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00037 #ifndef BT_MAIN_WINDOW_
00038 #define BT_MAIN_WINDOW_
00039
00040 #include <QtGui/QMainWindow>
00041 #include <QTimer>
00042 #include <QSettings>
00043
00044 #include "ui_main_window.h"
00045 #include "ui_run_benchmark_dialog.h"
00046 #include "ui_robot_loader.h"
00047 #include "ui_bounding_box_goals.h"
00048
00049 #ifndef Q_MOC_RUN
00050
00051 #include <moveit/macros/class_forward.h>
00052 #include <moveit/warehouse/planning_scene_storage.h>
00053 #include <moveit/warehouse/trajectory_constraints_storage.h>
00054 #include <moveit/warehouse/constraints_storage.h>
00055 #include <moveit/warehouse/state_storage.h>
00056
00057 #include <frame_marker.h>
00058 #include <trajectory.h>
00059 #include <job_processing.h>
00060
00061 #include <rviz/render_panel.h>
00062 #include <rviz/visualization_manager.h>
00063 #include <rviz/robot/robot.h>
00064
00065 #include <moveit/rviz_plugin_render_tools/robot_state_visualization.h>
00066 #include <moveit/planning_scene_rviz_plugin/planning_scene_display.h>
00067 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00068 #include <moveit/robot_interaction/robot_interaction.h>
00069 #include <moveit/robot_interaction/interaction_handler.h>
00070
00071 #endif
00072
00073 namespace benchmark_tool
00074 {
00075 class MainWindow : public QMainWindow
00076 {
00077 Q_OBJECT
00078
00079 public:
00080 MainWindow(int argc, char** argv, QWidget* parent = 0);
00081
00082 ~MainWindow();
00083 public Q_SLOTS:
00084
00085 void exitActionTriggered(bool);
00086 void openActionTriggered(bool);
00087 void planningGroupChanged(const QString& text);
00088 void dbConnectButtonClicked();
00089 void dbConnectButtonClickedBackgroundJob();
00090 void robotInteractionButtonClicked();
00091
00092 void loadSceneButtonClicked(void);
00093 void loadSceneButtonClicked(QListWidgetItem* item);
00094
00095
00096 void goalPoseFeedback(visualization_msgs::InteractiveMarkerFeedback& feedback);
00097 void createGoalAtPose(const std::string& name, const Eigen::Affine3d& pose);
00098 void createGoalPoseButtonClicked(void);
00099 void showBBoxGoalsDialog();
00100 void createBBoxGoalsButtonClicked(void);
00101 void removeSelectedGoalsButtonClicked(void);
00102 void removeAllGoalsButtonClicked(void);
00103 void goalPoseSelectionChanged(void);
00104 void switchGoalVisibilityButtonClicked(void);
00105 void goalPoseDoubleClicked(QListWidgetItem* item);
00106 void copySelectedGoalPoses(void);
00107 void visibleAxisChanged(int state);
00108 void checkGoalsInCollision(void);
00109 void checkGoalsReachable(void);
00110 void runBenchmark(void);
00111 bool saveBenchmarkConfigButtonClicked(void);
00112 void cancelBenchmarkButtonClicked(void);
00113 void runBenchmarkButtonClicked(void);
00114 void benchmarkFolderButtonClicked(void);
00115 void loadBenchmarkResults(void);
00116 void updateMarkerState(GripperMarkerPtr marker, const GripperMarker::GripperMarkerState& state);
00117 void updateGoalMarkerStateFromName(const std::string& name, const GripperMarker::GripperMarkerState& state);
00118 void goalOffsetChanged();
00119
00120 void saveStartStateButtonClicked(void);
00121 void removeSelectedStatesButtonClicked(void);
00122 void removeAllStatesButtonClicked(void);
00123 void startStateItemDoubleClicked(QListWidgetItem* item);
00124
00125 void loadGoalsFromDBButtonClicked(void);
00126 void saveGoalsOnDBButtonClicked(void);
00127 void deleteGoalsOnDBButtonClicked(void);
00128 void loadStatesFromDBButtonClicked(void);
00129 void saveStatesOnDBButtonClicked(void);
00130 void deleteStatesOnDBButtonClicked(void);
00131
00132
00133 void trajectorySelectionChanged(void);
00134 void createTrajectoryButtonClicked(void);
00135 void removeTrajectoryButtonClicked(void);
00136 void loadTrajectoriesFromDBButtonClicked(void);
00137 void saveTrajectoriesOnDBButtonClicked(void);
00138 void trajectoryNWaypointsChanged(int);
00139 void trajectoryExecuteButtonClicked(void);
00140
00141
00142 void MainLoop();
00143
00144 private:
00145 const static char* ROBOT_DESCRIPTION_PARAM;
00146 const static char* ROBOT_DESCRIPTION_SEMANTIC_PARAM;
00147 const static unsigned int DEFAULT_WAREHOUSE_PORT;
00148
00149 Ui::MainWindow ui_;
00150 Ui_BenchmarkDialog run_benchmark_ui_;
00151 Ui_RobotLoader load_robot_ui_;
00152 Ui_BoundingBoxGoalsDialog bbox_dialog_ui_;
00153 QDialog *robot_loader_dialog_, *run_benchmark_dialog_, *bbox_dialog_;
00154 boost::shared_ptr<QSettings> settings_;
00155
00156
00157 rviz::RenderPanel* render_panel_;
00158 rviz::VisualizationManager* visualization_manager_;
00159 moveit_rviz_plugin::PlanningSceneDisplay* scene_display_;
00160
00161 bool waitForPlanningSceneMonitor(moveit_rviz_plugin::PlanningSceneDisplay* scene_display);
00162 void scheduleStateUpdate();
00163 void scheduleStateUpdateBackgroundJob();
00164 bool isIKSolutionCollisionFree(robot_state::RobotState* state, const robot_model::JointModelGroup* group,
00165 const double* ik_solution);
00166 bool configure();
00167 void loadNewRobot(const std::string& urdf_path, const std::string& srdf_path);
00168 void setItemSelectionInList(const std::string& item_name, bool selection, QListWidget* list);
00169 void selectItemJob(QListWidgetItem* item, bool flag);
00170 void saveGoalsToDB();
00171
00172
00173 robot_interaction::RobotInteractionPtr robot_interaction_;
00174 rviz::Display* int_marker_display_;
00175
00176
00177 std::string database_host_;
00178 std::size_t database_port_;
00179 moveit_warehouse::PlanningSceneStoragePtr planning_scene_storage_;
00180 moveit_warehouse::ConstraintsStoragePtr constraints_storage_;
00181 moveit_warehouse::TrajectoryConstraintsStoragePtr trajectory_constraints_storage_;
00182 moveit_warehouse::RobotStateStoragePtr robot_state_storage_;
00183
00184 void populatePlanningSceneList(void);
00185
00186
00187 robot_interaction::RobotInteraction::InteractionHandlerPtr query_goal_state_;
00188
00189 Eigen::Affine3d goal_offset_;
00190 EigenSTL::map_string_Affine3d goals_initial_pose_;
00191 EigenSTL::map_string_Affine3d goals_dragging_initial_pose_;
00192 bool goal_pose_dragging_;
00193 Eigen::Affine3d drag_initial_pose_;
00194
00195 typedef std::map<std::string, GripperMarkerPtr> GoalPoseMap;
00196 typedef std::pair<std::string, GripperMarkerPtr> GoalPosePair;
00197 GoalPoseMap goal_poses_;
00198
00199 MOVEIT_CLASS_FORWARD(StartState);
00200
00201 class StartState
00202 {
00203 public:
00204 moveit_msgs::RobotState state_msg;
00205 bool selected;
00206
00207 StartState() : selected(false)
00208 {
00209 }
00210 StartState(const moveit_msgs::RobotState& state) : state_msg(state), selected(false)
00211 {
00212 }
00213 StartState(const moveit_msgs::RobotState& state, bool is_selected) : state_msg(state), selected(is_selected)
00214 {
00215 }
00216 };
00217
00218 typedef std::map<std::string, StartStatePtr> StartStateMap;
00219 typedef std::pair<std::string, StartStatePtr> StartStatePair;
00220 StartStateMap start_states_;
00221
00222 void populateGoalPosesList();
00223 void populateStartStatesList();
00224 void populateTrajectoriesList();
00225 void computeGoalPoseDoubleClicked(QListWidgetItem* item);
00226 void switchGoalPoseMarkerSelection(const std::string& marker_name);
00227 typedef std::pair<visualization_msgs::InteractiveMarker, boost::shared_ptr<rviz::InteractiveMarker> > MsgMarkerPair;
00228
00235 bool isGroupCollidingWithWorld(robot_state::RobotState& robot_state, const std::string& group_name);
00236
00237 void checkIfGoalInCollision(const std::string& goal_name);
00238 void checkIfGoalReachable(const std::string& goal_name, bool update_if_reachable = false);
00239 void computeLoadBenchmarkResults(const std::string& file);
00240
00241 void updateGoalPoseMarkers(float wall_dt, float ros_dt);
00242
00243
00244 void switchTrajectorySelection(const std::string& marker_name);
00245 void animateTrajectory(const std::vector<robot_state::RobotStatePtr>& traj);
00246
00247 typedef std::map<std::string, TrajectoryPtr> TrajectoryMap;
00248 typedef std::pair<std::string, TrajectoryPtr> TrajectoryPair;
00249 TrajectoryMap trajectories_;
00250
00251 void createTrajectoryStartMarker(const GripperMarker& marker);
00252
00253
00254 void loadSceneButtonClickedBackgroundJob(void);
00255
00256
00257 const static unsigned int MAIN_LOOP_RATE = 20;
00258 boost::shared_ptr<QTimer> main_loop_jobs_timer_;
00259
00260
00261 typedef enum { STATUS_WARN, STATUS_ERROR, STATUS_INFO } StatusType;
00262 void setStatus(StatusType st, const QString& text)
00263 {
00264 if (st == STATUS_WARN)
00265 {
00266 ROS_WARN_STREAM(text.toStdString());
00267 ui_.status_label->setText(text);
00268 }
00269 else if (st == STATUS_ERROR)
00270 {
00271 ROS_ERROR_STREAM(text.toStdString());
00272 ui_.status_label->setText(text);
00273 }
00274 else if (st == STATUS_INFO)
00275 {
00276 ui_.status_label->setText(text);
00277 }
00278 }
00279
00280 void setStatusFromBackground(StatusType st, const QString& text)
00281 {
00282 JobProcessing::addMainLoopJob(boost::bind(&MainWindow::setStatus, this, st, text));
00283 }
00284 };
00285 }
00286
00287 #endif