Exposed TPP pipeline methods in configurable TPP widget

ros-industrial · Jan 4, 2024 · dae6199 · dae6199
1 parent 3ff33aa
commit dae6199
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Showing 3 changed files with 25 additions and 6 deletions.
diff --git a/noether_gui/include/noether_gui/widgets/configurable_tpp_pipeline_widget.h b/noether_gui/include/noether_gui/widgets/configurable_tpp_pipeline_widget.h
@@ -2,12 +2,18 @@
 
 #include <QWidget>
 #include <boost_plugin_loader/plugin_loader.h>
+#include <noether_tpp/core/tool_path_planner_pipeline.h>
 
 namespace Ui
 {
 class ConfigurableTPPPipeline;
 }
 
+namespace YAML
+{
+class Node;
+}
+
 namespace noether
 {
 class TPPPipelineWidget;
@@ -18,14 +24,18 @@ class ConfigurableTPPPipelineWidget : public QWidget
 public:
   ConfigurableTPPPipelineWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent = nullptr);
 
-  TPPPipelineWidget* pipeline_widget;
   void setConfigurationFile(const QString& file);
 
+  ToolPathPlannerPipeline createPipeline() const;
+  void configure(const YAML::Node& config);
+  void save(YAML::Node& config) const;
+
 private:
   void onLoadConfiguration(const bool /*checked*/);
   void onSaveConfiguration(const bool /*checked*/);
 
   Ui::ConfigurableTPPPipeline* ui_;
+  TPPPipelineWidget* pipeline_widget_;
 };
 
 }  // namespace noether
diff --git a/noether_gui/src/widgets/configurable_tpp_pipeline_widget.cpp b/noether_gui/src/widgets/configurable_tpp_pipeline_widget.cpp
@@ -14,24 +14,33 @@ namespace noether
 {
 ConfigurableTPPPipelineWidget::ConfigurableTPPPipelineWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent)
   : QWidget(parent)
-  , pipeline_widget(new TPPPipelineWidget(std::move(loader), this))
   , ui_(new Ui::ConfigurableTPPPipeline())
+  , pipeline_widget_(new TPPPipelineWidget(std::move(loader), this))
 {
   ui_->setupUi(this);
-  layout()->addWidget(pipeline_widget);
+  layout()->addWidget(pipeline_widget_);
 
   // Connect
   connect(ui_->push_button_load, &QPushButton::clicked, this, &ConfigurableTPPPipelineWidget::onLoadConfiguration);
   connect(ui_->push_button_save, &QPushButton::clicked, this, &ConfigurableTPPPipelineWidget::onSaveConfiguration);
 }
 
+ToolPathPlannerPipeline ConfigurableTPPPipelineWidget::createPipeline() const
+{
+  return pipeline_widget_->createPipeline();
+}
+
+void ConfigurableTPPPipelineWidget::configure(const YAML::Node& config) { return pipeline_widget_->configure(config); }
+
+void ConfigurableTPPPipelineWidget::save(YAML::Node& config) const { return pipeline_widget_->save(config); }
+
 void ConfigurableTPPPipelineWidget::setConfigurationFile(const QString& file)
 {
   ui_->line_edit->setText(file);
 
   try
   {
-    pipeline_widget->configure(YAML::LoadFile(file.toStdString()));
+    configure(YAML::LoadFile(file.toStdString()));
   }
   catch (const YAML::BadFile&)
   {
@@ -72,7 +81,7 @@ void ConfigurableTPPPipelineWidget::onSaveConfiguration(const bool /*checked*/)
       return;
 
     YAML::Node config;
-    pipeline_widget->save(config);
+    save(config);
 
     std::ofstream ofh(file.toStdString());
     if (!ofh)

diff --git a/noether_gui/src/widgets/tpp_widget.cpp b/noether_gui/src/widgets/tpp_widget.cpp
@@ -241,7 +241,7 @@ void TPPWidget::onPlan(const bool /*checked*/)
     if (pcl::io::loadPolygonFile(mesh_file, full_mesh) < 1)
       throw std::runtime_error("Failed to load mesh from file");
 
-    const ToolPathPlannerPipeline pipeline = pipeline_widget_->pipeline_widget->createPipeline();
+    const ToolPathPlannerPipeline pipeline = pipeline_widget_->createPipeline();
     QApplication::setOverrideCursor(Qt::WaitCursor);
 
     // Run the mesh modifier