controllers_widget.h

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/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018, Mohamad Ayman.
 *  All rights reserved.
 *
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/* Author: Mohamad Ayman */
 
#pragma once
 
// Qt
class QHBoxLayout;
class QPushButton;
class QStackedWidget;
class QTreeWidget;
class QTreeWidgetItem;
 
// SA
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif
 
#include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
namespace moveit_setup_assistant
{
class DoubleListWidget;
class ControllerEditWidget;
 
class ControllersWidget : public SetupScreenWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  ControllersWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
 
  void changeScreen(int index);
 
  void focusGiven() override;
 
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(const std::vector<std::string>& joints);
 
  void previewSelectedGroup(const std::vector<std::string>& groups);
 
  void previewSelected(QTreeWidgetItem* selected_item, int column);
 
  void itemSelectionChanged();
 
private:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QTreeWidget* controllers_tree_;
  QWidget* controllers_tree_widget_;
 
  QStackedWidget* stacked_widget_;
  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::ControllerConfig& controller_it);
  void showMainScreen();
  void loadJointsScreen(moveit_setup_assistant::ControllerConfig* this_controller);
  void loadGroupsScreen(moveit_setup_assistant::ControllerConfig* this_controller);
  void loadControllerScreen(moveit_setup_assistant::ControllerConfig* this_controller);
};
 
}  // namespace moveit_setup_assistant