add option to show default parameters

teamspatzenhirn · Feb 2, 2024 · d74b422 · d74b422
1 parent 3da38e7
commit d74b422
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Showing 3 changed files with 18 additions and 0 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
@@ -288,3 +288,7 @@ void ServiceWrapper::parameterModificationResponseReceived(const rclcpp::Client<
 
     responseQueue.push(response);
 }
+
+void ServiceWrapper::setIgnoreDefaultParameters(bool ignoreDefaultParameters_) {
+    this->ignoreDefaultParameters=ignoreDefaultParameters_;
+}