Added array parameters

.gitignore

@@ -1 +1,2 @@
-cmake-build*
+cmake-build*
+build/*

.vscode/c_cpp_properties.json

@@ -0,0 +1,25 @@
+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "${default}",
+                "limitSymbolsToIncludedHeaders": false
+            },
+            "includePath": [
+                "/home/leolander/ros2_ws/install/image_geometry/include/**",
+                "/home/leolander/ros2_ws/install/example_interfaces/include/**",
+                "/home/leolander/ros2_ws/install/cv_bridge/include/**",
+                "/opt/ros/humble/include/**",
+                "/usr/include/**",
+                "${workspaceFolder}/**"
+            ],
+            "name": "ROS",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "c++14",
+            "configurationProvider": "go2sh.cmake-integration"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,100 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/leolander/ros2_ws/install/py_pubsub/lib/python3.10/site-packages",
+        "/home/leolander/ros2_ws/install/image_geometry/local/lib/python3.10/dist-packages",
+        "/home/leolander/ros2_ws/install/example_interfaces/local/lib/python3.10/dist-packages",
+        "/home/leolander/ros2_ws/install/cv_bridge/local/lib/python3.10/dist-packages",
+        "/home/leolander/ros2_ws/install/auv_manual_control/lib/python3.10/site-packages",
+        "/home/leolander/ros2_ws/install/auv_coppelia/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/leolander/ros2_ws/install/py_pubsub/lib/python3.10/site-packages",
+        "/home/leolander/ros2_ws/install/image_geometry/local/lib/python3.10/dist-packages",
+        "/home/leolander/ros2_ws/install/example_interfaces/local/lib/python3.10/dist-packages",
+        "/home/leolander/ros2_ws/install/cv_bridge/local/lib/python3.10/dist-packages",
+        "/home/leolander/ros2_ws/install/auv_manual_control/lib/python3.10/site-packages",
+        "/home/leolander/ros2_ws/install/auv_coppelia/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "files.associations": {
+        "*.ipp": "cpp",
+        "iosfwd": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp"
+    },
+    "ros.distro": "humble"
+}

include/ros_parameter.hpp

@@ -11,9 +11,20 @@
 
 #include <string>
 #include <variant>
+#include <vector>
 
-// TODO: add arrays
-using ROSParameterVariant = std::variant<bool, int, double, std::string>;
+template <typename T>
+struct ArrayParam {
+    bool isChanging;
+    bool isChanged;
+    std::vector<T> arrayValue;        
+};
+struct BoolArrayParam : ArrayParam<bool> {};
+struct IntArrayParam : ArrayParam<long int> {};
+struct DoubleArrayParam : ArrayParam<double> {};
+struct StringArrayParam : ArrayParam<std::string> {};
+
+using ROSParameterVariant = std::variant<bool, int, double, std::string, BoolArrayParam, IntArrayParam, DoubleArrayParam, StringArrayParam>;
 
 struct ROSParameter {
     ROSParameter(std::string name_, ROSParameterVariant value_) :

src/parameter_window.cpp

@@ -155,10 +155,13 @@ std::set<ImGuiID> visualizeParameters(ServiceWrapper &serviceWrapper,
 
         ImGui::SameLine();
         ImGui::PushItemWidth(static_cast<float>(textfieldWidth));
+        static ImGuiTableFlags flags = ImGuiTableFlags_ScrollX | ImGuiTableFlags_ScrollY | ImGuiTableFlags_BordersInnerV | ImGuiTableFlags_Reorderable | ImGuiTableFlags_Hideable | ImGuiTableFlags_NoHostExtendX;
 
+        ImVec2 outer_size = ImVec2(0.0f, ImGui::GetTextLineHeightWithSpacing() * 3 + 3.0f);
+
         if (std::holds_alternative<double>(value)) {
             ImGui::DragScalar(identifier.c_str(), ImGuiDataType_Double, &std::get<double>(value), 1.0F, nullptr,
-                              nullptr, "%.6g");
+                              nullptr, "%.10g");
             if (ImGui::IsItemDeactivatedAfterEdit()) {
                 serviceWrapper.pushRequest(
                         std::make_shared<ParameterModificationRequest>(ROSParameter(fullPath, value)));
@@ -199,7 +202,150 @@ std::set<ImGuiID> visualizeParameters(ServiceWrapper &serviceWrapper,
                 serviceWrapper.pushRequest(
                         std::make_shared<ParameterModificationRequest>(ROSParameter(fullPath, value)));
             }
-        }
+        } else if (std::holds_alternative<BoolArrayParam>(value)) {
+            if (ImGui::BeginTable(identifier.c_str(), (std::get<BoolArrayParam>(value)).arrayValue.size(), flags, outer_size))
+            {
+                for (int cell = 0; cell < (std::get<BoolArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableNextColumn();
+                    ImGui::PushID(cell);
+                    ImGui::SetNextItemWidth(FLT_MIN);
+                    ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 0.5*(ImGui::GetColumnWidth()) - ImGui::GetStyle().ItemSpacing.x);
+                    bool temp = (std::get<BoolArrayParam>(value).arrayValue.at(cell)); //&vector<bool> is the c++ bug
+                    if (ImGui::Checkbox(identifier.c_str(), &temp)) {
+                        std::get<BoolArrayParam>(value).arrayValue.at(cell) = temp;
+                        serviceWrapper.pushRequest(
+                                std::make_shared<ParameterModificationRequest>(ROSParameter(fullPath, value)));
+                    }
+                    ImGui::PopID();
+                }
+                ImGui::TableNextRow();
+                for (int cell = 0; cell < (std::get<BoolArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableNextColumn();                    
+                    ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 2.3f + 0.5*(ImGui::GetColumnWidth() - ImGui::CalcTextSize(std::to_string(cell + 1).c_str()).x));
+                    ImGui::Text("%s",std::to_string(cell + 1).c_str());
+                };
+                ImGui::EndTable();
+            }            
+        } else if (std::holds_alternative<IntArrayParam>(value)) {
+            if (ImGui::BeginTable(identifier.c_str(), (std::get<IntArrayParam>(value)).arrayValue.size(),flags | ImGuiTableFlags_NoPadInnerX, outer_size))
+            {
+                for (int cell = 0; cell < (std::get<IntArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableSetupColumn(nullptr, ImGuiTableColumnFlags_WidthFixed, ImGui::CalcTextSize(std::to_string((std::get<IntArrayParam>(value)).arrayValue.at(cell)).c_str()).x + ImGui::CalcTextSize("00").x);
+                }
+                for (int cell = 0; cell < (std::get<IntArrayParam>(value)).arrayValue.size(); cell++)
+                {                    
+                    ImGui::TableNextColumn();
+                    ImGui::PushID(cell);
+                    ImGui::SetNextItemWidth(-FLT_MIN);
+                    ImGui::DragScalar(identifier.c_str(), ImGuiDataType_S64, &((std::get<IntArrayParam>(value)).arrayValue.at(cell)), -1);
+                    ImGui::PopID();
+                    if (ImGui::IsItemDeactivatedAfterEdit()) {
+                        (std::get<IntArrayParam>(value)).isChanged = true;
+                    }
+                    if (ImGui::IsItemDeactivated()) {
+                        (std::get<IntArrayParam>(value)).isChanging = false;
+                    }
+                    if (ImGui::IsItemActivated()){
+                        (std::get<IntArrayParam>(value)).isChanging = true;
+                    }
+                }
+                if ((std::get<IntArrayParam>(value)).isChanged && !(std::get<IntArrayParam>(value)).isChanging) {
+                    serviceWrapper.pushRequest(
+                            std::make_shared<ParameterModificationRequest>(ROSParameter(fullPath, value)));
+                    (std::get<IntArrayParam>(value)).isChanged = false;
+                }
+                ImGui::TableNextRow();
+                for (int cell = 0; cell < (std::get<IntArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableNextColumn();                    
+                    ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 2.3f + 0.5*(ImGui::GetColumnWidth() - ImGui::CalcTextSize(std::to_string(cell + 1).c_str()).x));
+                    ImGui::Text("%s",std::to_string(cell + 1).c_str());
+                };
+                ImGui::EndTable();
+            }
+        } else if (std::holds_alternative<DoubleArrayParam>(value)) {
+
+            if (ImGui::BeginTable(identifier.c_str(), (std::get<DoubleArrayParam>(value)).arrayValue.size(),flags | ImGuiTableFlags_NoPadInnerX, outer_size))
+            {
+                for (int cell = 0; cell < (std::get<DoubleArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableSetupColumn(nullptr, ImGuiTableColumnFlags_WidthFixed, ImGui::CalcTextSize(std::to_string((std::get<DoubleArrayParam>(value)).arrayValue.at(cell)).c_str()).x);
+                }
+
+                for (int cell = 0; cell < (std::get<DoubleArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableNextColumn();
+                    ImGui::PushID(cell);
+                    ImGui::SetNextItemWidth(-FLT_MIN);
+                    ImGui::DragScalar(identifier.c_str(), ImGuiDataType_Double, &((std::get<DoubleArrayParam>(value)).arrayValue.at(cell)), 1.0F, nullptr,
+                              nullptr, "%.10g");
+                    ImGui::PopID();
+                    if (ImGui::IsItemDeactivatedAfterEdit()) {
+                        (std::get<DoubleArrayParam>(value)).isChanged = true;
+                    }
+                    if (ImGui::IsItemDeactivated()) {
+                        (std::get<DoubleArrayParam>(value)).isChanging = false;
+                    }
+                    if (ImGui::IsItemActivated()){
+                        (std::get<DoubleArrayParam>(value)).isChanging = true;
+                    }
+                }
+                if ((std::get<DoubleArrayParam>(value)).isChanged && !(std::get<DoubleArrayParam>(value)).isChanging) {
+                    serviceWrapper.pushRequest(
+                            std::make_shared<ParameterModificationRequest>(ROSParameter(fullPath, value)));
+                    (std::get<DoubleArrayParam>(value)).isChanged = false;
+                }
+                ImGui::TableNextRow();
+                for (int cell = 0; cell < (std::get<DoubleArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableNextColumn();                    
+                    ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 2.3f + 0.5*(ImGui::GetColumnWidth() - ImGui::CalcTextSize(std::to_string(cell + 1).c_str()).x));
+                    ImGui::Text("%s",std::to_string(cell + 1).c_str());
+                };
+                ImGui::EndTable();
+            }
+        } else if (std::holds_alternative<StringArrayParam>(value)) {
+            if (ImGui::BeginTable(identifier.c_str(), (std::get<StringArrayParam>(value)).arrayValue.size(),flags | ImGuiTableFlags_NoPadInnerX, outer_size))
+            {
+                for (int cell = 0; cell < (std::get<StringArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableSetupColumn(nullptr, ImGuiTableColumnFlags_WidthFixed, ImGui::CalcTextSize((std::get<StringArrayParam>(value)).arrayValue.at(cell).c_str()).x + + ImGui::CalcTextSize("AA").x);
+                }
+                for (int cell = 0; cell < (std::get<StringArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableNextColumn();
+                    ImGui::PushID(cell);
+                    ImGui::SetNextItemWidth(-FLT_MIN);
+                    ImGui::InputText(identifier.c_str(), &((std::get<StringArrayParam>(value)).arrayValue.at(cell)));
+                    ImGui::PopID();
+                    if (ImGui::IsItemDeactivatedAfterEdit()) {
+                        (std::get<StringArrayParam>(value)).isChanged = true;
+                    }
+                    if (ImGui::IsItemDeactivated()) {
+                        (std::get<StringArrayParam>(value)).isChanging = false;
+                    }
+                    if (ImGui::IsItemActivated()){
+                        (std::get<StringArrayParam>(value)).isChanging = true;
+                    }
+                }
+                if ((std::get<StringArrayParam>(value)).isChanged && !(std::get<StringArrayParam>(value)).isChanging) {
+                    serviceWrapper.pushRequest(
+                            std::make_shared<ParameterModificationRequest>(ROSParameter(fullPath, value)));
+                    (std::get<StringArrayParam>(value)).isChanged = false;
+                }
+                ImGui::TableNextRow();
+                for (int cell = 0; cell < (std::get<StringArrayParam>(value)).arrayValue.size(); cell++)
+                {
+                    ImGui::TableNextColumn();                    
+                    ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 2.3f + 0.5*(ImGui::GetColumnWidth() - ImGui::CalcTextSize(std::to_string(cell + 1).c_str()).x));
+                    ImGui::Text("%s",std::to_string(cell + 1).c_str());
+                };
+                ImGui::EndTable();
+            }
+        } 
         ImGui::PopItemWidth();
     }