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  /* Author: Dave Coleman */
  
  #pragma once
  
  #include <QLabel>
  #include <QVBoxLayout>
  #include <QTableView>
  #include <QSlider>
  #include <QPushButton>
  #include <QGroupBox>
  #include <QProgressBar>
  #include <QCheckBox>
  #include <QRadioButton>
  #include <QSpinBox>
  #include <QThread>
  #include <QLineEdit>
  #include <QAction>
  
  #ifndef Q_MOC_RUN
  #include <boost/thread/thread.hpp>
  #include <boost/function/function_fwd.hpp>
  #include <moveit/setup_assistant/tools/moveit_config_data.h>
  #endif
  
  #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
  
  namespace moveit_setup_assistant
  {
  class MonitorThread;
  
  /**
   * \brief User interface for editing the default collision matrix list in an SRDF
   */
  class DefaultCollisionsWidget : public SetupScreenWidget
  {
    Q_OBJECT
  
  public:
    enum ViewMode
    {
      MATRIX_MODE = 0,
      LINEAR_MODE = 1
    };
  
    // ******************************************************************************************
    // Public Functions
    // ******************************************************************************************
  
    /**
     * \brief User interface for editing the default collision matrix list in an SRDF
     * \param urdf_file String srdf file location. It will create a new file or will edit an existing one
     */
    DefaultCollisionsWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
    ~DefaultCollisionsWidget() override;
  
    /**
     * \brief Output Link Pairs to SRDF Format
     */
    void linkPairsToSRDF();
  
    /**
     * \brief Load Link Pairs from SRDF Format
     */
    void linkPairsFromSRDF();
  
  private Q_SLOTS:
  
    // ******************************************************************************************
    // Slot Event Functions
    // ******************************************************************************************
  
    /**
     * \brief start generating collision matrix in a worker thread
     */
    void startGeneratingCollisionTable();
    /**
     * \brief finish generating collision matrix after worker thread has finished
     */
    void finishGeneratingCollisionTable();
  
    /**
     * \brief GUI func for showing sampling density amount
     * \param value Sampling density
     */
    void changeDensityLabel(int value);
  
    /**
     * \brief Update view and data model for the link_pairs data structure
     */
    void loadCollisionTable();
  
    /**
     * \brief Change filter settings to show/hide enabled collisions
     */
    void checkedFilterChanged();
  
    /**
     * \brief Collision model changed
     */
    void collisionsChanged(const QModelIndex& index);
  
    /**
     * \brief Revert current changes to collision matrix
     */
    void revertChanges();
  
    /**
     * \brief Called when current row has changed
     */
    void previewSelectedMatrix(const QModelIndex& index);
    void previewSelectedLinear(const QModelIndex& index);
  
    /**
     * \brief Called when setup assistant navigation switches to this screen
     */
    void focusGiven() override;
  
    /**
     * \brief Called when setup assistant navigation switches away from this screen
     */
    bool focusLost() override;
  
    void showHeaderContextMenu(const QPoint& p);
    void hideSections();
    void hideOtherSections();
    void showSections();
  
  private:
    // ******************************************************************************************
    // Qt Components
    // ******************************************************************************************
    QLabel* page_title_;
    QTableView* collision_table_;
    QAbstractItemModel* model_;
    QItemSelectionModel* selection_model_;
    QVBoxLayout* layout_;
    QLabel* density_value_label_;
    QSlider* density_slider_;
    QPushButton* btn_generate_;
    QGroupBox* controls_box_;
    QProgressBar* progress_bar_;
    QLabel* progress_label_;
    QLineEdit* link_name_filter_;
    QCheckBox* collision_checkbox_;
    QLabel* fraction_label_;
    QSpinBox* fraction_spinbox_;
    QPushButton* btn_revert_;
    QButtonGroup* view_mode_buttons_;
  
    QList<QAction*> header_actions_;    // context actions for header sections
    Qt::Orientations clicked_headers_;  // remember which header section activated context actions
    int clicked_section_;               // remember which header section activated context actions
  
    // ******************************************************************************************
    // Variables
    // ******************************************************************************************
    MonitorThread* worker_;
  
    /// main storage of link pair data
    moveit_setup_assistant::LinkPairMap link_pairs_;
  
    /// Contains all the configuration data for the setup assistant
    moveit_setup_assistant::MoveItConfigDataPtr config_data_;
  
    // ******************************************************************************************
    // Private Functions
    // ******************************************************************************************
  
    /**
     * \brief The thread that is called to allow the GUI to update. Calls an external function to do calcs
     * \param collision_progress A shared pointer between 3 threads to allow progress bar to update. See declaration
     * location for more details and warning.
     */
    void generateCollisionTable(unsigned int* collision_progress);
  
    /**
     * \brief Helper function to disable parts of GUI during computation
     * \param disable A command
     */
    void disableControls(bool disable);
  
    /**
     * \brief Allow toggling of all checkboxes in selection by filtering <space> keypresses
     */
    bool eventFilter(QObject* object, QEvent* event) override;
  
    /**
     * \brief Show header's sections in logicalIndexes and everything in between
     */
    void showSections(QHeaderView* header, const QList<int>& logicalIndexes);
    /**
     * \brief Toggle enabled status of selection
     */
    void toggleSelection(QItemSelection selection);
  };
  
  /**
   * \brief QThread to monitor progress of a boost::thread
   */
  class MonitorThread : public QThread
  {
    Q_OBJECT
  
  public:
    MonitorThread(const boost::function<void(unsigned int*)>& f, QProgressBar* progress_bar = nullptr);
    void run() override;
    void cancel()
    {
      canceled_ = true;
    }
    bool canceled() const
    {
      return canceled_;
    }
  
  Q_SIGNALS:
    void progress(int);
  
  private:
    boost::thread worker_;
    unsigned int progress_;
    bool canceled_;
  };
  }  // namespace moveit_setup_assistant
  