Note changes in rviz planning panel requiring saving (moveit#1991)

Forward configChanged() signal from planning panel to PropertyTreeWidget.
ubi-agni · Mar 29, 2020 · 7689085 · 7689085
1 parent 13bf03e
commit 7689085
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Showing 3 changed files with 38 additions and 12 deletions.
diff --git a/...n_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/...n_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -143,6 +143,7 @@ class MotionPlanningFrame : public QWidget
 
 Q_SIGNALS:
   void planningFinished();
+  void configChanged();
 
 private Q_SLOTS:
 

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -230,6 +230,7 @@ void MotionPlanningDisplay::onInitialize()
 
   rviz::WindowManagerInterface* window_context = context_->getWindowManager();
   frame_ = new MotionPlanningFrame(this, context_, window_context ? window_context->getParentWindow() : nullptr);
+  connect(frame_, SIGNAL(configChanged()), this->getModel(), SIGNAL(configChanged()));
   resetStatusTextColor();
   addStatusText("Initialized.");
 
@@ -1325,27 +1326,26 @@ void MotionPlanningDisplay::load(const rviz::Config& config)
     int attempts;
     if (config.mapGetInt("MoveIt_Planning_Attempts", &attempts))
       frame_->ui_->planning_attempts->setValue(attempts);
+    if (config.mapGetFloat("Velocity_Scaling_Factor", &d))
+      frame_->ui_->velocity_scaling_factor->setValue(d);
+    if (config.mapGetFloat("Acceleration_Scaling_Factor", &d))
+      frame_->ui_->acceleration_scaling_factor->setValue(d);
     if (config.mapGetFloat("MoveIt_Goal_Tolerance", &d))
       frame_->ui_->goal_tolerance->setValue(d);
+
     bool b;
+    if (config.mapGetBool("MoveIt_Allow_Replanning", &b))
+      frame_->ui_->allow_replanning->setChecked(b);
+    if (config.mapGetBool("MoveIt_Allow_Sensor_Positioning", &b))
+      frame_->ui_->allow_looking->setChecked(b);
+    if (config.mapGetBool("MoveIt_Allow_External_Program", &b))
+      frame_->ui_->allow_external_program->setChecked(b);
     if (config.mapGetBool("MoveIt_Use_Cartesian_Path", &b))
       frame_->ui_->use_cartesian_path->setChecked(b);
     if (config.mapGetBool("MoveIt_Use_Constraint_Aware_IK", &b))
       frame_->ui_->collision_aware_ik->setChecked(b);
     if (config.mapGetBool("MoveIt_Allow_Approximate_IK", &b))
       frame_->ui_->approximate_ik->setChecked(b);
-    if (config.mapGetBool("MoveIt_Allow_External_Program", &b))
-      frame_->ui_->allow_external_program->setChecked(b);
-    if (config.mapGetBool("MoveIt_Allow_Replanning", &b))
-      frame_->ui_->allow_replanning->setChecked(b);
-    if (config.mapGetBool("MoveIt_Allow_Sensor_Positioning", &b))
-      frame_->ui_->allow_looking->setChecked(b);
-
-    float v;
-    if (config.mapGetFloat("Velocity_Scaling_Factor", &v))
-      frame_->ui_->velocity_scaling_factor->setValue(v);
-    if (config.mapGetFloat("Acceleration_Scaling_Factor", &v))
-      frame_->ui_->acceleration_scaling_factor->setValue(v);
 
     rviz::Config workspace = config.mapGetChild("MoveIt_Workspace");
     rviz::Config ws_center = workspace.mapGetChild("Center");

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -149,6 +149,31 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz::
 
   connect(ui_->tabWidget, SIGNAL(currentChanged(int)), this, SLOT(tabChanged(int)));
 
+  /* Notice changes to be safed in config file */
+  connect(ui_->database_host, SIGNAL(textChanged(QString)), this, SIGNAL(configChanged()));
+  connect(ui_->database_port, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+
+  connect(ui_->goal_tolerance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
+  connect(ui_->planning_time, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->planning_attempts, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->velocity_scaling_factor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->acceleration_scaling_factor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
+  connect(ui_->allow_replanning, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->allow_looking, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->allow_external_program, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->use_cartesian_path, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->collision_aware_ik, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+  connect(ui_->approximate_ik, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+
+  connect(ui_->wcenter_x, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wcenter_y, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wcenter_z, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wsize_x, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wsize_y, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+  connect(ui_->wsize_z, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
   QShortcut* copy_object_shortcut = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_C), ui_->collision_objects_list);
   connect(copy_object_shortcut, SIGNAL(activated()), this, SLOT(copySelectedCollisionObject()));