default_collisions_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__

#include <QWidget>
#include <QLabel>
#include <QVBoxLayout>
#include <QTableView>
#include <QSlider>
#include <QPushButton>
#include <QGroupBox>
#include <QProgressBar>
#include <QCheckBox>
#include <QRadioButton>
#include <QSpinBox>
#include <QThread>
#include <QLineEdit>
#include <QAction>

#ifndef Q_MOC_RUN
#include <boost/thread.hpp>
#include <boost/function.hpp>
#include <moveit/setup_assistant/tools/compute_default_collisions.h>
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif

#include "header_widget.h"
#include "setup_screen_widget.h"  // a base class for screens in the setup assistant

namespace moveit_setup_assistant
{
class MonitorThread;

class DefaultCollisionsWidget : public SetupScreenWidget
{
  Q_OBJECT

public:
  enum ViewMode
  {
    MatrixMode = 0,
    LinearMode = 1
  };

  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  DefaultCollisionsWidget(QWidget* parent, moveit_setup_assistant::MoveItConfigDataPtr config_data);
  ~DefaultCollisionsWidget();

  void linkPairsToSRDF();

  void linkPairsFromSRDF();

private Q_SLOTS:

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

  void startGeneratingCollisionTable();
  void finishGeneratingCollisionTable();

  void changeDensityLabel(int value);

  void loadCollisionTable();

  void checkedFilterChanged();

  void collisionsChanged(const QModelIndex& index);

  void revertChanges();

  void previewSelectedMatrix(const QModelIndex& index);
  void previewSelectedLinear(const QModelIndex& index);

  void focusGiven();

  bool focusLost();

  void showHeaderContextMenu(const QPoint& p);
  void hideSections();
  void hideOtherSections();
  void showSections();

private:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QLabel* page_title_;
  QTableView* collision_table_;
  QAbstractItemModel* model_;
  QItemSelectionModel* selection_model_;
  QVBoxLayout* layout_;
  QLabel* density_value_label_;
  QSlider* density_slider_;
  QPushButton* btn_generate_;
  QGroupBox* controls_box_;
  QProgressBar* progress_bar_;
  QLabel* progress_label_;
  QLineEdit* link_name_filter_;
  QCheckBox* collision_checkbox_;
  QLabel* fraction_label_;
  QSpinBox* fraction_spinbox_;
  QPushButton* btn_revert_;
  QButtonGroup* view_mode_buttons_;

  QList<QAction*> header_actions_;    // context actions for header sections
  Qt::Orientations clicked_headers_;  // remember which header section activated context actions
  int clicked_section_;               // remember which header section activated context actions

  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
  MonitorThread* worker_;

  moveit_setup_assistant::LinkPairMap link_pairs_;

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

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

  void generateCollisionTable(unsigned int* collision_progress);

  void disableControls(bool disable);

  bool eventFilter(QObject* object, QEvent* event);

  void showSections(QHeaderView* header, const QList<int>& logicalIndexes);
  void toggleSelection(QItemSelection selection);
};

class MonitorThread : public QThread
{
  Q_OBJECT

public:
  MonitorThread(const boost::function<void(unsigned int*)>& f, QProgressBar* progress_bar = NULL);
  void run();
  void cancel()
  {
    canceled_ = true;
  }
  bool canceled() const
  {
    return canceled_;
  }

Q_SIGNALS:
  void progress(int);

private:
  boost::thread worker_;
  unsigned int progress_;
  bool canceled_;
};
}

#endif