task_panel.h

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/* Author: Robert Haschke
   Desc:   Monitor manipulation tasks and visualize their solutions
*/
 
#pragma once
 
#include <rviz/panel.h>
#include <moveit/macros/class_forward.h>
#include <QModelIndex>
class QItemSelection;
class QIcon;
 
namespace rviz {
class WindowManagerInterface;
class Property;
class BoolProperty;
class EnumProperty;
}  // namespace rviz
 
namespace moveit_rviz_plugin {
 
class TaskSolutionVisualization;
MOVEIT_CLASS_FORWARD(TaskListModel);
MOVEIT_CLASS_FORWARD(TaskPanel);
 
class SubPanel : public QWidget
{
        Q_OBJECT
public:
        SubPanel(QWidget* parent = nullptr) : QWidget(parent) {}
 
        virtual void save(rviz::Config /*config*/) {}  // NOLINT(performance-unnecessary-value-param)
        virtual void load(const rviz::Config& /*config*/) {}
 
Q_SIGNALS:
        void configChanged();
};
 
class TaskPanelPrivate;
class TaskPanel : public rviz::Panel
{
        Q_OBJECT
        Q_DECLARE_PRIVATE(TaskPanel)
        TaskPanelPrivate* d_ptr;
 
public:
        TaskPanel(QWidget* parent = nullptr);
        ~TaskPanel() override;
 
        void addSubPanel(SubPanel* w, const QString& title, const QIcon& icon);
 
        static void request(rviz::WindowManagerInterface* window_manager);
        static void release();
 
        void onInitialize() override;
        void load(const rviz::Config& config) override;
        void save(rviz::Config config) const override;
 
protected Q_SLOTS:
        void showStageDockWidget();
};
 
class MetaTaskListModel;
class TaskViewPrivate;
class TaskView : public SubPanel
{
        Q_OBJECT
        Q_DECLARE_PRIVATE(TaskView)
        TaskViewPrivate* d_ptr;
 
protected:
        // configuration settings
        enum TaskExpand : uint8_t
        {
                EXPAND_TOP = 1,
                EXPAND_ALL,
                EXPAND_NONE
        };
 
        rviz::EnumProperty* initial_task_expand;
        rviz::EnumProperty* old_task_handling;
        rviz::BoolProperty* show_time_column;
 
public:
        enum OldTaskHandling : uint8_t
        {
                OLD_TASK_KEEP = 1,
                OLD_TASK_REPLACE,
                OLD_TASK_REMOVE
        };
 
        TaskView(TaskPanel* parent, rviz::Property* root);
        ~TaskView() override;
 
        void save(rviz::Config config) override;
        void load(const rviz::Config& config) override;
 
public Q_SLOTS:
        void addTask();
 
protected Q_SLOTS:
        void removeSelectedStages();
        void onCurrentStageChanged(const QModelIndex& current, const QModelIndex& previous);
        void onCurrentSolutionChanged(const QModelIndex& current, const QModelIndex& previous);
        void onSolutionSelectionChanged(const QItemSelection& selected, const QItemSelection& deselected);
        void onExecCurrentSolution() const;
        void onShowTimeChanged();
        void onOldTaskHandlingChanged();
 
private:
        Q_PRIVATE_SLOT(d_ptr, void configureInsertedModels(QModelIndex, int, int));
 
Q_SIGNALS:
        void oldTaskHandlingChanged(int old_task_handling);
};
 
class GlobalSettingsWidgetPrivate;
class GlobalSettingsWidget : public SubPanel
{
        Q_OBJECT
        Q_DECLARE_PRIVATE(GlobalSettingsWidget)
        GlobalSettingsWidgetPrivate* d_ptr;
 
public:
        GlobalSettingsWidget(TaskPanel* parent, rviz::Property* root);
        ~GlobalSettingsWidget() override;
 
        void save(rviz::Config config) override;
        void load(const rviz::Config& config) override;
};
}  // namespace moveit_rviz_plugin