kinematic_chain_widget.cpp

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/* Author: Dave Coleman */
 
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGroupBox>
#include <QPushButton>
#include <QGridLayout>
#include <QLineEdit>
#include <QMessageBox>
#include <QLabel>
#include <QTreeWidget>
#include <moveit_setup_srdf_plugins/kinematic_chain_widget.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
// ******************************************************************************************
// Constructor
// ******************************************************************************************
KinematicChainWidget::KinematicChainWidget(QWidget* parent, RVizPanel* rviz_panel)
  : QWidget(parent), rviz_panel_(rviz_panel)
{
  // Basic widget container
  QVBoxLayout* layout = new QVBoxLayout();
 
  // 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_);
 
  // Create link tree ------------------------------------------------------
  link_tree_ = new QTreeWidget(this);
  link_tree_->setHeaderLabel("Robot Links");
  connect(link_tree_, SIGNAL(itemSelectionChanged()), this, SLOT(itemSelected()));
  layout->addWidget(link_tree_);
 
  // Create Grid Layout for form --------------------------------------------
  QGridLayout* form_grid = new QGridLayout();
  form_grid->setContentsMargins(20, 20, 20, 20);  // left top right bottom
 
  // Row 1: Base Link
  QLabel* base_link_label = new QLabel("Base Link", this);
  form_grid->addWidget(base_link_label, 0, 0, Qt::AlignRight);
 
  base_link_field_ = new QLineEdit(this);
  base_link_field_->setMinimumWidth(300);
  form_grid->addWidget(base_link_field_, 0, 1, Qt::AlignLeft);
 
  QPushButton* btn_base_link = new QPushButton("Choose Selected", this);
  connect(btn_base_link, SIGNAL(clicked()), this, SLOT(baseLinkTreeClick()));
  form_grid->addWidget(btn_base_link, 0, 2, Qt::AlignLeft);
 
  // Row 2: Tip Link
  QLabel* tip_link_label = new QLabel("Tip Link", this);
  form_grid->addWidget(tip_link_label, 1, 0, Qt::AlignRight);
 
  tip_link_field_ = new QLineEdit(this);
  tip_link_field_->setMinimumWidth(300);
  form_grid->addWidget(tip_link_field_, 1, 1, Qt::AlignLeft);
 
  QPushButton* btn_tip_link = new QPushButton("Choose Selected", this);
  connect(btn_tip_link, SIGNAL(clicked()), this, SLOT(tipLinkTreeClick()));
  form_grid->addWidget(btn_tip_link, 1, 2, Qt::AlignLeft);
 
  // Add form grid layout
  layout->addLayout(form_grid);
 
  // Bottom Controls ---------------------------------------------------------
  QHBoxLayout* controls_layout = new QHBoxLayout();
 
  // Expand/Contract controls
  QLabel* expand_controls = new QLabel(this);
  expand_controls->setText("<a href='expand'>Expand All</a> <a href='contract'>Collapse All</a>");
  connect(expand_controls, SIGNAL(linkActivated(const QString)), this, SLOT(alterTree(const QString)));
  controls_layout->addWidget(expand_controls);
 
  // Spacer
  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
  // Save
  QPushButton* btn_save = new QPushButton("&Save", this);
  btn_save->setMaximumWidth(200);
  connect(btn_save, SIGNAL(clicked()), this, SIGNAL(doneEditing()));
  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);
 
  // Remember that we have no loaded the chains yet
  kinematic_chain_loaded_ = false;
}
 
// ******************************************************************************************
// Load robot links into tree
// ******************************************************************************************
void KinematicChainWidget::setAvailable(const LinkNameTree& link_name_tree)
{
  // Only load the kinematic chain once
  if (kinematic_chain_loaded_)
    return;
 
  QTreeWidgetItem* root_item = addLinkChildRecursive(nullptr, link_name_tree);
  link_tree_->addTopLevelItem(root_item);
 
  // Remember that we have loaded the chain
  kinematic_chain_loaded_ = true;
}
 
// ******************************************************************************************
//
// ******************************************************************************************
QTreeWidgetItem* KinematicChainWidget::addLinkChildRecursive(QTreeWidgetItem* parent, const LinkNameTree& link)
{
  QTreeWidgetItem* new_item = new QTreeWidgetItem(parent);
  new_item->setText(0, link.data.c_str());
 
  for (const LinkNameTree& child : link.children)
  {
    QTreeWidgetItem* new_child = addLinkChildRecursive(new_item, child);
    new_item->addChild(new_child);
  }
  return new_item;
}
 
// ******************************************************************************************
// Set the link field with previous value
// ******************************************************************************************
void KinematicChainWidget::setSelected(const std::string& base_link, const std::string& tip_link)
{
  base_link_field_->setText(QString(base_link.c_str()));
  tip_link_field_->setText(QString(tip_link.c_str()));
}
 
// ******************************************************************************************
// Choose the base link
// ******************************************************************************************
void KinematicChainWidget::baseLinkTreeClick()
{
  QTreeWidgetItem* item = link_tree_->currentItem();
  if (item != nullptr)
  {
    base_link_field_->setText(item->text(0));
  }
}
 
// ******************************************************************************************
// Choose the tip link
// ******************************************************************************************
void KinematicChainWidget::tipLinkTreeClick()
{
  QTreeWidgetItem* item = link_tree_->currentItem();
  if (item != nullptr)
  {
    tip_link_field_->setText(item->text(0));
  }
}
 
// ******************************************************************************************
// Expand/Collapse Tree
// ******************************************************************************************
void KinematicChainWidget::alterTree(const QString& link)
{
  if (link.contains("expand"))
  {
    link_tree_->expandAll();
  }
  else
  {
    link_tree_->collapseAll();
  }
}
 
// ******************************************************************************************
// Highlight the currently selected link
// ******************************************************************************************
void KinematicChainWidget::itemSelected()
{
  QTreeWidgetItem* item = link_tree_->currentItem();
  if (item != nullptr)
  {
    rviz_panel_->unhighlightAll();
 
    std::string name = item->text(0).toStdString();
 
    // Don't try to highlight empty links!
    if (name.empty())
      return;
 
    // Check that item is not empty
    rviz_panel_->highlightLink(item->text(0).toStdString(), QColor(255, 0, 0));
  }
}
}  // namespace srdf_setup
}  // namespace moveit_setup