task_solution_panel.cpp

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/* Author: Yannick Jonetzko */
 
#include <moveit/visualization_tools/task_solution_panel.h>
#include <QHBoxLayout>
 
namespace moveit_rviz_plugin {
TaskSolutionPanel::TaskSolutionPanel(QWidget* parent) : Panel(parent) {
        empty_ = false;
}
 
TaskSolutionPanel::~TaskSolutionPanel() {}
 
void TaskSolutionPanel::onInitialize() {
        slider_ = new QSlider(Qt::Horizontal);
        slider_->setTickInterval(1);
        slider_->setMinimum(0);
        slider_->setMaximum(0);
        slider_->setTickPosition(QSlider::TicksBelow);
        slider_->setPageStep(1);
        slider_->setEnabled(false);
        connect(slider_, SIGNAL(valueChanged(int)), this, SLOT(sliderValueChanged(int)));
 
        maximum_label_ = new QLabel(QString::number(slider_->maximum()));
        minimum_label_ = new QLabel(QString::number(slider_->minimum()));
        minimum_label_->setFixedWidth(20);
 
        button_ = new QPushButton();
        button_->setText("Pause");
        button_->setEnabled(false);
        connect(button_, SIGNAL(clicked()), this, SLOT(buttonClicked()));
 
        QHBoxLayout* layout = new QHBoxLayout;
        layout->addWidget(new QLabel("Waypoint:"));
        layout->addWidget(minimum_label_);
        layout->addWidget(slider_);
        layout->addWidget(maximum_label_);
        layout->addWidget(button_);
        setLayout(layout);
 
        paused_ = false;
        parentWidget()->setVisible(false);
}
 
void TaskSolutionPanel::onEnable() {
        parentWidget()->show();
}
 
void TaskSolutionPanel::onDisable() {
        paused_ = false;
        parentWidget()->hide();
}
 
void TaskSolutionPanel::update(int way_point_count) {
        int max_way_point = std::max(1, way_point_count - 1);
        empty_ = (way_point_count == 0);
 
        slider_->setEnabled(way_point_count >= 0);
        button_->setEnabled(way_point_count >= 0);
 
        paused_ = false;
        slider_->setMaximum(max_way_point);
        maximum_label_->setText(way_point_count >= 0 ? QString::number(way_point_count) : "");
        slider_->setSliderPosition(0);
}
 
void TaskSolutionPanel::pauseButton(bool pause) {
        if (pause) {
                button_->setText("Play");
                paused_ = true;
        } else {
                button_->setText("Pause");
                paused_ = false;
                if (slider_->sliderPosition() == slider_->maximum())
                        slider_->setSliderPosition(0);
        }
}
 
void TaskSolutionPanel::setSliderPosition(int position) {
        slider_->setSliderPosition(position);
}
 
void TaskSolutionPanel::sliderValueChanged(int value) {
        QString text;
        if (!slider_->isEnabled())
                text = "";
        else if (empty_)
                text = value == 0 ? "S" : "E";
        else
                text = QString::number(value + 1);
        minimum_label_->setText(text);
}
 
void TaskSolutionPanel::buttonClicked() {
        if (paused_)
                pauseButton(false);
        else
                pauseButton(true);
}
 
}  // namespace moveit_rviz_plugin