mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
- separate RemoteTaskModel / LocalTaskModel, reusing existing storage - TaskListModel collects several TaskModels - TaskListModelCache: global singleton, maintaining TaskListModel of all tasks in system (used by panels) - create LocalTask from stages available via pluglinlib
151 lines
4.8 KiB
C++
151 lines
4.8 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Robert Haschke
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Desc: Monitor manipulation tasks and visualize their solutions
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*/
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#include <stdio.h>
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#include "task_panel_p.h"
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#include "task_list_model_cache.h"
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#include "local_task_model.h"
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#include "factory_model.h"
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#include "pluginlib_factory.h"
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#include <moveit_task_constructor/stage.h>
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#include <rviz/properties/property.h>
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#include <rviz/visualization_manager.h>
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#include <rviz/window_manager_interface.h>
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#include <rviz/panel_dock_widget.h>
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#include <ros/console.h>
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namespace moveit_rviz_plugin {
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typedef PluginlibFactory<moveit::task_constructor::Stage> StageFactory;
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StageFactory* getStageFactory() {
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static std::shared_ptr<StageFactory> factory
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(new StageFactory("moveit_task_constructor",
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"moveit::task_constructor::Stage"));
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return factory.get();
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}
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rviz::PanelDockWidget* getStageDockWidget(rviz::WindowManagerInterface* mgr) {
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static rviz::PanelDockWidget *widget = nullptr;
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if (!widget && mgr) { // create widget
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QTreeView *view = new QTreeView(mgr->getParentWindow());
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view->setModel(new FactoryModel(getStageFactory(), view));
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view->expandAll();
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view->setHeaderHidden(true);
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view->setDragDropMode(QAbstractItemView::DragOnly);
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widget = mgr->addPane("Motion Planning Stages", view);
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}
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widget->show();
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return widget;
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}
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TaskPanel::TaskPanel(QWidget* parent)
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: rviz::Panel(parent), d_ptr(new TaskPanelPrivate(this))
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{
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Q_D(TaskPanel);
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// connect signals
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connect(d->actionNewTask, &QAction::triggered, this, &TaskPanel::onAddTask);
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connect(d->actionNewStage, &QAction::triggered, this, &TaskPanel::onAddStage);
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connect(d->actionRemoveStages, &QAction::triggered, this, &TaskPanel::onRemoveStages);
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}
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TaskPanel::~TaskPanel()
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{
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delete d_ptr;
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}
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TaskPanelPrivate::TaskPanelPrivate(TaskPanel *q_ptr)
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: q_ptr(q_ptr)
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, tasks_model(TaskListModelCache::instance().getGlobalModel())
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, settings(new rviz::PropertyTreeModel(new rviz::Property))
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{
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setupUi(q_ptr);
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initSettings(settings->getRoot());
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settings_view->setModel(settings);
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tasks_view->setModel(tasks_model.get());
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// init actions
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tasks_view->addActions({actionNewTask, actionNewStage, actionRemoveStages});
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}
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void TaskPanelPrivate::initSettings(rviz::Property* root)
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{
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}
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void TaskPanel::onInitialize()
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{
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}
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void TaskPanel::save(rviz::Config config) const
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{
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rviz::Panel::save(config);
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d_ptr->settings->getRoot()->save(config);
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}
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void TaskPanel::load(const rviz::Config& config)
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{
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rviz::Panel::load(config);
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d_ptr->settings->getRoot()->load(config);
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}
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void TaskPanel::onAddTask()
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{
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Q_D(TaskPanel);
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QModelIndex current = d->tasks_view->currentIndex();
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d_ptr->tasks_model->insertTask(new LocalTaskModel(this), current.row());
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}
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void TaskPanel::onAddStage()
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{
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rviz::PanelDockWidget *dock = getStageDockWidget(vis_manager_->getWindowManager());
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dock->show();
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}
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void TaskPanel::onRemoveStages()
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{
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Q_D(TaskPanel);
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for (const auto &range : d_ptr->tasks_view->selectionModel()->selection())
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d_ptr->tasks_model->removeRows(range.top(), range.bottom()-range.top()+1, range.parent());
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}
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}
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#include "moc_task_panel.cpp"
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