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;
 
@@ -76,19 +77,42 @@ QString PreferencesDialogROS::getParamMessage()
 
 bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
 {
-	if(filePath.isEmpty() || filePath.compare(getTmpIniFilePath()) == 0)
+	QString path = getIniFilePath();
+	if(!filePath.isEmpty())
 	{
-		ros::NodeHandle nh;
+		path = filePath;
-		ROS_INFO("%s", this->getParamMessage().toStdString().c_str());
+	}
-		bool validParameters = true;
+
-		int readCount = 0;
+	ros::NodeHandle nh;
-		rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
+	ROS_INFO("%s", this->getParamMessage().toStdString().c_str());
-		for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
+	bool validParameters = true;
+	int readCount = 0;
+	rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
+	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
+				this->setParameter(rtabmap::Parameters::kRtabmapWorkingDirectory(), (QDir::homePath()+"/.ros").toStdString());
+			}
+			settings.endGroup();
+		}
+		else
 		{
 			std::string value;
-			if(nh.getParam((*i).first,value))
+			if(nh.getParam(i->first,value))
 			{
-				PreferencesDialog::setParameter((*i).first, value);
+				PreferencesDialog::setParameter(i->first, value);
 				++readCount;
 			}
 			else
@@ -96,29 +120,50 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
 				validParameters = false;
 			}
 		}
+	}
 
-		ROS_INFO("Parameters read = %d", readCount);
+	ROS_INFO("Parameters read = %d", readCount);
 
-		if(validParameters)
+	if(validParameters)
-		{
+	{
-			ROS_INFO("Parameters successfully read.");
+		ROS_INFO("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;
 	}
 	else
 	{
-		return PreferencesDialog::readCoreSettings(filePath);
+		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();
+		}
 	}
-
 }
 

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_;