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 *  Copyright (c) 2012, Willow Garage, Inc.
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/* Author: Dave Coleman */

#pragma once

#include <QWidget>
class QComboBox;
class QLabel;
class QLineEdit;
class QDoubleSpinBox;
class QPushButton;

#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif

namespace moveit_setup_assistant
{
class GroupEditWidget : public QWidget
{
  Q_OBJECT

private:
  const int FORM_CONTROL_WIDTH = 400;
  const int DECIMALS_TOLERANCE = 4;
  const double MIN_TOLERANCE = 1e-4;
  const double MAX_TOLERANCE = 1.0;
  const double STEP_TOLERANCE = 1e-4;

public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  /// Constructor
  GroupEditWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);

  /// Set the previous data
  void setSelected(const std::string& group_name);

  /// Populate the combo dropdown box with kinematic planners
  void loadKinematicPlannersComboBox();

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

  QLabel* title_;  // specify the title from the parent widget
  QLineEdit* group_name_field_;
  QComboBox* kinematics_solver_field_;
  QLineEdit* kinematics_resolution_field_;
  QLineEdit* kinematics_timeout_field_;
  QDoubleSpinBox* goal_joint_tolerance_field_;
  QDoubleSpinBox* goal_position_tolerance_field_;
  QDoubleSpinBox* goal_orientation_tolerance_field_;
  QLineEdit* kinematics_parameters_file_field_;
  QComboBox* default_planner_field_;
  QPushButton* btn_delete_;      // this button is hidden for new groups
  QPushButton* btn_save_;        // this button is hidden for new groups
  QWidget* new_buttons_widget_;  // for showing/hiding the new group buttons

private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  /// Shows a file dialog to select an additional parameter file for kinematics
  void selectKinematicsFile();

Q_SIGNALS:

  // ******************************************************************************************
  // Emitted Signals
  // ******************************************************************************************

  /// Button event for new groups, progressing to adding joints
  void saveJoints();

  /// Button event for new groups, progressing to adding links
  void saveLinks();

  /// Button event for new groups, progressing to adding a chain
  void saveChain();

  /// Button event for new groups, progressing to adding subgroups
  void saveSubgroups();

  /// Button event for just saving, when in edit mode
  void save();

  /// Event sent when user presses cancel button
  void cancelEditing();

  /// Event sent when delete is being requested for group
  void deleteGroup();

private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  /// Contains all the configuration data for the setup assistant
  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
}  // namespace moveit_setup_assistant
