setup_assistant_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_ASSISTANT_WIDGET_
#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_ASSISTANT_WIDGET_

// Qt
#include <QWidget>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QString>
#include <QApplication>
#include <QObject>
#include <QEvent>
#include <QListWidget>
#include <QTimer>
#include <QSplitter>
#include <QStringList>
// Setup Asst
#include "navigation_widget.h"
#include "start_screen_widget.h"
#include "default_collisions_widget.h"
#include "planning_groups_widget.h"
#include "robot_poses_widget.h"
#include "end_effectors_widget.h"
#include "virtual_joints_widget.h"
#include "passive_joints_widget.h"
#include "author_information_widget.h"
#include "simulation_widget.h"
#include "configuration_files_widget.h"
#include "perception_widget.h"
#include "ros_controllers_widget.h"

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

// Other
#include <ros/ros.h>
#include <boost/program_options.hpp>  // for parsing input arguments
#include <boost/thread/mutex.hpp>
#endif

// Forward declarations
namespace rviz
{
class GridDisplay;
class RenderPanel;
class VisualizationManager;
}

namespace moveit_rviz_plugin
{
class RobotStateDisplay;
}

namespace moveit_setup_assistant
{
class SetupAssistantWidget : public QWidget
{
  Q_OBJECT

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

  SetupAssistantWidget(QWidget* parent, boost::program_options::variables_map args);

  ~SetupAssistantWidget();

  void moveToScreen(const int index);

  void closeEvent(QCloseEvent* event);

  virtual bool notify(QObject* rec, QEvent* ev);

  // void showRviz( bool show );

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

private Q_SLOTS:
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  void navigationClicked(const QModelIndex& index);

  void updateTimer();

  void progressPastStartScreen();

  void loadRviz();

  void setModalMode(bool isModal);

  void highlightLink(const std::string& link_name, const QColor& color);

  void highlightGroup(const std::string& group_name);

  void unhighlightAll();

  // received when virtual joints that change the reference frame are added
  void virtualJointReferenceFrameChanged();

private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
  QList<QString> nav_name_list_;
  NavigationWidget* navs_view_;

  QWidget* middle_frame_;
  QWidget* rviz_container_;
  QSplitter* splitter_;
  QStackedLayout* main_content_;
  int current_index_;
  boost::mutex change_screen_lock_;

  // Rviz Panel
  rviz::RenderPanel* rviz_render_panel_;
  rviz::VisualizationManager* rviz_manager_;
  moveit_rviz_plugin::RobotStateDisplay* robot_state_display_;

  // Screen Widgets
  StartScreenWidget* start_screen_widget_;
  DefaultCollisionsWidget* default_collisions_widget_;
  PlanningGroupsWidget* planning_groups_widget;
  RobotPosesWidget* robot_poses_widget_;
  EndEffectorsWidget* end_effectors_widget_;
  VirtualJointsWidget* virtual_joints_widget_;
  PassiveJointsWidget* passive_joints_widget_;
  AuthorInformationWidget* author_information_widget_;
  ConfigurationFilesWidget* configuration_files_widget_;
  SimulationWidget* simulation_widget_;
  PerceptionWidget* perception_widget_;
  moveit_ros_control::ROSControllersWidget* controllers_widget_;

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
}

#endif