planning_groups_widget.h

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/* Author: Dave Coleman */
 
#pragma once
 
// Qt
class QPushButton;
class QStackedWidget;
class QTreeWidget;
class QTreeWidgetItem;
 
// Setup Asst
#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
 
// Forward Declaration (outside of namespace for Qt)
class PlanGroupType;
 
namespace moveit_setup_assistant
{
class DoubleListWidget;
class KinematicChainWidget;
class GroupEditWidget;
 
// Custom Type
enum GroupType
{
  JOINT = 1,
  LINK = 2,
  CHAIN = 3,
  SUBGROUP = 4,
  GROUP = 5
};
 
// ******************************************************************************************
// ******************************************************************************************
// CLASS
// ******************************************************************************************
// ******************************************************************************************
class PlanningGroupsWidget : public SetupScreenWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  PlanningGroupsWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
 
  void changeScreen(int index);
 
  void focusGiven() override;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void loadGroupsTree();
 
  void previewSelected();
 
  void editSelected();
 
  void addGroup();
 
  void saveJointsScreen();
  void saveLinksScreen();
  void saveChainScreen();
  void saveSubgroupsScreen();
  void saveGroupScreenEdit();
  void saveGroupScreenJoints();
  void saveGroupScreenLinks();
  void saveGroupScreenChain();
  void saveGroupScreenSubgroups();
 
  // Delete a group
  void deleteGroup();
 
  void cancelEditing();
 
  void alterTree(const QString& link);
 
  void previewSelectedLink(const std::vector<std::string>& links);
 
  // void previewClickedJoint( std::string name );
  void previewSelectedJoints(const std::vector<std::string>& joints);
 
  void previewSelectedSubgroup(const std::vector<std::string>& groups);
 
private:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QTreeWidget* groups_tree_;
 
  QStackedWidget* stacked_widget_;
 
  QPushButton* btn_edit_;
 
  QPushButton* btn_delete_;
 
  // Stacked Layout SUBPAGES -------------------------------------------
 
  QWidget* groups_tree_widget_;
  DoubleListWidget* joints_widget_;
  DoubleListWidget* links_widget_;
  DoubleListWidget* subgroups_widget_;
  KinematicChainWidget* chain_widget_;
  GroupEditWidget* group_edit_widget_;
 
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  moveit_setup_assistant::MoveItConfigDataPtr config_data_;
 
  std::string current_edit_group_;
 
  int return_screen_;
 
  bool adding_new_group_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  QWidget* createContentsWidget();
 
  void loadGroupsTreeRecursive(srdf::Model::Group& group_it, QTreeWidgetItem* parent);
 
  // Convenience function for getting a group pointer
  srdf::Model::Group* findGroupByName(const std::string& name);
 
  // Load edit screen
  void loadJointsScreen(srdf::Model::Group* this_group);
  void loadLinksScreen(srdf::Model::Group* this_group);
  void loadChainScreen(srdf::Model::Group* this_group);
  void loadSubgroupsScreen(srdf::Model::Group* this_group);
  void loadGroupScreen(srdf::Model::Group* this_group);
 
  // Save group screen
  bool saveGroupScreen();
 
  void showMainScreen();
};
}  // namespace moveit_setup_assistant
 
// ******************************************************************************************
// ******************************************************************************************
// Metatype Class For Holding Points to Group Parts
// ******************************************************************************************
// ******************************************************************************************
 
class PlanGroupType
{
public:
  //  explicit PlanGroupType();
  PlanGroupType()
  {
  }
  PlanGroupType(srdf::Model::Group* group, const moveit_setup_assistant::GroupType type);
  virtual ~PlanGroupType()
  {
    ;
  }
 
  srdf::Model::Group* group_;
 
  moveit_setup_assistant::GroupType type_;
};
 
Q_DECLARE_METATYPE(PlanGroupType);