utils.cpp

// Copyright (c) 2019 Intel Corporation
// Copyright (c) 2024 Neobotix GmbH
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include <chrono>
#include <memory>
 
#include "nav2_rviz_plugins/utils.hpp"
#include "rclcpp/executors.hpp"
#include "rclcpp/future_return_code.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/parameter_client.hpp"
#include "rclcpp/utilities.hpp"
 
namespace nav2_rviz_plugins
{
 
void pluginLoader(
  //  nosemgrep
  rclcpp::Node::SharedPtr node, bool & server_failed, const std::string & server_name,
  const std::string & plugin_type, QComboBox * combo_box, rclcpp::Executor::SharedPtr executor)
{
  // Do not load the plugins if the combo box is already populated
  if (combo_box->count() > 0) {
    return;
  }
 
  auto parameter_client = std::make_shared<rclcpp::AsyncParametersClient>(node, server_name);
 
  // Wait for the service to be available before calling it
  bool server_unavailable = false;
  while (!parameter_client->wait_for_service(std::chrono::seconds(1))) {
    if (!rclcpp::ok()) {
      RCLCPP_ERROR(node->get_logger(), "Interrupted while waiting for the service. Exiting.");
      rclcpp::shutdown();
    }
    RCLCPP_INFO(node->get_logger(), "%s service not available", server_name.c_str());
    server_unavailable = true;
    server_failed = true;
    break;
  }
 
  // Loading the plugins into the combo box
  // If server unavailable, let the combo box be empty
  if (server_unavailable) {
    return;
  }
  auto parameters = parameter_client->get_parameters({plugin_type});
  if (executor) {
    if (executor->spin_until_future_complete(parameters) != rclcpp::FutureReturnCode::SUCCESS) {
      RCLCPP_ERROR(
        node->get_logger(),
        "Failed to get parameter '%s' from server '%s'",
        plugin_type.c_str(), server_name.c_str());
      return;
    }
  } else {
    if (rclcpp::spin_until_future_complete(node, parameters) != rclcpp::FutureReturnCode::SUCCESS) {
      RCLCPP_ERROR(
        node->get_logger(),
        "Failed to get parameter '%s' from server '%s'",
        plugin_type.c_str(), server_name.c_str());
      return;
    }
  }
 
  auto result = parameters.get();
  if (result.empty()) {
    RCLCPP_ERROR(node->get_logger(),
    "Parameter '%s' not found on server '%s'",
    plugin_type.c_str(), server_name.c_str());
    return;
  }
  auto str_arr = result[0].as_string_array();
  combo_box->addItem("Default");
  for (auto str : str_arr) {
    combo_box->addItem(QString::fromStdString(str));
  }
  combo_box->setCurrentText("Default");
}
 
QString getGoalStatusLabel(std::string title, int8_t status)
{
  std::string status_str;
  switch (status) {
    case action_msgs::msg::GoalStatus::STATUS_EXECUTING:
      status_str = "<font color=green>active</color>";
      break;
 
    case action_msgs::msg::GoalStatus::STATUS_SUCCEEDED:
      status_str = "<font color=green>reached</color>";
      break;
 
    case action_msgs::msg::GoalStatus::STATUS_CANCELED:
      status_str = "<font color=orange>canceled</color>";
      break;
 
    case action_msgs::msg::GoalStatus::STATUS_ABORTED:
      status_str = "<font color=red>aborted</color>";
      break;
 
    case action_msgs::msg::GoalStatus::STATUS_UNKNOWN:
      status_str = "unknown";
      break;
 
    default:
      status_str = "inactive";
      break;
  }
  return QString(
    std::string(
      "<table><tr><td width=150><b>" + title + ":</b></td><td>" +
      status_str + "</td></tr></table>").c_str());
}
 
}  // namespace nav2_rviz_plugins