ros_controllers_widget.h

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 *  Copyright (c) 2018, Mohamad Ayman.
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/* Author: Mohamad Ayman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROS_CONTROLLERS_WIDGET_H
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROS_CONTROLLERS_WIDGET_H

// Qt
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QScrollArea>
#include <QGroupBox>
#include <QTableWidget>
#include <QTreeWidget>
#include <QStackedLayout>
#include <QString>

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

namespace moveit_ros_control
{
class ROSControllersWidget : public SetupScreenWidget
{
  Q_OBJECT

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

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

  void changeScreen(int index);

  virtual void focusGiven();

private Q_SLOTS:

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

  // Expand/Collapse Tree
  void alterTree(const QString& link);

  void addController();

  void editController();

  void deleteController();

  // Add a Follow Joint Trajectory action Controller for each Planning Group
  void addDefaultControllers();

  void saveControllerScreenJoints();
  void saveJointsScreen();
  bool saveControllerScreen();
  void saveControllerScreenEdit();
  void saveControllerScreenGroups();
  void saveJointsGroupsScreen();
  void cancelEditing();

  void editSelected();

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

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

  void previewSelected(QTreeWidgetItem* selected_item, int column);

  void itemSelectionChanged();

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

  QTreeWidget* controllers_tree_;
  QWidget* controllers_tree_widget_;

  QStackedLayout* stacked_layout_;
  ControllerEditWidget* controller_edit_widget_;

  QPushButton* btn_delete_;
  QPushButton* btn_add_;
  QPushButton* btn_edit_;
  QHBoxLayout* controls_layout_;
  moveit_setup_assistant::DoubleListWidget* joints_widget_;
  moveit_setup_assistant::DoubleListWidget* joint_groups_widget_;

  std::string current_edit_controller_;

  bool adding_new_controller_;

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  QWidget* createContentsWidget();

  void loadControllersTree();
  void loadToControllersTree(const moveit_setup_assistant::ROSControlConfig& controller_it);
  void showMainScreen();
  void loadJointsScreen(moveit_setup_assistant::ROSControlConfig* this_controller);
  void loadGroupsScreen(moveit_setup_assistant::ROSControlConfig* this_controller);
  void loadControllerScreen(moveit_setup_assistant::ROSControlConfig* this_controller);
};

}  // namespace moveit_setup_assistant

#endif