From d2c7ebba9768de5e896a67d7bcac12532c88f568 Mon Sep 17 00:00:00 2001
From: ArkhamKnight25 <amritamber3112@gmail.com>
Date: Tue, 17 Feb 2026 19:36:59 +0900
Subject: [PATCH] feat: fzf inline editing completion

Signed-off-by: ArkhamKnight25 <amritamber3112@gmail.com>
---
 ros2cli/completion/ros2-fzf-completion.bash | 73 +++++++++++++++++
 ros2cli/completion/ros2-zle-completion.zsh  | 87 +++++++++++++++++++++
 ros2cli/setup.py                            |  4 +-
 3 files changed, 163 insertions(+), 1 deletion(-)
 create mode 100644 ros2cli/completion/ros2-fzf-completion.bash
 create mode 100644 ros2cli/completion/ros2-zle-completion.zsh

diff --git a/ros2cli/completion/ros2-fzf-completion.bash b/ros2cli/completion/ros2-fzf-completion.bash
new file mode 100644
index 000000000..94d337f87
--- /dev/null
+++ b/ros2cli/completion/ros2-fzf-completion.bash
@@ -0,0 +1,73 @@
+if [ -z "$BASH_VERSION" ]; then
+  return 0 2>/dev/null || exit 0
+fi
+
+ros2() {
+  local list_cmd=""
+  local fzf_prompt=""
+  local preview_cmd=""
+
+  case "$*" in
+    "topic echo" | "topic info" | "topic hz" | \
+    "topic bw"   | "topic pub"  | "topic type" | \
+    "topic delay")
+      list_cmd="ros2 topic list"
+      fzf_prompt="topic> "
+      preview_cmd="ros2 topic info {} 2>/dev/null"
+      ;;
+    "service call" | "service type" | "service find")
+      list_cmd="ros2 service list"
+      fzf_prompt="service> "
+      preview_cmd="ros2 service type {} 2>/dev/null"
+      ;;
+    "node info")
+      list_cmd="ros2 node list"
+      fzf_prompt="node> "
+      preview_cmd="ros2 node info {} 2>/dev/null"
+      ;;
+    "param get"  | "param set"  | "param list" | \
+    "param describe" | "param delete" | \
+    "param dump" | "param load")
+      list_cmd="ros2 node list"
+      fzf_prompt="node> "
+      preview_cmd="ros2 node info {} 2>/dev/null"
+      ;;
+    *)
+      command ros2 "$@"
+      return $?
+      ;;
+  esac
+
+  if ! command -v fzf &> /dev/null; then
+    echo "fzf is not installed. Install with: sudo apt install fzf" >&2
+    command ros2 "$@"
+    return $?
+  fi
+
+  local selected
+  selected=$(
+    command $list_cmd 2>/dev/null | fzf \
+      --height 40% --reverse --border \
+      --prompt "$fzf_prompt" \
+      --preview "$preview_cmd" \
+      --preview-window "right:50%:wrap"
+  )
+
+  if [ -z "$selected" ]; then
+    command ros2 "$@"
+    return $?
+  fi
+
+  printf '\e[A\r\e[2K'
+
+  local prefilled="ros2 $* ${selected} "
+  local full_cmd
+  read -e -p "${PS1@P}" -i "$prefilled" full_cmd
+
+  if [ -z "$full_cmd" ]; then
+    return 0
+  fi
+
+  history -s -- "$full_cmd"
+  eval -- "$full_cmd"
+}
diff --git a/ros2cli/completion/ros2-zle-completion.zsh b/ros2cli/completion/ros2-zle-completion.zsh
new file mode 100644
index 000000000..2a5325911
--- /dev/null
+++ b/ros2cli/completion/ros2-zle-completion.zsh
@@ -0,0 +1,87 @@
+if [ -z "$ZSH_VERSION" ]; then
+  return 0
+fi
+
+__ros2_zle_last_offered=""
+
+_ros2_zle_accept_line() {
+  local trimmed="${BUFFER%"${BUFFER##*[![:space:]]}"}"
+  local selected=""
+  local list_cmd=""
+  local fzf_prompt=""
+  local preview_cmd=""
+
+  case "$trimmed" in
+    "ros2 topic echo" | \
+    "ros2 topic info" | \
+    "ros2 topic hz"   | \
+    "ros2 topic bw"   | \
+    "ros2 topic pub"  | \
+    "ros2 topic type" | \
+    "ros2 topic delay")
+      list_cmd="ros2 topic list"
+      fzf_prompt="topic> "
+      preview_cmd="ros2 topic info {}"
+      ;;
+    "ros2 service call" | \
+    "ros2 service type" | \
+    "ros2 service find")
+      list_cmd="ros2 service list"
+      fzf_prompt="service> "
+      preview_cmd="ros2 service type {}"
+      ;;
+    "ros2 node info")
+      list_cmd="ros2 node list"
+      fzf_prompt="node> "
+      preview_cmd="ros2 node info {}"
+      ;;
+    "ros2 param get"      | \
+    "ros2 param set"      | \
+    "ros2 param list"     | \
+    "ros2 param describe" | \
+    "ros2 param delete"   | \
+    "ros2 param dump"     | \
+    "ros2 param load")
+      list_cmd="ros2 node list"
+      fzf_prompt="node> "
+      preview_cmd="ros2 node info {}"
+      ;;
+    *)
+      __ros2_zle_last_offered=""
+      zle .accept-line
+      return
+      ;;
+  esac
+
+  if [[ "$trimmed" == "$__ros2_zle_last_offered" ]]; then
+    __ros2_zle_last_offered=""
+    zle .accept-line
+    return
+  fi
+
+  if ! command -v fzf &> /dev/null; then
+    zle -M "fzf is not installed. Install with: sudo apt install fzf"
+    zle .accept-line
+    return
+  fi
+
+  selected=$(
+    ${=list_cmd} 2>/dev/null | fzf \
+      --height 40% --reverse --border \
+      --prompt "$fzf_prompt" \
+      --preview "$preview_cmd 2>/dev/null" \
+      --preview-window "right:50%:wrap"
+  )
+
+  if [[ -n "$selected" ]]; then
+    __ros2_zle_last_offered=""
+    BUFFER="${trimmed} ${selected} "
+    CURSOR=${#BUFFER}
+  else
+    __ros2_zle_last_offered="$trimmed"
+  fi
+
+  zle reset-prompt
+}
+
+zle -N accept-line _ros2_zle_accept_line
diff --git a/ros2cli/setup.py b/ros2cli/setup.py
index 7534ffe7d..31c43f939 100644
--- a/ros2cli/setup.py
+++ b/ros2cli/setup.py
@@ -21,7 +21,9 @@
         ]),
         ('share/ros2cli/environment', [
             'completion/ros2-argcomplete.bash',
-            'completion/ros2-argcomplete.zsh'
+            'completion/ros2-argcomplete.zsh',
+            'completion/ros2-fzf-completion.bash',
+            'completion/ros2-zle-completion.zsh',
         ]),
     ],
     package_data={'': ['py.typed']},