setup_assistant_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_ASSISTANT_WIDGET_
#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_ASSISTANT_WIDGET_

// Qt
#include <QWidget>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QString>
#include <QApplication>
#include <QObject>
#include <QEvent>
#include <QListWidget>
#include <QTimer>
#include <QSplitter>
#include <QStringList>
// Setup Asst
#include "navigation_widget.h"
#include "start_screen_widget.h"
#include "default_collisions_widget.h"
#include "planning_groups_widget.h"
#include "robot_poses_widget.h"
#include "end_effectors_widget.h"
#include "virtual_joints_widget.h"
#include "passive_joints_widget.h"
#include "configuration_files_widget.h"

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

// Other
#include <ros/ros.h>
#include <boost/program_options.hpp> // for parsing input arguments
#include <boost/thread/mutex.hpp>
#endif

// Forward declarations
namespace rviz
{
class GridDisplay;
class RenderPanel;
class VisualizationManager;
}

namespace moveit_rviz_plugin
{
class RobotStateDisplay;
}

namespace moveit_setup_assistant
{

class SetupAssistantWidget : public QWidget
{
  Q_OBJECT

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

  SetupAssistantWidget( QWidget *parent, boost::program_options::variables_map args );

  ~SetupAssistantWidget();

  void moveToScreen( const int index );

  void closeEvent( QCloseEvent * event );

  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 progressPastStartScreen();

  void loadRviz();

  void setModalMode( bool isModal );

  void highlightLink( const std::string& link_name );

  void highlightGroup( const std::string& group_name );

  void unhighlightAll();

  // received when virtual joints that change the reference frame are added
  void virtualJointReferenceFrameChanged();

private:


  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
  QList<QString> nav_name_list_;
  NavigationWidget *navs_view_;

  QWidget *middle_frame_;
  QWidget *rviz_container_;
  QSplitter *splitter_;
  QStackedLayout *main_content_;
  int current_index_;
  boost::mutex change_screen_lock_;

  // Rviz Panel
  rviz::RenderPanel* rviz_render_panel_;
  rviz::VisualizationManager* rviz_manager_;
  moveit_rviz_plugin::RobotStateDisplay* robot_state_display_;

  // Screen Widgets
  StartScreenWidget *ssw_;
  DefaultCollisionsWidget *dcw_;
  PlanningGroupsWidget *pgw_;
  RobotPosesWidget *rpw_;
  EndEffectorsWidget *efw_;
  VirtualJointsWidget *vjw_;
  PassiveJointsWidget *pjw_;
  ConfigurationFilesWidget *cfw_;

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************


};


}

#endif