Merge pull request #1 from guilyx/feat/republisher-topics-filter-tb

Add Filter and Improve Topic Selection in ROS2 Republisher Dialog

Author: guilyx

src/CMakeLists.txt

@@ -9,11 +9,12 @@ QT5_WRAP_UI ( COMMON_UI_SRC
     publisher_select_dialog.ui )
 
 
-add_library( commonROS STATIC 
+add_library( commonROS STATIC
    dialog_select_ros_topics.h
     dialog_select_ros_topics.cpp
     dialog_with_itemlist.h
     publisher_select_dialog.h
+    publisher_select_dialog.cpp
     parser_configuration.cpp
     parser_configuration.h
     ros_parsers/ros2_parser.cpp
@@ -60,6 +61,6 @@ install(TARGETS
         DataLoadROS2
         DataStreamROS2
         TopicPublisherROS2
-        DESTINATION  lib/${PROJECT_NAME}  
+        DESTINATION  lib/${PROJECT_NAME}
     )
 

src/TopicPublisherROS2/publisher_ros2.cpp

@@ -2,19 +2,11 @@
 
 #include <QDebug>
 #include <QDialog>
-#include <QFormLayout>
-#include <QCheckBox>
-#include <QLabel>
-#include <QHBoxLayout>
-#include <QVBoxLayout>
-#include <QDialogButtonBox>
-#include <QScrollArea>
+#include <QTableWidget>
+#include <QTableWidgetItem>
+#include <QAbstractItemView>
 #include <QPushButton>
-#include <QSettings>
-#include <QRadioButton>
-#include <unordered_map>
 #include <algorithm>
-#include <QMessageBox>
 #include <tf2_ros/qos.hpp>
 #include <rosbag2_cpp/types.hpp>
 #include <rmw/rmw.h>
@@ -156,38 +148,55 @@ void TopicPublisherROS2::filterDialog()
               return a.topic_name < b.topic_name;
             });
 
-  std::map<std::string, QCheckBox *> checkbox;
+  dialog->ui()->listTopics->setRowCount(sorted_topics.size());
 
-  for (const TopicInfo &info : sorted_topics)
+  for (size_t i = 0; i < sorted_topics.size(); i++)
   {
-    const std::string topic_name = info.topic_name;
-    auto cb = new QCheckBox(dialog);
+    const std::string topic_name = sorted_topics[i].topic_name;
+    auto item = new QTableWidgetItem(QString::fromStdString(topic_name));
+    item->setFlags(item->flags() & ~Qt::ItemIsEditable);
+    dialog->ui()->listTopics->setItem(i, 0, item);
+
     auto filter_it = _topics_to_publish.find(topic_name);
-    if (filter_it == _topics_to_publish.end())
-    {
-      cb->setChecked(true);
-    }
-    else
+    if (filter_it == _topics_to_publish.end() || filter_it->second)
     {
-      cb->setChecked(filter_it->second);
+      dialog->ui()->listTopics->selectRow(i);
     }
-    cb->setFocusPolicy(Qt::NoFocus);
-    dialog->ui()->formLayout->addRow(new QLabel(QString::fromStdString(topic_name)), cb);
-    checkbox.insert(std::make_pair(topic_name, cb));
-    connect(dialog->ui()->pushButtonSelect, &QPushButton::pressed, [cb]()
-            { cb->setChecked(true); });
-    connect(dialog->ui()->pushButtonDeselect, &QPushButton::pressed, [cb]()
-            { cb->setChecked(false); });
   }
 
+  dialog->ui()->listTopics->sortByColumn(0, Qt::AscendingOrder);
+
+  connect(dialog->ui()->pushButtonSelect, &QPushButton::pressed, [dialog]()
+          {
+            for (int row = 0; row < dialog->ui()->listTopics->rowCount(); row++)
+            {
+              if (!dialog->ui()->listTopics->isRowHidden(row))
+              {
+                dialog->ui()->listTopics->selectRow(row);
+              }
+            } });
+  connect(dialog->ui()->pushButtonDeselect, &QPushButton::pressed, dialog->ui()->listTopics,
+          &QAbstractItemView::clearSelection);
+
   dialog->exec();
 
   if (dialog->result() == QDialog::Accepted)
   {
     _topics_to_publish.clear();
-    for (const auto &it : checkbox)
+    QModelIndexList selected_indexes = dialog->ui()->listTopics->selectionModel()->selectedIndexes();
+
+    for (const auto &info : sorted_topics)
+    {
+      _topics_to_publish.insert({info.topic_name, false});
+    }
+
+    for (const QModelIndex &index : selected_indexes)
     {
-      _topics_to_publish.insert({it.first, it.second->isChecked()});
+      if (index.column() == 0)
+      {
+        std::string topic_name = index.data(Qt::DisplayRole).toString().toStdString();
+        _topics_to_publish[topic_name] = true;
+      }
     }
 
     updatePublishers();

src/publisher_select_dialog.cpp

@@ -0,0 +1,32 @@
+#include "publisher_select_dialog.h"
+#include <QStringList>
+#include <QTableWidgetItem>
+#include <QAbstractItemView>
+
+void PublisherSelectDialog::on_lineEditFilter_textChanged(const QString &search_string)
+{
+  QStringList spaced_items = search_string.split(' ');
+
+  for (int row = 0; row < _ui->listTopics->rowCount(); row++)
+  {
+    auto item = _ui->listTopics->item(row, 0);
+    QString name = item->text();
+    bool toHide = false;
+
+    for (const auto &item : spaced_items)
+    {
+      if (!name.contains(item, Qt::CaseInsensitive))
+      {
+        toHide = true;
+        break;
+      }
+    }
+    _ui->listTopics->setRowHidden(row, toHide);
+  }
+}
+
+void PublisherSelectDialog::on_listTopics_itemSelectionChanged()
+{
+  QModelIndexList indexes = _ui->listTopics->selectionModel()->selectedIndexes();
+  _ui->buttonBox->setEnabled(indexes.size() > 0);
+}

src/publisher_select_dialog.h

@@ -1,35 +1,39 @@
 #pragma once
 #include <QDialog>
-#include <QLabel>
-#include <QListWidget>
-#include <QAbstractButton>
-#include <unordered_set>
+#include <QStringList>
 
 #include "ui_publisher_select_dialog.h"
 
 namespace Ui
 {
-class Ui_PublisherSelect;
+  class Ui_PublisherSelect;
 }
 
 class PublisherSelectDialog : public QDialog
 {
   Q_OBJECT
 private:
-  Ui::PublisherSelect* _ui;
+  Ui::PublisherSelect *_ui;
 
 public:
-  explicit PublisherSelectDialog(QWidget* parent = nullptr)
-    : QDialog(parent), _ui(new Ui::PublisherSelect)
+  explicit PublisherSelectDialog(QWidget *parent = nullptr)
+      : QDialog(parent), _ui(new Ui::PublisherSelect)
   {
     _ui->setupUi(this);
+    _ui->listTopics->verticalHeader()->setVisible(false);
+    QStringList labels;
+    labels.push_back("Topic name");
+    _ui->listTopics->setHorizontalHeaderLabels(labels);
   }
 
-  Ui::PublisherSelect* ui() { return _ui; }
+  Ui::PublisherSelect *ui() { return _ui; }
 
   ~PublisherSelectDialog()
   {
     delete _ui;
   }
-};
 
+private slots:
+  void on_lineEditFilter_textChanged(const QString &search_string);
+  void on_listTopics_itemSelectionChanged();
+};