visualization_frame.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <fstream>

#include <QAction>
#include <QShortcut>
#include <QApplication>
#include <QCloseEvent>
#include <QDesktopServices>
#include <QDockWidget>
#include <QDir>
#include <QFileDialog>
#include <QMenu>
#include <QMenuBar>
#include <QMessageBox>
#include <QTimer>
#include <QToolBar>
#include <QToolButton>
#include <QUrl>
#include <QStatusBar>
#include <QLabel>
#include <QToolButton>
#include <QHBoxLayout>

#include <boost/algorithm/string/split.hpp>
#include <boost/algorithm/string/trim.hpp>
#include <boost/bind.hpp>
#include <boost/filesystem.hpp>

#include <ros/console.h>
#include <ros/package.h>
#include <ros/init.h>

#include <OgreRenderWindow.h>
#include <OgreMeshManager.h>

#include <ogre_helpers/initialization.h>

#include "rviz/displays_panel.h"
#include "rviz/env_config.h"
#include "rviz/failed_panel.h"
#include "rviz/help_panel.h"
#include "rviz/loading_dialog.h"
#include "rviz/new_object_dialog.h"
#include "rviz/panel_dock_widget.h"
#include "rviz/panel_factory.h"
#include "rviz/render_panel.h"
#include "rviz/screenshot_dialog.h"
#include "rviz/selection/selection_manager.h"
#include "rviz/selection_panel.h"
#include "rviz/splash_screen.h"
#include "rviz/time_panel.h"
#include "rviz/tool.h"
#include "rviz/tool_manager.h"
#include "rviz/tool_properties_panel.h"
#include "rviz/views_panel.h"
#include "rviz/visualization_manager.h"
#include "rviz/widget_geometry_change_detector.h"
#include "rviz/load_resource.h"
#include "rviz/yaml_config_reader.h"
#include "rviz/yaml_config_writer.h"

#include "rviz/visualization_frame.h"

namespace fs = boost::filesystem;

#define CONFIG_EXTENSION "rviz"
#define CONFIG_EXTENSION_WILDCARD "*." CONFIG_EXTENSION
#define RECENT_CONFIG_COUNT 10

#if BOOST_FILESYSTEM_VERSION == 3
#define BOOST_FILENAME_STRING filename().string
#define BOOST_FILE_STRING string
#else
#define BOOST_FILENAME_STRING filename
#define BOOST_FILE_STRING file_string
#endif

namespace rviz
{

VisualizationFrame::VisualizationFrame( QWidget* parent )
  : QMainWindow( parent )
  , app_(NULL)
  , render_panel_(NULL)
  , show_help_action_(NULL)
  , file_menu_(NULL)
  , recent_configs_menu_(NULL)
  , toolbar_(NULL)
  , manager_(NULL)
  , splash_( NULL )
  , toolbar_actions_( NULL )
  , show_choose_new_master_option_( false )
  , add_tool_action_( NULL )
  , remove_tool_menu_( NULL )
  , initialized_( false )
  , geom_change_detector_( new WidgetGeometryChangeDetector( this ))
  , loading_( false )
  , post_load_timer_( new QTimer( this ))
  , frame_count_(0)
{
  panel_factory_ = new PanelFactory();

  installEventFilter( geom_change_detector_ );
  connect( geom_change_detector_, SIGNAL( changed() ), this, SLOT( setDisplayConfigModified() ));

  post_load_timer_->setSingleShot( true );
  connect( post_load_timer_, SIGNAL( timeout() ), this, SLOT( markLoadingDone() ));

  package_path_ = ros::package::getPath("rviz");
  help_path_ = QString::fromStdString( (fs::path(package_path_) / "help/help.html").BOOST_FILE_STRING() );
  splash_path_ = QString::fromStdString( (fs::path(package_path_) / "images/splash.png").BOOST_FILE_STRING() );

  QToolButton* reset_button = new QToolButton( );
  reset_button->setText( "Reset" );
  reset_button->setContentsMargins(0,0,0,0);
  statusBar()->addPermanentWidget( reset_button, 0 );
  connect( reset_button, SIGNAL( clicked( bool )), this, SLOT( reset() ));

  status_label_ = new QLabel("");
  statusBar()->addPermanentWidget( status_label_, 1 );
  connect( this, SIGNAL( statusUpdate( const QString& )), status_label_, SLOT( setText( const QString& )));

  fps_label_ = new QLabel("");
  fps_label_->setMinimumWidth(40);
  fps_label_->setAlignment(Qt::AlignRight);
  statusBar()->addPermanentWidget( fps_label_, 0 );
  original_status_bar_ = statusBar();

  setWindowTitle( "RViz[*]" );
}

VisualizationFrame::~VisualizationFrame()
{
  delete render_panel_;
  delete manager_;

  for( int i = 0; i < custom_panels_.size(); i++ )
  {
    delete custom_panels_[ i ].dock;
  }

  delete panel_factory_;
}

void VisualizationFrame::setApp( QApplication * app )
{
  app_ = app;
}

void VisualizationFrame::setStatus( const QString & message )
{
  Q_EMIT statusUpdate( message );
}

void VisualizationFrame::updateFps()
{
  frame_count_ ++;
  ros::WallDuration wall_diff = ros::WallTime::now() - last_fps_calc_time_;

  if ( wall_diff.toSec() > 1.0 )
  {
    float fps = frame_count_ / wall_diff.toSec();
    frame_count_ = 0;
    last_fps_calc_time_ = ros::WallTime::now();
    if ( original_status_bar_ == statusBar() )
    {
      fps_label_->setText( QString::number(int(fps)) + QString(" fps") );
    }
  }
}

void VisualizationFrame::closeEvent( QCloseEvent* event )
{
  if( prepareToExit() )
  {
    event->accept();
  }
  else
  {
    event->ignore();
  }
}

void VisualizationFrame::leaveEvent ( QEvent * event )
{
  setStatus("");
}

void VisualizationFrame::reset()
{
  Ogre::MeshManager::getSingleton().removeAll();
  manager_->resetTime();
}

void VisualizationFrame::changeMaster()
{
  if( prepareToExit() )
  {
    QApplication::exit( 255 );
  }
}

void VisualizationFrame::setShowChooseNewMaster( bool show )
{
  show_choose_new_master_option_ = show;
}

void VisualizationFrame::setHelpPath( const QString& help_path )
{
  help_path_ = help_path;
  manager_->setHelpPath( help_path_ );
}

void VisualizationFrame::setSplashPath( const QString& splash_path )
{
  splash_path_ = splash_path;
}

void VisualizationFrame::initialize(const QString& display_config_file )
{
  initConfigs();

  loadPersistentSettings();

  QIcon app_icon( QString::fromStdString( (fs::path(package_path_) / "icons/package.png").BOOST_FILE_STRING() ) );
  setWindowIcon( app_icon );

  if( splash_path_ != "" )
  {
    QPixmap splash_image( splash_path_ );
    splash_ = new SplashScreen( splash_image );
    splash_->show();
    connect( this, SIGNAL( statusUpdate( const QString& )), splash_, SLOT( showMessage( const QString& )));
  }
  Q_EMIT statusUpdate( "Initializing" );

  // Periodically process events for the splash screen.
  // See: http://doc.qt.io/qt-5/qsplashscreen.html#details
  if (app_) app_->processEvents();

  if( !ros::isInitialized() )
  {
    int argc = 0;
    ros::init( argc, 0, "rviz", ros::init_options::AnonymousName );
  }

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  QWidget* central_widget = new QWidget(this);
  QHBoxLayout* central_layout = new QHBoxLayout;
  central_layout->setSpacing(0);
  central_layout->setMargin(0);

  render_panel_ = new RenderPanel( central_widget );

  hide_left_dock_button_ = new QToolButton();
  hide_left_dock_button_->setContentsMargins(0,0,0,0);
  hide_left_dock_button_->setArrowType( Qt::LeftArrow );
  hide_left_dock_button_->setSizePolicy( QSizePolicy( QSizePolicy::Minimum, QSizePolicy::Expanding ) );
  hide_left_dock_button_->setFixedWidth(16);
  hide_left_dock_button_->setAutoRaise(true);
  hide_left_dock_button_->setCheckable(true);

  connect(hide_left_dock_button_, SIGNAL(toggled(bool)), this, SLOT(hideLeftDock(bool)));

  hide_right_dock_button_ = new QToolButton();
  hide_right_dock_button_->setContentsMargins(0,0,0,0);
  hide_right_dock_button_->setArrowType( Qt::RightArrow );
  hide_right_dock_button_->setSizePolicy( QSizePolicy( QSizePolicy::Minimum, QSizePolicy::Expanding ) );
  hide_right_dock_button_->setFixedWidth(16);
  hide_right_dock_button_->setAutoRaise(true);
  hide_right_dock_button_->setCheckable(true);

  connect(hide_right_dock_button_, SIGNAL(toggled(bool)), this, SLOT(hideRightDock(bool)));

  central_layout->addWidget( hide_left_dock_button_, 0 );
  central_layout->addWidget( render_panel_, 1 );
  central_layout->addWidget( hide_right_dock_button_, 0 );

  central_widget->setLayout( central_layout );

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  initMenus();

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  initToolbars();

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  setCentralWidget( central_widget );

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  manager_ = new VisualizationManager( render_panel_, this );
  manager_->setHelpPath( help_path_ );

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  render_panel_->initialize( manager_->getSceneManager(), manager_ );

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  ToolManager* tool_man = manager_->getToolManager();

  connect( manager_, SIGNAL( configChanged() ), this, SLOT( setDisplayConfigModified() ));
  connect( tool_man, SIGNAL( toolAdded( Tool* )), this, SLOT( addTool( Tool* )));
  connect( tool_man, SIGNAL( toolRemoved( Tool* )), this, SLOT( removeTool( Tool* )));
  connect( tool_man, SIGNAL( toolRefreshed( Tool* )), this, SLOT( refreshTool( Tool* )));
  connect( tool_man, SIGNAL( toolChanged( Tool* )), this, SLOT( indicateToolIsCurrent( Tool* )));

  manager_->initialize();

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  if( display_config_file != "" )
  {
    loadDisplayConfig( display_config_file );
  }
  else
  {
    loadDisplayConfig( QString::fromStdString( default_display_config_file_ ));
  }

  // Periodically process events for the splash screen.
  if (app_) app_->processEvents();

  delete splash_;
  splash_ = 0;

  manager_->startUpdate();
  initialized_ = true;
  Q_EMIT statusUpdate( "RViz is ready." );

  connect( manager_, SIGNAL( preUpdate() ), this, SLOT( updateFps() ) );
  connect( manager_, SIGNAL( statusUpdate( const QString& )), this, SIGNAL( statusUpdate( const QString& )));
}

void VisualizationFrame::initConfigs()
{
  home_dir_ = QDir::toNativeSeparators( QDir::homePath() ).toStdString();

  config_dir_ = (fs::path(home_dir_) / ".rviz").BOOST_FILE_STRING();
  persistent_settings_file_ = (fs::path(config_dir_) / "persistent_settings").BOOST_FILE_STRING();
  default_display_config_file_ = (fs::path(config_dir_) / "default." CONFIG_EXTENSION).BOOST_FILE_STRING();

  if( fs::is_regular_file( config_dir_ ))
  {
    ROS_ERROR("Moving file [%s] out of the way to recreate it as a directory.", config_dir_.c_str());
    std::string backup_file = config_dir_ + ".bak";

    fs::rename(config_dir_, backup_file);
    fs::create_directory(config_dir_);
  }
  else if (!fs::exists(config_dir_))
  {
    fs::create_directory(config_dir_);
  }
}

void VisualizationFrame::loadPersistentSettings()
{
  YamlConfigReader reader;
  Config config;
  reader.readFile( config, QString::fromStdString( persistent_settings_file_ ));
  if( !reader.error() )
  {
    QString last_config_dir, last_image_dir;
    if( config.mapGetString( "Last Config Dir", &last_config_dir ) &&
        config.mapGetString( "Last Image Dir", &last_image_dir ))
    {
      last_config_dir_ = last_config_dir.toStdString();
      last_image_dir_ = last_image_dir.toStdString();
    }
    
    Config recent_configs_list = config.mapGetChild( "Recent Configs" );
    recent_configs_.clear();
    int num_recent = recent_configs_list.listLength();
    for( int i = 0; i < num_recent; i++ )
    {
      recent_configs_.push_back( recent_configs_list.listChildAt( i ).getValue().toString().toStdString() );
    }
  }
  else
  {
    ROS_ERROR( "%s", qPrintable( reader.errorMessage() ));
  }
}

void VisualizationFrame::savePersistentSettings()
{
  Config config;
  config.mapSetValue( "Last Config Dir", QString::fromStdString( last_config_dir_ ));
  config.mapSetValue( "Last Image Dir", QString::fromStdString( last_image_dir_ ));
  Config recent_configs_list = config.mapMakeChild( "Recent Configs" );
  for( D_string::iterator it = recent_configs_.begin(); it != recent_configs_.end(); ++it )
  {
    recent_configs_list.listAppendNew().setValue( QString::fromStdString( *it ));
  }

  YamlConfigWriter writer;
  writer.writeFile( config, QString::fromStdString( persistent_settings_file_ ));

  if( writer.error() )
  {
    ROS_ERROR( "%s", qPrintable( writer.errorMessage() ));
  }
}

void VisualizationFrame::initMenus()
{
  file_menu_ = menuBar()->addMenu( "&File" );
  file_menu_->addAction( "&Open Config", this, SLOT( onOpen() ), QKeySequence( "Ctrl+O" ));
  file_menu_->addAction( "&Save Config", this, SLOT( onSave() ), QKeySequence( "Ctrl+S" ));
  file_menu_->addAction( "Save Config &As", this, SLOT( onSaveAs() ));
  recent_configs_menu_ = file_menu_->addMenu( "&Recent Configs" );
  file_menu_->addAction( "Save &Image", this, SLOT( onSaveImage() ));
  if( show_choose_new_master_option_ )
  {
    file_menu_->addSeparator();
    file_menu_->addAction( "Change &Master", this, SLOT( changeMaster() ));
  }
  file_menu_->addSeparator();
  file_menu_->addAction( "&Quit", this, SLOT( close() ), QKeySequence( "Ctrl+Q" ));

  view_menu_ = menuBar()->addMenu( "&Panels" );
  view_menu_->addAction( "Add &New Panel", this, SLOT( openNewPanelDialog() ));
  delete_view_menu_ = view_menu_->addMenu( "&Delete Panel" );
  delete_view_menu_->setEnabled( false );

  QAction * fullscreen_action = view_menu_->addAction("&Fullscreen", this, SLOT( setFullScreen(bool) ), Qt::Key_F11);
  fullscreen_action->setCheckable(true);
  this->addAction(fullscreen_action); // Also add to window, or the shortcut doest work when the menu is hidden.
  connect(this, SIGNAL( fullScreenChange( bool ) ), fullscreen_action, SLOT( setChecked( bool ) ) );
  new QShortcut(Qt::Key_Escape, this, SLOT( exitFullScreen() ));
  view_menu_->addSeparator();

  QMenu* help_menu = menuBar()->addMenu( "&Help" );
  help_menu->addAction( "Show &Help panel", this, SLOT( showHelpPanel() ));
  help_menu->addAction( "Open rviz wiki in browser", this, SLOT( onHelpWiki() ));
  help_menu->addSeparator();
  help_menu->addAction( "&About", this, SLOT( onHelpAbout() ));
}

void VisualizationFrame::initToolbars()
{
  QFont font;
  font.setPointSize( font.pointSizeF()*0.9 );

  // make toolbar with plugin tools

  toolbar_ = addToolBar( "Tools" );
  toolbar_->setFont( font );
  toolbar_->setContentsMargins(0,0,0,0);
  toolbar_->setObjectName( "Tools" );
  toolbar_->setToolButtonStyle( Qt::ToolButtonTextBesideIcon );
  toolbar_actions_ = new QActionGroup( this );
  connect( toolbar_actions_, SIGNAL( triggered( QAction* )), this, SLOT( onToolbarActionTriggered( QAction* )));
  view_menu_->addAction( toolbar_->toggleViewAction() );

  add_tool_action_ = new QAction( "", toolbar_actions_ );
  add_tool_action_->setToolTip( "Add a new tool" );
  add_tool_action_->setIcon( loadPixmap( "package://rviz/icons/plus.png" ) );
  toolbar_->addAction( add_tool_action_ );
  connect( add_tool_action_, SIGNAL( triggered() ), this, SLOT( openNewToolDialog() ));

  remove_tool_menu_ = new QMenu();
  QToolButton* remove_tool_button = new QToolButton();
  remove_tool_button->setMenu( remove_tool_menu_ );
  remove_tool_button->setPopupMode( QToolButton::InstantPopup );
  remove_tool_button->setToolTip( "Remove a tool from the toolbar" );
  remove_tool_button->setIcon( loadPixmap( "package://rviz/icons/minus.png" ) );
  toolbar_->addWidget( remove_tool_button );
  connect( remove_tool_menu_, SIGNAL( triggered( QAction* )), this, SLOT( onToolbarRemoveTool( QAction* )));

}

void VisualizationFrame::hideDockImpl( Qt::DockWidgetArea area, bool hide )
{
  QList<PanelDockWidget *> dock_widgets = findChildren<PanelDockWidget *>();

  for ( QList<PanelDockWidget *>::iterator it=dock_widgets.begin(); it!=dock_widgets.end(); it++ )
  {
    Qt::DockWidgetArea curr_area = dockWidgetArea ( *it );
    if ( area == curr_area )
    {
      (*it)->setCollapsed(hide);
    }
    // allow/disallow docking to this area for all widgets
    if ( hide )
    {
      (*it)->setAllowedAreas( (*it)->allowedAreas() & ~area );
    }
    else
    {
      (*it)->setAllowedAreas( (*it)->allowedAreas() | area );
    }
  }
}

void VisualizationFrame::setHideButtonVisibility( bool visible )
{
  hide_left_dock_button_->setVisible( visible );
  hide_right_dock_button_->setVisible( visible );
}

void VisualizationFrame::hideLeftDock( bool hide )
{
  hideDockImpl( Qt::LeftDockWidgetArea, hide );
  hide_left_dock_button_->setArrowType( hide ? Qt::RightArrow : Qt::LeftArrow );
}

void VisualizationFrame::hideRightDock( bool hide )
{
  hideDockImpl( Qt::RightDockWidgetArea, hide );
  hide_right_dock_button_->setArrowType( hide ? Qt::LeftArrow : Qt::RightArrow );
}

void VisualizationFrame::onDockPanelVisibilityChange( bool visible )
{
  // if a dock widget becomes visible and is resting inside the
  // left or right dock area, we want to unhide the whole area
  if ( visible )
  {
    QDockWidget* dock_widget = dynamic_cast<QDockWidget*>( sender() );
    if ( dock_widget )
    {
      Qt::DockWidgetArea area = dockWidgetArea( dock_widget );
      if ( area == Qt::LeftDockWidgetArea )
      {
        hide_left_dock_button_->setChecked( false );
      }
      if ( area == Qt::RightDockWidgetArea )
      {
        hide_right_dock_button_->setChecked( false );
      }
    }
  }

}

void VisualizationFrame::openNewPanelDialog()
{
  QString class_id;
  QString display_name;
  QStringList empty;

  NewObjectDialog* dialog = new NewObjectDialog( panel_factory_,
                                                 "Panel",
                                                 empty,
                                                 empty,
                                                 &class_id,
                                                 &display_name,
                                                 this );
  manager_->stopUpdate();
  if( dialog->exec() == QDialog::Accepted )
  {
    addPanelByName( display_name, class_id );
  }
  manager_->startUpdate();
}

void VisualizationFrame::openNewToolDialog()
{
  QString class_id;
  QStringList empty;
  ToolManager* tool_man = manager_->getToolManager();

  NewObjectDialog* dialog = new NewObjectDialog( tool_man->getFactory(),
                                                 "Tool",
                                                 empty,
                                                 tool_man->getToolClasses(),
                                                 &class_id );
  manager_->stopUpdate();
  if( dialog->exec() == QDialog::Accepted )
  {
    tool_man->addTool( class_id );
  }
  manager_->startUpdate();
  activateWindow(); // Force keyboard focus back on main window.
}

void VisualizationFrame::updateRecentConfigMenu()
{
  recent_configs_menu_->clear();

  D_string::iterator it = recent_configs_.begin();
  D_string::iterator end = recent_configs_.end();
  for (; it != end; ++it)
  {
    if( *it != "" )
    {
      std::string display_name = *it;
      if( display_name == default_display_config_file_ )
      {
        display_name += " (default)";
      }
      if( display_name.find( home_dir_ ) == 0 )
      {
        display_name = ("~" / fs::path( display_name.substr( home_dir_.size() ))).BOOST_FILE_STRING();
      }
      QString qdisplay_name = QString::fromStdString( display_name );
      QAction* action = new QAction( qdisplay_name, this );
      action->setData( QString::fromStdString( *it ));
      connect( action, SIGNAL( triggered() ), this, SLOT( onRecentConfigSelected() ));
      recent_configs_menu_->addAction( action );
    }
  }
}

void VisualizationFrame::markRecentConfig( const std::string& path )
{
  D_string::iterator it = std::find( recent_configs_.begin(), recent_configs_.end(), path );
  if( it != recent_configs_.end() )
  {
    recent_configs_.erase( it );
  }

  recent_configs_.push_front( path );

  if( recent_configs_.size() > RECENT_CONFIG_COUNT )
  {
    recent_configs_.pop_back();
  }

  updateRecentConfigMenu();
}

void VisualizationFrame::loadDisplayConfig( const QString& qpath )
{
  std::string path = qpath.toStdString();
  std::string actual_load_path = path;
  if( !fs::exists( path ) || fs::is_directory( path ) || fs::is_empty( path ))
  {
    actual_load_path = (fs::path(package_path_) / "default.rviz").BOOST_FILE_STRING();      
    if( !fs::exists( actual_load_path ))
    {
      ROS_ERROR( "Default display config '%s' not found.  RViz will be very empty at first.", actual_load_path.c_str() );
      return;
    }
  }

  // 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() )
  {
    return;
  }

  setWindowModified( false );
  loading_ = true;

  LoadingDialog* dialog = NULL;
  if( initialized_ )
  {
    dialog = new LoadingDialog( this );
    dialog->show();
    connect( this, SIGNAL( statusUpdate( const QString& )), dialog, SLOT( showMessage( const QString& )));
  }

  YamlConfigReader reader;
  Config config;
  reader.readFile( config, QString::fromStdString( actual_load_path ));
  if( !reader.error() )
  {
    load( config );
  }

  markRecentConfig( path );

  setDisplayConfigFile( path );

  last_config_dir_ = fs::path( path ).parent_path().BOOST_FILE_STRING();

  delete dialog;

  post_load_timer_->start( 1000 );
}

void VisualizationFrame::markLoadingDone()
{
  loading_ = false;
}

void VisualizationFrame::setImageSaveDirectory( const QString& directory )
{
  last_image_dir_ = directory.toStdString();
}

void VisualizationFrame::setDisplayConfigModified()
{
  if( !loading_ )
  {
    setWindowModified( true );
  }
}

void VisualizationFrame::setDisplayConfigFile( const std::string& path )
{
  display_config_file_ = path;

  std::string title;
  if( path == default_display_config_file_ )
  {
    title = "RViz[*]";
  }
  else
  {
    title = fs::path( path ).BOOST_FILENAME_STRING() + "[*] - RViz";
  }
  setWindowTitle( QString::fromStdString( title ));
}

bool VisualizationFrame::saveDisplayConfig( const QString& path )
{
  Config config;
  save( config );

  YamlConfigWriter writer;
  writer.writeFile( config, path );

  if( writer.error() )
  {
    ROS_ERROR( "%s", qPrintable( writer.errorMessage() ));
    error_message_ = writer.errorMessage();
    return false;
  }
  else
  {
    setWindowModified( false );
    error_message_ = "";
    return true;
  }
}

void VisualizationFrame::save( Config config )
{
  manager_->save( config.mapMakeChild( "Visualization Manager" ));
  savePanels( config.mapMakeChild( "Panels" ));
  saveWindowGeometry( config.mapMakeChild( "Window Geometry" ));
}

void VisualizationFrame::load( const Config& config )
{
  manager_->load( config.mapGetChild( "Visualization Manager" ));
  loadPanels( config.mapGetChild( "Panels" ));
  loadWindowGeometry( config.mapGetChild( "Window Geometry" ));
}

void VisualizationFrame::loadWindowGeometry( const Config& config )
{
  int x, y;
  if( config.mapGetInt( "X", &x ) &&
      config.mapGetInt( "Y", &y ))
  {
    move( x, y );
  }

  int width, height;
  if( config.mapGetInt( "Width", &width ) &&
      config.mapGetInt( "Height", &height ))
  {
    resize( width, height );
  }    

  QString main_window_config;
  if( config.mapGetString( "QMainWindow State", &main_window_config ))
  {
    restoreState( QByteArray::fromHex( qPrintable( main_window_config )));
  }

  // load panel dock widget states (collapsed or not)
  QList<PanelDockWidget *> dock_widgets = findChildren<PanelDockWidget *>();

  for ( QList<PanelDockWidget *>::iterator it=dock_widgets.begin(); it!=dock_widgets.end(); it++ )
  {
    Config itConfig = config.mapGetChild((*it)->windowTitle());

    if (itConfig.isValid())
    {
      (*it)->load(itConfig);
    }
  }

  bool b;
  config.mapGetBool( "Hide Left Dock", &b );
  hide_left_dock_button_->setChecked( b );
  hideLeftDock(b);
  config.mapGetBool( "Hide Right Dock", &b );
  hideRightDock(b);
  hide_right_dock_button_->setChecked( b );
}

void VisualizationFrame::saveWindowGeometry( Config config )
{
  config.mapSetValue( "X", x() );
  config.mapSetValue( "Y", y() );
  config.mapSetValue( "Width", width() );
  config.mapSetValue( "Height", height() );

  QByteArray window_state = saveState().toHex();
  config.mapSetValue( "QMainWindow State", window_state.constData() );

  config.mapSetValue( "Hide Left Dock", hide_left_dock_button_->isChecked() );
  config.mapSetValue( "Hide Right Dock", hide_right_dock_button_->isChecked() );

  // save panel dock widget states (collapsed or not)
  QList<PanelDockWidget *> dock_widgets = findChildren<PanelDockWidget *>();

  for ( QList<PanelDockWidget *>::iterator it=dock_widgets.begin(); it!=dock_widgets.end(); it++ )
  {
    (*it)->save(config.mapMakeChild( (*it)->windowTitle() ));
  }
}

void VisualizationFrame::loadPanels( const Config& config )
{
  // First destroy any existing custom panels.
  for( int i = 0; i < custom_panels_.size(); i++ )
  {
    delete custom_panels_[ i ].dock;
    delete custom_panels_[ i ].delete_action;
  }
  custom_panels_.clear();

  // Then load the ones in the config.
  int num_custom_panels = config.listLength();
  for( int i = 0; i < num_custom_panels; i++ )
  {
    Config panel_config = config.listChildAt( i );

    QString class_id, name;
    if( panel_config.mapGetString( "Class", &class_id ) &&
        panel_config.mapGetString( "Name", &name ))
    {
      QDockWidget* dock = addPanelByName( name, class_id );
      // This is kind of ridiculous - should just be something like
      // createPanel() and addPanel() so I can do load() without this
      // qobject_cast.
      if( dock )
      {
        Panel* panel = qobject_cast<Panel*>( dock->widget() );
        if( panel )
        {
          panel->load( panel_config );
        }
      }
    }
  }
}

void VisualizationFrame::savePanels( Config config )
{
  config.setType( Config::List ); // Not really necessary, but gives an empty list if there are no entries, instead of an Empty config node.

  for( int i = 0; i < custom_panels_.size(); i++ )
  {
    custom_panels_[ i ].panel->save( config.listAppendNew() );
  }
}

bool VisualizationFrame::prepareToExit()
{
  if( !initialized_ )
  {
    return true;
  }

  savePersistentSettings();

  if( isWindowModified() )
  {
    QMessageBox box( this );
    box.setText( "There are unsaved changes." );
    box.setInformativeText( QString::fromStdString( "Save changes to " + display_config_file_ + "?" ));
    box.setStandardButtons( QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel );
    box.setDefaultButton( QMessageBox::Save );
    manager_->stopUpdate();
    int result = box.exec();
    manager_->startUpdate();
    switch( result )
    {
    case QMessageBox::Save:
      if( saveDisplayConfig( QString::fromStdString( display_config_file_ )))
      {
        return true;
      }
      else
      {
        QMessageBox box( this );
        box.setWindowTitle( "Failed to save." );
        box.setText( getErrorMessage() );
        box.setInformativeText( QString::fromStdString( "Save copy of " + display_config_file_ + " to another file?" ));
        box.setStandardButtons( QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel );
        box.setDefaultButton( QMessageBox::Save );
        int result = box.exec();
        switch( result )
        {
        case QMessageBox::Save:
          onSaveAs();
          return true;
        case QMessageBox::Discard:
          return true;
        default:
          return false;
        }
        
      }
    case QMessageBox::Discard:
      return true;
    default:
      return false;
    }
  }
  else
  {
    return true;
  }
}

void VisualizationFrame::onOpen()
{
  manager_->stopUpdate();
  QString filename = QFileDialog::getOpenFileName( this, "Choose a file to open",
                                                   QString::fromStdString( last_config_dir_ ),
                                                   "RViz config files (" CONFIG_EXTENSION_WILDCARD ")" );
  manager_->startUpdate();

  if( !filename.isEmpty() )
  {
    std::string path = filename.toStdString();

    if( !fs::exists( path ))
    {
      QString message = filename + " does not exist!";
      QMessageBox::critical( this, "Config file does not exist", message );
      return;
    }

    loadDisplayConfig( filename );
  }
}

void VisualizationFrame::onSave()
{
  if( !initialized_ )
  {
    return;
  }

  savePersistentSettings();

  if( !saveDisplayConfig( QString::fromStdString( display_config_file_ )))
  {
    manager_->stopUpdate();
    QMessageBox box( this );
    box.setWindowTitle( "Failed to save." );
    box.setText( getErrorMessage() );
    box.setInformativeText( QString::fromStdString( "Save copy of " + display_config_file_ + " to another file?" ));
    box.setStandardButtons( QMessageBox::Save | QMessageBox::Cancel );
    box.setDefaultButton( QMessageBox::Save );
    if( box.exec() == QMessageBox::Save )
    {
      onSaveAs();
    }
    manager_->startUpdate();
  }
}

void VisualizationFrame::onSaveAs()
{
  manager_->stopUpdate();
  QString q_filename = QFileDialog::getSaveFileName( this, "Choose a file to save to",
                                                     QString::fromStdString( last_config_dir_ ),
                                                     "RViz config files (" CONFIG_EXTENSION_WILDCARD ")" );
  manager_->startUpdate();

  if( !q_filename.isEmpty() )
  {
    std::string filename = q_filename.toStdString();
    fs::path path( filename );
    if( path.extension() != "." CONFIG_EXTENSION )
    {
      filename += "." CONFIG_EXTENSION;
    }

    if( !saveDisplayConfig( QString::fromStdString( filename )))
    {
      QMessageBox::critical( this, "Failed to save.", getErrorMessage() );
    }

    markRecentConfig( filename );
    last_config_dir_ = fs::path( filename ).parent_path().BOOST_FILE_STRING();
    setDisplayConfigFile( filename );
  }
}

void VisualizationFrame::onSaveImage()
{
  ScreenshotDialog* dialog = new ScreenshotDialog( this, render_panel_, QString::fromStdString( last_image_dir_ ));
  connect( dialog, SIGNAL( savedInDirectory( const QString& )),
           this, SLOT( setImageSaveDirectory( const QString& )));
  dialog->show();
}

void VisualizationFrame::onRecentConfigSelected()
{
  QAction* action = dynamic_cast<QAction*>( sender() );
  if( action )
  {
    std::string path = action->data().toString().toStdString();
    if( !path.empty() )
    {
      if( !fs::exists( path ))
      {
        QString message = QString::fromStdString( path  ) + " does not exist!";
        QMessageBox::critical( this, "Config file does not exist", message );
        return;
      }

      loadDisplayConfig( QString::fromStdString( path ));
    }
  }
}

void VisualizationFrame::addTool( Tool* tool )
{
  QAction* action = new QAction( tool->getName(), toolbar_actions_ );
  action->setIcon( tool->getIcon() );
  action->setIconText( tool->getName() );
  action->setCheckable( true );
  toolbar_->insertAction( add_tool_action_, action );
  action_to_tool_map_[ action ] = tool;
  tool_to_action_map_[ tool ] = action;

  remove_tool_menu_->addAction( tool->getName() );
}

void VisualizationFrame::onToolbarActionTriggered( QAction* action )
{
  Tool* tool = action_to_tool_map_[ action ];

  if( tool )
  {
    manager_->getToolManager()->setCurrentTool( tool );
  }
}

void VisualizationFrame::onToolbarRemoveTool( QAction* remove_tool_menu_action )
{
  QString name = remove_tool_menu_action->text();
  for( int i = 0; i < manager_->getToolManager()->numTools(); i++ )
  {
    Tool* tool = manager_->getToolManager()->getTool( i );
    if( tool->getName() == name )
    {
      manager_->getToolManager()->removeTool( i );
      return;
    }
  }
}

void VisualizationFrame::removeTool( Tool* tool )
{
  QAction* action = tool_to_action_map_[ tool ];
  if( action )
  {
    toolbar_actions_->removeAction( action );
    toolbar_->removeAction( action );
    tool_to_action_map_.erase( tool );
    action_to_tool_map_.erase( action );
  }
  QString tool_name = tool->getName();
  QList<QAction*> remove_tool_actions = remove_tool_menu_->actions();
  for( int i = 0; i < remove_tool_actions.size(); i++ )
  {
    QAction* removal_action = remove_tool_actions.at( i );
    if( removal_action->text() == tool_name )
    {
      remove_tool_menu_->removeAction( removal_action );
      break;
    }
  }
}

void VisualizationFrame::refreshTool( Tool* tool )
{
  QAction* action = tool_to_action_map_[ tool ];
  action->setIcon( tool->getIcon() );
  action->setIconText( tool->getName() );
}

void VisualizationFrame::indicateToolIsCurrent( Tool* tool )
{
  QAction* action = tool_to_action_map_[ tool ];
  if( action )
  {
    action->setChecked( true );
  }
}

void VisualizationFrame::showHelpPanel()
{
  if( !show_help_action_ )
  {
    QDockWidget* dock = addPanelByName( "Help", "rviz/Help" );
    show_help_action_ = dock->toggleViewAction();
    connect( dock, SIGNAL( destroyed( QObject* )), this, SLOT( onHelpDestroyed() ));
  }
  else
  {
    // show_help_action_ is a toggle action, so trigger() changes its
    // state.  Therefore we must force it to the opposite state from
    // what we want before we call trigger().  (I think.)
    show_help_action_->setChecked( false );
    show_help_action_->trigger();
  }
}

void VisualizationFrame::onHelpDestroyed()
{
  show_help_action_ = NULL;
}

void VisualizationFrame::onHelpWiki()
{
  QDesktopServices::openUrl( QUrl( "http://www.ros.org/wiki/rviz" ));
}

void VisualizationFrame::onHelpAbout()
{
  QString about_text = QString(
    "This is RViz version %1 (%2).\n"
    "\n"
    "Compiled against Qt version %3."
    "\n"
    "Compiled against OGRE version %4.%5.%6%7 (%8)."
  )
  .arg(get_version().c_str())
  .arg(get_distro().c_str())
  .arg(QT_VERSION_STR)
  .arg(OGRE_VERSION_MAJOR)
  .arg(OGRE_VERSION_MINOR)
  .arg(OGRE_VERSION_PATCH)
  .arg(OGRE_VERSION_SUFFIX)
  .arg(OGRE_VERSION_NAME);

  QMessageBox::about(QApplication::activeWindow(), "About", about_text);
}

QWidget* VisualizationFrame::getParentWindow()
{
  return this;
}

void VisualizationFrame::onDeletePanel()
{
  // This should only be called as a SLOT from a QAction in the
  // "delete panel" submenu, so the sender will be one of the QActions
  // stored as "delete_action" in a PanelRecord.  This code looks for
  // a delete_action in custom_panels_ matching sender() and removes
  // the panel associated with it.
  if( QAction* action = qobject_cast<QAction*>( sender() ))
  {
    for( int i = 0; i < custom_panels_.size(); i++ )
    {
      if( custom_panels_[ i ].delete_action == action )
      {
        delete custom_panels_[ i ].dock;
        custom_panels_.removeAt( i );
        setDisplayConfigModified();
        action->deleteLater();
        if( delete_view_menu_->actions().size() == 1 &&
            delete_view_menu_->actions().first() == action )
        {
          delete_view_menu_->setEnabled( false );
        }
        return;
      }
    }
  }
}

void VisualizationFrame::setFullScreen( bool full_screen )
{
  Q_EMIT( fullScreenChange( full_screen ) );

  if (full_screen)
    toolbar_visible_ = toolbar_->isVisible();
  menuBar()->setVisible(!full_screen);
  toolbar_->setVisible(!full_screen && toolbar_visible_);
  statusBar()->setVisible(!full_screen);
  setHideButtonVisibility(!full_screen);

  if (full_screen)
    setWindowState(windowState() | Qt::WindowFullScreen);
  else
    setWindowState(windowState() & ~Qt::WindowFullScreen);
  show();
}

void VisualizationFrame::exitFullScreen()
{
  setFullScreen( false );
}

QDockWidget* VisualizationFrame::addPanelByName( const QString& name,
                                                 const QString& class_id,
                                                 Qt::DockWidgetArea area,
                                                 bool floating )
{
  QString error;
  Panel* panel = panel_factory_->make( class_id, &error );
  if( !panel )
  {
    panel = new FailedPanel( class_id, error );
  }
  panel->setName( name );
  connect( panel, SIGNAL( configChanged() ), this, SLOT( setDisplayConfigModified() ));

  PanelRecord record;
  record.dock = addPane( name, panel, area, floating );
  record.panel = panel;
  record.name = name;
  record.delete_action = delete_view_menu_->addAction( name, this, SLOT( onDeletePanel() ));
  custom_panels_.append( record );
  delete_view_menu_->setEnabled( true );

  record.panel->initialize( manager_ );

  record.dock->setIcon( panel_factory_->getIcon( class_id ) );

  return record.dock;
}

PanelDockWidget* VisualizationFrame::addPane( const QString& name, QWidget* panel, Qt::DockWidgetArea area, bool floating )
{
  PanelDockWidget *dock;
  dock = new PanelDockWidget( name );
  dock->setContentWidget( panel );
  dock->setFloating( floating );
  dock->setObjectName( name ); // QMainWindow::saveState() needs objectName to be set.
  addDockWidget( area, dock );

  // we want to know when that panel becomes visible
  connect( dock, SIGNAL( visibilityChanged( bool )), this, SLOT( onDockPanelVisibilityChange( bool ) ));
  connect( this, SIGNAL( fullScreenChange(bool) ), dock, SLOT( overrideVisibility(bool) ));

  QAction* toggle_action = dock->toggleViewAction();
  view_menu_->addAction( toggle_action );

  connect( toggle_action, SIGNAL( triggered( bool )), this, SLOT( setDisplayConfigModified() ));
  connect( dock, SIGNAL( closed()), this, SLOT( setDisplayConfigModified() ));

  dock->installEventFilter( geom_change_detector_ );

  // repair/update visibility status
  hideLeftDock( area == Qt::LeftDockWidgetArea ? false : hide_left_dock_button_->isChecked() );
  hideRightDock( area == Qt::RightDockWidgetArea ? false : hide_right_dock_button_->isChecked() );

  return dock;
}

} // end namespace rviz