Rolling namespace in title (backport ros-visualization#1074) (ros-visualization#1099)

* Rolling namespace in title (ros-visualization#1074)

Signed-off-by: Markus Bader <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit ea2dbb3)
Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Author: 3 people

rviz_common/include/rviz_common/visualization_frame.hpp

@@ -133,6 +133,19 @@ class VisualizationFrame : public QMainWindow, public WindowManagerInterface
     ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node,
     const QString & display_config_file = "");
 
+  /// Set the display title format.
+  /**
+   * Sets the format of the window title.
+   * Three replacement tokens are supported:
+   *  - {NAMESPACE} - replace with the namespace this node is in
+   *  - {CONFIG_PATH} - replace with the path (but not the filename) of the configuration file in use.
+   *  - {CONFIG_FILENAME} - replace with the filename (but not the path) of the configuration file in use.
+   * The default is "RViz[*]" if the default configuration file is in use,
+   * or "{CONFIG_PATH}/{CONFIG_FILENAME}[*] - RViz" if a custom configuration file is in use.
+   */
+  void
+  setDisplayTitleFormat(const QString & title_format);
+
   /// Return the visualization manager.
   VisualizationManager *
   getManager();
@@ -466,6 +479,7 @@ protected Q_SLOTS:
 
   std::string config_dir_;
   std::string persistent_settings_file_;
+  std::string display_title_format_;
   std::string display_config_file_;
   std::string default_display_config_file_;
   std::string last_config_dir_;

rviz_common/src/rviz_common/visualization_frame.cpp

@@ -32,6 +32,7 @@
 #include "rviz_common/visualization_frame.hpp"
 
 #include <exception>
+#include <filesystem>
 #include <fstream>
 #include <memory>
 #include <string>
@@ -751,16 +752,43 @@ void VisualizationFrame::setDisplayConfigModified()
   }
 }
 
+void VisualizationFrame::setDisplayTitleFormat(const QString & title_format)
+{
+  display_title_format_ = title_format.toStdString();
+}
+
 void VisualizationFrame::setDisplayConfigFile(const std::string & path)
 {
   display_config_file_ = path;
-
   std::string title;
-  if (path == default_display_config_file_) {
-    title = "RViz[*]";
+
+  if (display_title_format_.empty()) {
+    if (path == default_display_config_file_) {
+      title = "RViz[*]";
+    } else {
+      title = QDir::toNativeSeparators(QString::fromStdString(path)).toStdString() + "[*] - RViz";
+    }
   } else {
-    title = QDir::toNativeSeparators(QString::fromStdString(path)).toStdString() + "[*] - RViz";
+    auto find_and_replace_token =
+      [](std::string & title, const std::string & token, const std::string & replacement)
+      {
+        std::size_t found = title.find(token);
+        if (found != std::string::npos) {
+          title.replace(found, token.length(), replacement);
+        }
+      };
+    title = display_title_format_;
+    std::filesystem::path full_filename(path.c_str());
+    find_and_replace_token(
+      title, "{NAMESPACE}",
+      rviz_ros_node_.lock()->get_raw_node()->get_namespace());
+    find_and_replace_token(title, "{CONFIG_PATH}", full_filename.parent_path().string());
+    find_and_replace_token(title, "{CONFIG_FILENAME}", full_filename.filename().string());
+    if (title.find("[*]") == std::string::npos) {
+      title.append("[*]");
+    }
   }
+
   setWindowTitle(QString::fromStdString(title));
 }
 

rviz_common/src/rviz_common/visualizer_app.cpp

@@ -50,58 +50,9 @@
 #include "rviz_common/visualization_frame.hpp"
 #include "rviz_common/visualization_manager.hpp"
 
-// TODO(wjwwood): figure out a non-depricated way to do this
-#if 0
-#ifdef Q_OS_MAC
-#include <ApplicationServices/ApplicationServices.h>
-// Apparently OSX #defines 'check' to be an empty string somewhere.
-// That was fun to figure out.
-#undef check
-#endif
-#endif
-
-// #include "rviz/env_config.h"
-// #include "rviz/ogre_helpers/ogre_logging.h"
-// #include "rviz/ogre_helpers/render_system.h"
-// #include "rviz/wait_for_master_dialog.h"
-
 namespace rviz_common
 {
 
-// TODO(wjwwood): reenable the service to reload the shaders
-// bool
-// reloadShaders(std_srvs::Empty::Request &, std_srvs::Empty::Response &)
-// {
-//   ROS_INFO("Reloading materials.");
-//   {
-//     Ogre::ResourceManager::ResourceMapIterator it =
-//       Ogre::MaterialManager::getSingleton().getResourceIterator();
-//     while (it.hasMoreElements()) {
-//       Ogre::ResourcePtr resource = it.getNext();
-//       resource->reload();
-//     }
-//   }
-//   ROS_INFO("Reloading high-level gpu shaders.");
-//   {
-//     Ogre::ResourceManager::ResourceMapIterator it =
-//       Ogre::HighLevelGpuProgramManager::getSingleton().getResourceIterator();
-//     while (it.hasMoreElements()) {
-//       Ogre::ResourcePtr resource = it.getNext();
-//       resource->reload();
-//     }
-//   }
-//   ROS_INFO("Reloading gpu shaders.");
-//   {
-//     Ogre::ResourceManager::ResourceMapIterator it =
-//       Ogre::GpuProgramManager::getSingleton().getResourceIterator();
-//     while (it.hasMoreElements()) {
-//       Ogre::ResourcePtr resource = it.getNext();
-//       resource->reload();
-//     }
-//   }
-//   return true;
-// }
-
 VisualizerApp::VisualizerApp(
   std::unique_ptr<rviz_common::ros_integration::RosClientAbstractionIface> ros_client_abstraction)
 : app_(0),
@@ -128,34 +79,19 @@ void VisualizerApp::loadConfig(QString config_path)
 
 bool VisualizerApp::init(int argc, char ** argv)
 {
-  // TODO(wjwwood): find a way to get the versions and print them here
-  //                also include versions of more things, like rviz_rendering,
-  //                rviz_common, and the plugins
-  // RVIZ_COMMON_LOG_INFO_STREAM("rviz version " << get_version().c_str());
-  // RVIZ_COMMON_LOG_INFO("compiled against Qt version " QT_VERSION_STR);
-  // RVIZ_COMMON_LOG_INFO_STREAM(
-  //   "compiled against OGRE version " <<
-  //     OGRE_VERSION_MAJOR << "." <<
-  //     OGRE_VERSION_MINOR << "." <<
-  //     OGRE_VERSION_PATCH << OGRE_VERSION_SUFFIX <<
-  //     " (" << OGRE_VERSION_NAME << ")");
-
-// TODO(wjwwood): figure out a non-depricated way to do this
-#if 0
-#ifdef Q_OS_MAC
-  ProcessSerialNumber PSN;
-  GetCurrentProcess(&PSN);
-  TransformProcessType(&PSN, kProcessTransformToForegroundApplication);
-  SetFrontProcess(&PSN);
-#endif
-#endif
-
   rviz_common::install_rviz_rendering_log_handlers();
 
   QCommandLineParser parser;
   parser.setApplicationDescription("3D visualization tool for ROS2");
   parser.addHelpOption();
 
+  QCommandLineOption display_title_format_option(
+    QStringList() << "t" << "display-title-format",
+      "A display title format like ",
+      "\"{NAMESPACE} - {CONFIG_PATH}/{CONFIG_FILENAME} - RViz2\" ",
+      "display_title_format");
+  parser.addOption(display_title_format_option);
+
   QCommandLineOption display_config_option(
     QStringList() << "d" << "display-config",
       "A display config file (.rviz) to load",
@@ -176,43 +112,12 @@ bool VisualizerApp::init(int argc, char ** argv)
       "A custom splash-screen image to display", "splash_path");
   parser.addOption(splash_screen_option);
 
-// TODO(botteroa-si): enable when possible
-//  QCommandLineOption help_file_option(
-//    "help-file", "A custom html file to show as the help screen", "help_path");
-//  parser.addOption(help_file_option);
-//
-//  QCommandLineOption open_gl_option(
-//    "opengl",
-//    "Force OpenGL version (use '--opengl 210' for OpenGL 2.1 compatibility mode)",
-//    "version");
-//  parser.addOption(open_gl_option);
-//
-//  QCommandLineOption disable_anti_aliasing_option(
-//    "disable-anti-aliasing", "Prevent rviz from trying to use anti-aliasing when rendering.");
-//  parser.addOption(disable_anti_aliasing_option);
-//
-//  QCommandLineOption no_stereo_option("no-stereo", "Disable the use of stereo rendering.");
-//  parser.addOption(no_stereo_option);
-//
-//  QCommandLineOption log_level_debug_option(
-//    "log-level-debug", "Sets the ROS logger level to debug.");
-//  parser.addOption(log_level_debug_option);
-
-//   ("in-mc-wrapper", "Signal that this is running inside a master-chooser wrapper")
-
-  QString display_config, fixed_frame, splash_path, help_path;
+  QString display_config, fixed_frame, splash_path, help_path, display_title_format;
   bool enable_ogre_log;
-  // TODO(botteroa-si): enable when possible
-//  bool in_mc_wrapper = false;
-//  int force_gl_version = 0;
-//  bool disable_anti_aliasing = false;
-//  bool disable_stereo = false;
 
-  parser.process(*app_);
+  if (app_) {parser.process(*app_);}
 
   enable_ogre_log = parser.isSet(ogre_log_option);
-//    disable_stereo = parser.isSet(no_stereo_option);
-//    disable_anti_aliasing = parser.isSet(disable_anti_aliasing_option);
 
   if (parser.isSet(display_config_option)) {
     display_config = parser.value(display_config_option);
@@ -224,72 +129,30 @@ bool VisualizerApp::init(int argc, char ** argv)
   if (parser.isSet(splash_screen_option)) {
     splash_path = parser.value(splash_screen_option);
   }
-// TODO(botteroa-si): enable when possible
-//    if (parser.isSet(help_file_option)) {
-//      help_path = parser.value(help_file_option);
-//    }
-//    if (parser.isSet(open_gl_option)) {
-//      force_gl_version = parser.value(open_gl_option).toInt();
-//    }
-
-//   if (vm.count("in-mc-wrapper")) {
-//     in_mc_wrapper = true;
-//   }
-//
-//
-//   if (vm.count("log-level-debug")) {
-//     if (
-//       ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
-//     {
-//       ros::console::notifyLoggerLevelsChanged();
-//     }
-//   }
-
-  //
-  // if (!ros::master::check() ) {
-  // TODO(wjwwood): figure out how to support the "wait for master" functionality
-  //                while also using the rviz_common/ros_integration abstraction
-  //   WaitForMasterDialog * dialog = new WaitForMasterDialog;
-  //   if (dialog->exec() != QDialog::Accepted) {
-  //     return false;
-  //   }
-  // }
-  //
-  // nh_.reset(new ros::NodeHandle);
-  //
+
+  if (parser.isSet(display_title_format_option)) {
+    display_title_format = parser.value(display_title_format_option);
+  }
+
   if (enable_ogre_log) {
     rviz_rendering::OgreLogging::get()->useLogFileAndStandardOut();
     rviz_rendering::OgreLogging::get()->configureLogging();
   }
-  //
-  // if (force_gl_version) {
-  //   RenderSystem::forceGlVersion(force_gl_version);
-  // }
-  //
-  // if (disable_anti_aliasing) {
-  //   RenderSystem::disableAntiAliasing();
-  // }
-  //
-  // if (disable_stereo) {
-  //   RenderSystem::forceNoStereo();
-  // }
 
   startContinueChecker();
 
-  // TODO(wjwwood): anonymous is not working right now, reenable later
-  // node_name_ = rviz_common::ros_integration::init(argc, argv, "rviz", true /* anonymous_name */);
   node_ = ros_client_abstraction_->init(argc, argv, "rviz", false /* anonymous_name */);
 
   frame_ = new VisualizationFrame(node_);
+
+  frame_->setDisplayTitleFormat(display_title_format);
+
   frame_->setApp(this->app_);
 
   if (!help_path.isEmpty()) {
     frame_->setHelpPath(help_path);
   }
 
-  // TODO(wjwwood): figure out how to preserve the "choost new master" feature
-  // frame_->setShowChooseNewMaster(in_mc_wrapper);
-
   if (!splash_path.isEmpty()) {
     frame_->setSplashPath(splash_path);
   }
@@ -301,10 +164,6 @@ bool VisualizerApp::init(int argc, char ** argv)
 
   frame_->show();
 
-  // TODO(wjwwood): reenable the ROS service to reload the shaders via the ros_integration API
-  // ros::NodeHandle private_nh("~");
-  // reload_shaders_service_ = private_nh.advertiseService("reload_shaders", reloadShaders);
-
   return true;
 }