start_screen_widget.h

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/* Author: Dave Coleman */
 
#pragma once
 
class QLabel;
class QProgressBar;
class QPushButton;
 
#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, const MoveItConfigDataPtr& config_data);
 
  ~StartScreenWidget() override;
 
  // ******************************************************************************************
  // 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, const std::string& xacro_args);
 
  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_;
  QLabel* widget_instructions_;
};
}  // namespace moveit_setup_assistant