motion_planning_frame_scenes.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/* Author: Ioan Sucan */

#include <moveit/warehouse/planning_scene_storage.h>
#include <moveit/warehouse/constraints_storage.h>
#include <moveit/warehouse/state_storage.h>

#include <moveit/motion_planning_rviz_plugin/motion_planning_frame.h>
#include <moveit/motion_planning_rviz_plugin/motion_planning_display.h>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/robot_interaction/interactive_marker_helpers.h>

#include <interactive_markers/tools.h>

#include <rviz/display_context.h>
#include <rviz/window_manager_interface.h>

#include <eigen_conversions/eigen_msg.h>

#include <QMessageBox>
#include <QInputDialog>

#include "ui_motion_planning_rviz_plugin_frame.h"

#include <boost/math/constants/constants.hpp>

namespace moveit_rviz_plugin
{

void MotionPlanningFrame::saveSceneButtonClicked()
{
  if (planning_scene_storage_)
  {
    const std::string &name = planning_display_->getPlanningSceneRO()->getName();
    if (name.empty() || planning_scene_storage_->hasPlanningScene(name))
    {
      boost::scoped_ptr<QMessageBox> q;
      if (name.empty())
        q.reset(new QMessageBox(QMessageBox::Question, "Change Planning Scene Name",
                                QString("The name for the planning scene should not be empty. Would you like to rename the planning scene?'"),
                                QMessageBox::Cancel,
                                this));
      else
        q.reset(new QMessageBox(QMessageBox::Question, "Confirm Planning Scene Overwrite",
                                QString("A planning scene named '")
                                .append( name.c_str() )
                                .append( "' already exists. Do you wish to overwrite that scene?"),
                                QMessageBox::Yes | QMessageBox::No,
                                this));
      boost::scoped_ptr<QPushButton> rename(q->addButton("&Rename", QMessageBox::AcceptRole));
      if (q->exec() != QMessageBox::Yes)
      {
        if (q->clickedButton() == rename.get())
        {
          bool ok = false;
          QString new_name = QInputDialog::getText(this, "Rename Planning Scene", "New name for the planning scene:", QLineEdit::Normal, QString::fromStdString(name), &ok);
          if (ok)
          {
            planning_display_->getPlanningSceneRW()->setName(new_name.toStdString());
            rviz::Property *prop = planning_display_->subProp("Scene Geometry")->subProp("Scene Name");
            if (prop)
            {
              bool old = prop->blockSignals(true);
              prop->setValue(new_name);
              prop->blockSignals(old);
            }
            saveSceneButtonClicked();
          }
          return;
        }
        return;
      }
    }

    planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::computeSaveSceneButtonClicked, this), "save scene");
  }
}

void MotionPlanningFrame::planningSceneItemClicked()
{
  checkPlanningSceneTreeEnabledButtons();
}

void MotionPlanningFrame::saveQueryButtonClicked()
{
  if (planning_scene_storage_)
  {
    QList<QTreeWidgetItem *> sel = ui_->planning_scene_tree->selectedItems();
    if (!sel.empty())
    {
      QTreeWidgetItem *s = sel.front();

      // if we have selected a PlanningScene, add the query as a new one, under that planning scene
      if (s->type() == ITEM_TYPE_SCENE)
      {
        std::string scene = s->text(0).toStdString();
        planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::computeSaveQueryButtonClicked, this, scene, ""), "save query");
      }
      else
      {
        // if we selected a query name, then we overwrite that query
        std::string scene = s->parent()->text(0).toStdString();
        std::string query_name = s->text(0).toStdString();

        while (query_name.empty() || planning_scene_storage_->hasPlanningQuery(scene, query_name))
        {
          boost::scoped_ptr<QMessageBox> q;
          if (query_name.empty())
            q.reset(new QMessageBox(QMessageBox::Question, "Change Planning Query Name",
                                    QString("The name for the planning query should not be empty. Would you like to rename the planning query?'"),
                                    QMessageBox::Cancel,
                                    this));
          else
            q.reset(new QMessageBox(QMessageBox::Question, "Confirm Planning Query Overwrite",
                                    QString("A planning query named '")
                                    .append( query_name.c_str() )
                                    .append( "' already exists. Do you wish to overwrite that query?"),
                                    QMessageBox::Yes | QMessageBox::No,
                                    this));
          boost::scoped_ptr<QPushButton> rename(q->addButton("&Rename", QMessageBox::AcceptRole));
          if (q->exec() == QMessageBox::Yes)
            break;
          else
          {
            if (q->clickedButton() == rename.get())
            {
              bool ok = false;
              QString new_name = QInputDialog::getText(this, "Rename Planning Query", "New name for the planning query:", QLineEdit::Normal, QString::fromStdString(query_name), &ok);
              if (ok)
                query_name = new_name.toStdString();
              else
                return;
            }
            else
              return;
          }
        }
        planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::computeSaveQueryButtonClicked, this, scene, query_name), "save query");
      }
    }
  }
}

void MotionPlanningFrame::deleteSceneButtonClicked()
{
  planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::computeDeleteSceneButtonClicked, this), "delete scene");
}

void MotionPlanningFrame::deleteQueryButtonClicked()
{
  planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::computeDeleteQueryButtonClicked, this), "delete query");
}

void MotionPlanningFrame::loadSceneButtonClicked()
{
  planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::computeLoadSceneButtonClicked, this), "load scene");
}

void MotionPlanningFrame::loadQueryButtonClicked()
{
  planning_display_->addBackgroundJob(boost::bind(&MotionPlanningFrame::computeLoadQueryButtonClicked, this), "load query");
}

void MotionPlanningFrame::warehouseItemNameChanged(QTreeWidgetItem *item, int column)
{
  if (item->text(column) == item->toolTip(column) || item->toolTip(column).length() == 0)
    return;
  boost::shared_ptr<moveit_warehouse::PlanningSceneStorage> planning_scene_storage = planning_scene_storage_;
  if (!planning_scene_storage)
    return;

  if (item->type() == ITEM_TYPE_SCENE)
  {
    std::string new_name = item->text(column).toStdString();

    if (planning_scene_storage->hasPlanningScene(new_name))
    {
      planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populatePlanningSceneTreeView, this));
      QMessageBox::warning(this, "Scene not renamed", QString("The scene name '").append(item->text(column)).append("' already exists"));
      return;
    }
    else
    {
      std::string old_name = item->toolTip(column).toStdString();
      planning_scene_storage->renamePlanningScene(old_name, new_name);
      item->setToolTip(column, item->text(column));
    }
  }
  else
  {
    std::string scene = item->parent()->text(0).toStdString();
    std::string new_name = item->text(column).toStdString();
    if (planning_scene_storage->hasPlanningQuery(scene, new_name))
    {
      planning_display_->addMainLoopJob(boost::bind(&MotionPlanningFrame::populatePlanningSceneTreeView, this));
      QMessageBox::warning(this, "Query not renamed", QString("The query name '").append(item->text(column)).
                           append("' already exists for scene ").append(item->parent()->text(0)));
      return;
    }
    else
    {
      std::string old_name = item->toolTip(column).toStdString();
      planning_scene_storage->renamePlanningQuery(scene, old_name, new_name);
      item->setToolTip(column, item->text(column));
    }
  }
}

void MotionPlanningFrame::populatePlanningSceneTreeView()
{
  boost::shared_ptr<moveit_warehouse::PlanningSceneStorage> planning_scene_storage = planning_scene_storage_;
  if (!planning_scene_storage)
    return;

  ui_->planning_scene_tree->setUpdatesEnabled(false);

  // remember which items were expanded
  std::set<std::string> expanded;
  for (int i = 0 ; i < ui_->planning_scene_tree->topLevelItemCount() ; ++i)
  {
    QTreeWidgetItem *it = ui_->planning_scene_tree->topLevelItem(i);
    if (it->isExpanded())
      expanded.insert(it->text(0).toStdString());
  }

  ui_->planning_scene_tree->clear();
  std::vector<std::string> names;
  planning_scene_storage->getPlanningSceneNames(names);

  for (std::size_t i = 0; i < names.size(); ++i)
  {
    std::vector<std::string> query_names;
    planning_scene_storage->getPlanningQueriesNames(query_names, names[i]);
    QTreeWidgetItem *item = new QTreeWidgetItem(ui_->planning_scene_tree, QStringList(QString::fromStdString(names[i])), ITEM_TYPE_SCENE);
    item->setFlags(item->flags() | Qt::ItemIsEditable);
    item->setToolTip(0, item->text(0)); // we use the tool tip as a backup of the old name when renaming
    for (std::size_t j = 0 ; j < query_names.size() ; ++j)
    {
      QTreeWidgetItem *subitem = new QTreeWidgetItem(item, QStringList(QString::fromStdString(query_names[j])), ITEM_TYPE_QUERY);
      subitem->setFlags(subitem->flags() | Qt::ItemIsEditable);
      subitem->setToolTip(0, subitem->text(0));
      item->addChild(subitem);
    }

    ui_->planning_scene_tree->insertTopLevelItem(ui_->planning_scene_tree->topLevelItemCount(), item);
    if (expanded.find(names[i]) != expanded.end())
      ui_->planning_scene_tree->expandItem(item);
  }
  ui_->planning_scene_tree->sortItems(0, Qt::AscendingOrder);
  ui_->planning_scene_tree->setUpdatesEnabled(true);
  checkPlanningSceneTreeEnabledButtons();
}

}