start_screen_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_START_SCREEN_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_START_SCREEN_WIDGET_

#include <QWidget>
#include <QLineEdit>
#include <QPushButton>
#include <QLabel>
#include <QProgressBar>
#include <QTextEdit>

#ifndef Q_MOC_RUN
#include <urdf/model.h>                                       // for testing a valid urdf is loaded
#include <srdfdom/model.h>                                    // for testing a valid srdf is loaded
#include <moveit/setup_assistant/tools/moveit_config_data.h>  // common datastructure class
#endif

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

namespace moveit_setup_assistant
{
// Class Prototypes
class SelectModeWidget;
class LoadPathArgsWidget;

class StartScreenWidget : public SetupScreenWidget
{
  Q_OBJECT

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

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

  ~StartScreenWidget();

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  SelectModeWidget* select_mode_;
  LoadPathArgsWidget* stack_path_;
  LoadPathArgsWidget* urdf_file_;
  QPushButton* btn_load_;
  QLabel* next_label_;
  QProgressBar* progress_bar_;
  QImage* right_image_;
  QLabel* right_image_label_;

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

private Q_SLOTS:

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

  void showNewOptions();

  void showExistingOptions();

  void loadFilesClick();

  void onPackagePathChanged(const QString& path);

  void onUrdfPathChanged(const QString& path);

Q_SIGNALS:

  // ******************************************************************************************
  // Emitted Signal Functions
  // ******************************************************************************************

  void readyToProgress();

  void loadRviz();

private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  bool create_new_package_;

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

  bool loadPackageSettings(bool show_warnings);

  bool loadNewFiles();

  bool loadExistingFiles();

  bool loadURDFFile(const std::string& urdf_file_path, const std::string& xacro_args);

  bool loadSRDFFile(const std::string& srdf_file_path);

  bool setSRDFFile(const std::string& srdf_string);

  bool extractPackageNameFromPath();

  bool createFullURDFPath();

  bool createFullSRDFPath(const std::string& package_path);

  bool load3DSensorsFile();
};

// ******************************************************************************************
// ******************************************************************************************
// Class for selecting which mode
// ******************************************************************************************
// ******************************************************************************************

class SelectModeWidget : public QFrame
{
  Q_OBJECT

private:
private Q_SLOTS:

public:
  SelectModeWidget(QWidget* parent);

  // Load file button
  QPushButton* btn_new_;
  QPushButton* btn_exist_;
  QTextEdit* widget_instructions_;
};
}

#endif