planning_groups_widget.hpp

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/* Author: Dave Coleman */
 
#pragma once
 
// Qt
#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_srdf_plugins/planning_groups.hpp>
#include <moveit_setup_srdf_plugins/kinematic_chain_widget.hpp>  // for kinematic chain page
#include <moveit_setup_srdf_plugins/group_edit_widget.hpp>       // for group rename page
 
// Forward Declaration (outside of namespace for Qt)
class PlanGroupType;
 
namespace moveit_setup
{
namespace srdf_setup
{
// Custom Type
enum GroupType
{
  JOINT = 1,
  LINK = 2,
  CHAIN = 3,
  SUBGROUP = 4,
  GROUP = 5
};
 
// ******************************************************************************************
// ******************************************************************************************
// CLASS
// ******************************************************************************************
// ******************************************************************************************
class PlanningGroupsWidget : 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
  // ******************************************************************************************
 
  void loadGroupsTree();
 
  void previewSelected();
 
  void editSelected();
 
  void addGroup();
 
  void saveJointsScreen();
  void saveLinksScreen();
  void saveChainScreen();
  void saveSubgroupsScreen();
  void saveGroupScreenEdit();
  void saveGroupScreenJoints();
  void saveGroupScreenLinks();
  void saveGroupScreenChain();
  void saveGroupScreenSubgroups();
 
  // Delete a group
  void deleteGroup();
 
  void cancelEditing();
 
  void alterTree(const QString& link);
 
  void previewSelectedLink(const std::vector<std::string>& links);
 
  // void previewClickedJoint( std::string name );
  void previewSelectedJoints(const std::vector<std::string>& joints);
 
  void previewSelectedSubgroup(const std::vector<std::string>& groups);
 
private:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QTreeWidget* groups_tree_;
 
  QStackedWidget* stacked_widget_;
 
  QPushButton* btn_edit_;
 
  QPushButton* btn_delete_;
 
  // Stacked Layout SUBPAGES -------------------------------------------
 
  QWidget* groups_tree_widget_;
  DoubleListWidget* joints_widget_;
  DoubleListWidget* links_widget_;
  DoubleListWidget* subgroups_widget_;
  KinematicChainWidget* chain_widget_;
  GroupEditWidget* group_edit_widget_;
 
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  PlanningGroups setup_step_;
 
  std::string current_edit_group_;
 
  int return_screen_;
 
  bool adding_new_group_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  QWidget* createContentsWidget();
 
  void loadGroupsTreeRecursive(srdf::Model::Group& group_it, QTreeWidgetItem* parent);
 
  // Load edit screen
  void loadJointsScreen(srdf::Model::Group* this_group);
  void loadLinksScreen(srdf::Model::Group* this_group);
  void loadChainScreen(srdf::Model::Group* this_group);
  void loadSubgroupsScreen(srdf::Model::Group* this_group);
  void loadGroupScreen(srdf::Model::Group* this_group);
 
  // Save group screen
  bool saveGroupScreen();
 
  void showMainScreen();
};
 
// ******************************************************************************************
// ******************************************************************************************
// Metatype Class For Holding Points to Group Parts
// ******************************************************************************************
// ******************************************************************************************
 
class PlanGroupType
{
public:
  //  explicit PlanGroupType();
  PlanGroupType()
  {
  }
  PlanGroupType(srdf::Model::Group* group, const GroupType type);
  virtual ~PlanGroupType()
  {
    ;
  }
 
  srdf::Model::Group* group_;
 
  GroupType type_;
};
 
}  // namespace srdf_setup
}  // namespace moveit_setup
 
Q_DECLARE_METATYPE(moveit_setup::srdf_setup::PlanGroupType);