Rolling namespace in title (#1074)

* Update visualization_frame.cpp * window title format option added Signed-off-by: Markus Bader <[email protected]> Co-authored-by: Chris Lalancette <[email protected]>
ros2 · Nov 9, 2023 · ea2dbb3 · ea2dbb3
1 parent a83d819
commit ea2dbb3
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Showing 3 changed files with 61 additions and 5 deletions.
diff --git a/rviz_common/include/rviz_common/visualization_frame.hpp b/rviz_common/include/rviz_common/visualization_frame.hpp
@@ -126,6 +126,19 @@ class RVIZ_COMMON_PUBLIC VisualizationFrame : public QMainWindow, public WindowM
     ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node,
     const QString & display_config_file = "");
 
+  /// Set the display title format.
+  /**
+   * Sets the format of the window title.
+   * Three replacement tokens are supported:
+   *  - {NAMESPACE} - replace with the namespace this node is in
+   *  - {CONFIG_PATH} - replace with the path (but not the filename) of the configuration file in use.
+   *  - {CONFIG_FILENAME} - replace with the filename (but not the path) of the configuration file in use.
+   * The default is "RViz[*]" if the default configuration file is in use,
+   * or "{CONFIG_PATH}/{CONFIG_FILENAME}[*] - RViz" if a custom configuration file is in use.
+   */
+  void
+  setDisplayTitleFormat(const QString & title_format);
+
   /// Return the visualization manager.
   VisualizationManager *
   getManager();
@@ -444,6 +457,7 @@ protected Q_SLOTS:
 
   std::string config_dir_;
   std::string persistent_settings_file_;
+  std::string display_title_format_;
   std::string display_config_file_;
   std::string default_display_config_file_;
   std::string last_config_dir_;

diff --git a/rviz_common/src/rviz_common/visualization_frame.cpp b/rviz_common/src/rviz_common/visualization_frame.cpp
@@ -32,6 +32,7 @@
 #include "rviz_common/visualization_frame.hpp"
 
 #include <exception>
+#include <filesystem>
 #include <fstream>
 #include <memory>
 #include <string>
@@ -738,16 +739,43 @@ void VisualizationFrame::setDisplayConfigModified()
   }
 }
 
+void VisualizationFrame::setDisplayTitleFormat(const QString & title_format)
+{
+  display_title_format_ = title_format.toStdString();
+}
+
 void VisualizationFrame::setDisplayConfigFile(const std::string & path)
 {
   display_config_file_ = path;
-
   std::string title;
-  if (path == default_display_config_file_) {
-    title = "RViz[*]";
+
+  if (display_title_format_.empty()) {
+    if (path == default_display_config_file_) {
+      title = "RViz[*]";
+    } else {
+      title = QDir::toNativeSeparators(QString::fromStdString(path)).toStdString() + "[*] - RViz";
+    }
   } else {
-    title = QDir::toNativeSeparators(QString::fromStdString(path)).toStdString() + "[*] - RViz";
+    auto find_and_replace_token =
+      [](std::string & title, const std::string & token, const std::string & replacement)
+      {
+        std::size_t found = title.find(token);
+        if (found != std::string::npos) {
+          title.replace(found, token.length(), replacement);
+        }
+      };
+    title = display_title_format_;
+    std::filesystem::path full_filename(path.c_str());
+    find_and_replace_token(
+      title, "{NAMESPACE}",
+      rviz_ros_node_.lock()->get_raw_node()->get_namespace());
+    find_and_replace_token(title, "{CONFIG_PATH}", full_filename.parent_path().string());
+    find_and_replace_token(title, "{CONFIG_FILENAME}", full_filename.filename().string());
+    if (title.find("[*]") == std::string::npos) {
+      title.append("[*]");
+    }
   }
+
   setWindowTitle(QString::fromStdString(title));
 }
 

diff --git a/rviz_common/src/rviz_common/visualizer_app.cpp b/rviz_common/src/rviz_common/visualizer_app.cpp
@@ -85,6 +85,13 @@ bool VisualizerApp::init(int argc, char ** argv)
   parser.setApplicationDescription("3D visualization tool for ROS2");
   parser.addHelpOption();
 
+  QCommandLineOption display_title_format_option(
+    QStringList() << "t" << "display-title-format",
+      "A display title format like ",
+      "\"{NAMESPACE} - {CONFIG_PATH}/{CONFIG_FILENAME} - RViz2\" ",
+      "display_title_format");
+  parser.addOption(display_title_format_option);
+
   QCommandLineOption display_config_option(
     QStringList() << "d" << "display-config",
       "A display config file (.rviz) to load",
@@ -105,7 +112,7 @@ bool VisualizerApp::init(int argc, char ** argv)
       "A custom splash-screen image to display", "splash_path");
   parser.addOption(splash_screen_option);
 
-  QString display_config, fixed_frame, splash_path, help_path;
+  QString display_config, fixed_frame, splash_path, help_path, display_title_format;
   bool enable_ogre_log;
 
   if (app_) {parser.process(*app_);}
@@ -123,6 +130,10 @@ bool VisualizerApp::init(int argc, char ** argv)
     splash_path = parser.value(splash_screen_option);
   }
 
+  if (parser.isSet(display_title_format_option)) {
+    display_title_format = parser.value(display_title_format_option);
+  }
+
   if (enable_ogre_log) {
     rviz_rendering::OgreLogging::get()->useLogFileAndStandardOut();
     rviz_rendering::OgreLogging::get()->configureLogging();
@@ -133,6 +144,9 @@ bool VisualizerApp::init(int argc, char ** argv)
   node_ = ros_client_abstraction_->init(argc, argv, "rviz", false /* anonymous_name */);
 
   frame_ = new VisualizationFrame(node_);
+
+  frame_->setDisplayTitleFormat(display_title_format);
+
   frame_->setApp(this->app_);
 
   if (!help_path.isEmpty()) {