Add service load_config_discarding_changes (#1710)

... to allow loading a new config without saving existing changes
ros-visualization · Feb 6, 2022 · 34d4aea · 34d4aea
1 parent 62ba5cd
commit 34d4aea
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Showing 4 changed files with 23 additions and 3 deletions.
diff --git a/src/rviz/visualization_frame.cpp b/src/rviz/visualization_frame.cpp
@@ -743,11 +743,11 @@ void VisualizationFrame::loadDisplayConfig(const QString& qpath)
   loadDisplayConfigHelper(actual_load_path.string());
 }
 
-bool VisualizationFrame::loadDisplayConfigHelper(const std::string& full_path)
+bool VisualizationFrame::loadDisplayConfigHelper(const std::string& full_path, const bool discard_changes)
 {
   // Check if we have unsaved changes to the current config the same
   // as we do during exit, with the same option to cancel.
-  if (!prepareToExit())
+  if (!discard_changes && !prepareToExit())
   {
     return false;
   }

diff --git a/src/rviz/visualization_frame.h b/src/rviz/visualization_frame.h
@@ -139,8 +139,10 @@ class RVIZ_EXPORT VisualizationFrame : public QMainWindow, public WindowManagerI
   void loadDisplayConfig(const QString& path);
 
   /** @brief Load display and other settings from the given full file path.
+   * @param full_path The (absolute) path to the config file to load
+   * @param discard_changes Flag indicating whether to discard any unsaved config changes
    * @return True on success, False on failure. */
-  bool loadDisplayConfigHelper(const std::string& full_path);
+  bool loadDisplayConfigHelper(const std::string& full_path, const bool discard_changes = false);
 
   /** @brief Save display and other settings to the given file.
    * @param path The full path of the config file to save into.

diff --git a/src/rviz/visualizer_app.cpp b/src/rviz/visualizer_app.cpp
@@ -227,6 +227,8 @@ bool VisualizerApp::init(int argc, char** argv)
 
     load_config_service_ =
         private_nh.advertiseService("load_config", &VisualizerApp::loadConfigCallback, this);
+    load_config_discarding_service_ = private_nh.advertiseService(
+        "load_config_discarding_changes", &VisualizerApp::loadConfigDiscardingCallback, this);
     save_config_service_ =
         private_nh.advertiseService("save_config", &VisualizerApp::saveConfigCallback, this);
 
@@ -277,6 +279,20 @@ bool VisualizerApp::loadConfigCallback(rviz::SendFilePathRequest& req, rviz::Sen
   return true;
 }
 
+bool VisualizerApp::loadConfigDiscardingCallback(rviz::SendFilePathRequest& req,
+                                                 rviz::SendFilePathResponse& res)
+{
+  fs::path path = req.path.data;
+  if (fs::is_regular_file(path))
+  {
+    bool discard_changes = true;
+    res.success = frame_->loadDisplayConfigHelper(path.string(), discard_changes);
+  }
+  else
+    res.success = false;
+  return true;
+}
+
 bool VisualizerApp::saveConfigCallback(rviz::SendFilePathRequest& req, rviz::SendFilePathResponse& res)
 {
   res.success = frame_->saveDisplayConfig(QString::fromStdString(req.path.data));

diff --git a/src/rviz/visualizer_app.h b/src/rviz/visualizer_app.h
@@ -64,6 +64,7 @@ private Q_SLOTS:
 private:
   void startContinueChecker();
   bool loadConfigCallback(rviz::SendFilePathRequest& req, rviz::SendFilePathResponse& res);
+  bool loadConfigDiscardingCallback(rviz::SendFilePathRequest& req, rviz::SendFilePathResponse& res);
   bool saveConfigCallback(rviz::SendFilePathRequest& req, rviz::SendFilePathResponse& res);
 
   QApplication* app_;
@@ -72,6 +73,7 @@ private Q_SLOTS:
   ros::NodeHandlePtr nh_;
   ros::ServiceServer reload_shaders_service_;
   ros::ServiceServer load_config_service_;
+  ros::ServiceServer load_config_discarding_service_;
   ros::ServiceServer save_config_service_;
 };