Program Listing for File controllers_widget.hpp

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 *  Copyright (c) 2018, Mohamad Ayman.
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/* Author: Mohamad Ayman */

#pragma once

// Qt
#include <QHBoxLayout>
#include <QPushButton>
#include <QStackedWidget>
#include <QTreeWidget>
#include <QTreeWidgetItem>

// SA
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_framework/qt/double_list_widget.hpp>
#include <moveit_setup_controllers/controllers.hpp>
#include <moveit_setup_controllers/controller_edit_widget.hpp>

namespace moveit_setup
{
namespace controllers
{
class ControllersWidget : public SetupStepWidget
{
  Q_OBJECT

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

  void onInit() override;

  void changeScreen(int index);

  void focusGiven() override;

  SetupStep& getSetupStep() override
  {
    return *setup_step_;
  }

private Q_SLOTS:

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

  // Expand/Collapse Tree
  void alterTree(const QString& link);

  void addController();

  void editController();

  void deleteController();

  // Add a Follow Joint Trajectory action Controller for each Planning Group
  void addDefaultControllers();

  void saveControllerScreenJoints();
  void saveJointsScreen();
  bool saveControllerScreen();
  void saveControllerScreenEdit();
  void saveControllerScreenGroups();
  void saveJointsGroupsScreen();
  void cancelEditing();

  void editSelected();

  void previewSelectedJoints(const std::vector<std::string>& joints);

  void previewSelectedGroup(const std::vector<std::string>& groups);

  void previewSelected(QTreeWidgetItem* selected_item, int column);

  void itemSelectionChanged();

protected:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

  QTreeWidget* controllers_tree_;
  QWidget* controllers_tree_widget_;

  QStackedWidget* stacked_widget_;
  ControllerEditWidget* controller_edit_widget_;

  QPushButton* btn_delete_;
  QPushButton* btn_add_;
  QPushButton* btn_edit_;
  QHBoxLayout* controls_layout_;
  DoubleListWidget* joints_widget_;
  DoubleListWidget* joint_groups_widget_;

  std::string current_edit_controller_;

  bool adding_new_controller_;

  std::shared_ptr<Controllers> setup_step_;

  QWidget* createContentsWidget();

  void loadControllersTree();
  void loadToControllersTree(const ControllerInfo& controller_it);
  void showMainScreen();
  void loadJointsScreen(ControllerInfo* this_controller);
  void loadGroupsScreen(ControllerInfo* this_controller);
  void loadControllerScreen(ControllerInfo* this_controller);
};

}  // namespace controllers
}  // namespace moveit_setup