double_list_widget.cpp

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/* Author: Dave Coleman */

#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGroupBox>
#include <QPushButton>
#include <QFormLayout>
#include <QLineEdit>
#include <QMessageBox>
#include <QString>
#include <QHeaderView>
#include "double_list_widget.h"

namespace moveit_setup_assistant
{

// ******************************************************************************************
//
// ******************************************************************************************
DoubleListWidget::DoubleListWidget( QWidget *parent, moveit_setup_assistant::MoveItConfigDataPtr config_data,
                                    QString long_name, QString short_name , bool add_ok_cancel)
  :  QWidget( parent ), long_name_( long_name ), short_name_( short_name ), config_data_( config_data )
{
  // Basic widget container
  QVBoxLayout *layout = new QVBoxLayout( );

  // Label ------------------------------------------------
  title_ = new QLabel( "", this ); // specify the title from the parent widget
  QFont group_title_font( "Arial", 12, QFont::Bold );
  title_->setFont(group_title_font);
  layout->addWidget( title_ );

  // Double selection lists -------------------------------
  QHBoxLayout *hlayout = new QHBoxLayout();

  // Left column -------------------------------------------
  QVBoxLayout *column1 = new QVBoxLayout();

  // Label
  column1_label_ = new QLabel( QString("Available ").append( short_name_ ).append( 's' ), this );
  column1->addWidget( column1_label_ );

  // Table
  data_table_ = new QTableWidget( this );
  data_table_->setColumnCount(1);
  data_table_->setSortingEnabled(true);
  column1->addWidget( data_table_ );
  connect( data_table_->selectionModel(), SIGNAL( selectionChanged( QItemSelection, QItemSelection ) ), this,
           SLOT( previewSelectedLeft( QItemSelection, QItemSelection ) ) );

  // Table headers
  QStringList data_header_list;
  data_header_list.append( QString( " Names" ).prepend( short_name_ ));
  data_table_->setHorizontalHeaderLabels( data_header_list );
  data_table_->horizontalHeader()->setDefaultAlignment(Qt::AlignHCenter);

  // Add layouts
  hlayout->addLayout( column1 );

  // Center column ------------------------------------------
  QVBoxLayout *column2 = new QVBoxLayout();
  column2->setSizeConstraint( QLayout::SetFixedSize ); // constraint it

  // Right Arrow Button
  QPushButton *btn_right = new QPushButton( ">", this);
  btn_right->setMaximumSize(25, 80);
  connect( btn_right, SIGNAL( clicked() ), this, SLOT( selectDataButtonClicked() ) );
  column2->addWidget( btn_right );

  // Left Arrow Button
  QPushButton *btn_left = new QPushButton( "<", this);
  btn_left->setMaximumSize(25, 80);
  connect( btn_left, SIGNAL( clicked() ), this, SLOT( deselectDataButtonClicked() ) );
  column2->addWidget( btn_left );

  // Add layouts
  hlayout->addLayout( column2 );

  // Right column -------------------------------------------
  QVBoxLayout *column3 = new QVBoxLayout();

  // Label
  column2_label_ = new QLabel( QString("Selected ").append( short_name_ ).append( "s" ), this );
  column3->addWidget( column2_label_ );

  // Table
  selected_data_table_ = new QTableWidget( this );
  selected_data_table_->setColumnCount(1);
  selected_data_table_->setSortingEnabled(true);
  column3->addWidget( selected_data_table_ );
  connect( selected_data_table_->selectionModel(), SIGNAL( selectionChanged( QItemSelection, QItemSelection ) ), this,
           SLOT( previewSelectedRight( QItemSelection, QItemSelection ) ) );

  // Table Headers (use same)
  selected_data_table_->setHorizontalHeaderLabels( data_header_list );

  // Add layouts
  hlayout->addLayout( column3 );

  // End Double Selection List ---------------------------------
  layout->addLayout( hlayout );

  if (add_ok_cancel)
  {
    // Button controls -------------------------------------------
    QHBoxLayout *controls_layout = new QHBoxLayout();
    controls_layout->setContentsMargins( 0, 25, 0, 15 );

    // Spacer
    QWidget *spacer = new QWidget( this );
    spacer->setSizePolicy( QSizePolicy::Expanding, QSizePolicy::Preferred );
    controls_layout->addWidget( spacer );

    // Save
    QPushButton *btn_save = new QPushButton( "&Save", this );
    //btn_save->setMaximumWidth( 200 );
    connect( btn_save, SIGNAL(clicked()), this, SIGNAL( doneEditing() ) );
    controls_layout->addWidget( btn_save );
    controls_layout->setAlignment(btn_save, Qt::AlignRight);

    // Cancel
    QPushButton *btn_cancel = new QPushButton( "&Cancel", this );
    //btn_cancel->setMaximumWidth( 200 );
    connect( btn_cancel, SIGNAL(clicked()), this, SIGNAL( cancelEditing() ) );
    controls_layout->addWidget( btn_cancel );
    controls_layout->setAlignment(btn_cancel, Qt::AlignRight);

    // Add layout
    layout->addLayout( controls_layout );
  }

  // Finish Layout --------------------------------------------------
  this->setLayout(layout);
}

// ******************************************************************************************
// Set the left box
// ******************************************************************************************
void DoubleListWidget::setAvailable( const std::vector<std::string> &items )
{
  setTable( items, data_table_ );

  // Resize both tables
  data_table_->resizeColumnToContents(0);
  selected_data_table_->setColumnWidth( 0, data_table_->columnWidth( 0 ) );
}

// ******************************************************************************************
// Set the right box
// ******************************************************************************************
void DoubleListWidget::setSelected( const std::vector<std::string> &items )
{
  setTable( items, selected_data_table_ );
}

void DoubleListWidget::clearContents()
{
  selected_data_table_->clearContents();
  data_table_->clearContents();
}

void DoubleListWidget::setColumnNames( const QString &col1, const QString &col2)
{
  column1_label_->setText(col1);
  column2_label_->setText(col2);
}

// ******************************************************************************************
// Convenience function for reusing set table code
// ******************************************************************************************
void DoubleListWidget::setTable( const std::vector<std::string> &items, QTableWidget *table )
{
  // Disable Table
  table->setUpdatesEnabled(false); // prevent table from updating until we are completely done
  table->setDisabled(true); // make sure we disable it so that the cellChanged event is not called
  table->clearContents();

  // Set size of datatable
  table->setRowCount( items.size() );

  // Loop through every item
  int row = 0;
  for( std::vector<std::string>::const_iterator data_it = items.begin(); data_it != items.end(); ++data_it )
  {
    // This is a hack to prevent a dummy joint from being added. Not really the best place to place this but
    // here is computationally smart
    if( *data_it == "ASSUMED_FIXED_ROOT_JOINT" )
      continue;

    // Create row elements
    QTableWidgetItem* data_name = new QTableWidgetItem( data_it->c_str() );
    data_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);

    // Add to table
    table->setItem( row, 0, data_name );

    // Increment counter
    ++row;
  }

  table->setRowCount( row );

  // Reenable
  table->setUpdatesEnabled(true); // prevent table from updating until we are completely done
  table->setDisabled(false); // make sure we disable it so that the cellChanged event is not called
}

// ******************************************************************************************
// Move selected data right
// ******************************************************************************************
void DoubleListWidget::selectDataButtonClicked()
{
  // Get list of all selected items
  QList<QTableWidgetItem*> selected = data_table_->selectedItems();

  // Loop through all selected items
  for(int i = 0; i < selected.size(); i++)
  {
    std::string name = selected[i]->text().toStdString();
    bool alreadyExists = false;
    int rowToAdd = 0;

    // Check if this selected joint is already in the selected joint table
    for(int r = 0; r < selected_data_table_->rowCount(); r++)
    {
      QTableWidgetItem* item = selected_data_table_->item(r, 0);

      if(item->text().toStdString() == name)
      {
        alreadyExists = true;
        break;
      }
      rowToAdd = r + 1;
    }

    // This joint needs to be added to the selected joint table
    if(!alreadyExists)
    {
      selected_data_table_->setRowCount(selected_data_table_->rowCount() + 1);
      QTableWidgetItem* newItem = new QTableWidgetItem(name.c_str());
      newItem->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
      selected_data_table_->setItem(rowToAdd, 0, newItem);
    }
  }

  Q_EMIT( selectionUpdated() );
}

// ******************************************************************************************
// Move selected data left
// ******************************************************************************************
void DoubleListWidget::deselectDataButtonClicked()
{
  // Get list of joints to be removed from selected list
  QList<QTableWidgetItem*> deselected = selected_data_table_->selectedItems();

  // loop through deselect list and remove
  for(int i = 0; i < deselected.size(); i++)
  {
    selected_data_table_->removeRow(deselected[i]->row());
  }

  Q_EMIT( selectionUpdated() );
}

// ******************************************************************************************
// Highlight links of robot for left list
// ******************************************************************************************
void DoubleListWidget::previewSelectedLeft( const QItemSelection& selected, const QItemSelection& deselected )
{
  const QList<QTableWidgetItem*> selected_items = data_table_->selectedItems();
  previewSelected(selected_items);
}

// ******************************************************************************************
// Highlight links of robot for right list
// ******************************************************************************************
void DoubleListWidget::previewSelectedRight( const QItemSelection& selected, const QItemSelection& deselected )
{
  const QList<QTableWidgetItem*> selected_items = selected_data_table_->selectedItems();
  previewSelected(selected_items);
}

// ******************************************************************************************
// Highlight links of robot
// ******************************************************************************************
void DoubleListWidget::previewSelected( const QList<QTableWidgetItem*>& selected )
{
  // Check that an element was selected
  if( !selected.size() )
    return;

  std::vector<std::string> selected_vector;

  // Convert QList to std vector
  for(int i = 0; i < selected.size(); ++i)
  {
    selected_vector.push_back( selected[i]->text().toStdString() );
    //std::cout << "  " << selected[i]->text().toStdString() << std::endl;
  }

  // Send to shared function
  Q_EMIT( previewSelected( selected_vector ) );
}

} //namespace moveit_setup_assistant