Add service load_config_discard_changes

src/rviz/visualization_frame.cpp

@@ -743,13 +743,17 @@ 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)
   {
-    return false;
+    if (!prepareToExit())
+    {
+      return false;
+    }
   }
 
   setWindowModified(false);

src/rviz/visualization_frame.h

@@ -139,8 +139,11 @@ 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 full path of the config file to load from.
+   * @param discard_changes Discard changes to current config
    * @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.

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_discard_changes_service_ =
+        private_nh.advertiseService("load_config_discard_changes", &VisualizerApp::loadConfigDiscardChangesCallback, this);
     save_config_service_ =
         private_nh.advertiseService("save_config", &VisualizerApp::saveConfigCallback, this);
 
@@ -277,6 +279,19 @@ bool VisualizerApp::loadConfigCallback(rviz::SendFilePathRequest& req, rviz::Sen
   return true;
 }
 
+bool VisualizerApp::loadConfigDiscardChangesCallback(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));

src/rviz/visualizer_app.h

@@ -64,6 +64,7 @@ private Q_SLOTS:
 private:
   void startContinueChecker();
   bool loadConfigCallback(rviz::SendFilePathRequest& req, rviz::SendFilePathResponse& res);
+  bool loadConfigDiscardChangesCallback(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_discard_changes_service_;
   ros::ServiceServer save_config_service_;
 };