virtual_joints_widget.cpp

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/* Author: Dave Coleman */

// SA
#include "virtual_joints_widget.h"
// Qt
#include <QFormLayout>
#include <QMessageBox>
#include <QApplication>

namespace moveit_setup_assistant
{

// ******************************************************************************************
// Constructor
// ******************************************************************************************
VirtualJointsWidget::VirtualJointsWidget( QWidget *parent, moveit_setup_assistant::MoveItConfigDataPtr config_data )
  : SetupScreenWidget( parent ), config_data_(config_data)
{
  // Basic widget container
  QVBoxLayout *layout = new QVBoxLayout( );

  // Top Header Area ------------------------------------------------

  HeaderWidget *header = new HeaderWidget( "Virtual Joints",
                                           "Define a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot).",
                                           this);
  layout->addWidget( header );

  // Create contents screens ---------------------------------------

  vjoint_list_widget_ = createContentsWidget();
  vjoint_edit_widget_ = createEditWidget();

  // Create stacked layout -----------------------------------------
  stacked_layout_ = new QStackedLayout( this );
  stacked_layout_->addWidget( vjoint_list_widget_ ); // screen index 0
  stacked_layout_->addWidget( vjoint_edit_widget_ ); // screen index 1

  // Create Widget wrapper for layout
  QWidget *stacked_layout_widget = new QWidget( this );
  stacked_layout_widget->setLayout( stacked_layout_ );

  layout->addWidget( stacked_layout_widget );

  // Finish Layout --------------------------------------------------
  this->setLayout(layout);

}

// ******************************************************************************************
// Create the main content widget
// ******************************************************************************************
QWidget* VirtualJointsWidget::createContentsWidget()
{
  // Main widget
  QWidget *content_widget = new QWidget( this );

  // Basic widget container
  QVBoxLayout *layout = new QVBoxLayout( this );

  // Table ------------ ------------------------------------------------

  data_table_ = new QTableWidget( this );
  data_table_->setColumnCount(4);
  data_table_->setSortingEnabled(true);
  data_table_->setSelectionBehavior( QAbstractItemView::SelectRows );
  connect( data_table_, SIGNAL( cellDoubleClicked( int, int ) ), this, SLOT( editDoubleClicked( int, int ) ) );
  connect( data_table_, SIGNAL( cellClicked( int, int ) ), this, SLOT( previewClicked( int, int ) ) );
  layout->addWidget( data_table_ );

  // Set header labels
  QStringList header_list;
  header_list.append("Virtual Joint Name");
  header_list.append("Child Link");
  header_list.append("Parent Frame");
  header_list.append("Type");
  data_table_->setHorizontalHeaderLabels(header_list);

  // Bottom Buttons --------------------------------------------------

  QHBoxLayout *controls_layout = new QHBoxLayout();

  // Spacer
  QWidget *spacer = new QWidget( this );
  spacer->setSizePolicy( QSizePolicy::Expanding, QSizePolicy::Preferred );
  controls_layout->addWidget( spacer );

  // Edit Selected Button
  btn_edit_ = new QPushButton( "&Edit Selected", this );
  btn_edit_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred );
  btn_edit_->setMaximumWidth(300);
  btn_edit_->hide(); // show once we know if there are existing poses
  connect(btn_edit_, SIGNAL(clicked()), this, SLOT(editSelected()));
  controls_layout->addWidget(btn_edit_);
  controls_layout->setAlignment( btn_edit_, Qt::AlignRight );

  // Delete Selected Button
  btn_delete_ = new QPushButton( "&Delete Selected", this );
  connect( btn_delete_, SIGNAL(clicked()), this, SLOT( deleteSelected() ) );
  controls_layout->addWidget( btn_delete_ );
  controls_layout->setAlignment(btn_delete_, Qt::AlignRight);

  // Add VJoint Button
  QPushButton *btn_add = new QPushButton( "&Add Virtual Joint", this );
  btn_add->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred );
  btn_add->setMaximumWidth(300);
  connect(btn_add, SIGNAL(clicked()), this, SLOT(showNewScreen()));
  controls_layout->addWidget(btn_add);
  controls_layout->setAlignment( btn_add, Qt::AlignRight );

  // Add layout
  layout->addLayout( controls_layout );


  // Set layout -----------------------------------------------------
  content_widget->setLayout(layout);

  return content_widget;
}

// ******************************************************************************************
// Create the edit widget
// ******************************************************************************************
QWidget* VirtualJointsWidget::createEditWidget()
{
  // Main widget
  QWidget *edit_widget = new QWidget( this );
  // Layout
  QVBoxLayout *layout = new QVBoxLayout();


  // Simple form -------------------------------------------
  QFormLayout *form_layout = new QFormLayout();
  //form_layout->setContentsMargins( 0, 15, 0, 15 );
  form_layout->setRowWrapPolicy( QFormLayout::WrapAllRows );

  // Name input
  vjoint_name_field_ = new QLineEdit( this );
  form_layout->addRow( "Virtual Joint Name:", vjoint_name_field_ );

  // Child Link input
  child_link_field_ = new QComboBox( this );
  child_link_field_->setEditable( false );
  form_layout->addRow( "Child Link:", child_link_field_ );

  // Parent frame name input
  parent_name_field_ = new QLineEdit( this );
  form_layout->addRow( "Parent Frame Name:", parent_name_field_ );

  // Type input
  joint_type_field_ = new QComboBox( this );
  joint_type_field_->setEditable( false );
  loadJointTypesComboBox(); // only do this once
  //connect( joint_type_field_, SIGNAL( currentIndexChanged( const QString & ) ),
  //         this, SLOT( loadJoinSliders( const QString & ) ) );
  form_layout->addRow( "Joint Type:", joint_type_field_ );

  layout->addLayout( form_layout );

  // Bottom Buttons --------------------------------------------------

  QHBoxLayout *controls_layout = new QHBoxLayout();
  controls_layout->setContentsMargins( 0, 25, 0, 15 );

  // Spacer
  QWidget *spacer = new QWidget( this );
  spacer->setSizePolicy( QSizePolicy::Expanding, QSizePolicy::Preferred );
  controls_layout->addWidget( spacer );

  // Save
  QPushButton *btn_save_ = new QPushButton( "&Save", this );
  btn_save_->setMaximumWidth( 200 );
  connect( btn_save_, SIGNAL(clicked()), this, SLOT( doneEditing() ) );
  controls_layout->addWidget( btn_save_ );
  controls_layout->setAlignment(btn_save_, Qt::AlignRight);

  // Cancel
  QPushButton *btn_cancel_ = new QPushButton( "&Cancel", this );
  btn_cancel_->setMaximumWidth( 200 );
  connect( btn_cancel_, SIGNAL(clicked()), this, SLOT( cancelEditing() ) );
  controls_layout->addWidget( btn_cancel_ );
  controls_layout->setAlignment(btn_cancel_, Qt::AlignRight);

  // Add layout
  layout->addLayout( controls_layout );


  // Set layout -----------------------------------------------------
  edit_widget->setLayout(layout);

  return edit_widget;
}

// ******************************************************************************************
// Show edit screen for creating a new vjoint
// ******************************************************************************************
void VirtualJointsWidget::showNewScreen()
{
  // Remember that this is a new vjoint
  current_edit_vjoint_.clear();

  // Clear previous data
  vjoint_name_field_->setText("");
  parent_name_field_->setText("");
  child_link_field_->clearEditText();
  joint_type_field_->clearEditText(); // actually this just chooses first option

  // Switch to screen
  stacked_layout_->setCurrentIndex( 1 );

  // Announce that this widget is in modal mode
  Q_EMIT isModal( true );
}

// ******************************************************************************************
// Edit whatever element is selected
// ******************************************************************************************
void VirtualJointsWidget::editDoubleClicked( int row, int column )
{
  editSelected();
}

// ******************************************************************************************
// Preview whatever element is selected
// ******************************************************************************************
void VirtualJointsWidget::previewClicked( int row, int column )
{
  // TODO: highlight the virtual joint?


  /*  // Get list of all selected items
  QList<QTableWidgetItem*> selected = data_table_->selectedItems();

  // Check that an element was selected
  if( !selected.size() )
    return;

  // Find the selected in datastructure
  srdf::Model::GroupState *vjoint = findVjointByName( selected[0]->text().toStdString() );

  // Set vjoint joint values by adding them to the local joint state map
  for( std::map<std::string, std::vector<double> >::const_iterator value_it = vjoint->joint_values_.begin();
       value_it != vjoint->joint_values_.end(); ++value_it )
  {
    // Only copy the first joint value
    joint_state_map_[ value_it->first ] = value_it->second[0];
  }

  // Update the joints
  publishJoints();
  */
}

// ******************************************************************************************
// Edit whatever element is selected
// ******************************************************************************************
void VirtualJointsWidget::editSelected()
{
  // Get list of all selected items
  QList<QTableWidgetItem*> selected = data_table_->selectedItems();

  // Check that an element was selected
  if( !selected.size() )
    return;

  // Get selected name and edit it
  edit( selected[0]->text().toStdString() );
}

// ******************************************************************************************
// Edit vjoint
// ******************************************************************************************
void VirtualJointsWidget::edit( const std::string &name )
{
  // Remember what we are editing
  current_edit_vjoint_ = name;

  // Find the selected in datastruture
  srdf::Model::VirtualJoint *vjoint = findVJointByName( name );

  // Set vjoint name
  vjoint_name_field_->setText( vjoint->name_.c_str() );
  parent_name_field_->setText( vjoint->parent_frame_.c_str() );

  // Set vjoint child link
  int index = child_link_field_->findText( vjoint->child_link_.c_str() );
  if( index == -1 )
  {
    QMessageBox::critical( this, "Error Loading", "Unable to find child link in drop down box" );
    return;
  }
  child_link_field_->setCurrentIndex( index );

  // Set joint type
  index = joint_type_field_->findText( vjoint->type_.c_str() );
  if( index == -1 )
  {
    QMessageBox::critical( this, "Error Loading", "Unable to find joint type in drop down box" );
    return;
  }
  joint_type_field_->setCurrentIndex( index );

  // Switch to screen
  stacked_layout_->setCurrentIndex( 1 );

  // Announce that this widget is in modal mode
  Q_EMIT isModal( true );
}

// ******************************************************************************************
// Populate the combo dropdown box with joint types
// ******************************************************************************************
void VirtualJointsWidget::loadJointTypesComboBox()
{
  // Remove all old items
  joint_type_field_->clear();

  // joint types (hard coded)
  joint_type_field_->addItem( "fixed" );
  joint_type_field_->addItem( "floating" );
  joint_type_field_->addItem( "planar" );
}

// ******************************************************************************************
// Populate the combo dropdown box with avail child links
// ******************************************************************************************
void VirtualJointsWidget::loadChildLinksComboBox()
{
  // Remove all old links
  child_link_field_->clear();

  // Get all links in robot model
  std::vector<const robot_model::LinkModel*> link_models = config_data_->getRobotModel()->getLinkModels();

  // Add all links to combo box
  for( std::vector<const robot_model::LinkModel*>::const_iterator link_it = link_models.begin();
       link_it < link_models.end(); ++link_it )
  {
    child_link_field_->addItem( (*link_it)->getName().c_str() );
  }

}

// ******************************************************************************************
// Find the associated data by name
// ******************************************************************************************
srdf::Model::VirtualJoint *VirtualJointsWidget::findVJointByName( const std::string &name )
{
  // Find the group state we are editing based on the vjoint name
  srdf::Model::VirtualJoint *searched_group = NULL; // used for holding our search results

  for( std::vector<srdf::Model::VirtualJoint>::iterator vjoint_it = config_data_->srdf_->virtual_joints_.begin();
       vjoint_it != config_data_->srdf_->virtual_joints_.end(); ++vjoint_it )
  {
    if( vjoint_it->name_ == name ) // string match
    {
      searched_group = &(*vjoint_it);  // convert to pointer from iterator
      break; // we are done searching
    }
  }

  // Check if vjoint was found
  if( searched_group == NULL ) // not found
  {
    QMessageBox::critical( this, "Error Saving", "An internal error has occured while saving. Quitting.");
    QApplication::quit();
  }

  return searched_group;
}

// ******************************************************************************************
// Delete currently editing item
// ******************************************************************************************
void VirtualJointsWidget::deleteSelected()
{
  // Get list of all selected items
  QList<QTableWidgetItem*> selected = data_table_->selectedItems();

  // Check that an element was selected
  if( !selected.size() )
    return;

  // Get selected name and edit it
  current_edit_vjoint_ = selected[0]->text().toStdString();

  // Confirm user wants to delete group
  if( QMessageBox::question( this, "Confirm Virtual Joint Deletion",
                             QString("Are you sure you want to delete the virtual joint '")
                             .append( current_edit_vjoint_.c_str() )
                             .append( "'?" ),
                             QMessageBox::Ok | QMessageBox::Cancel)
      == QMessageBox::Cancel )
  {
    return;
  }

  // Delete vjoint from vector
  for( std::vector<srdf::Model::VirtualJoint>::iterator vjoint_it = config_data_->srdf_->virtual_joints_.begin();
       vjoint_it != config_data_->srdf_->virtual_joints_.end(); ++vjoint_it )
  {
    // check if this is the group we want to delete
    if( vjoint_it->name_ == current_edit_vjoint_ ) // string match
    {
      config_data_->srdf_->virtual_joints_.erase( vjoint_it );
      break;
    }
  }

  // Reload main screen table
  loadDataTable();

}

// ******************************************************************************************
// Save editing changes
// ******************************************************************************************
void VirtualJointsWidget::doneEditing()
{
  // Get a reference to the supplied strings
  const std::string vjoint_name = vjoint_name_field_->text().toStdString();
  const std::string parent_name = parent_name_field_->text().toStdString();

  // Used for editing existing groups
  srdf::Model::VirtualJoint *searched_data = NULL;

  // Check that name field is not empty
  if( vjoint_name.empty() )
  {
    QMessageBox::warning( this, "Error Saving", "A name must be given for the virtual joint!" );
    return;
  }

  // Check that parent frame name field is not empty
  if( parent_name.empty() )
  {
    QMessageBox::warning( this, "Error Saving", "A name must be given for the parent frame" );
    return;
  }

  // Check if this is an existing vjoint
  if( !current_edit_vjoint_.empty() )
  {
    // Find the group we are editing based on the goup name string
    searched_data = findVJointByName( current_edit_vjoint_ );
  }

  // Check that the vjoint name is unique
  for( std::vector<srdf::Model::VirtualJoint>::const_iterator data_it = config_data_->srdf_->virtual_joints_.begin();
       data_it != config_data_->srdf_->virtual_joints_.end();  ++data_it )
  {
    if( data_it->name_.compare( vjoint_name ) == 0 ) // the names are the same
    {
      // is this our existing vjoint? check if vjoint pointers are same
      if( &(*data_it) != searched_data )
      {
        QMessageBox::warning( this, "Error Saving", "A virtual joint already exists with that name!" );
        return;
      }
    }
  }

  // Check that a joint type was selected
  if( joint_type_field_->currentText().isEmpty() )
  {
    QMessageBox::warning( this, "Error Saving", "A joint type must be chosen!" );
    return;
  }

  // Check that a child link was selected
  if( child_link_field_->currentText().isEmpty() )
  {
    QMessageBox::warning( this, "Error Saving", "A child link must be chosen!" );
    return;
  }

  // Save the new vjoint name or create the new vjoint ----------------------------
  bool isNew = false;

  if( searched_data == NULL ) // create new
  {
    isNew = true;

    searched_data = new srdf::Model::VirtualJoint();
  }

  // Copy name data ----------------------------------------------------
  searched_data->name_ = vjoint_name;
  searched_data->parent_frame_ = parent_name;
  searched_data->child_link_ = child_link_field_->currentText().toStdString();
  searched_data->type_ = joint_type_field_->currentText().toStdString();

  bool emit_frame_notice = false;

  // Insert new vjoints into group state vector --------------------------
  if( isNew )
  {
    if (searched_data->child_link_ == config_data_->getRobotModel()->getRootLinkName())
      emit_frame_notice = true;
    config_data_->srdf_->virtual_joints_.push_back( *searched_data );
    config_data_->updateRobotModel();
  }

  // Finish up ------------------------------------------------------

  // Reload main screen table
  loadDataTable();

  // Switch to screen
  stacked_layout_->setCurrentIndex( 0 );

  // Announce that this widget is not in modal mode
  Q_EMIT isModal( false );

  // if the root frame changed for the robot, emit the signal
  if (emit_frame_notice)
  {
    Q_EMIT referenceFrameChanged();
  }
}

// ******************************************************************************************
// Cancel changes
// ******************************************************************************************
void VirtualJointsWidget::cancelEditing()
{
  // Switch to screen
  stacked_layout_->setCurrentIndex( 0 );

  // Announce that this widget is not in modal mode
  Q_EMIT isModal( false );
}

// ******************************************************************************************
// Load the virtual joints into the table
// ******************************************************************************************
void VirtualJointsWidget::loadDataTable()
{
  // Disable Table
  data_table_->setUpdatesEnabled(false); // prevent table from updating until we are completely done
  data_table_->setDisabled(true); // make sure we disable it so that the cellChanged event is not called
  data_table_->clearContents();

  // Set size of datatable
  data_table_->setRowCount( config_data_->srdf_->virtual_joints_.size() );

  // Loop through every virtual joint
  int row = 0;
  for( std::vector<srdf::Model::VirtualJoint>::const_iterator data_it = config_data_->srdf_->virtual_joints_.begin();
       data_it != config_data_->srdf_->virtual_joints_.end(); ++data_it )
  {
    // Create row elements
    QTableWidgetItem* data_name = new QTableWidgetItem( data_it->name_.c_str() );
    data_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
    QTableWidgetItem* child_link_name = new QTableWidgetItem( data_it->child_link_.c_str() );
    child_link_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
    QTableWidgetItem* parent_frame_name = new QTableWidgetItem( data_it->parent_frame_.c_str() );
    parent_frame_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
    QTableWidgetItem* type_name = new QTableWidgetItem( data_it->type_.c_str() );
    type_name->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);

    // Add to table
    data_table_->setItem( row, 0, data_name );
    data_table_->setItem( row, 1, child_link_name );
    data_table_->setItem( row, 2, parent_frame_name );
    data_table_->setItem( row, 3, type_name );

    // Increment counter
    ++row;
  }

  // Reenable
  data_table_->setUpdatesEnabled(true); // prevent table from updating until we are completely done
  data_table_->setDisabled(false); // make sure we disable it so that the cellChanged event is not called

  // Resize header
  data_table_->resizeColumnToContents(0);
  data_table_->resizeColumnToContents(1);
  data_table_->resizeColumnToContents(2);
  data_table_->resizeColumnToContents(3);

  // Show edit button if applicable
  if( config_data_->srdf_->virtual_joints_.size() )
    btn_edit_->show();
}

// ******************************************************************************************
// Called when setup assistant navigation switches to this screen
// ******************************************************************************************
void VirtualJointsWidget::focusGiven()
{
  // Show the current vjoints screen
  stacked_layout_->setCurrentIndex( 0 );

  // Load the data to the tree
  loadDataTable();

  // Load the avail groups to the combo box
  loadChildLinksComboBox();

}


} // namespace