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Improve cmdline parsing and add --fullscreen option #1413

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merged 1 commit into from
Sep 1, 2019
Merged

Improve cmdline parsing and add --fullscreen option #1413

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2 changes: 1 addition & 1 deletion src/rviz/visualization_frame.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -880,7 +880,7 @@ void VisualizationFrame::loadWindowGeometry( const Config& config )
}
}

bool b;
bool b = false;
config.mapGetBool( "Hide Left Dock", &b );
hide_left_dock_button_->setChecked( b );
hideLeftDock(b);
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12 changes: 6 additions & 6 deletions src/rviz/visualization_frame.h
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Expand Up @@ -173,6 +173,12 @@ public Q_SLOTS:
/** Set the message displayed in the status bar */
virtual void setStatus( const QString & message );

/** @brief Set full screen mode. */
void setFullScreen( bool full_screen );

/** @brief Exit full screen mode. */
void exitFullScreen();

Q_SIGNALS:
/** @brief Emitted during file-loading and initialization to indicate progress. */
void statusUpdate( const QString& message );
Expand Down Expand Up @@ -236,12 +242,6 @@ protected Q_SLOTS:
* the name of the panel. */
void onDeletePanel();

/** @brief Set full screen mode. */
void setFullScreen( bool full_screen );

/** @brief Exit full screen mode. */
void exitFullScreen();

protected Q_SLOTS:
/** @brief Set loading_ to false. */
void markLoadingDone();
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112 changes: 25 additions & 87 deletions src/rviz/visualizer_app.cpp
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Expand Up @@ -131,28 +131,25 @@ bool VisualizerApp::init( int argc, char** argv )

startContinueChecker();

std::string display_config, fixed_frame, splash_path, help_path;
int force_gl_version = 0;

po::options_description options;
options.add_options()
("help,h", "Produce this help message")
("splash-screen,s", po::value<std::string>(), "A custom splash-screen image to display")
("help-file", po::value<std::string>(), "A custom html file to show as the help screen")
("display-config,d", po::value<std::string>(), "A display config file (.rviz) to load")
("fixed-frame,f", po::value<std::string>(), "Set the fixed frame")
("splash-screen,s", po::value<std::string>(&splash_path), "A custom splash-screen image to display")
("help-file", po::value<std::string>(&help_path), "A custom html file to show as the help screen")
("display-config,d", po::value<std::string>(&display_config), "A display config file (.rviz) to load")
("fullscreen", "Trigger fullscreen display")
("fixed-frame,f", po::value<std::string>(&fixed_frame), "Set the fixed frame")
("ogre-log,l", "Enable the Ogre.log file (output in cwd) and console output.")
("in-mc-wrapper", "Signal that this is running inside a master-chooser wrapper")
("opengl", po::value<int>(), "Force OpenGL version (use '--opengl 210' for OpenGL 2.1 compatibility mode)")
("opengl", po::value<int>(&force_gl_version), "Force OpenGL version (use '--opengl 210' for OpenGL 2.1 compatibility mode)")
("disable-anti-aliasing", "Prevent rviz from trying to use anti-aliasing when rendering.")
("no-stereo", "Disable the use of stereo rendering.")
("verbose,v", "Enable debug visualizations")
("log-level-debug", "Sets the ROS logger level to debug.");
po::variables_map vm;
std::string display_config, fixed_frame, splash_path, help_path;
bool enable_ogre_log = false;
bool in_mc_wrapper = false;
bool verbose = false;
int force_gl_version = 0;
bool disable_anti_aliasing = false;
bool disable_stereo = false;
try
{
po::store( po::parse_command_line( argc, argv, options ), vm );
Expand All @@ -164,62 +161,12 @@ bool VisualizerApp::init( int argc, char** argv )
return false;
}

if( vm.count( "in-mc-wrapper" ))
{
in_mc_wrapper = true;
}

if (vm.count("display-config"))
{
display_config = vm["display-config"].as<std::string>();
if (display_config.size() >= 4 && display_config.substr( display_config.size() - 4, 4 ) == ".vcg")
{
std::cerr << "ERROR: the config file '" << display_config << "' is a .vcg file, which is the old rviz config format." << std::endl;
std::cerr << " New config files have a .rviz extension and use YAML formatting. The format changed" << std::endl;
std::cerr << " between Fuerte and Groovy. There is not (yet) an automated conversion program." << std::endl;
return false;
}
}

if (vm.count("splash-screen"))
{
splash_path = vm["splash-screen"].as<std::string>();
}

if (vm.count("help-file"))
{
help_path = vm["help-file"].as<std::string>();
}

if (vm.count("fixed-frame"))
{
fixed_frame = vm["fixed-frame"].as<std::string>();
}

if (vm.count("ogre-log"))
{
enable_ogre_log = true;
}

if (vm.count("no-stereo"))
if (display_config.size() >= 4 && display_config.substr( display_config.size() - 4, 4 ) == ".vcg")
{
disable_stereo = true;
}

if (vm.count("opengl"))
{
//std::cout << vm["opengl"].as<std::string>() << std::endl;
force_gl_version = vm["opengl"].as<int>();
}

if (vm.count("disable-anti-aliasing"))
{
disable_anti_aliasing = true;
}

if (vm.count("verbose"))
{
verbose = true;
std::cerr << "ERROR: the config file '" << display_config << "' is a .vcg file, which is the old rviz config format." << std::endl;
std::cerr << " New config files have a .rviz extension and use YAML formatting. The format changed" << std::endl;
std::cerr << " between Fuerte and Groovy. There is not (yet) an automated conversion program." << std::endl;
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@simonschmeisser simonschmeisser Sep 2, 2019 •
edited
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not (yet)

sounds optimistic 😉

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Yeah, probably it's time to remove this check completely. I will do this for Noetic.

return false;
}

if (vm.count("log-level-debug"))
Expand Down Expand Up @@ -247,45 +194,36 @@ bool VisualizerApp::init( int argc, char** argv )

nh_.reset( new ros::NodeHandle );

if( enable_ogre_log )
{
if (vm.count("ogre-log"))
OgreLogging::useRosLog();
}

if ( force_gl_version )
{
RenderSystem::forceGlVersion( force_gl_version );
}
RenderSystem::forceGlVersion( force_gl_version );

if (disable_anti_aliasing)
{
if (vm.count("disable-anti-aliasing"))
RenderSystem::disableAntiAliasing();
}

if ( disable_stereo )
{
if (vm.count("no-stereo"))
RenderSystem::forceNoStereo();
}

frame_ = new VisualizationFrame();
frame_->setApp( this->app_ );
if( help_path != "" )
{
frame_->setHelpPath( QString::fromStdString( help_path ));
}
frame_->setShowChooseNewMaster( in_mc_wrapper );
frame_->setShowChooseNewMaster( vm.count( "in-mc-wrapper" ) > 0 );
if( vm.count("splash-screen") )
{
frame_->setSplashPath( QString::fromStdString( splash_path ));
}
frame_->setSplashPath( QString::fromStdString( splash_path ) );

frame_->initialize( QString::fromStdString( display_config ));

if( !fixed_frame.empty() )
{
frame_->getManager()->setFixedFrame( QString::fromStdString( fixed_frame ));
}

frame_->getManager()->getSelectionManager()->setDebugMode( verbose );
frame_->getManager()->getSelectionManager()->setDebugMode( vm.count("verbose") > 0 );

if ( vm.count( "fullscreen" ) )
frame_->setFullScreen(true);
frame_->show();

ros::NodeHandle private_nh("~");
Expand Down