navigation_widget.cpp

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/* Author: Dave Coleman */
 
#include <moveit_setup_assistant/navigation_widget.hpp>
#include <QApplication>
#include <QPainter>
#include <QScrollBar>
#include <QStandardItemModel>
#include <iostream>
 
namespace moveit_setup
{
namespace assistant
{
// ******************************************************************************************
// CLASS
// ******************************************************************************************
 
NavigationWidget::NavigationWidget(QWidget* parent) : QListView(parent)
{
  setItemDelegate(new NavDelegate(this));
  setEditTriggers(QAbstractItemView::NoEditTriggers);
 
  // setAttribute(Qt::WA_MacShowFocusRect, false);
 
  // Set frame graphics
  setFrameShape(QFrame::StyledPanel);
  setFrameShadow(QFrame::Raised);
  setLineWidth(1);
  setMidLineWidth(0);
 
  // Hard code width and height
  setMaximumWidth(160);
  setMinimumWidth(160);
  setMinimumHeight(300);
 
  verticalScrollBar()->setPageStep(3);
  verticalScrollBar()->setSingleStep(1);
 
  model_ = new QStandardItemModel(this);
  setModel(model_);
}
 
void NavigationWidget::setNavs(const QList<QString>& navs)
{
  setModel(nullptr);
  model_->clear();
 
  for (const QString& nav : navs)
  {
    QStandardItem* item = new QStandardItem();
    item->setData(QVariant::fromValue(nav), Qt::DisplayRole);
    item->setFlags(Qt::NoItemFlags);
    model_->appendRow(item);
  }
 
  setModel(model_);
}
 
void NavigationWidget::setEnabled(int index, bool enabled)
{
  if (enabled)
  {
    model_->item(index)->setFlags(Qt::ItemIsSelectable | Qt::ItemIsEditable | Qt::ItemIsDragEnabled |
                                  Qt::ItemIsDropEnabled | Qt::ItemIsEnabled);
  }
  else
  {
    model_->item(index)->setFlags(Qt::NoItemFlags);
  }
}
 
void NavigationWidget::setSelected(int index)
{
  // First make sure item is enabled
  setEnabled(index, true);
 
  // Select one box from column 0, row index
  QModelIndex top = model_->index(index, 0, QModelIndex());
  QModelIndex bottom = model_->index(index, 0, QModelIndex());
 
  QItemSelection selection(top, bottom);
  selectionModel()->reset();  // set them all to deselected
  selectionModel()->select(selection, QItemSelectionModel::Select);
}
 
bool NavigationWidget::isEnabled(int index) const
{
  return model_->item(index)->flags() > Qt::NoItemFlags;
}
 
// ******************************************************************************************
// CLASS
// ******************************************************************************************
 
NavDelegate::NavDelegate(QObject* parent) : QStyledItemDelegate(parent)
{
}
 
QSize NavDelegate::sizeHint(const QStyleOptionViewItem& option, const QModelIndex& /*index*/) const
{
  return QSize(option.rect.width(), 45);
}
 
void NavDelegate::paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const
{
  const bool is_selected = option.state & QStyle::State_Selected;
  const QPalette& palette = QApplication::palette();
 
  QString nav_name = displayText(index.data(), option.locale);
 
  painter->save();
 
  // draw background gradient
  QLinearGradient background_gradient(option.rect.topLeft(), option.rect.bottomLeft());
  if (is_selected)
  {
    background_gradient.setColorAt(0, palette.color(QPalette::Highlight).lighter(125));
    background_gradient.setColorAt(1, palette.color(QPalette::Highlight));
    painter->fillRect(option.rect, QBrush(background_gradient));
  }
  else
  {
    background_gradient.setColorAt(0, palette.color(QPalette::Light));
    background_gradient.setColorAt(1, palette.color(QPalette::Light).darker(105));
    painter->fillRect(option.rect, QBrush(background_gradient));
  }
 
  if (!is_selected)  // draw shadow
  {
    painter->setPen(palette.color(QPalette::Button));
    painter->drawLine(option.rect.topLeft(), option.rect.topRight());
    painter->setPen(palette.color(QPalette::Light));
    const QPoint offset(0, 1);
    painter->drawLine(option.rect.topLeft() + offset, option.rect.topRight() + offset);
  }
 
  QRect text_rect(option.rect.x() + 10, option.rect.y(), option.rect.width() - 10, option.rect.height());
  QFont text_font(painter->font());
  text_font.setPixelSize(14);  // Set font size
  painter->setFont(text_font);
 
  // Font color
  if (is_selected)
  {
    painter->setPen(palette.color(QPalette::HighlightedText));
  }
  else if (!option.state.testFlag(QStyle::State_Enabled))
  {
    painter->setPen(palette.color(QPalette::Dark));
  }
  else
  {
    painter->setPen(palette.color(QPalette::ButtonText));
  }
 
  painter->drawText(text_rect, Qt::AlignLeft | Qt::AlignVCenter, nav_name);
 
  painter->restore();
}
}  // namespace assistant
}  // namespace moveit_setup