PreferencesDialogROS: load/save local working directory for the GUI

src/PreferencesDialogROS.cpp

@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/RtabmapEvent.h>
 #include <QtGui/QMessageBox>
 #include <ros/exceptions.h>
+#include <rtabmap/utilite/UStl.h>
 
 using namespace rtabmap;
 
@@ -76,8 +77,12 @@ QString PreferencesDialogROS::getParamMessage()
 
 bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
 {
-	if(filePath.isEmpty() || filePath.compare(getTmpIniFilePath()) == 0)
+	QString path = getIniFilePath();
+	if(!filePath.isEmpty())
 	{
+		path = filePath;
+	}
+
 	ros::NodeHandle nh;
 	ROS_INFO("%s", this->getParamMessage().toStdString().c_str());
 	bool validParameters = true;
@@ -85,10 +90,29 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
 	rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
 	for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
 	{
-			std::string value;
+		if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) == 0)
-			if(nh.getParam((*i).first,value))
 		{
-				PreferencesDialog::setParameter((*i).first, value);
+			// 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
+				this->setParameter(rtabmap::Parameters::kRtabmapWorkingDirectory(), (QDir::homePath()+"/.ros").toStdString());
+			}
+			settings.endGroup();
+		}
+		else
+		{
+			std::string value;
+			if(nh.getParam(i->first,value))
+			{
+				PreferencesDialog::setParameter(i->first, value);
 				++readCount;
 			}
 			else
@@ -96,6 +120,7 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
 				validParameters = false;
 			}
 		}
+	}
 
 	ROS_INFO("Parameters read = %d", readCount);
 
@@ -114,11 +139,31 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
 		return false;
 	}
 	return true;
+}
+
+void PreferencesDialogROS::writeCoreSettings(const QString & filePath) const
+{
+	QString path = getIniFilePath();
+	if(!filePath.isEmpty())
+	{
+		path = filePath;
 	}
-	else
+
+	if(QFile::exists(path))
+	{
+		rtabmap::ParametersMap parameters = this->getAllParameters();
+
+		std::string workingDir = uValue(parameters, Parameters::kRtabmapWorkingDirectory(), std::string(""));
+
+		if(!workingDir.empty())
 		{
-		return PreferencesDialog::readCoreSettings(filePath);
+			//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();
 		}
-
+	}
 }
 

src/PreferencesDialogROS.h

@@ -48,7 +48,7 @@ protected:
 	virtual void readCameraSettings(const QString & filePath);
 	virtual bool readCoreSettings(const QString & filePath);
 	virtual void writeCameraSettings(const QString & filePath) const {}
-	virtual void writeCoreSettings(const QString & filePath) const {}
+	virtual void writeCoreSettings(const QString & filePath) const;
 
 private:
 	QString configFile_;