Program Listing for File setup_assistant_widget.hpp
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/* Author: Dave Coleman */
#pragma once
// ROS
#include <pluginlib/class_loader.hpp>
#include <rviz_common/ros_integration/ros_client_abstraction.hpp>
// Qt
#include <QWidget>
#include <QStackedWidget>
#include <QAbstractTableModel>
class QSplitter;
// Setup Assistant
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_framework/qt/rviz_panel.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>
#include <moveit_setup_assistant/navigation_widget.hpp>
#ifndef Q_MOC_RUN
// Other
#include <boost/program_options/variables_map.hpp> // for parsing input arguments
#endif
namespace moveit_setup
{
namespace assistant
{
class SetupAssistantWidget : public QWidget
{
Q_OBJECT
public:
// ******************************************************************************************
// Public Functions
// ******************************************************************************************
SetupAssistantWidget(const rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr& node, QWidget* parent,
const boost::program_options::variables_map& args);
void moveToScreen(const int index);
void closeEvent(QCloseEvent* event) override;
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 onDataUpdate();
void onAdvanceRequest();
void onModalModeUpdate(bool isModal);
private:
// ******************************************************************************************
// Variables
// ******************************************************************************************
rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr node_abstraction_;
rclcpp::Node::SharedPtr node_;
QList<QString> nav_name_list_;
NavigationWidget* navs_view_;
RVizPanel* rviz_panel_;
QSplitter* splitter_;
QStackedWidget* main_content_;
int current_index_;
std::mutex change_screen_lock_;
// Setup Steps
pluginlib::ClassLoader<SetupStepWidget> widget_loader_;
std::vector<std::shared_ptr<SetupStepWidget>> steps_;
DataWarehousePtr config_data_;
// ******************************************************************************************
// Private Functions
// ******************************************************************************************
};
} // namespace assistant
} // namespace moveit_setup