default_collisions_widget.h

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/* Author: Dave Coleman */
 
#pragma once
#include <QThread>
class QAbstractItemModel;
class QAction;
class QButtonGroup;
class QCheckBox;
class QGroupBox;
class QHeaderView;
class QItemSelection;
class QItemSelectionModel;
class QLabel;
class QSpinBox;
class QLineEdit;
class QProgressBar;
class QPushButton;
class QRadioButton;
class QSlider;
class QSpinBox;
class QTableView;
class QVBoxLayout;
 
#ifndef Q_MOC_RUN
#include <boost/thread/thread.hpp>
#include <boost/function/function_fwd.hpp>
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#include <moveit/setup_assistant/tools/compute_default_collisions.h>
#endif
 
#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
  {
    MATRIX_MODE = 0,
    LINEAR_MODE = 1
  };
 
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  DefaultCollisionsWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
  ~DefaultCollisionsWidget() override;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void startGeneratingCollisionTable();
  void finishGeneratingCollisionTable();
  void interruptGeneratingCollisionTable();
 
  void changeNumSamples(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() override;
 
  bool focusLost() override;
 
  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_;
  QSpinBox* sample_spinbox_;
  QSlider* sample_slider_;
  QPushButton* btn_generate_;
  QGroupBox* controls_box_;
  QProgressBar* progress_bar_;
  QPushButton* btn_interrupt_;
  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::MoveItConfigDataPtr config_data_;
  srdf::SRDFWriterPtr wip_srdf_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  void generateCollisionTable(unsigned int* collision_progress);
 
  void disableControls(bool disable);
 
  bool eventFilter(QObject* object, QEvent* event) override;
 
  QList<int> selectedSections(QHeaderView*& header) const;
 
  void showSections(QHeaderView* header, const QList<int>& logicalIndexes);
 
  void setDefaults(bool enabled);
 
  void toggleSelection(QItemSelection selection);
};
 
class MonitorThread : public QThread
{
  Q_OBJECT
 
public:
  MonitorThread(const boost::function<void(unsigned int*)>& f, QProgressBar* progress_bar = nullptr);
  void run() override;
  void cancel()
  {
    canceled_ = true;
  }
  bool canceled() const
  {
    return canceled_;
  }
 
Q_SIGNALS:
  void progress(int /*_t1*/);
 
private:
  boost::thread worker_;
  unsigned int progress_;
  bool canceled_;
};
}  // namespace moveit_setup_assistant