setup_step_widget.hpp

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/* Author: Dave Coleman */
 
#pragma once
#include <rclcpp/node.hpp>
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_framework/qt/rviz_panel.hpp>
#include <QWidget>
 
namespace moveit_setup
{
class SetupStepWidget : public QWidget
{
  Q_OBJECT
public:
  void initialize(const rclcpp::Node::SharedPtr& parent_node, QWidget* parent_widget, RVizPanel* rviz_panel,
                  const DataWarehousePtr& config_data)
  {
    getSetupStep().initialize(parent_node, config_data);
    setParent(parent_widget);
    rviz_panel_ = rviz_panel;
    debug_ = config_data->debug;
    onInit();
  }
 
  virtual void onInit()
  {
  }
 
  virtual void focusGiven()
  {
  }
 
  virtual bool focusLost()
  {
    return true;  // accept switching by default
  }
 
  virtual SetupStep& getSetupStep() = 0;
 
  bool isReady()
  {
    return getSetupStep().isReady();
  }
 
  // ******************************************************************************************
  // Emitted Signal Functions
  // ******************************************************************************************
 
Q_SIGNALS:
  void dataUpdated();
 
  void advanceRequest();
 
  void setModalMode(bool isModal);
 
protected:
  RVizPanel* rviz_panel_;
  bool debug_;
};
}  // namespace moveit_setup