setup_assistant_widget.hpp

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/* Author: Dave Coleman */
 
#pragma once
 
// ROS
#include <pluginlib/class_loader.hpp>
#include <rviz_common/ros_integration/ros_client_abstraction.hpp>
 
// Qt
#include <QWidget>
#include <QStackedWidget>
#include <QAbstractTableModel>
class QSplitter;
 
// Setup Assistant
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_framework/qt/rviz_panel.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>
#include <moveit_setup_assistant/navigation_widget.hpp>
 
#ifndef Q_MOC_RUN
// Other
#include <boost/program_options/variables_map.hpp>  // for parsing input arguments
#endif
 
namespace moveit_setup
{
namespace assistant
{
class SetupAssistantWidget : public QWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  SetupAssistantWidget(const rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr& node, QWidget* parent,
                       const boost::program_options::variables_map& args);
 
  void moveToScreen(const int index);
 
  void closeEvent(QCloseEvent* event) override;
 
  virtual bool notify(QObject* rec, QEvent* ev);
 
  // void showRviz( bool show );
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
private Q_SLOTS:
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void navigationClicked(const QModelIndex& index);
 
  void updateTimer();
 
  void onDataUpdate();
 
  void onAdvanceRequest();
 
  void onModalModeUpdate(bool isModal);
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
  rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr node_abstraction_;
  rclcpp::Node::SharedPtr node_;
  QList<QString> nav_name_list_;
  NavigationWidget* navs_view_;
 
  RVizPanel* rviz_panel_;
  QSplitter* splitter_;
  QStackedWidget* main_content_;
  int current_index_;
  std::mutex change_screen_lock_;
 
  // Setup Steps
  pluginlib::ClassLoader<SetupStepWidget> widget_loader_;
  std::vector<std::shared_ptr<SetupStepWidget>> steps_;
 
  DataWarehousePtr config_data_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
}  // namespace assistant
}  // namespace moveit_setup