QApplication::sendEvent(qApp, new events::JointTrajectoryAdd(component_info, std::move(jts)));
+    events::JointTrajectoryAdd event(component_info, std::move(jts));
+    QApplication::sendEvent(qApp, &event);
     return true;
   }
 
@@ -77,7 +80,8 @@ bool openJointTrajectorySet(const std::shared_ptr<const ComponentInfo>& componen
     tesseract_common::JointTrajectorySet jts(initial_state, jt.description);
     jts.appendJointTrajectory(jt);
 
-    QApplication::sendEvent(qApp, new events::JointTrajectoryAdd(component_info, std::move(jts)));
+    events::JointTrajectoryAdd event(component_info, std::move(jts));
+    QApplication::sendEvent(qApp, &event);
     return true;
   }
 
@@ -95,7 +99,8 @@ bool openJointTrajectorySet(const std::shared_ptr<const ComponentInfo>& componen
       initial_state[jt.states.front().joint_names[i]] = jt.states.front().position[i];
 
     tesseract_common::JointTrajectorySet jts(initial_state, jt.description);
-    QApplication::sendEvent(qApp, new events::JointTrajectoryAdd(component_info, std::move(jts)));
+    events::JointTrajectoryAdd event(component_info, std::move(jts));
+    QApplication::sendEvent(qApp, &event);
     return true;
   }
 

diff --git a/joint_trajectory/src/widgets/joint_trajectory_tool_bar.cpp b/joint_trajectory/src/widgets/joint_trajectory_tool_bar.cpp
@@ -47,21 +47,26 @@ JointTrajectoryToolBar::JointTrajectoryToolBar(std::shared_ptr<const ComponentIn
 {
   data_->component_info = std::move(component_info);
   data_->remove_all_action = addAction(icons::getClearIcon(), "Remove All", [this]() {
-    QApplication::sendEvent(qApp, new events::JointTrajectoryRemoveAll(data_->component_info));
+    events::JointTrajectoryRemoveAll event(data_->component_info);
+    QApplication::sendEvent(qApp, &event);
   });
   data_->remove_action = addAction(icons::getTrashIcon(), "Remove All", [this]() {
-    QApplication::sendEvent(qApp, new events::JointTrajectoryRemoveSelected(data_->component_info));
+    events::JointTrajectoryRemoveSelected event(data_->component_info);
+    QApplication::sendEvent(qApp, &event);
   });
   addSeparator();
   data_->open_action = addAction(icons::getImportIcon(), "Open", [this]() {
-    QApplication::sendEvent(qApp, new events::JointTrajectoryOpen(data_->component_info));
+    events::JointTrajectoryOpen event(data_->component_info);
+    QApplication::sendEvent(qApp, &event);
   });
   data_->save_action = addAction(icons::getSaveIcon(), "Save", [this]() {
-    QApplication::sendEvent(qApp, new events::JointTrajectorySave(data_->component_info));
+    events::JointTrajectorySave event(data_->component_info);
+    QApplication::sendEvent(qApp, &event);
   });
   addSeparator();
   data_->plot_action = addAction(icons::getPlotIcon(), "Plot Joint Trajectory", [this]() {
-    QApplication::sendEvent(qApp, new events::JointTrajectoryPlot(data_->component_info));
+    events::JointTrajectoryPlot event(data_->component_info);
+    QApplication::sendEvent(qApp, &event);
   });
 
   data_->save_action->setDisabled(true);