moveit_task_constructor/visualization/motion_planning_tasks/task_panel.cpp
Robert Haschke 6ba66b51a7 reworked TaskModels
- 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
2017-11-03 19:16:04 +01:00

151 lines
4.8 KiB
C++

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/* Author: Robert Haschke
Desc: Monitor manipulation tasks and visualize their solutions
*/
#include <stdio.h>
#include "task_panel_p.h"
#include "task_list_model_cache.h"
#include "local_task_model.h"
#include "factory_model.h"
#include "pluginlib_factory.h"
#include <moveit_task_constructor/stage.h>
#include <rviz/properties/property.h>
#include <rviz/visualization_manager.h>
#include <rviz/window_manager_interface.h>
#include <rviz/panel_dock_widget.h>
#include <ros/console.h>
namespace moveit_rviz_plugin {
typedef PluginlibFactory<moveit::task_constructor::Stage> StageFactory;
StageFactory* getStageFactory() {
static std::shared_ptr<StageFactory> factory
(new StageFactory("moveit_task_constructor",
"moveit::task_constructor::Stage"));
return factory.get();
}
rviz::PanelDockWidget* getStageDockWidget(rviz::WindowManagerInterface* mgr) {
static rviz::PanelDockWidget *widget = nullptr;
if (!widget && mgr) { // create widget
QTreeView *view = new QTreeView(mgr->getParentWindow());
view->setModel(new FactoryModel(getStageFactory(), view));
view->expandAll();
view->setHeaderHidden(true);
view->setDragDropMode(QAbstractItemView::DragOnly);
widget = mgr->addPane("Motion Planning Stages", view);
}
widget->show();
return widget;
}
TaskPanel::TaskPanel(QWidget* parent)
: rviz::Panel(parent), d_ptr(new TaskPanelPrivate(this))
{
Q_D(TaskPanel);
// connect signals
connect(d->actionNewTask, &QAction::triggered, this, &TaskPanel::onAddTask);
connect(d->actionNewStage, &QAction::triggered, this, &TaskPanel::onAddStage);
connect(d->actionRemoveStages, &QAction::triggered, this, &TaskPanel::onRemoveStages);
}
TaskPanel::~TaskPanel()
{
delete d_ptr;
}
TaskPanelPrivate::TaskPanelPrivate(TaskPanel *q_ptr)
: q_ptr(q_ptr)
, tasks_model(TaskListModelCache::instance().getGlobalModel())
, settings(new rviz::PropertyTreeModel(new rviz::Property))
{
setupUi(q_ptr);
initSettings(settings->getRoot());
settings_view->setModel(settings);
tasks_view->setModel(tasks_model.get());
// init actions
tasks_view->addActions({actionNewTask, actionNewStage, actionRemoveStages});
}
void TaskPanelPrivate::initSettings(rviz::Property* root)
{
}
void TaskPanel::onInitialize()
{
}
void TaskPanel::save(rviz::Config config) const
{
rviz::Panel::save(config);
d_ptr->settings->getRoot()->save(config);
}
void TaskPanel::load(const rviz::Config& config)
{
rviz::Panel::load(config);
d_ptr->settings->getRoot()->load(config);
}
void TaskPanel::onAddTask()
{
Q_D(TaskPanel);
QModelIndex current = d->tasks_view->currentIndex();
d_ptr->tasks_model->insertTask(new LocalTaskModel(this), current.row());
}
void TaskPanel::onAddStage()
{
rviz::PanelDockWidget *dock = getStageDockWidget(vis_manager_->getWindowManager());
dock->show();
}
void TaskPanel::onRemoveStages()
{
Q_D(TaskPanel);
for (const auto &range : d_ptr->tasks_view->selectionModel()->selection())
d_ptr->tasks_model->removeRows(range.top(), range.bottom()-range.top()+1, range.parent());
}
}
#include "moc_task_panel.cpp"