start_screen_widget.hpp

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/* Author: Dave Coleman */
 
#pragma once
 
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_framework/qt/helper_widgets.hpp>
#include <rclcpp/node.hpp>
#include <QWidget>
#include <QFrame>
class QLabel;
class QProgressBar;
class QPushButton;
 
#ifndef Q_MOC_RUN
#include <moveit_setup_core_plugins/start_screen.hpp>
#endif
 
namespace moveit_setup
{
namespace core
{
// Class Prototypes
class SelectModeWidget;
 
class StartScreenWidget : public SetupStepWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  void onInit() override;
 
  ~StartScreenWidget() override;
 
  void focusGiven() override;
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  SelectModeWidget* select_mode_;
  LoadPathArgsWidget* stack_path_;
  LoadPathArgsWidget* urdf_file_;
  QPushButton* btn_load_;
  QLabel* next_label_;
  QProgressBar* progress_bar_;  // TODO: Note that since the refactoring, the progress bar is less useful than before
  QImage* right_image_;
  QLabel* right_image_label_;
 
  SetupStep& getSetupStep() override
  {
    return setup_step_;
  }
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void showNewOptions();
 
  void showExistingOptions();
 
  void loadFilesClick();
 
  void onPackagePathChanged(const QString& path);
 
  void onUrdfPathChanged(const QString& path);
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
  rclcpp::Node::SharedPtr node_;
  StartScreen setup_step_;
 
  bool create_new_package_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  bool loadPackageSettings(bool show_warnings);
 
  bool loadNewFiles();
 
  bool loadExistingFiles();
};
 
// ******************************************************************************************
// ******************************************************************************************
// Class for selecting which mode
// ******************************************************************************************
// ******************************************************************************************
 
class SelectModeWidget : public QFrame
{
  Q_OBJECT
 
private:
private Q_SLOTS:
 
public:
  SelectModeWidget(QWidget* parent);
 
  // Load file button
  QPushButton* btn_new_;
  QPushButton* btn_exist_;
  QLabel* widget_instructions_;
};
}  // namespace core
}  // namespace moveit_setup