default_collisions_widget.hpp

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/* Author: Dave Coleman */
 
#pragma once
 
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_srdf_plugins/default_collisions.hpp>
 
#include <QThread>
#include <QAbstractItemModel>
#include <QAction>
#include <QButtonGroup>
#include <QCheckBox>
#include <QGroupBox>
#include <QHeaderView>
#include <QItemSelection>
#include <QItemSelectionModel>
#include <QLabel>
#include <QLineEdit>
#include <QProgressBar>
#include <QPushButton>
#include <QSlider>
#include <QSpinBox>
#include <QTableView>
#include <QVBoxLayout>
 
namespace moveit_setup
{
namespace srdf_setup
{
class MonitorThread;
 
class DefaultCollisionsWidget : public SetupStepWidget
{
  Q_OBJECT
 
public:
  enum ViewMode
  {
    MATRIX_MODE = 0,
    LINEAR_MODE = 1
  };
 
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
  void onInit() override;
 
  ~DefaultCollisionsWidget() override;
 
  SetupStep& getSetupStep() override
  {
    return setup_step_;
  }
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void startGeneratingCollisionTable();
  void finishGeneratingCollisionTable();
 
  void changeDensityLabel(int value);
 
  void loadCollisionTable();
 
  void checkedFilterChanged();
 
  void collisionsChanged(const QModelIndex& index);
 
  void revertChanges();
 
  void previewSelectedMatrix(const QModelIndex& index);
  void previewSelectedLinear(const QModelIndex& index);
 
  void focusGiven() override;
 
  bool focusLost() override;
 
  void showHeaderContextMenu(const QPoint& p);
  void hideSections();
  void hideOtherSections();
  void showSections();
 
private:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QLabel* page_title_;
  QTableView* collision_table_;
  QAbstractItemModel* model_;
  QItemSelectionModel* selection_model_;
  QVBoxLayout* layout_;
  QLabel* density_value_label_;
  QSlider* density_slider_;
  QPushButton* btn_generate_;
  QGroupBox* controls_box_;
  QProgressBar* progress_bar_;
  QLabel* progress_label_;
  QLineEdit* link_name_filter_;
  QCheckBox* collision_checkbox_;
  QLabel* fraction_label_;
  QSpinBox* fraction_spinbox_;
  QPushButton* btn_revert_;
  QButtonGroup* view_mode_buttons_;
 
  QList<QAction*> header_actions_;    // context actions for header sections
  Qt::Orientations clicked_headers_;  // remember which header section activated context actions
  int clicked_section_;               // remember which header section activated context actions
 
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
  MonitorThread* worker_;
 
  DefaultCollisions setup_step_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  void disableControls(bool disable);
 
  bool eventFilter(QObject* object, QEvent* event) override;
 
  void showSections(QHeaderView* header, const QList<int>& logicalIndexes);
  void toggleSelection(QItemSelection selection);
};
 
class MonitorThread : public QThread
{
  Q_OBJECT
 
public:
  MonitorThread(DefaultCollisions& setup_step, QProgressBar* progress_bar = nullptr);
  void run() override;
  void cancel()
  {
    canceled_ = true;
  }
  bool canceled() const
  {
    return canceled_;
  }
 
Q_SIGNALS:
  void progress(int /*_t1*/);
 
private:
  DefaultCollisions& setup_step_;
  bool canceled_;
};
}  // namespace srdf_setup
}  // namespace moveit_setup