mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 17:27:46 +08:00
147 lines
4.3 KiB
C++
147 lines
4.3 KiB
C++
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "PreferencesDialogROS.h"
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#include <rtabmap/core/Parameters.h>
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#include <QtCore/QDir>
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#include <QtCore/QFileInfo>
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#include <QtCore/QSettings>
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#include <QtGui/QHBoxLayout>
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#include <QtCore/QTimer>
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#include <QtGui/QLabel>
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#include <rtabmap/core/RtabmapEvent.h>
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#include <QtGui/QMessageBox>
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#include <ros/exceptions.h>
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using namespace rtabmap;
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PreferencesDialogROS::PreferencesDialogROS(const QString & configFile) :
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configFile_(configFile)
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{
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}
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PreferencesDialogROS::~PreferencesDialogROS()
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{
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QFile::remove(getTmpIniFilePath());
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}
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QString PreferencesDialogROS::getIniFilePath() const
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{
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if(configFile_.isEmpty())
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{
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return PreferencesDialog::getIniFilePath();
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}
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return configFile_;
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}
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QString PreferencesDialogROS::getTmpIniFilePath() const
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{
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return QDir::homePath()+"/.ros/"+QFileInfo(configFile_).fileName()+".tmp";
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}
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void PreferencesDialogROS::readCameraSettings(const QString & filePath)
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{
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this->setInputRate(0);
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}
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QString PreferencesDialogROS::getParamMessage()
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{
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return tr("Reading parameters from the ROS server...");
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}
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bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
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{
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if(filePath.isEmpty() || filePath.compare(getTmpIniFilePath()) == 0)
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{
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ros::NodeHandle nh;
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ROS_INFO("%s", this->getParamMessage().toStdString().c_str());
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bool validParameters = true;
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int readCount = 0;
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rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
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for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
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{
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std::string value;
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if(nh.getParam((*i).first,value))
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{
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PreferencesDialog::setParameter((*i).first, value);
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++readCount;
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}
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else
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{
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validParameters = false;
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}
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}
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ROS_INFO("Parameters read = %d", readCount);
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if(validParameters)
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{
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ROS_INFO("Parameters successfully read.");
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}
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else
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{
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if(this->isVisible())
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{
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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...");
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ROS_WARN("%s", warning.toStdString().c_str());
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QMessageBox::warning(this, tr("Can't read parameters from ROS server."), warning);
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}
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return false;
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}
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return true;
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}
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else
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{
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return PreferencesDialog::readCoreSettings(filePath);
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}
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}
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void PreferencesDialogROS::writeSettings(const QString & filePath)
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{
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writeGuiSettings(filePath);
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// This will tell the MainWindow that the
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//parameters are updated. The MainWindow will send an Event that
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// will be handled by the GuiWrapper where we will write
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// parameters in ROS and the rtabmap_node will be notified.
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if(_parameters.size())
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{
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emit settingsChanged(_parameters);
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}
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if(_obsoletePanels)
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{
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emit settingsChanged(_obsoletePanels);
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}
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_parameters = rtabmap::ParametersMap();
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_obsoletePanels = kPanelDummy;
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}
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