Add Task Composer Widgets

CMakeLists.txt

@@ -48,7 +48,6 @@ set(DEPS
     tesseract_environment
     tesseract_scene_graph
     tesseract_common
-    tesseract_support
     tesseract_urdf
     tesseract_srdf
     tesseract_visualization

command_language/include/tesseract_qt/command_language/models/composite_instruction_standard_item.h

@@ -24,7 +24,7 @@
 #define TESSERACT_QT_COMMAND_LANGUAGE_COMPOSITE_INSTRUCTION_STANDARD_ITEM_H
 
 #include <QStandardItem>
-#include <tesseract_command_language/fwd.h>
+#include <tesseract_command_language/composite_instruction.h>
 
 namespace tesseract_gui
 {
@@ -38,7 +38,10 @@ class CompositeInstructionStandardItem : public QStandardItem
                                    const tesseract_planning::CompositeInstruction& ci);
   int type() const override;
 
+  const tesseract_planning::CompositeInstruction& getCompositeInstruction() const;
+
 private:
+  tesseract_planning::CompositeInstruction ci_;
   void ctor(const tesseract_planning::CompositeInstruction& ci);
 };
 }  // namespace tesseract_gui

command_language/src/models/composite_instruction_standard_item.cpp

@@ -30,7 +30,6 @@
 #include <tesseract_qt/common/models/standard_item_utils.h>
 #include <tesseract_qt/common/icon_utils.h>
 
-#include <tesseract_command_language/composite_instruction.h>
 #include <tesseract_command_language/move_instruction.h>
 #include <tesseract_command_language/poly/instruction_poly.h>
 
@@ -64,6 +63,11 @@ int CompositeInstructionStandardItem::type() const
   return static_cast<int>(StandardItemType::CL_COMPOSITE_INSTRUCTION);
 }
 
+const tesseract_planning::CompositeInstruction& CompositeInstructionStandardItem::getCompositeInstruction() const
+{
+  return ci_;
+}
+
 std::string toString(tesseract_planning::CompositeInstructionOrder order)
 {
   switch (order)
@@ -81,12 +85,13 @@ std::string toString(tesseract_planning::CompositeInstructionOrder order)
 
 void CompositeInstructionStandardItem::ctor(const tesseract_planning::CompositeInstruction& ci)
 {
+  ci_ = ci;
   appendRow(createStandardItemString("description", ci.getDescription()));
   appendRow(createStandardItemString("order", toString(ci.getOrder())));
   appendRow(createStandardItemString("profile", ci.getProfile()));
   appendRow(createStandardItemString("uuid", boost::uuids::to_string(ci.getUUID())));
   appendRow(createStandardItemString("parent uuid", boost::uuids::to_string(ci.getParentUUID())));
-  appendRow(new ManipulatorInfoStandardItem("manip info", ci.getManipulatorInfo()));
-  appendRow(new VectorInstructionStandardItem("instructions", ci.getInstructions()));
+  appendRow(new ManipulatorInfoStandardItem("manip info", ci.getManipulatorInfo()));   // NOLINT
+  appendRow(new VectorInstructionStandardItem("instructions", ci.getInstructions()));  // NOLINT
 }
 }  // namespace tesseract_gui

common/CMakeLists.txt

@@ -62,6 +62,7 @@ add_library(
   src/events/render_events.cpp
   src/events/scene_graph_events.cpp
   src/events/scene_graph_render_manager.cpp
+  src/events/task_composer_events.cpp
   src/events/tool_path_events.cpp
   src/events/tool_path_render_manager.cpp
   src/factories/any_poly_standard_item_factory.cpp

common/include/tesseract_qt/common/events/event_type.h

@@ -178,6 +178,15 @@ enum class EventType : int
   MANIPULATION_TYPES_START = JOINT_TRAJECTORY_TYPES_END,
   MANIPULATION_CHANGED     = MANIPULATION_TYPES_START + 1,
   MANIPULATION_TYPES_END   = MANIPULATION_TYPES_START + 2,
+
+  // Task Composer
+  TASK_COMPOSER_TYPES_START   = MANIPULATION_TYPES_END,
+  TASK_COMPOSER_LOAD_CONFIG   = TASK_COMPOSER_TYPES_START + 1,
+  TASK_COMPOSER_LOAD_LOG      = TASK_COMPOSER_TYPES_START + 2,
+  TASK_COMPOSER_SAVE_LOG      = TASK_COMPOSER_TYPES_START + 3,
+  TASK_COMPOSER_PLOT_DOTGRAPH = TASK_COMPOSER_TYPES_START + 4,
+  TASK_COMPOSER_SET_PROFILES  = TASK_COMPOSER_TYPES_START + 5,
+  TASK_COMPOSER_TYPES_END     = TASK_COMPOSER_TYPES_START + 6,
 };
 }
 

common/include/tesseract_qt/common/events/task_composer_events.h

@@ -0,0 +1,109 @@
+/**
+ * @author Levi Armstrong <[email protected]>
+ *
+ * @copyright Copyright (C) 2024 Levi Armstrong <[email protected]>
+ *
+ * @par License
+ * GNU Lesser General Public License Version 3, 29 June 2007
+ * @par
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ * @par
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * @par
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ */
+#ifndef TESSERACT_QT_COMMON_TASK_COMPOSER_EVENTS_H
+#define TESSERACT_QT_COMMON_TASK_COMPOSER_EVENTS_H
+
+#include <tesseract_command_language/fwd.h>
+#include <tesseract_qt/common/events/event_type.h>
+#include <tesseract_qt/common/events/component_events.h>
+#include <tesseract_common/filesystem.h>
+
+namespace tesseract_gui::events
+{
+class TaskComposerLoadConfig : public ComponentEvent
+{
+public:
+  TaskComposerLoadConfig(std::shared_ptr<const ComponentInfo> component_info, std::string resource_path);
+  ~TaskComposerLoadConfig() override;
+
+  const std::string& getResourcePath() const;
+
+  /** @brief Unique type for this event. */
+  static const QEvent::Type kType = QEvent::Type(EventType::TASK_COMPOSER_LOAD_CONFIG);
+
+private:
+  std::string resource_path_;
+};
+
+class TaskComposerLoadLog : public ComponentEvent
+{
+public:
+  TaskComposerLoadLog(std::shared_ptr<const ComponentInfo> component_info,
+                      std::string resource_path,
+                      std::string ns = "");
+  ~TaskComposerLoadLog() override;
+
+  const std::string& getResourcePath() const;
+  const std::string& getNamespace() const;
+
+  /** @brief Unique type for this event. */
+  static const QEvent::Type kType = QEvent::Type(EventType::TASK_COMPOSER_LOAD_LOG);
+
+private:
+  std::string resource_path_;
+  std::string ns_;
+};
+
+class TaskComposerSaveLog : public ComponentEvent
+{
+public:
+  TaskComposerSaveLog(std::shared_ptr<const ComponentInfo> component_info, std::string save_path);
+  ~TaskComposerSaveLog() override;
+
+  const std::string& getSavePath() const;
+
+  /** @brief Unique type for this event. */
+  static const QEvent::Type kType = QEvent::Type(EventType::TASK_COMPOSER_SAVE_LOG);
+
+private:
+  std::string save_path_;
+};
+
+class TaskComposerPlotDotgraph : public ComponentEvent
+{
+public:
+  TaskComposerPlotDotgraph(std::shared_ptr<const ComponentInfo> component_info);
+  ~TaskComposerPlotDotgraph() override;
+
+  /** @brief Unique type for this event. */
+  static const QEvent::Type kType = QEvent::Type(EventType::TASK_COMPOSER_PLOT_DOTGRAPH);
+};
+
+class TaskComposerSetProfiles : public ComponentEvent
+{
+public:
+  TaskComposerSetProfiles(std::shared_ptr<const ComponentInfo> component_info,
+                          std::shared_ptr<tesseract_planning::ProfileDictionary> profiles);
+  ~TaskComposerSetProfiles() override;
+
+  std::shared_ptr<tesseract_planning::ProfileDictionary> getProfiles() const;
+
+  /** @brief Unique type for this event. */
+  static const QEvent::Type kType = QEvent::Type(EventType::TASK_COMPOSER_SET_PROFILES);
+
+private:
+  std::shared_ptr<tesseract_planning::ProfileDictionary> profiles_;
+};
+}  // namespace tesseract_gui::events
+
+#endif  // TESSERACT_QT_COMMON_TASK_COMPOSER_EVENTS_H

common/include/tesseract_qt/common/models/standard_item_type.h

@@ -170,7 +170,8 @@ enum class StandardItemType : int
   MP_TASK_COMPOSER_NODE_INFO            = CL_TYPES_END + 5,
   MP_TASK_COMPOSER_NODE_INFO_MAP        = CL_TYPES_END + 6,
   MP_TASK_COMPOSER_DATA_STORAGE         = CL_TYPES_END + 7,
-  MP_TYPES_END                          = CL_TYPES_END + 8,
+  MP_TASK_COMPOSER_LOG                  = CL_TYPES_END + 8,
+  MP_TYPES_END                          = CL_TYPES_END + 9,
 
 };
 // clang-format on

common/src/events/task_composer_events.cpp

@@ -0,0 +1,82 @@
+/**
+ * @author Levi Armstrong <[email protected]>
+ *
+ * @copyright Copyright (C) 2024 Levi Armstrong <[email protected]>
+ *
+ * @par License
+ * GNU Lesser General Public License Version 3, 29 June 2007
+ * @par
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ * @par
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * @par
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ */
+
+#include <tesseract_qt/common/events/task_composer_events.h>
+
+namespace tesseract_gui::events
+{
+TaskComposerLoadConfig::TaskComposerLoadConfig(std::shared_ptr<const ComponentInfo> component_info,
+                                               std::string resource_path)
+  : ComponentEvent(std::move(component_info), kType), resource_path_(std::move(resource_path))
+{
+}
+
+TaskComposerLoadConfig::~TaskComposerLoadConfig() = default;
+const std::string& TaskComposerLoadConfig::getResourcePath() const { return resource_path_; }
+
+//////////////////////////////////////////////////////
+
+TaskComposerLoadLog::TaskComposerLoadLog(std::shared_ptr<const ComponentInfo> component_info,
+                                         std::string resource_path,
+                                         std::string ns)
+  : ComponentEvent(std::move(component_info), kType), resource_path_(std::move(resource_path)), ns_(std::move(ns))
+{
+}
+
+TaskComposerLoadLog::~TaskComposerLoadLog() = default;
+const std::string& TaskComposerLoadLog::getResourcePath() const { return resource_path_; }
+const std::string& TaskComposerLoadLog::getNamespace() const { return ns_; }
+
+//////////////////////////////////////////////////////
+
+TaskComposerSaveLog::TaskComposerSaveLog(std::shared_ptr<const ComponentInfo> component_info, std::string save_path)
+  : ComponentEvent(std::move(component_info), kType), save_path_(std::move(save_path))
+{
+}
+
+TaskComposerSaveLog::~TaskComposerSaveLog() = default;
+const std::string& TaskComposerSaveLog::getSavePath() const { return save_path_; }
+
+//////////////////////////////////////////////////////
+
+TaskComposerPlotDotgraph::TaskComposerPlotDotgraph(std::shared_ptr<const ComponentInfo> component_info)
+  : ComponentEvent(std::move(component_info), kType)
+{
+}
+
+TaskComposerPlotDotgraph::~TaskComposerPlotDotgraph() = default;
+
+//////////////////////////////////////////////////////
+
+TaskComposerSetProfiles::TaskComposerSetProfiles(std::shared_ptr<const ComponentInfo> component_info,
+                                                 std::shared_ptr<tesseract_planning::ProfileDictionary> profiles)
+  : ComponentEvent(std::move(component_info), kType), profiles_(std::move(profiles))
+{
+}
+
+TaskComposerSetProfiles::~TaskComposerSetProfiles() = default;
+std::shared_ptr<tesseract_planning::ProfileDictionary> TaskComposerSetProfiles::getProfiles() const
+{
+  return profiles_;
+}
+}  // namespace tesseract_gui::events

environment/demo/CMakeLists.txt

@@ -1,12 +1,10 @@
-find_package(tesseract_support REQUIRED)
 find_package(tesseract_urdf REQUIRED)
 find_package(tesseract_srdf REQUIRED)
 
 add_executable(${PROJECT_NAME}_environment_demo environment_demo.cpp)
 target_link_libraries(
   ${PROJECT_NAME}_environment_demo
-  PRIVATE tesseract::tesseract_support
-          tesseract::tesseract_urdf
+  PRIVATE tesseract::tesseract_urdf
           tesseract::tesseract_srdf
           ${PROJECT_NAME}_environment_widgets
           ${PROJECT_NAME}_common)

environment/demo/environment_demo.cpp

@@ -31,17 +31,19 @@
 #include <tesseract_qt/common/environment_wrapper.h>
 
 #include <tesseract_environment/environment.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
+#include <tesseract_common/resource_locator.h>
 
 int main(int argc, char** argv)
 {
   QApplication app(argc, argv);
 
   Q_INIT_RESOURCE(tesseract_qt_resources);
 
-  auto locator = std::make_shared<tesseract_common::TesseractSupportResourceLocator>();
-  tesseract_common::fs::path urdf_path = std::string(TESSERACT_SUPPORT_DIR) + "/urdf/lbr_iiwa_14_r820.urdf";
-  tesseract_common::fs::path srdf_path = std::string(TESSERACT_SUPPORT_DIR) + "/urdf/lbr_iiwa_14_r820.srdf";
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
+  tesseract_common::fs::path urdf_path(
+      locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath());
+  tesseract_common::fs::path srdf_path(
+      locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath());
 
   auto env = std::make_shared<tesseract_environment::Environment>();
   env->init(urdf_path, srdf_path, locator);

joint_state_slider/demo/CMakeLists.txt

@@ -1,8 +1,7 @@
-find_package(tesseract_support REQUIRED)
 find_package(tesseract_urdf REQUIRED)
 
 add_executable(${PROJECT_NAME}_joint_state_slider_demo joint_state_slider_demo.cpp)
-target_link_libraries(${PROJECT_NAME}_joint_state_slider_demo
-                      PRIVATE ${PROJECT_NAME}_joint_state_slider tesseract::tesseract_support tesseract::tesseract_urdf)
+target_link_libraries(${PROJECT_NAME}_joint_state_slider_demo PRIVATE ${PROJECT_NAME}_joint_state_slider
+                                                                      tesseract::tesseract_urdf)
 
 install_targets(TARGETS ${PROJECT_NAME}_joint_state_slider_demo)

joint_state_slider/demo/joint_state_slider_demo.cpp

@@ -29,15 +29,15 @@
 #include <tesseract_urdf/urdf_parser.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_scene_graph/joint.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
+#include <tesseract_common/resource_locator.h>
 
 int main(int argc, char** argv)
 {
   QApplication app(argc, argv);
 
   // Load Scene Graph
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/urdf/lbr_iiwa_14_r820.urdf";
-  tesseract_common::TesseractSupportResourceLocator locator;
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
   tesseract_scene_graph::SceneGraph::UPtr sg = tesseract_urdf::parseURDFFile(path, locator);
   std::vector<tesseract_scene_graph::Joint::ConstPtr> joints;
   for (const auto& joint : sg->getJoints())

kinematic_groups/demo/CMakeLists.txt

@@ -1,12 +1,10 @@
-find_package(tesseract_support REQUIRED)
 find_package(tesseract_urdf REQUIRED)
 
 add_executable(${PROJECT_NAME}_kinematic_groups_demo kinematic_group_demo.cpp)
 target_link_libraries(${PROJECT_NAME}_kinematic_groups_demo PRIVATE ${PROJECT_NAME}_kinematic_groups_widgets)
 
 add_executable(${PROJECT_NAME}_groups_joint_states_demo groups_joint_states_demo.cpp)
-target_link_libraries(
-  ${PROJECT_NAME}_groups_joint_states_demo PRIVATE ${PROJECT_NAME}_kinematic_groups_widgets
-                                                   tesseract::tesseract_support tesseract::tesseract_urdf)
+target_link_libraries(${PROJECT_NAME}_groups_joint_states_demo PRIVATE ${PROJECT_NAME}_kinematic_groups_widgets
+                                                                       tesseract::tesseract_urdf)
 
 install_targets(TARGETS ${PROJECT_NAME}_kinematic_groups_demo ${PROJECT_NAME}_groups_joint_states_demo)

kinematic_groups/demo/groups_joint_states_demo.cpp

@@ -26,7 +26,7 @@
 #include <tesseract_qt/kinematic_groups/widgets/group_joint_states_editor_widget.h>
 
 #include <tesseract_urdf/urdf_parser.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
+#include <tesseract_common/resource_locator.h>
 
 int main(int argc, char** argv)
 {
@@ -35,8 +35,8 @@ int main(int argc, char** argv)
   Q_INIT_RESOURCE(tesseract_qt_resources);
 
   // Load Scene Graph
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/urdf/lbr_iiwa_14_r820.urdf";
-  tesseract_common::TesseractSupportResourceLocator locator;
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
 
   /** @todo need to load environment */