mainwindow.h

// Trajectory editor main window
// Authors: Max Schwarz <max.schwarz@uni-bonn.de>, Dmytro Pavlichenko <dm.mark999@gmail.com>

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <QItemSelection>
#include <QProgressBar>
#include <QScrollArea>
#include <QString>

#include <motion_player/MotionPlayerState.h>

#include <trajectory_editor/keyframemodel.h>
#include <trajectory_editor/motionplayerclient.h>
#include <trajectory_editor/savecontroller.h>
#include <trajectory_editor/recentfiles.h>

#include <trajectory_editor/headerview.h>
#include <trajectory_editor/frameview.h>
#include <trajectory_editor/ruleview.h>

#include <trajectory_editor/spaces/jointdisplay.h>
#include <trajectory_editor/spaces/abstractspace.h>
#include <trajectory_editor/spaces/inversespace.h>
#include <trajectory_editor/spaces/pidspace.h>

namespace Ui { class MainWindow; }

class MainWindow : public QMainWindow
{
Q_OBJECT
public:
    MainWindow();
    virtual ~MainWindow();

private Q_SLOTS:
    void playFrameClicked();
    void playFrameSlowClicked();
    
    void playMotionClicked();
    void playSlowMotionClicked();
    
    void playSequenceClicked();
    void updateMotionClicked();
    
    void handleNewMotion();
    
    void handleLoad();
    void handleLoad(QString path);
    void handleSave();
    void handleSaveAs();
    void handleSaveMirroredAs();
    
    void handleAddFrameButton();
    void handleRemoveButton();
    void handleSelectionChanged(QItemSelection);
    void handleDisableSelected();
    void setViewSelection(int row);
    void setViewSelection(QItemSelection selection);
    
    void handleMoveUp();
    void handleMoveDown();
    
    void showAbout();
    void showControls();
    
    void ctrlC();
    void ctrlV();
    
    void updateCurrentFileLabel(QString newTitle);
    
    void setPlayButtonsEnabled(bool flag);
    void setControlButtonsEnabled(bool flag);
    
private:
    void motionPlayerStateReceived(const motion_player::MotionPlayerState& stateMsg);
    std::vector<int> getSelectedIndices(bool sort);
    
    void proposeSave(); // Proposes to save the motion. If user clicks yes - saves it
    void initSpaces();
    void initHeaderWidgets();
    void onQuit();
    
    QScrollArea* createAreaWithWidget(QWidget *widget);

private:
    Ui::MainWindow* m_ui;
    KeyframeModel* m_kModel;
    MotionPlayerClient *m_motion_player_client;
    SaveController *m_save_controller;
    RecentFiles *m_recent_files;
    
    HeaderView *m_header_view;
    FrameView  *m_frame_view;
    RuleView   *m_rule_view;
    
    std::vector<BasicSpace*> m_spaces;
    JointManager  *m_joint_space;
    AbstractSpace *m_abstract_space;
    InverseSpace  *m_inverse_space;
    PIDSpace      *m_pid_space;
    
    QWidget *m_controls_view;
    QWidget *m_about_view;
    
    QProgressBar *m_progress_bar;
    ros::Subscriber m_state_subscriber;
};

#endif