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.github/workflows/ci.yml

@@ -11,6 +11,8 @@ jobs:
         uses: actions/checkout@v3
         with:
           submodules: recursive
+      - name: Configure git checkout as safe directory to allow dubious permission-setup
+        run: git config --system --add safe.directory $GITHUB_WORKSPACE
       - name: Install depdendencies
         run: |
           . /opt/ros/$ROS_DISTRO/setup.sh

CMakeLists.txt

@@ -7,6 +7,10 @@ set(CMAKE_CXX_STANDARD 20)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 
+# embedding of latest commit hash within the executable
+include(cmake/CheckGit.cmake)
+CheckGitSetup()
+
 # Download imgui
 include(FetchContent)
 FetchContent_Declare(imgui
@@ -40,14 +44,14 @@ add_executable(${PROJECT_NAME} src/rig_reconfigure.cpp src/service_wrapper.cpp s
 #target_link_options(${PROJECT_NAME} PRIVATE -fsanitize=thread)
 
 target_include_directories(${PROJECT_NAME} PRIVATE include external/imspinner external/lodepng)
-target_link_libraries(${PROJECT_NAME} imgui)
+target_link_libraries(${PROJECT_NAME} imgui git_version)
 ament_target_dependencies(${PROJECT_NAME} rclcpp)
 
 install(TARGETS ${PROJECT_NAME}
         DESTINATION lib/${PROJECT_NAME}
 )
 
-install(FILES resource/rig_reconfigure.png
+install(FILES resource/rig_reconfigure.png resource/rig_reconfigure_text.png
         DESTINATION share/${PROJECT_NAME}/resource
 )
 

cmake/CheckGit.cmake

@@ -0,0 +1,89 @@
+# adapted from https://gitlab.com/jhamberg/cmake-examples/-/blob/master/cmake/CheckGit.cmake
+
+set(CURRENT_LIST_DIR ${CMAKE_CURRENT_LIST_DIR})
+if (NOT DEFINED pre_configure_inc_dir)
+    set(pre_configure_inc_dir ${CMAKE_SOURCE_DIR}/include)
+endif ()
+
+if (NOT DEFINED pre_configure_dir)
+    set(pre_configure_dir ${CMAKE_SOURCE_DIR}/src)
+endif ()
+
+if (NOT DEFINED post_configure_dir)
+    set(post_configure_dir ${CMAKE_BINARY_DIR}/generated)
+endif ()
+
+set(pre_configure_file ${pre_configure_dir}/git_version.cpp.in)
+set(post_configure_file ${post_configure_dir}/git_version.cpp)
+
+function(CheckGitWrite git_hash)
+    file(WRITE ${CMAKE_BINARY_DIR}/git-state.txt ${git_hash})
+endfunction()
+
+function(CheckGitRead git_hash)
+    if (EXISTS ${CMAKE_BINARY_DIR}/git-state.txt)
+        file(STRINGS ${CMAKE_BINARY_DIR}/git-state.txt CONTENT)
+        LIST(GET CONTENT 0 var)
+
+        set(${git_hash} ${var} PARENT_SCOPE)
+    endif ()
+endfunction()
+
+function(CheckGitVersion)
+    # Get the latest abbreviated commit hash of the working branch
+    execute_process(
+            COMMAND git log -1 --format=%h
+            WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+            OUTPUT_VARIABLE GIT_HASH
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    CheckGitRead(GIT_HASH_CACHE)
+    if (NOT EXISTS ${post_configure_dir})
+        file(MAKE_DIRECTORY ${post_configure_dir})
+    endif ()
+
+    if (NOT EXISTS ${post_configure_dir}/git_version.hpp)
+        file(COPY ${pre_configure_inc_dir}/git_version.hpp DESTINATION ${post_configure_dir})
+    endif()
+
+    if (NOT DEFINED GIT_HASH_CACHE)
+        set(GIT_HASH_CACHE "INVALID")
+    endif ()
+
+    # Only update the git_version.cpp if the hash has changed. This will
+    # prevent us from rebuilding the project more than we need to.
+    if (NOT ${GIT_HASH} STREQUAL ${GIT_HASH_CACHE} OR NOT EXISTS ${post_configure_file})
+        # Set che GIT_HASH_CACHE variable the next build won't have
+        # to regenerate the source file.
+        CheckGitWrite(${GIT_HASH})
+
+        configure_file(${pre_configure_file} ${post_configure_file} @ONLY)
+    endif ()
+
+endfunction()
+
+function(CheckGitSetup)
+
+    add_custom_target(AlwaysCheckGit COMMAND ${CMAKE_COMMAND}
+            -DRUN_CHECK_GIT_VERSION=1
+            -Dpre_configure_inc_dir=${pre_configure_inc_dir}
+            -Dpre_configure_dir=${pre_configure_dir}
+            -Dpost_configure_file=${post_configure_dir}
+            -DGIT_HASH_CACHE=${GIT_HASH_CACHE}
+            -P ${CURRENT_LIST_DIR}/CheckGit.cmake
+            BYPRODUCTS ${post_configure_file}
+            )
+
+    add_library(git_version ${CMAKE_BINARY_DIR}/generated/git_version.cpp)
+    target_include_directories(git_version PUBLIC ${CMAKE_BINARY_DIR}/generated)
+    add_dependencies(git_version AlwaysCheckGit)
+
+    CheckGitVersion()
+endfunction()
+
+# This is used to run this function from an external cmake process.
+if (RUN_CHECK_GIT_VERSION)
+    CheckGitVersion()
+endif ()
+

include/git_version.hpp

@@ -0,0 +1,15 @@
+/**
+ * @file   git_version.hpp
+ * @author Dominik Authaler
+ * @date   12.08.2023
+ *
+ * Utility file for including the hash of the latest commit within the executable.
+ * Based on https://jonathanhamberg.com/post/cmake-embedding-git-hash/.
+ */
+
+#ifndef RIG_RECONFIGURE_GIT_VERSION_HPP
+#define RIG_RECONFIGURE_GIT_VERSION_HPP
+
+extern const char *gitHash;
+
+#endif //RIG_RECONFIGURE_GIT_VERSION_HPP

src/git_version.cpp.in

@@ -0,0 +1,15 @@
+/**
+ * @file   git_version.cpp.in
+ * @author Dominik Authaler
+ * @date   12.08.2023
+ *
+ * Utility file for including the hash of the latest commit within the executable.
+ * Based on https://jonathanhamberg.com/post/cmake-embedding-git-hash/.
+ *
+ * Note that this file is preprocessed by cmake before being forwarded to the compiler (this allows replacing
+ * the variable placeholder with the corresponding commit hash).
+ */
+
+#include "git_version.hpp"
+
+const char *gitHash = "@GIT_HASH@";

src/rig_reconfigure.cpp

@@ -23,6 +23,8 @@
 #include "parameter_tree.hpp"
 #include "service_wrapper.hpp"
 
+#include "git_version.hpp"
+
 using namespace std::chrono_literals;
 
 /// Minimum width specified for text input fields.
@@ -56,6 +58,10 @@ static void highlightedText(const std::string &text, std::size_t start, std::siz
 static bool highlightedSelectableText(const std::string &text, std::size_t start, std::size_t end,
                                       const ImVec4 &highlightColor = FILTER_HIGHLIGHTING_COLOR);
 
+static std::filesystem::path findResourcePath(const std::string &execPath);
+static void loadWindowIcon(GLFWwindow *windowPtr, const std::filesystem::path &resourcePath);
+static void renderInfoWindow(bool *showInfoWindow, const std::filesystem::path &resourcePath);
+
 int main(int argc, char *argv[]) {
     rclcpp::init(argc, argv);
 
@@ -87,36 +93,9 @@ int main(int argc, char *argv[]) {
     glfwMakeContextCurrent(window);
     glfwSwapInterval(1); // Enable vsync
 
-    // load window icon
-    auto logoPath = std::filesystem::path(argv[0]).parent_path().append("resource/rig_reconfigure.png");
+    const auto resourcePath = findResourcePath(argv[0]);
 
-    try {
-        // Try getting package share dir via ament, and use that if it succeeds.
-        logoPath = ament_index_cpp::get_package_share_directory("rig_reconfigure");
-        logoPath.append("resource/rig_reconfigure.png");
-    } catch (ament_index_cpp::PackageNotFoundError &e) {
-        std::cerr << "Warning: Error while looking for package share directory to find the app icon: " << e.what()
-                  << "\n";
-    }
-
-    std::vector<unsigned char> iconData;
-    unsigned int width;
-    unsigned int height;
-
-    unsigned error = lodepng::decode(iconData, width, height, logoPath.string());
-
-    if (!error) {
-        GLFWimage icon;
-
-        icon.width = static_cast<int>(width);
-        icon.height = static_cast<int>(height);
-        icon.pixels = iconData.data();
-
-        glfwSetWindowIcon(window, 1, &icon);
-    } else {
-        std::cerr << "Unable to load window icon (decoder error " << error << " - " << lodepng_error_text(error) << ")"
-                  << std::endl;
-    }
+    loadWindowIcon(window, resourcePath);
 
     // Setup Dear ImGui context
     IMGUI_CHECKVERSION();
@@ -152,6 +131,7 @@ int main(int argc, char *argv[]) {
     serviceWrapper.pushRequest(std::make_shared<Request>(Request::Type::QUERY_NODE_NAMES));
 
     bool shouldResetLayout = true;
+    bool showInfo = false;
 
     // Main loop
     while (!glfwWindowShouldClose(window)) {
@@ -304,9 +284,16 @@ int main(int argc, char *argv[]) {
                 ImGui::EndMenu();
             }
 
+            if (ImGui::BeginMenu("Info")) {
+                ImGui::MenuItem("Show info", nullptr, &showInfo);
+                ImGui::EndMenu();
+            }
+
             ImGui::EndMainMenuBar();
         }
 
+        renderInfoWindow(&showInfo, resourcePath);
+
         if (ImGui::DockBuilderGetNode(dockspace_id) == NULL || shouldResetLayout) {
             shouldResetLayout = false;
             ImGui::DockBuilderRemoveNode(dockspace_id);                            // Clear out existing layout
@@ -652,3 +639,105 @@ bool highlightedSelectableText(const std::string &text, std::size_t start, std::
 
     return selected;
 }
+
+std::filesystem::path findResourcePath(const std::string &execPath) {
+    auto resourcePath = std::filesystem::path(execPath).parent_path().append("resource");
+
+    try {
+        // Try getting package share dir via ament, and use that if it succeeds.
+        resourcePath = ament_index_cpp::get_package_share_directory("rig_reconfigure");
+        resourcePath.append("resource");
+    } catch (ament_index_cpp::PackageNotFoundError &e) {
+        std::cerr << "Warning: Error while looking for package share directory: " << e.what()
+                  << "\n";
+    }
+
+    return resourcePath;
+}
+
+void loadWindowIcon(GLFWwindow *windowPtr, const std::filesystem::path &resourcePath) {
+    const auto logoPath = resourcePath / "rig_reconfigure.png";
+
+    std::vector<unsigned char> iconData;
+    unsigned int width;
+    unsigned int height;
+
+    unsigned int error = lodepng::decode(iconData, width, height, logoPath.string());
+
+    if (error == 0) {
+        GLFWimage icon;
+
+        icon.width = static_cast<int>(width);
+        icon.height = static_cast<int>(height);
+        icon.pixels = iconData.data();
+
+        glfwSetWindowIcon(windowPtr, 1, &icon);
+    } else {
+        std::cerr << "Unable to load window icon (decoder error " << error << " - " << lodepng_error_text(error) << ")"
+                  << std::endl;
+    }
+}
+
+void renderInfoWindow(bool *showInfoWindow, const std::filesystem::path &resourcePath) {
+    // load the logo with text only once
+    static GLuint imageTexture;
+    static unsigned int width = 0;
+    static unsigned int height = 0;
+    static bool imageLoaded = false;
+
+    if (!imageLoaded) {
+        auto logoPath = resourcePath / "rig_reconfigure_text.png";
+
+        std::vector<unsigned char> imageData;
+
+        unsigned int error = lodepng::decode(imageData, width, height, logoPath.string());
+
+        if (error == 0) {
+            glGenTextures(1, &imageTexture);
+            glBindTexture(GL_TEXTURE_2D, imageTexture);
+
+            // Setup filtering parameters for display
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+#if defined(GL_UNPACK_ROW_LENGTH) && !defined(__EMSCRIPTEN__)
+            glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
+#endif
+            glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, imageData.data());
+        }
+
+        imageLoaded = true;
+    }
+
+    if (*showInfoWindow) {
+        ImGui::Begin("Info", showInfoWindow, ImGuiWindowFlags_AlwaysAutoResize);
+
+        if (width != 0 && height != 0) {
+            ImGui::Image((void*)(intptr_t)imageTexture,
+                         ImVec2(static_cast<float>(width), static_cast<float>(height)));
+        } else {
+            ImGui::Text("rig-reconfigure");
+        }
+
+        ImGui::Text(" ");
+        ImGui::Text("Version: %s", gitHash);
+        ImGui::Text(" ");
+
+        ImGui::Text("Created in winter 2022 by");
+        ImGui::Text(" ");
+        ImGui::Text("Dominik Authaler");
+        ImGui::Text("Jonas Otto");
+        ImGui::Text(" ");
+        ImGui::Text("Sources available at https://github.com/teamspatzenhirn/rig_reconfigure");
+        ImGui::Text("under MIT license. Pull requests extending the functionality / fixing");
+        ImGui::Text("bugs are always welcome!");
+        ImGui::Text(" ");
+        ImGui::Text("This tool has been created while the authors have been part of Team Spatzenhirn,");
+        ImGui::Text("a student team at Ulm University. If you like rig-reconfigure, please consider");
+        ImGui::Text("supporting the team (e.g. by joining if you're studying at Ulm University).");
+
+        ImGui::End();
+    }
+}