controllers_widget.hpp

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 *
 *  Copyright (c) 2018, Mohamad Ayman.
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/* Author: Mohamad Ayman */
 
#pragma once
 
// Qt
#include <QHBoxLayout>
#include <QPushButton>
#include <QStackedWidget>
#include <QTreeWidget>
#include <QTreeWidgetItem>
 
// SA
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_framework/qt/double_list_widget.hpp>
#include <moveit_setup_controllers/controllers.hpp>
#include <moveit_setup_controllers/controller_edit_widget.hpp>
 
namespace moveit_setup
{
namespace controllers
{
class ControllersWidget : public SetupStepWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  void onInit() override;
 
  void changeScreen(int index);
 
  void focusGiven() override;
 
  SetupStep& getSetupStep() override
  {
    return *setup_step_;
  }
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  // Expand/Collapse Tree
  void alterTree(const QString& link);
 
  void addController();
 
  void editController();
 
  void deleteController();
 
  // Add a Follow Joint Trajectory action Controller for each Planning Group
  void addDefaultControllers();
 
  void saveControllerScreenJoints();
  void saveJointsScreen();
  bool saveControllerScreen();
  void saveControllerScreenEdit();
  void saveControllerScreenGroups();
  void saveJointsGroupsScreen();
  void cancelEditing();
 
  void editSelected();
 
  void previewSelectedJoints(const std::vector<std::string>& joints);
 
  void previewSelectedGroup(const std::vector<std::string>& groups);
 
  void previewSelected(QTreeWidgetItem* selected_item, int column);
 
  void itemSelectionChanged();
 
protected:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QTreeWidget* controllers_tree_;
  QWidget* controllers_tree_widget_;
 
  QStackedWidget* stacked_widget_;
  ControllerEditWidget* controller_edit_widget_;
 
  QPushButton* btn_delete_;
  QPushButton* btn_add_;
  QPushButton* btn_edit_;
  QHBoxLayout* controls_layout_;
  DoubleListWidget* joints_widget_;
  DoubleListWidget* joint_groups_widget_;
 
  std::string current_edit_controller_;
 
  bool adding_new_controller_;
 
  std::shared_ptr<Controllers> setup_step_;
 
  QWidget* createContentsWidget();
 
  void loadControllersTree();
  void loadToControllersTree(const ControllerInfo& controller_it);
  void showMainScreen();
  void loadJointsScreen(ControllerInfo* this_controller);
  void loadGroupsScreen(ControllerInfo* this_controller);
  void loadControllerScreen(ControllerInfo* this_controller);
};
 
}  // namespace controllers
}  // namespace moveit_setup