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());
  }

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

}  // namespace moveit_setup_assistant