group_edit_widget.cpp

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/* Author: Dave Coleman */
 
#include <QComboBox>
#include <QFileDialog>
#include <QFormLayout>
#include <QGroupBox>
#include <QHBoxLayout>
#include <QLabel>
#include <QLineEdit>
#include <QMessageBox>
#include <QPushButton>
#include <QString>
#include <QVBoxLayout>
 
#include <moveit_setup_srdf_plugins/group_edit_widget.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
// ******************************************************************************************
//
// ******************************************************************************************
GroupEditWidget::GroupEditWidget(QWidget* parent, PlanningGroups& setup_step) : QWidget(parent), setup_step_(setup_step)
{
  // Basic widget container
  QVBoxLayout* layout = new QVBoxLayout();
 
  QGroupBox* group1 = new QGroupBox("Kinematics");
  QGroupBox* group2 = new QGroupBox("OMPL Planning");
 
  // Label ------------------------------------------------
  title_ = new QLabel(this);  // specify the title from the parent widget
  QFont group_title_font(QFont().defaultFamily(), 12, QFont::Bold);
  title_->setFont(group_title_font);
  layout->addWidget(title_);
 
  // Kinematic form -------------------------------------------
  QFormLayout* form_layout = new QFormLayout();
  form_layout->setContentsMargins(0, 12, 0, 12);
 
  // Name input
  group_name_field_ = new QLineEdit(this);
  group_name_field_->setMaximumWidth(400);
  form_layout->addRow("Group Name:", group_name_field_);
 
  // Kinematic solver
  kinematics_solver_field_ = new QComboBox(this);
  kinematics_solver_field_->setEditable(false);
  kinematics_solver_field_->setMaximumWidth(400);
  form_layout->addRow("Kinematic Solver:", kinematics_solver_field_);
 
  // resolution to use with solver
  kinematics_resolution_field_ = new QLineEdit(this);
  kinematics_resolution_field_->setMaximumWidth(400);
  form_layout->addRow("Kin. Search Resolution:", kinematics_resolution_field_);
 
  // resolution to use with solver
  kinematics_timeout_field_ = new QLineEdit(this);
  kinematics_timeout_field_->setMaximumWidth(400);
  form_layout->addRow("Kin. Search Timeout (sec):", kinematics_timeout_field_);
 
  // file to load additional parameters from
  kinematics_parameters_file_field_ = new QLineEdit(this);
  kinematics_parameters_file_field_->setMaximumWidth(400);
  QPushButton* kinematics_parameters_file_button = new QPushButton("...", this);
  kinematics_parameters_file_button->setMaximumWidth(50);
  connect(kinematics_parameters_file_button, SIGNAL(clicked()), this, SLOT(selectKinematicsFile()));
  QBoxLayout* kinematics_parameters_file_layout = new QHBoxLayout(this);
  kinematics_parameters_file_layout->addWidget(kinematics_parameters_file_field_);
  kinematics_parameters_file_layout->addWidget(kinematics_parameters_file_button);
  kinematics_parameters_file_layout->setContentsMargins(0, 0, 0, 0);
  QWidget* container = new QWidget(this);
  container->setLayout(kinematics_parameters_file_layout);
  form_layout->addRow("Kin. parameters file:", container);
 
  group1->setLayout(form_layout);
 
  // OMPL Planner form --------------------------------------------
 
  QFormLayout* form_layout2 = new QFormLayout();
  form_layout2->setContentsMargins(0, 12, 0, 12);
 
  // Kinematic default planner
  default_planner_field_ = new QComboBox(this);
  default_planner_field_->setEditable(false);
  default_planner_field_->setMaximumWidth(400);
  form_layout2->addRow("Group Default Planner:", default_planner_field_);
 
  group2->setLayout(form_layout2);
 
  layout->addWidget(group1);
  layout->addWidget(group2);
 
  layout->setAlignment(Qt::AlignTop);
 
  // New Group Options  ---------------------------------------------------------
  new_buttons_widget_ = new QWidget();
 
  QVBoxLayout* new_buttons_layout_container = new QVBoxLayout();
  QHBoxLayout* label_layout = new QHBoxLayout();
  QHBoxLayout* recommended_options = new QHBoxLayout();
  QHBoxLayout* advanced_options = new QHBoxLayout();
 
  QLabel* save_and_add = new QLabel("Next, Add Components To Group:", this);
  QFont save_and_add_font(QFont().defaultFamily(), 12, QFont::Bold);
  save_and_add->setFont(save_and_add_font);
  label_layout->addWidget(save_and_add);
 
  // Recommended options
  QLabel* add_subtitle = new QLabel("Recommended: ", this);
  QFont add_subtitle_font(QFont().defaultFamily(), 10, QFont::Bold);
  add_subtitle->setFont(add_subtitle_font);
  recommended_options->addWidget(add_subtitle, 0, Qt::AlignLeft);
 
  // Save and add chain
  QPushButton* btn_save_chain = new QPushButton("Add Kin. Chain", this);
  btn_save_chain->setMaximumWidth(200);
  connect(btn_save_chain, SIGNAL(clicked()), this, SIGNAL(saveChain()));
  recommended_options->addWidget(btn_save_chain);
 
  // Save and add joints
  QPushButton* btn_save_joints = new QPushButton("Add Joints", this);
  btn_save_joints->setMaximumWidth(200);
  connect(btn_save_joints, SIGNAL(clicked()), this, SIGNAL(saveJoints()));
  recommended_options->addWidget(btn_save_joints);
 
  // Advanced options
  QLabel* add_subtitle2 = new QLabel("Advanced Options:", this);
  add_subtitle2->setFont(add_subtitle_font);
  advanced_options->addWidget(add_subtitle2, 0, Qt::AlignLeft);
 
  // Save and add subgroups
  QPushButton* btn_save_subgroups = new QPushButton("Add Subgroups", this);
  btn_save_subgroups->setMaximumWidth(200);
  connect(btn_save_subgroups, SIGNAL(clicked()), this, SIGNAL(saveSubgroups()));
  advanced_options->addWidget(btn_save_subgroups);
 
  // Save and add links
  QPushButton* btn_save_links = new QPushButton("Add Links", this);
  btn_save_links->setMaximumWidth(200);
  connect(btn_save_links, SIGNAL(clicked()), this, SIGNAL(saveLinks()));
  advanced_options->addWidget(btn_save_links);
 
  // Add layouts
  new_buttons_layout_container->addLayout(label_layout);
  new_buttons_layout_container->addLayout(recommended_options);
  new_buttons_layout_container->addLayout(advanced_options);
 
  // Create widget and add to main layout
  new_buttons_widget_->setLayout(new_buttons_layout_container);
  layout->addWidget(new_buttons_widget_);
 
  // Vertical Spacer
  layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Minimum, QSizePolicy::Expanding));
 
  // Bottom Controls ---------------------------------------------------------
  QHBoxLayout* controls_layout = new QHBoxLayout();
 
  // Delete
  btn_delete_ = new QPushButton("&Delete Group", this);
  btn_delete_->setMaximumWidth(200);
  connect(btn_delete_, SIGNAL(clicked()), this, SIGNAL(deleteGroup()));
  controls_layout->addWidget(btn_delete_);
  controls_layout->setAlignment(btn_delete_, Qt::AlignRight);
 
  // Horizontal Spacer
  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
  // Save
  btn_save_ = new QPushButton("&Save", this);
  btn_save_->setMaximumWidth(200);
  connect(btn_save_, SIGNAL(clicked()), this, SIGNAL(save()));
  controls_layout->addWidget(btn_save_);
  controls_layout->setAlignment(btn_save_, Qt::AlignRight);
 
  // Cancel
  QPushButton* btn_cancel = new QPushButton("&Cancel", this);
  btn_cancel->setMaximumWidth(200);
  connect(btn_cancel, SIGNAL(clicked()), this, SIGNAL(cancelEditing()));
  controls_layout->addWidget(btn_cancel);
  controls_layout->setAlignment(btn_cancel, Qt::AlignRight);
 
  // Add layout
  layout->addLayout(controls_layout);
 
  // Finish Layout --------------------------------------------------
  setLayout(layout);
}
 
// ******************************************************************************************
// Set the link field with previous value
// ******************************************************************************************
void GroupEditWidget::setSelected(const std::string& group_name, const GroupMetaData& meta_data)
{
  group_name_field_->setText(QString(group_name.c_str()));
 
  // Load properties from moveit_config_data.cpp ----------------------------------------------
 
  // Load resolution
  kinematics_resolution_field_->setText(QString::number(meta_data.kinematics_solver_search_resolution_));
 
  // Load timeout
  kinematics_timeout_field_->setText(QString::number(meta_data.kinematics_solver_timeout_));
 
  // Set kin solver
  std::string kin_solver = meta_data.kinematics_solver_;
 
  // If this group doesn't have a solver, reset it to 'None'
  if (kin_solver.empty())
  {
    kin_solver = "None";
  }
 
  // Set the kin solver combo box
  int index = kinematics_solver_field_->findText(kin_solver.c_str());
  if (index == -1)
  {
    QMessageBox::warning(this, "Missing Kinematic Solvers",
                         QString("Unable to find the kinematic solver '")
                             .append(kin_solver.c_str())
                             .append("'. Trying running rosmake for this package. Until fixed, this setting will be "
                                     "lost the next time the MoveIt configuration files are generated"));
    return;
  }
  else
  {
    kinematics_solver_field_->setCurrentIndex(index);
  }
 
  kinematics_parameters_file_field_->setText(meta_data.kinematics_parameters_file_.c_str());
 
  // Set default planner
  std::string default_planner = meta_data.default_planner_;
 
  // If this group doesn't have a solver, reset it to 'None'
  if (default_planner.empty())
  {
    default_planner = "None";
  }
 
  index = default_planner_field_->findText(default_planner.c_str());
  if (index == -1)
  {
    QMessageBox::warning(this, "Missing Default Planner",
                         QString("Unable to find the default planner '%1'").arg(default_planner.c_str()));
  }
  else
  {
    default_planner_field_->setCurrentIndex(index);
  }
}
 
// ******************************************************************************************
// Populate the combo dropdown box with kinematic planners
// ******************************************************************************************
void GroupEditWidget::loadKinematicPlannersComboBox()
{
  // Only load this combo box once
  static bool has_loaded = false;
  if (has_loaded)
    return;
  has_loaded = true;
 
  // Remove all old items
  kinematics_solver_field_->clear();
  default_planner_field_->clear();
 
  // Add none option, the default
  kinematics_solver_field_->addItem("None");
  default_planner_field_->addItem("None");
 
  std::vector<std::string> classes;
  try
  {
    classes = setup_step_.getKinematicPlanners();
  }
  catch (const std::runtime_error& ex)
  {
    QMessageBox::warning(this, "Missing Kinematic Solvers", QString(ex.what()));
    RCLCPP_ERROR_STREAM(setup_step_.getLogger(), ex.what());
    return;
  }
 
  // Loop through all planners and add to combo box
  for (const std::string& kinematics_plugin_name : classes)
  {
    kinematics_solver_field_->addItem(kinematics_plugin_name.c_str());
  }
 
  for (const std::string& planner_name : setup_step_.getOMPLPlanners())
  {
    default_planner_field_->addItem(planner_name.c_str());
  }
}
 
void GroupEditWidget::selectKinematicsFile()
{
  QString filename = QFileDialog::getOpenFileName(this, "Select a parameter file", "", "YAML files (*.yaml)");
 
  if (filename.isEmpty())
  {
    return;
  }
 
  std::string package_name;
  std::filesystem::path relative_filename;
  bool package_found = extractPackageNameFromPath(filename.toStdString(), package_name, relative_filename);
 
  QString lookup_path = filename;
  if (package_found)
  {
    lookup_path = QString("$(find %1)/%2").arg(package_name.c_str()).arg(relative_filename.c_str());
  }
  kinematics_parameters_file_field_->setText(lookup_path);
}
 
}  // namespace srdf_setup
}  // namespace moveit_setup