planning_groups_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PLANNING_GROUPS_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PLANNING_GROUPS_WIDGET_

// Qt
#include <QWidget>
#include <QTreeWidget>
#include <QSplitter>
#include <QStackedLayout>

// Setup Asst
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif

#include "double_list_widget.h"      // for joints, links and subgroups pages
#include "kinematic_chain_widget.h"  // for kinematic chain page
#include "group_edit_widget.h"       // for group rename page
#include "setup_screen_widget.h"     // a base class for screens in the setup assistant

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

namespace moveit_setup_assistant
{
// Custom Type
enum GroupType
{
  JOINT,
  LINK,
  CHAIN,
  SUBGROUP,
  GROUP
};

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

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

  PlanningGroupsWidget(QWidget* parent, moveit_setup_assistant::MoveItConfigDataPtr config_data);

  void changeScreen(int index);

  virtual void focusGiven();

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(std::vector<std::string> links);

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

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

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

  QTreeWidget* groups_tree_;

  QStackedLayout* stacked_layout_;

  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
  // ******************************************************************************************

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  std::string current_edit_group_;

  GroupType current_edit_element_;

  bool adding_new_group_;

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

  QWidget* createContentsWidget();

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

  // Convenience function for getting a group pointer
  srdf::Model::Group* findGroupByName(const std::string& name);

  // 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 moveit_setup_assistant::GroupType type);
  virtual ~PlanGroupType()
  {
    ;
  }

  srdf::Model::Group* group_;

  moveit_setup_assistant::GroupType type_;
};

Q_DECLARE_METATYPE(PlanGroupType);

#endif