Implement menu to support custom topic names (#93)

* Implement menu to support custom topic names

* Topic name dialog fixes

* Please Python Linter

Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com>

* Add mention to user documentation

Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com>

---------

Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com>
Co-authored-by: Kyle Semelka <kyle.semelka@figure.ai>

controller/controller_tool/tool/src/py/Controller.py

@@ -127,7 +127,7 @@ def is_valid_dds_domain(self, dds_domain):
         """Check if DDS Domain is valid."""
         return ((dds_domain >= 0) and (dds_domain <= MAX_DDS_DOMAIN_ID))
 
-    def init_dds(self, dds_domain):
+    def init_dds(self, dds_domain, command_topic, status_topic):
         # Check DDS Domain
         if (not self.is_valid_dds_domain(dds_domain)):
             raise ValueError(
@@ -151,7 +151,7 @@ def init_dds(self, dds_domain):
         command_topic_qos = fastdds.TopicQos()
         self.participant.get_default_topic_qos(command_topic_qos)
         self.command_topic = self.participant.create_topic(
-            '/ddsrecorder/command',
+            command_topic,
             self.command_topic_data_type.getName(),
             command_topic_qos)
 
@@ -164,7 +164,7 @@ def init_dds(self, dds_domain):
         status_topic_qos = fastdds.TopicQos()
         self.participant.get_default_topic_qos(status_topic_qos)
         self.status_topic = self.participant.create_topic(
-            '/ddsrecorder/status',
+            status_topic,
             self.status_topic_data_type.getName(),
             status_topic_qos)
 

controller/controller_tool/tool/src/py/ControllerGUI.py

@@ -23,7 +23,7 @@
 from PyQt6.QtGui import QAction, QDesktopServices
 from PyQt6.QtWidgets import (
     QDialog, QDialogButtonBox, QHBoxLayout, QHeaderView,
-    QLabel, QMainWindow, QMenuBar, QPushButton, QSpinBox, QTableWidget,
+    QLabel, QLineEdit, QMainWindow, QMenuBar, QPushButton, QSpinBox, QTableWidget,
     QTableWidgetItem, QVBoxLayout, QWidget)
 
 DDS_RECORDER = 'DDS Recorder'
@@ -83,6 +83,56 @@ def get_dds_domain(self):
         return int(self.spin_box.value())
 
 
+class DdsTopicNameDialog(QDialog):
+    """Class that implements the a dialog to set the DDS command and status topic names."""
+
+    def __init__(self, current_command_topic, current_status_topic):
+        """Construct the dialog to set the DDS command and status topic names."""
+        super().__init__()
+
+        self.command_topic_label = QLabel('Command topic:')
+        self.command_topic_label.setFixedWidth(120)
+        self.command_text_box = QLineEdit(self)
+        self.command_text_box.setText(current_command_topic)
+        self.command_text_box.setMinimumWidth(250)
+
+        self.status_topic_label = QLabel('Status topic:')
+        self.status_topic_label.setFixedWidth(120)
+        self.status_text_box = QLineEdit(self)
+        self.status_text_box.setText(current_status_topic)
+        self.status_text_box.setMinimumWidth(250)
+
+        self.buttonBox = QDialogButtonBox(
+            QDialogButtonBox.StandardButton.Save
+            | QDialogButtonBox.StandardButton.Cancel)
+        self.buttonBox.accepted.connect(self.accept)
+        self.buttonBox.rejected.connect(self.reject)
+
+        self.command_layout = QHBoxLayout()
+        self.command_layout.addWidget(self.command_topic_label)
+        self.command_layout.addWidget(self.command_text_box)
+
+        self.status_layout = QHBoxLayout()
+        self.status_layout.addWidget(self.status_topic_label)
+        self.status_layout.addWidget(self.status_text_box)
+
+        layout = QVBoxLayout()
+        layout.addLayout(self.command_layout)
+        layout.addLayout(self.status_layout)
+        layout.addWidget(self.buttonBox)
+        layout.setSizeConstraint(QVBoxLayout.SizeConstraint.SetFixedSize)
+
+        self.setLayout(layout)
+
+    def get_command_topic(self):
+        """Return DDS command topic from the text box."""
+        return self.command_text_box.text()
+
+    def get_status_topic(self):
+        """Return DDS status topic from the text box."""
+        return self.status_text_box.text()
+
+
 class MenuWidget(QMenuBar):
     """Class that implements the menu of DDS Recorder controller GUI."""
 
@@ -99,6 +149,10 @@ def __init__(self, main_window):
         dds_domain_action.triggered.connect(self.main_window.dds_domain_dialog)
         file_menu.addAction(dds_domain_action)
 
+        topic_name_action = QAction('DDS Topics', self)
+        topic_name_action.triggered.connect(self.main_window.topic_name_dialog)
+        file_menu.addAction(topic_name_action)
+
         docs_action = QAction('Documentation', self)
         docs_action.triggered.connect(
             lambda: QDesktopServices.openUrl(
@@ -145,6 +199,8 @@ def __init__(self):
 
         self.dds_controller = Controller()
         self.dds_domain = 0
+        self.command_topic = '/ddsrecorder/command'
+        self.status_topic = '/ddsrecorder/status'
 
         self.init_gui()
 
@@ -156,7 +212,7 @@ def __init__(self):
 
         # Create DDS entities at the end to avoid race condition (receive
         # status before connecting with signal slots)
-        self.dds_controller.init_dds(self.dds_domain)
+        self.dds_controller.init_dds(self.dds_domain, self.command_topic, self.status_topic)
 
     def on_ddsrecorder_discovered(self, discovered, message):
         """Inform that a new DDS Recorder has been discovered."""
@@ -178,17 +234,25 @@ def on_ddsrecorder_status(self, previous_status, current_status, info):
         # Change status bar
         self.update_status(RecorderStatus[current_status.upper()])
 
-    def restart_controller(self, dds_domain=0):
-        """Restart the DDS Controller if the DDS Domain changes."""
-        if dds_domain != self.dds_domain:
+    def restart_controller(
+            self,
+            dds_domain=0,
+            command_topic='/ddsrecorder/command',
+            status_topic='/ddsrecorder/status'):
+        """Restart the DDS Controller if the DDS Domain or topic name changes."""
+        if (dds_domain != self.dds_domain
+                or command_topic != self.command_topic
+                or status_topic != self.status_topic):
             if self.dds_controller.is_valid_dds_domain(dds_domain):
                 # Delete DDS entities in previous domain
                 self.dds_controller.delete_dds()
                 # Reset status
                 self.update_status(RecorderStatus.CLOSED)
                 # Create DDS entities in new domain
-                self.dds_controller.init_dds(dds_domain)
+                self.dds_controller.init_dds(dds_domain, command_topic, status_topic)
                 self.dds_domain = dds_domain
+                self.command_topic = command_topic
+                self.status_topic = status_topic
 
     def init_gui(self):
         """Initialize the graphical interface and its widgets."""
@@ -317,7 +381,17 @@ def dds_domain_dialog(self):
             # Restart only if it is a different Domain
             if domain != self.dds_domain:
                 if (self.dds_controller.is_valid_dds_domain(domain)):
-                    self.restart_controller(dds_domain=domain)
+                    self.restart_controller(domain, self.command_topic, self.status_topic)
+
+    def topic_name_dialog(self):
+        """Create a dialog to update the recorder topic names."""
+        dialog = DdsTopicNameDialog(self.command_topic, self.status_topic)
+        if dialog.exec():
+            command_topic = dialog.get_command_topic()
+            status_topic = dialog.get_status_topic()
+            # Restart controller if a topic name has changed
+            if command_topic != self.command_topic or status_topic != self.status_topic:
+                self.restart_controller(self.dds_domain, command_topic, status_topic)
 
     def event_start_button_clicked(self):
         """Publish command."""

docs/rst/recording/remote_control/remote_control.rst

@@ -182,6 +182,8 @@ If the controller should function in a domain different than the default one (``
 .. figure:: /rst/figures/controller_domain.png
     :align: center
 
+It is also possible to use non-default status and command topic names through the ``File->DDS Topics`` dialog.
+
 When a |ddsrecorder| instance is found in the domain, a message is displayed in the logging panel:
 
 .. figure:: /rst/figures/controller_found.png