736 add a duplicate feature for plugins

mapviz/include/mapviz/config_item.h

@@ -66,11 +66,13 @@ namespace mapviz
   Q_SIGNALS:
     void UpdateSizeHint();
     void ToggledDraw(QListWidgetItem* plugin, bool visible);
+    void DuplicateRequest(QListWidgetItem* plugin);
     void RemoveRequest(QListWidgetItem* plugin);
 
   public Q_SLOTS:
     void Hide();
     void EditName();
+    void Duplicate();
     void Remove();
     void ToggleDraw(bool toggled);
 
@@ -82,6 +84,7 @@ namespace mapviz
     QString name_;
     QString type_;
     QAction* edit_name_action_;
+    QAction* duplicate_item_action_;
     QAction* remove_item_action_;
     bool visible_;
   };

mapviz/include/mapviz/mapviz.h

@@ -51,6 +51,7 @@
 #include <QWidget>
 #include <QStringList>
 #include <QMainWindow>
+#include <QShortcut>
 
 // ROS libraries
 #include <ros/ros.h>
@@ -92,6 +93,8 @@ namespace mapviz
     void SelectNewDisplay();
     void RemoveDisplay();
     void RemoveDisplay(QListWidgetItem* item);
+    void DuplicateDisplay();
+    void DuplicateDisplay(QListWidgetItem *item);
     void ReorderDisplays();
     void FixedFrameSelected(const QString& text);
     void TargetFrameSelected(const QString& text);

mapviz/src/config_item.cpp

@@ -42,10 +42,13 @@ namespace mapviz
     ui_.setupUi(this);
 
     edit_name_action_   = new  QAction("Edit Name", this);
+    duplicate_item_action_ = new QAction("Duplicate", this);
+    duplicate_item_action_->setShortcut(QKeySequence(Qt::CTRL | Qt::Key_D));
     remove_item_action_ = new  QAction("Remove", this);
     remove_item_action_->setIcon(QIcon(":/images/remove-icon-th.png"));
 
     connect(edit_name_action_, SIGNAL(triggered()), this, SLOT(EditName()));
+    connect(duplicate_item_action_, SIGNAL(triggered()), this, SLOT(Duplicate()));
     connect(remove_item_action_, SIGNAL(triggered()), this, SLOT(Remove()));
   }
 
@@ -71,6 +74,7 @@ namespace mapviz
   {
     QMenu menu(this);
     menu.addAction(edit_name_action_);
+    menu.addAction(duplicate_item_action_);
     menu.addAction(remove_item_action_);
     menu.exec(event->globalPos());
   }
@@ -109,6 +113,11 @@ namespace mapviz
     }
   }
 
+  void ConfigItem::Duplicate()
+  {
+    Q_EMIT DuplicateRequest(item_);
+  }
+
   void ConfigItem::Remove()
   {
     Q_EMIT RemoveRequest(item_);

mapviz/src/mapviz.cpp

@@ -201,6 +201,10 @@ Mapviz::Mapviz(bool is_standalone, int argc, char** argv, QWidget *parent, Qt::W
 
   ui_.bg_color->setColor(background_);
   canvas_->SetBackground(background_);
+
+  // Keyboard shortcuts for the main window
+  QShortcut *duplicate_display_shortcut = new QShortcut(QKeySequence(Qt::CTRL | Qt::Key_D), this);
+  connect(duplicate_display_shortcut, SIGNAL(activated()), this, SLOT(DuplicateDisplay()));
 }
 
 Mapviz::~Mapviz()
@@ -1188,6 +1192,7 @@ MapvizPluginPtr Mapviz::CreateNewDisplay(
   item->setSizeHint(config_item->sizeHint());
   connect(config_item, SIGNAL(UpdateSizeHint()), this, SLOT(UpdateSizeHints()));
   connect(config_item, SIGNAL(ToggledDraw(QListWidgetItem*, bool)), this, SLOT(ToggleShowPlugin(QListWidgetItem*, bool)));
+  connect(config_item, SIGNAL(DuplicateRequest(QListWidgetItem*)), this, SLOT(DuplicateDisplay(QListWidgetItem*)));
   connect(config_item, SIGNAL(RemoveRequest(QListWidgetItem*)), this, SLOT(RemoveDisplay(QListWidgetItem*)));
   connect(plugin.get(), SIGNAL(VisibleChanged(bool)), config_item, SLOT(ToggleDraw(bool)));
   connect(plugin.get(), SIGNAL(SizeChanged()), this, SLOT(UpdateSizeHints()));
@@ -1499,6 +1504,66 @@ void Mapviz::RemoveDisplay(QListWidgetItem* item)
   }
 }
 
+void Mapviz::DuplicateDisplay()
+{
+  QListWidgetItem* item = ui_.configs->item(ui_.configs->currentRow());
+  if (item != nullptr)
+  {
+    DuplicateDisplay(item);
+  }
+}
+
+void Mapviz::DuplicateDisplay(QListWidgetItem* item)
+{
+  ROS_INFO("Duplicating active display... ");
+  // - Get plugin associated with QListWidgetItem
+  if (plugins_.count(item) != 1)
+  {
+    ROS_ERROR("Item attempted to duplicate is not a plugin.");
+    return;
+  }
+  MapvizPluginPtr target_plugin = plugins_[item];
+  ConfigItem* target_config_item = static_cast<ConfigItem*>(ui_.configs->itemWidget(item));
+
+  // - Save plugin config to a temporary string via an emitter
+  YAML::Emitter out;
+  out << YAML::BeginMap;
+  out << YAML::Key << "type" << YAML::Value << target_plugin->Type();
+  out << YAML::Key << "name" << YAML::Value << target_config_item->Name().toStdString();
+  out << YAML::Key << "config" << YAML::Value;
+  out << YAML::BeginMap;
+  out << YAML::Key << "visible" << YAML::Value << target_plugin->Visible();
+  out << YAML::Key << "collapsed" << YAML::Value << target_config_item->Collapsed();
+  target_plugin->SaveConfig(out, "");
+  out << YAML::EndMap;
+  out << YAML::EndMap;
+
+  // - Create the new display via existing MapvizPlugin::LoadConfig interface
+  YAML::Node temp_node;
+  swri_yaml_util::LoadString(out.c_str(), temp_node);
+  YAML::Node temp_config_node = temp_node["config"];
+  if (!temp_config_node)
+  {
+    ROS_ERROR("Cannot duplicate plugin of type %s. Invalid config.",
+        target_plugin->Type().c_str());
+    return;
+  }
+  try
+  {
+    MapvizPluginPtr duplicate_plugin = CreateNewDisplay(
+        target_config_item->Name().toStdString(),
+        target_plugin->Type(),
+        target_plugin->Visible(),
+        target_config_item->Collapsed());
+    duplicate_plugin->LoadConfig(temp_config_node, "");
+    duplicate_plugin->DrawIcon();
+  }
+  catch (const pluginlib::LibraryLoadException& e)
+  {
+    ROS_ERROR("%s", e.what());
+  }
+}
+
 void Mapviz::ClearDisplays()
 {
   while (ui_.configs->count() > 0)