moveit2
The MoveIt Motion Planning Framework for ROS 2.
Loading...
Searching...
No Matches
setup_step_widget.hpp
Go to the documentation of this file.
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2012, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34
35/* Author: Dave Coleman */
36
37#pragma once
38#include <rclcpp/node.hpp>
41#include <QWidget>
42
43namespace moveit_setup
44{
48class SetupStepWidget : public QWidget
49{
50 Q_OBJECT
51public:
59 void initialize(const rclcpp::Node::SharedPtr& parent_node, QWidget* parent_widget, RVizPanel* rviz_panel,
60 const DataWarehousePtr& config_data)
61 {
62 getSetupStep().initialize(parent_node, config_data);
63 setParent(parent_widget);
64 rviz_panel_ = rviz_panel;
65 debug_ = config_data->debug;
66 onInit();
67 }
68
69 virtual void onInit()
70 {
71 }
72
76 virtual void focusGiven()
77 {
78 }
79
85 virtual bool focusLost()
86 {
87 return true; // accept switching by default
88 }
89
93 virtual SetupStep& getSetupStep() = 0;
94
95 bool isReady()
96 {
97 return getSetupStep().isReady();
98 }
99
100 // ******************************************************************************************
101 // Emitted Signal Functions
102 // ******************************************************************************************
103
104Q_SIGNALS:
107
110
112 void setModalMode(bool isModal);
113
114protected:
116 bool debug_;
117};
118} // namespace moveit_setup
The GUI code for one SetupStep.
void dataUpdated()
When the underlying data has been updated (which can cause other steps to become "Ready")
void setModalMode(bool isModal)
Event for when the current screen is in modal view. Disables the left navigation.
void initialize(const rclcpp::Node::SharedPtr &parent_node, QWidget *parent_widget, RVizPanel *rviz_panel, const DataWarehousePtr &config_data)
Called after construction to initialize the step.
virtual SetupStep & getSetupStep()=0
Return a reference to the SetupStep object.
virtual void focusGiven()
function called when widget is activated, allows to update/initialize GUI
void advanceRequest()
When this signal is received, the GUI should attempt to advance to the next step.
virtual bool focusLost()
function called when widget loses focus, although switching away can be rejected
Contains all of the non-GUI code necessary for doing one "screen" worth of setup.
void initialize(const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)
Called after construction to initialize the step.
virtual bool isReady() const
Return true if the data necessary to proceed with this step has been configured.