// Loading and saving the flags
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// Tools with a fixed set of Property objects representing adjustable
// parameters are typically just created in the tool's constructor and
// added to the Property container (getPropertyContainer()). In that
// case, the Tool subclass does not need to override load() and save()
// because the default behavior is to read all the Properties in the
// container from the Config object.
//
// Here however, we have a list of named flag positions of unknown
// length, so we need to implement save() and load() ourselves.
//
// We first save the class ID to the config object so the
// rviz::ToolManager will know what to instantiate when the config
// file is read back in.
void FlagTool3D::save( rviz::Config config ) const
{
config.mapSetValue( "Class", getClassId() );
// The top level of this tool's Config is a map, but our flags
// should go in a list, since they may or may not have unique keys.
// Therefore we make a child of the map (``flags_config``) to store
// the list.
rviz::Config flags_config = config.mapMakeChild( "Flags" );
// To read the positions and names of the flags, we loop over the
// the children of our Property container:
rviz::Property* container = getPropertyContainer();
int num_children = container->numChildren();
for( int i = 0; i < num_children; i++ )
{
rviz::Property* position_prop = container->childAt( i );
// For each Property, we create a new Config object representing a
// single flag and append it to the Config list.
rviz::Config flag_config = flags_config.listAppendNew();
// Into the flag's config we store its name:
flag_config.mapSetValue( "Name", position_prop->getName() );
// ... and its position.
position_prop->save( flag_config );
}
}
void CancelAction::save( rviz::Config config ) const
{
rviz::Panel::save( config );
rviz::Config topic_list_config = config.mapMakeChild( "topics" );
std::vector<topicListLayout>::const_iterator it = topic_list_layouts_.begin();
while( it != topic_list_layouts_.end()){
topic_list_config.listAppendNew().setValue( it->topic_name_->text() );
it ++;
}
config.mapSetValue( "Topic", output_topic_ );
}