frameview.h

#ifndef FRAMEVIEW_H
#define FRAMEVIEW_H

// Widget to edit propertirs of KeyFrame:
// Duration
// Efforts

// Author: Dmytro Pavlichenko <dm.mark999@gmail.com>

#include <QWidget>
#include <QObject>

#include <boost/shared_ptr.hpp>
#include <motion_file/motionfile.h>

#include <ros/node_handle.h>
#include <ros/subscriber.h>

#include <robotcontrol/RobotState.h>

namespace Ui
{
    class FrameView; 
}

// TODO refactor
class FrameView : public QWidget
{
Q_OBJECT
public:
    typedef boost::shared_ptr<motionfile::Keyframe> KeyframePtr;
    
    FrameView(QWidget *parent = 0);
    ~FrameView();
    
    virtual bool eventFilter(QObject *object, QEvent *event);
    
    QString getPathToDir(); // Return path to dirrectory where current motion file is located
    
    double getEffort();
    int nameToIndex(std::string name);
    
    static bool parseSupport(QString support, double &left, double &right);
    
Q_SIGNALS:
    void updateFrame();
    void frameLoaded(KeyframePtr frame);
    void changeEffortForAllFrames(std::vector<int> indexesToApply, double newEffort);
    
public Q_SLOTS:
    void saveFrame(); // Saves current frame near opened motion with ".frame" extension
    void loadFrame();
    
    void setFrame(KeyframePtr frame);
    void updateJointList(const std::vector<std::string> &jointList);
    
    void setPathAndName(QString path); // Extracts path to file and file name for further saving
    
private Q_SLOTS:
    void nameChanged();
    void updateRollPitchYaw();
    
    void durationSpinChanged();
    void durationSliderChanged();
    
    void enableSupport(bool enable);
    
    void supportLeftSpinChanged();
    void supportRightSpinChanged();
    void supportSliderChanged();
    
    void handleRollSpinChanged();
    void handlePitchSpinChanged();
    void handleYawSpinChanged();
    
    void changeEffort();
    void setAllChecked(bool flag);
    
private:
    void findIndices(std::vector<int> &indices);
    void setCurrentSupport(); // Set support from spins
    void setSupportFromFrame(); // Parse support from frame, set sliders/spins
    
    void robotStateReceived(const robotcontrol::RobotStateConstPtr& state);
    
private:
    Ui::FrameView *ui;
    
    KeyframePtr frame;
    std::vector<std::string> joints;
    
    QString path;
    QString motionName;
    
    ros::NodeHandle nh;
    ros::Subscriber subscriber;
    bool updateRPY; // If true, values of Roll,Pitch,Yaw from /robotmodel/robot_state are set to current frame
};

#endif // FRAMEVIEW_H