Fixes for default parameters (#33)

* add start_type_description_service default parameter * add option to show default parameters * formatting Co-authored-by: Dominik <45536968+authaldo@users.noreply.github.com> --------- Co-authored-by: Dominik <45536968+authaldo@users.noreply.github.com>
teamspatzenhirn · Feb 3, 2024 · 8c3e5b1 · 8c3e5b1
1 parent bf394a9
commit 8c3e5b1
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Showing 3 changed files with 23 additions and 2 deletions.
diff --git a/include/service_wrapper.hpp b/include/service_wrapper.hpp
@@ -53,6 +53,8 @@ class ServiceWrapper {
 
     void checkForTimeouts();
 
+    void setIgnoreDefaultParameters(bool ignoreDefaultParameters);
+
   private:
     void threadFunc();
     void handleRequest(const RequestPtr &request);

diff --git a/src/rig_reconfigure.cpp b/src/rig_reconfigure.cpp
@@ -143,6 +143,8 @@ int main(int argc, char *argv[]) {
 
     bool shouldResetLayout = false;
     bool showInfo = false;
+    bool ignoreDefaultParameters = true;
+    serviceWrapper.setIgnoreDefaultParameters(ignoreDefaultParameters);
 
     // Main loop
     while (!glfwWindowShouldClose(window)) {
@@ -295,6 +297,16 @@ int main(int argc, char *argv[]) {
                 ImGui::EndMenu();
             }
 
+            if (ImGui::BeginMenu("Parameters")) {
+                bool propertyChanged = ImGui::MenuItem("Hide default parameters", nullptr, &ignoreDefaultParameters);
+                serviceWrapper.setIgnoreDefaultParameters(ignoreDefaultParameters);
+                if (propertyChanged && !curSelectedNode.empty()) {
+                    // Reload parameters if menu item was toggled
+                    serviceWrapper.pushRequest(std::make_shared<Request>(Request::Type::QUERY_NODE_PARAMETERS));
+                }
+                ImGui::EndMenu();
+            }
+
             if (ImGui::BeginMenu("Info")) {
                 ImGui::MenuItem("Show info", nullptr, &showInfo);
                 ImGui::EndMenu();

diff --git a/src/service_wrapper.cpp b/src/service_wrapper.cpp
@@ -8,6 +8,7 @@
 
 #include "service_wrapper.hpp"
 #include <chrono>
+#include <regex>
 
 using namespace std::chrono_literals;
 
@@ -230,9 +231,11 @@ void ServiceWrapper::nodeParametersReceived(const rclcpp::Client<rcl_interfaces:
     auto valueRequest = std::make_shared<ParameterValueRequest>(future.get()->result.names);
 
     if (ignoreDefaultParameters) {
-        // ignore node used for querying the services
+        // Hide default parameters "use_sim_time", "qos_overrides./*", "start_type_description_service"
+        static std::regex HIDDEN_PARAMETER_REGEX = std::regex(
+                "^use_sim_time$|^qos_overrides\\.\\/.*$|^start_type_description_service$");
         std::erase_if(valueRequest->parameterNames, [](const std::string &s) {
-            return (s.starts_with("qos_overrides./") || s.starts_with("use_sim_time"));
+            return std::regex_match(s, HIDDEN_PARAMETER_REGEX);
         });
     }
 
@@ -285,3 +288,7 @@ void ServiceWrapper::parameterModificationResponseReceived(const rclcpp::Client<
 
     responseQueue.push(response);
 }
+
+void ServiceWrapper::setIgnoreDefaultParameters(bool ignoreDefaultParameters_) {
+    this->ignoreDefaultParameters = ignoreDefaultParameters_;
+}