start_screen_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_START_SCREEN_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_START_SCREEN_WIDGET_

#include <QWidget>
#include <QLineEdit>
#include <QPushButton>
#include <QLabel>
#include <QProgressBar>

#ifndef Q_MOC_RUN
#include <urdf/model.h> // for testing a valid urdf is loaded
#include <srdfdom/model.h> // for testing a valid srdf is loaded
#include <moveit/setup_assistant/tools/moveit_config_data.h> // common datastructure class
#endif

#include "setup_screen_widget.h" // a base class for screens in the setup assistant


namespace moveit_setup_assistant
{


// Class Prototypes
class SelectModeWidget;
class LoadPathWidget;
//class LoadURDFWidget;

class StartScreenWidget : public SetupScreenWidget
{
  Q_OBJECT

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

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

  ~StartScreenWidget();


  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  SelectModeWidget *select_mode_;
  LoadPathWidget *stack_path_;
  LoadPathWidget *urdf_file_;
  //LoadPathWidget *srdf_file_;
  QPushButton *btn_load_;
  QLabel *next_label_;
  QProgressBar *progress_bar_;
  QImage *right_image_;
  QLabel *right_image_label_;
  QImage *logo_image_;
  QLabel *logo_image_label_;

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  void showNewOptions();

  void showExistingOptions();

  void loadFilesClick();

Q_SIGNALS:

  // ******************************************************************************************
  // Emitted Signal Functions
  // ******************************************************************************************

  void readyToProgress();

  void loadRviz();

private:


  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  bool create_new_package_;

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

  bool loadNewFiles();

  bool loadExistingFiles();

  bool loadURDFFile( const std::string& urdf_file_path );

  bool loadSRDFFile( const std::string& srdf_file_path );

  bool setSRDFFile( const std::string& srdf_string );

  bool extractPackageNameFromPath();

  bool createFullURDFPath();

  bool createFullSRDFPath( const std::string& package_path );

  bool createFullPackagePath();
};

// ******************************************************************************************
// ******************************************************************************************
// Class for selecting which mode
// ******************************************************************************************
// ******************************************************************************************

class SelectModeWidget : public QFrame
{
  Q_OBJECT

  private:

    private Q_SLOTS:

  public:

  SelectModeWidget( QWidget * parent );

  // Load file button
  QPushButton *btn_new_;
  QPushButton *btn_exist_;

};

}

#endif