Program Listing for File planning_groups_widget.hpp

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/* Author: Dave Coleman */

#pragma once

// Qt
#include <QPushButton>
#include <QStackedWidget>
#include <QTreeWidget>
#include <QTreeWidgetItem>

// SA
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_framework/qt/double_list_widget.hpp>
#include <moveit_setup_srdf_plugins/planning_groups.hpp>
#include <moveit_setup_srdf_plugins/kinematic_chain_widget.hpp>  // for kinematic chain page
#include <moveit_setup_srdf_plugins/group_edit_widget.hpp>       // for group rename page

// Forward Declaration (outside of namespace for Qt)
class PlanGroupType;

namespace moveit_setup
{
namespace srdf_setup
{
// Custom Type
enum GroupType
{
  JOINT = 1,
  LINK = 2,
  CHAIN = 3,
  SUBGROUP = 4,
  GROUP = 5
};

// ******************************************************************************************
// ******************************************************************************************
// CLASS
// ******************************************************************************************
// ******************************************************************************************
class PlanningGroupsWidget : public SetupStepWidget
{
  Q_OBJECT

public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  void onInit() override;

  void changeScreen(int index);

  void focusGiven() override;

  SetupStep& getSetupStep() override
  {
    return setup_step_;
  }

private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  void loadGroupsTree();

  void previewSelected();

  void editSelected();

  void addGroup();

  void saveJointsScreen();
  void saveLinksScreen();
  void saveChainScreen();
  void saveSubgroupsScreen();
  void saveGroupScreenEdit();
  void saveGroupScreenJoints();
  void saveGroupScreenLinks();
  void saveGroupScreenChain();
  void saveGroupScreenSubgroups();

  // Delete a group
  void deleteGroup();

  void cancelEditing();

  void alterTree(const QString& link);

  void previewSelectedLink(const std::vector<std::string>& links);

  // void previewClickedJoint( std::string name );
  void previewSelectedJoints(const std::vector<std::string>& joints);

  void previewSelectedSubgroup(const std::vector<std::string>& groups);

private:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

  QTreeWidget* groups_tree_;

  QStackedWidget* stacked_widget_;

  QPushButton* btn_edit_;

  QPushButton* btn_delete_;

  // Stacked Layout SUBPAGES -------------------------------------------

  QWidget* groups_tree_widget_;
  DoubleListWidget* joints_widget_;
  DoubleListWidget* links_widget_;
  DoubleListWidget* subgroups_widget_;
  KinematicChainWidget* chain_widget_;
  GroupEditWidget* group_edit_widget_;

  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  PlanningGroups setup_step_;

  std::string current_edit_group_;

  int return_screen_;

  bool adding_new_group_;

  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************

  QWidget* createContentsWidget();

  void loadGroupsTreeRecursive(srdf::Model::Group& group_it, QTreeWidgetItem* parent);

  // Load edit screen
  void loadJointsScreen(srdf::Model::Group* this_group);
  void loadLinksScreen(srdf::Model::Group* this_group);
  void loadChainScreen(srdf::Model::Group* this_group);
  void loadSubgroupsScreen(srdf::Model::Group* this_group);
  void loadGroupScreen(srdf::Model::Group* this_group);

  // Save group screen
  bool saveGroupScreen();

  void showMainScreen();
};

// ******************************************************************************************
// ******************************************************************************************
// Metatype Class For Holding Points to Group Parts
// ******************************************************************************************
// ******************************************************************************************

class PlanGroupType
{
public:
  //  explicit PlanGroupType();
  PlanGroupType()
  {
  }
  PlanGroupType(srdf::Model::Group* group, const GroupType type);
  virtual ~PlanGroupType()
  {
    ;
  }

  srdf::Model::Group* group_;

  GroupType type_;
};

}  // namespace srdf_setup
}  // namespace moveit_setup

Q_DECLARE_METATYPE(moveit_setup::srdf_setup::PlanGroupType);