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  /* Author: Mario Prats, Ioan Sucan */
  
  #include <moveit/warehouse/state_storage.h>
  #include <moveit/motion_planning_rviz_plugin/motion_planning_frame.h>
  #include <moveit/motion_planning_rviz_plugin/motion_planning_display.h>
  #include <moveit/robot_state/conversions.h>
  
  #include <QMessageBox>
  #include <QInputDialog>
  
  #include "ui_motion_planning_rviz_plugin_frame.h"
  
  namespace moveit_rviz_plugin
  {
  void MotionPlanningFrame::populateRobotStatesList()
  {
    ui_->list_states->clear();
    for (std::pair<const std::string, moveit_msgs::RobotState>& robot_state : robot_states_)
    {
      QListWidgetItem* item = new QListWidgetItem(QString(robot_state.first.c_str()));
      ui_->list_states->addItem(item);
    }
  }
  
  void MotionPlanningFrame::loadStateButtonClicked()
  {
    if (robot_state_storage_)
    {
      bool ok;
  
      QString text =
          QInputDialog::getText(this, tr("Robot states to load"), tr("Pattern:"), QLineEdit::Normal, ".*", &ok);
      if (ok && !text.isEmpty())
      {
        loadStoredStates(text.toStdString());
      }
    }
    else
    {
      QMessageBox::warning(this, "Warning", "Not connected to a database.");
    }
  }
  
  void MotionPlanningFrame::loadStoredStates(const std::string& pattern)
  {
    std::vector<std::string> names;
    try
    {
      robot_state_storage_->getKnownRobotStates(pattern, names);
    }
    catch (std::exception& ex)
    {
      QMessageBox::warning(this, "Cannot query the database",
                           QString("Wrongly formatted regular expression for robot states: ").append(ex.what()));
      return;
    }
  
    // Clear the current list
    clearStatesButtonClicked();
  
    for (const std::string& name : names)
    {
      moveit_warehouse::RobotStateWithMetadata rs;
      bool got_state = false;
      try
      {
        got_state = robot_state_storage_->getRobotState(rs, name);
      }
      catch (std::exception& ex)
      {
        ROS_ERROR("%s", ex.what());
      }
      if (!got_state)
        continue;
  
      // Overwrite if exists.
      if (robot_states_.find(name) != robot_states_.end())
      {
        robot_states_.erase(name);
      }
  
      // Store the current start state
      robot_states_.insert(RobotStatePair(name, *rs));
    }
    populateRobotStatesList();
  }
  
  void MotionPlanningFrame::saveRobotStateButtonClicked(const robot_state::RobotState& state)
  {
    bool ok = false;
  
    std::stringstream ss;
    ss << planning_display_->getRobotModel()->getName().c_str() << "_state_" << std::setfill('0') << std::setw(4)
       << robot_states_.size();
  
    QString text = QInputDialog::getText(this, tr("Choose a name"), tr("State name:"), QLineEdit::Normal,
                                         QString(ss.str().c_str()), &ok);
  
    std::string name;
    if (ok)
    {
      if (!text.isEmpty())
      {
        name = text.toStdString();
        if (robot_states_.find(name) != robot_states_.end())
          QMessageBox::warning(
              this, "Name already exists",
              QString("The name '").append(name.c_str()).append("' already exists. Not creating state."));
        else
        {
          // Store the current start state
          moveit_msgs::msg::RobotState msg;
          robot_state::robotStateToRobotStateMsg(state, msg);
          robot_states_.insert(RobotStatePair(name, msg));
  
          // Save to the database if connected
          if (robot_state_storage_)
          {
            try
            {
              robot_state_storage_->addRobotState(msg, name, planning_display_->getRobotModel()->getName());
            }
            catch (std::exception& ex)
            {
              ROS_ERROR("Cannot save robot state on the database: %s", ex.what());
            }
          }
          else
          {
            QMessageBox::warning(this, "Warning",
                                 "Not connected to a database. The state will be created but not stored");
          }
        }
      }
      else
        QMessageBox::warning(this, "Start state not saved", "Cannot use an empty name for a new start state.");
    }
    populateRobotStatesList();
  }
  
  void MotionPlanningFrame::saveStartStateButtonClicked()
  {
    saveRobotStateButtonClicked(*planning_display_->getQueryStartState());
  }
  
  void MotionPlanningFrame::saveGoalStateButtonClicked()
  {
    saveRobotStateButtonClicked(*planning_display_->getQueryGoalState());
  }
  
  void MotionPlanningFrame::setAsStartStateButtonClicked()
  {
    QListWidgetItem* item = ui_->list_states->currentItem();
  
    if (item)
    {
      robot_state::RobotState robot_state(*planning_display_->getQueryStartState());
      robot_state::robotStateMsgToRobotState(robot_states_[item->text().toStdString()], robot_state);
      planning_display_->setQueryStartState(robot_state);
    }
  }
  
  void MotionPlanningFrame::setAsGoalStateButtonClicked()
  {
    QListWidgetItem* item = ui_->list_states->currentItem();
  
    if (item)
    {
      robot_state::RobotState robot_state(*planning_display_->getQueryGoalState());
      robot_state::robotStateMsgToRobotState(robot_states_[item->text().toStdString()], robot_state);
      planning_display_->setQueryGoalState(robot_state);
    }
  }
  
  void MotionPlanningFrame::removeStateButtonClicked()
  {
    if (robot_state_storage_)
    {
      // Warn the user
      QMessageBox msg_box;
      msg_box.setText("All the selected states will be removed from the database");
      msg_box.setInformativeText("Do you want to continue?");
      msg_box.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
      msg_box.setDefaultButton(QMessageBox::No);
      int ret = msg_box.exec();
  
      switch (ret)
      {
        case QMessageBox::Yes:
        {
          QList<QListWidgetItem*> found_items = ui_->list_states->selectedItems();
          for (QListWidgetItem* found_item : found_items)
          {
            const std::string& name = found_item->text().toStdString();
            try
            {
              robot_state_storage_->removeRobotState(name);
              robot_states_.erase(name);
            }
            catch (std::exception& ex)
            {
              ROS_ERROR("%s", ex.what());
            }
          }
          break;
        }
      }
    }
    populateRobotStatesList();
  }
  
  void MotionPlanningFrame::clearStatesButtonClicked()
  {
    robot_states_.clear();
    populateRobotStatesList();
  }
  
  }  // namespace moveit_rviz_plugin
  