planpanel.h

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/* Author: Constantinos Chamzas, Zachary Kingston */

#ifndef SE2EZ_GUI_PLANPANEL_
#define SE2EZ_GUI_PLANPANEL_

#include <thread>

#include <QPainter>
#include <QPropertyAnimation>

#include <ompl/base/PlannerData.h>

#include <se2ez/core/class_forward.h>

#include <se2ez/plan/constraint.h>

#include <se2ez/gui/panel.h>

namespace Ui
{
    class PlanPanel;
}

namespace se2ez
{
    /** \cond IGNORE */
    SE2EZ_CLASS_FORWARD(Robot)
    SE2EZ_CLASS_FORWARD(State)
    /** \endcond */

    namespace plan
    {
        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(EZPlans)
        /** \endcond */
    }  // namespace plan

    namespace gui
    {
        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(RenderArea)
        /** \endcond */

        class PlanPanel : public Panel
        {
            Q_OBJECT

        public:
            PlanPanel(RobotPtr robot, std::string name,
                      std::map<std::string, ompl::base::ConstraintPtr> constraints = {}, QWidget *parent = 0);
            ~PlanPanel() override;

            void draw(QPainter &painter, RenderArea *canvas) override;
            void update(boost::posix_time::ptime last, boost::posix_time::ptime current) override;

            void setPath(const std::vector<StatePtr> path);
            const std::vector<StatePtr> &getPath() const;
            ompl::base::PlannerDataPtr getPlannerData();

        public slots:
            void updateState();

        private slots:
            void setState(int index);
            void plannerChanged(const QString &text);
            void animate(int state);
            void animateTime();
            void plan();
            void setConstraints(const QString &text);
            void setEE(const QString &text);

        signals:
            void stateChanged();
            void newPlan();

        private:
            void pauseAnimation();
            void startAnimation();

            StatePtr getState(const QString &s);

            Ui::PlanPanel *ui_;

            QPropertyAnimation anim_;

            RobotPtr robot_{nullptr};
            StatePtr pstate_{nullptr};
            std::vector<StatePtr> path_;

            std::string ee_;
            ompl::base::PlannerDataPtr pd_{nullptr};

            plan::EZPlansPtr planner_;
            // std::map<std::string, std::string> params_;
            ompl::base::ParamSet set_;

            std::thread *planning_{nullptr};
            std::mutex pathmutex_;
            std::mutex pdmutex_;
            std::mutex planmutex_;

            std::set<std::string> snames_;
            std::set<std::string> jnames_;
            std::set<std::string> panelnames_;

            std::map<std::string, ompl::base::ConstraintPtr> constraints_;
        };
    }  // namespace gui
}  // namespace se2ez

#endif  // PLANPANEL_H