planning_groups_widget.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  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 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: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PLANNING_GROUPS_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PLANNING_GROUPS_WIDGET_

// Qt
#include <QWidget>
#include <QTreeWidget>
#include <QSplitter>
#include <QStackedLayout>

// Setup Asst
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif

#include "double_list_widget.h" // for joints, links and subgroups pages
#include "kinematic_chain_widget.h" // for kinematic chain page
#include "group_edit_widget.h" // for group rename page
#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
{

// Custom Type
enum GroupType {
  JOINT,
  LINK,
  CHAIN,
  SUBGROUP,
  GROUP
};

// ******************************************************************************************
// ******************************************************************************************
// CLASS
// ******************************************************************************************
// ******************************************************************************************
class PlanningGroupsWidget : public SetupScreenWidget
{
  Q_OBJECT

  public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  PlanningGroupsWidget( QWidget *parent, moveit_setup_assistant::MoveItConfigDataPtr config_data );

  void changeScreen( int index );

  virtual void focusGiven();

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( std::vector<std::string> links );

  //void previewClickedJoint( std::string name );
  void previewSelectedJoints( std::vector<std::string> joints );

  void previewSelectedSubgroup( std::vector<std::string> groups );

private:

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

  QTreeWidget* groups_tree_;

  QStackedLayout* stacked_layout_;

  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_;

  GroupType current_edit_element_;

  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();

};

}

// ******************************************************************************************
// ******************************************************************************************
// 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);


#endif