PreferencesDialogROS.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      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 Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include "rtabmap_ros/PreferencesDialogROS.h"
#include <rtabmap/core/Parameters.h>
#include <QDir>
#include <QFileInfo>
#include <QSettings>
#include <QHBoxLayout>
#include <QTimer>
#include <QLabel>
#include <rtabmap/core/RtabmapEvent.h>
#include <QMessageBox>
#include <ros/exceptions.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UThread.h>

using namespace rtabmap;

PreferencesDialogROS::PreferencesDialogROS(const QString & configFile, const std::string & rtabmapNodeName) :
                configFile_(configFile),
                rtabmapNodeName_(rtabmapNodeName)
{

}

PreferencesDialogROS::~PreferencesDialogROS()
{
        QFile::remove(getTmpIniFilePath());
}

QString PreferencesDialogROS::getIniFilePath() const
{
        if(configFile_.isEmpty())
        {
                return PreferencesDialog::getIniFilePath();
        }
        return configFile_;
}

QString PreferencesDialogROS::getTmpIniFilePath() const
{
        return QDir::homePath()+"/.ros/"+QFileInfo(configFile_).fileName()+".tmp";
}

void PreferencesDialogROS::readRtabmapNodeParameters()
{
        readCoreSettings(getTmpIniFilePath());
}

void PreferencesDialogROS::readCameraSettings(const QString & filePath)
{
        this->setInputRate(0);
}

QString PreferencesDialogROS::getParamMessage()
{
        return tr("Reading parameters from the ROS server...");
}

bool PreferencesDialogROS::hasAllParameters()
{
        ros::NodeHandle nh(rtabmapNodeName_);
        rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
        for(rtabmap::ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
        {
                if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) != 0 && !nh.hasParam(i->first))
                {
                        return false;
                }
        }
        return true;
}

bool PreferencesDialogROS::hasAllParameters(const ros::NodeHandle & nh, const rtabmap::ParametersMap & parameters)
{
        for(rtabmap::ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
        {
                if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) != 0 && !nh.hasParam(i->first))
                {
                        return false;
                }
        }
        return true;
}

bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
{
        QString path = getIniFilePath();
        if(!filePath.isEmpty())
        {
                path = filePath;
        }

        ros::NodeHandle rnh(rtabmapNodeName_);
        ROS_INFO("rtabmapviz: %s", this->getParamMessage().toStdString().c_str());
        bool validParameters = true;
        int readCount = 0;
        rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
        // remove Odom parameters
        for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end();)
        {
                if(iter->first.find("Odom") == 0)
                {
                        parameters.erase(iter++);
                }
                else
                {
                        ++iter;
                }
        }

        // Wait rtabmap parameters to appear (if gui node has been launched at the same time than rtabmap)
        if(!this->isVisible())
        {
                double stamp = UTimer::now();
                std::string tmp;
                bool warned = false;
                while(!hasAllParameters(rnh, parameters) && UTimer::now()-stamp < 5.0)
                {
                        if(!warned)
                        {
                                ROS_INFO("rtabmapviz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.");
                                warned = true;
                        }
                        uSleep(100);
                }
                if(warned)
                {
                        if(UTimer::now()-stamp < 5.0)
                        {
                                ROS_INFO("rtabmapviz: rtabmap's parameters seem now there! continuing...");
                        }
                        else
                        {
                                ROS_WARN("rtabmapviz: rtabmap's parameters seem not all there yet! continuing with those there if some...");
                        }
                }
        }

        for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
        {
                if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) == 0)
                {
                        // use working directory of the GUI, not the one on rosparam server
                        QSettings settings(path, QSettings::IniFormat);
                        settings.beginGroup("Core");
                        QString value = settings.value(rtabmap::Parameters::kRtabmapWorkingDirectory().c_str(), "").toString();
                        if(!value.isEmpty() && QDir(value).exists())
                        {
                                this->setParameter(rtabmap::Parameters::kRtabmapWorkingDirectory(), value.toStdString());
                        }
                        else
                        {
                                // use default one
                                char * rosHomePath = getenv("ROS_HOME");
                                std::string workingDir = rosHomePath?rosHomePath:(QDir::homePath()+"/.ros").toStdString();
                                this->setParameter(rtabmap::Parameters::kRtabmapWorkingDirectory(), workingDir);
                        }
                        settings.endGroup();
                }
                else
                {
                        std::string value;
                        if(rnh.getParam(i->first,value))
                        {
                                //backward compatibility
                                if(i->first.compare(Parameters::kIcpStrategy()) == 0)
                                {
                                        if(value.compare("true") == 0)
                                        {
                                                value =  "1";
                                        }
                                        else if(value.compare("false") == 0)
                                        {
                                                value =  "0";
                                        }
                                }

                                PreferencesDialog::setParameter(i->first, value);
                                ++readCount;
                        }
                        else
                        {
                                ROS_WARN("rtabmapviz: Parameter %s not found", i->first.c_str());
                                validParameters = false;
                        }
                }
        }

        ROS_INFO("rtabmapviz: Parameters read = %d", readCount);

        if(validParameters)
        {
                ROS_INFO("rtabmapviz: Parameters successfully read.");
        }
        else
        {
                if(this->isVisible())
                {
                        QString warning = tr("Failed to get some RTAB-Map parameters from ROS server, the rtabmap node may be not started or some parameters won't work...");
                        ROS_WARN("%s", warning.toStdString().c_str());
                        QMessageBox::warning(this, tr("Can't read parameters from ROS server."), warning);
                }
                return false;
        }
        return true;
}

void PreferencesDialogROS::writeCoreSettings(const QString & filePath) const
{
        QString path = getIniFilePath();
        if(!filePath.isEmpty())
        {
                path = filePath;
        }

        if(QFile::exists(path))
        {
                rtabmap::ParametersMap parameters = this->getAllParameters();

                std::string workingDir = uValue(parameters, Parameters::kRtabmapWorkingDirectory(), std::string(""));

                if(!workingDir.empty())
                {
                        //Just update GUI working directory
                        QSettings settings(path, QSettings::IniFormat);
                        settings.beginGroup("Core");
                        settings.remove("");
                        settings.setValue(Parameters::kRtabmapWorkingDirectory().c_str(), workingDir.c_str());
                        settings.endGroup();
                }
        }
}