launches_widget.cpp

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/* Author: David V. Lu!! */
#include <moveit_setup_app_plugins/launches_widget.hpp>
#include <moveit_setup_framework/qt/helper_widgets.hpp>
 
#include <QSplitter>
 
namespace moveit_setup
{
namespace app
{
void LaunchesWidget::onInit()
{
  // Basic widget container
  QVBoxLayout* layout = new QVBoxLayout();
 
  // Top Header Area ------------------------------------------------
 
  auto header = new HeaderWidget("Configure Desired Launch Files",
                                 "Figure out which launch files you want to be generated.", this);
  layout->addWidget(header);
 
  QSplitter* splitter = new QSplitter(Qt::Horizontal, this);
  splitter->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 
  list_widget_ = new QListWidget(this);
  list_widget_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
  list_widget_->setSelectionMode(QAbstractItemView::ExtendedSelection);
  connect(list_widget_, SIGNAL(currentItemChanged(QListWidgetItem*, QListWidgetItem*)), this,
          SLOT(onNewSelectedItem(QListWidgetItem*, QListWidgetItem*)));
 
  splitter->addWidget(list_widget_);
 
  for (const LaunchBundle& lb : setup_step_.getAvailableLaunchBundles())
  {
    QListWidgetItem* item = new QListWidgetItem(QString(lb.getTitle().c_str()), list_widget_);
    item->setData(Qt::UserRole, QVariant(lb.getID()));
 
    list_widget_->addItem(item);
  }
 
  text_widget_ = new QLabel(this);
  text_widget_->setFrameShape(QFrame::StyledPanel);
  text_widget_->setFrameShadow(QFrame::Raised);
  text_widget_->setLineWidth(1);
  text_widget_->setMidLineWidth(0);
  text_widget_->setWordWrap(true);
  text_widget_->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
  text_widget_->setMinimumWidth(100);
  text_widget_->setAlignment(Qt::AlignTop);
  splitter->addWidget(text_widget_);
  layout->addWidget(splitter);
 
  // Finish Layout --------------------------------------------------
  this->setLayout(layout);
}
 
unsigned int getID(QListWidgetItem* item)
{
  QVariant data = item->data(Qt::UserRole);
  return data.toUInt();
}
 
void LaunchesWidget::focusGiven()
{
  disconnect(list_widget_, SIGNAL(itemChanged(QListWidgetItem*)), this, SLOT(changeCheckedState(QListWidgetItem*)));
  for (int i = 0; i < list_widget_->count(); ++i)
  {
    QListWidgetItem* item = list_widget_->item(i);
 
    unsigned int id = getID(item);
 
    item->setCheckState(setup_step_.getState(id) ? Qt::Checked : Qt::Unchecked);
  }
  connect(list_widget_, SIGNAL(itemChanged(QListWidgetItem*)), this, SLOT(changeCheckedState(QListWidgetItem*)));
}
 
void LaunchesWidget::onNewSelectedItem(QListWidgetItem* current, QListWidgetItem* /*previous*/)
{
  unsigned int id = getID(current);
  text_widget_->setText(setup_step_.getDescription(id).c_str());
}
 
void LaunchesWidget::changeCheckedState(QListWidgetItem* item)
{
  unsigned int id = getID(item);
  bool state = (item->checkState() == Qt::Checked);
  setup_step_.setState(id, state);
}
 
}  // namespace app
}  // namespace moveit_setup
 
#include <pluginlib/class_list_macros.hpp>  // NOLINT
PLUGINLIB_EXPORT_CLASS(moveit_setup::app::LaunchesWidget, moveit_setup::SetupStepWidget)