MetricTrainingPanel.h

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#ifndef RAIL_PICK_AND_PLACE_METRIC_TRAINING_PANEL_H_
#define RAIL_PICK_AND_PLACE_METRIC_TRAINING_PANEL_H_

// ROS
#include <actionlib/client/simple_action_client.h>
#include <actionlib/server/simple_action_server.h>
#include <graspdb/graspdb.h>
#include <rail_pick_and_place_msgs/GetYesNoFeedbackAction.h>
#include <rail_pick_and_place_msgs/TrainMetricsAction.h>
#include <ros/ros.h>
#include <rviz/panel.h>

// Boost
#include <boost/thread/mutex.hpp>

// Qt
#include <QComboBox>
#include <QLabel>
#include <QPushButton>

namespace rail
{
namespace pick_and_place
{

class MetricTrainingPanel : public rviz::Panel
{

// this class uses Qt slots and is a subclass of QObject, so it needs the Q_OBJECT macro
Q_OBJECT

public:
  MetricTrainingPanel(QWidget *parent = NULL);

  virtual ~MetricTrainingPanel();

  virtual void load(const rviz::Config &config);

  virtual void save(rviz::Config config) const;

private:
  void getYesNoFeedbackCallback(const rail_pick_and_place_msgs::GetYesNoFeedbackGoalConstPtr &goal);

  void doneCallback(const actionlib::SimpleClientGoalState &state,
      const rail_pick_and_place_msgs::TrainMetricsResultConstPtr &result);

  void feedbackCallback(const rail_pick_and_place_msgs::TrainMetricsFeedbackConstPtr &feedback);

  graspdb::Client *graspdb_;
  bool responded_, yes_;

  boost::mutex mutex_;

  ros::NodeHandle node_;
  ros::ServiceServer get_yes_no_feedback_srv_;
  actionlib::SimpleActionServer<rail_pick_and_place_msgs::GetYesNoFeedbackAction> as_;
  actionlib::SimpleActionClient<rail_pick_and_place_msgs::TrainMetricsAction> train_metrics_ac_;

  QComboBox *object_list_;
  QPushButton *train_metrics_button_, *refresh_button_, *yes_button_, *no_button_;
  QLabel *train_metrics_status_;

// used as UI callbacks
private Q_SLOTS:

  void executeTrainMetrics();

  void refresh();

  void setYesFeedback();

  void setNoFeedback();
};

}
}

#endif