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Merged
merged 5 commits into from
Oct 21, 2025
Merged

Add support for load/unload worlds; add full list of features #7

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2252ff6
Add Worlds to UI
jhanca-robotecai Oct 10, 2025
d015f12
Fix LoadLevel; fix UI
jhanca-robotecai Oct 10, 2025
2c2c02d
Change default tab
jhanca-robotecai Oct 10, 2025
45b01d8
Add URI/name support; add offline/online switch
jhanca-robotecai Oct 13, 2025
51a644e
Code review fixes
jhanca-robotecai Oct 21, 2025
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10 changes: 10 additions & 0 deletions include/q_simulation_interfaces/service_discovery.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,10 @@ namespace q_simulation_interfaces
SERVICE_STEP_SIMULATION,
SERVICE_GET_SIM_STATE,
SERVICE_SET_SIM_STATE,
SERVICE_GET_CURRENT_WORLD,
SERVICE_GET_AVAILABLE_WORLDS,
SERVICE_LOAD_WORLD,
SERVICE_UNLOAD_WORLD,
ACTION_SIMULATE_STEPS,
SUPPORTED_SERVICE_IDL_COUNT
};
Expand Down Expand Up @@ -75,6 +79,12 @@ namespace q_simulation_interfaces
false},
{ServiceType::SERVICE_SET_SIM_STATE, "simulation_interfaces/srv/SetSimulationState", "Set Sim State",
false},
{ServiceType::SERVICE_GET_CURRENT_WORLD, "simulation_interfaces/srv/GetCurrentWorld", "Get Current World",
false},
{ServiceType::SERVICE_GET_AVAILABLE_WORLDS, "simulation_interfaces/srv/GetAvailableWorlds",
"Get Available Worlds", false},
{ServiceType::SERVICE_LOAD_WORLD, "simulation_interfaces/srv/LoadWorld", "Load World", false},
{ServiceType::SERVICE_UNLOAD_WORLD, "simulation_interfaces/srv/UnloadWorld", "Unload World", false},
{ServiceType::ACTION_SIMULATE_STEPS, "simulation_interfaces/action/SimulateSteps", "Simulate Steps",
true}}};

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63 changes: 62 additions & 1 deletion src/sim_widget.ui
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Expand Up @@ -11,7 +11,7 @@
</rect>
</property>
<layout class="QFormLayout" name="formLayout">
<item row="0" column="0">
<item row="0" column="1">
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>0</number>
Expand Down Expand Up @@ -519,6 +519,67 @@
</item>
</layout>
</widget>
<widget class="QWidget" name="worlds">
<attribute name="title">
<string>Worlds</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QPushButton" name="getAvailableWorldsButton">
<property name="text">
<string>Get Available Worlds</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="worldsUseOfflineCheck">
<property name="text">
<string>Worlds: Offline only</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="availableWorldsCombo"/>
</item>
<item>
<widget class="QPushButton" name="loadWorldButton">
<property name="text">
<string>Load World</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="unloadWorldButton">
<property name="text">
<string>Unload World</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="currentWorldLabel">
<property name="text">
<string>Current world:</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>225</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="servicesNames">
<property name="enabled">
<bool>true</bool>
Expand Down
164 changes: 164 additions & 0 deletions src/simulation_widget.cpp
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Expand Up @@ -114,6 +114,9 @@ namespace q_simulation_interfaces
connect(ui_->setSimStateButton, &QPushButton::clicked, this, &SimulationWidget::SetSimulationState);
connect(ui_->stepSimServiceButton, &QPushButton::clicked, this, &SimulationWidget::StepSimulationService);
connect(ui_->ComboEntities, &QComboBox::currentTextChanged, this, [this]() { this->GetEntityState(true); });
connect(ui_->getAvailableWorldsButton, &QPushButton::clicked, this, &SimulationWidget::GetAvailableWorlds);
connect(ui_->loadWorldButton, &QPushButton::clicked, this, &SimulationWidget::LoadWorld);
connect(ui_->unloadWorldButton, &QPushButton::clicked, this, &SimulationWidget::UnloadWorld);

// Connect spawn position spin boxes to update marker
connect(ui_->doubleSpinBoxX, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this,
Expand Down Expand Up @@ -234,6 +237,126 @@ namespace q_simulation_interfaces
setSimulationStateService_->call_service_async(cb, request);
}


void SimulationWidget::LoadWorld()
{
if (!loadWorldService_)
{
QMessageBox::warning(this, "Service Not Available",
"Load World service is not available. Please select a valid service.");
return;
}

simulation_interfaces::srv::LoadWorld::Request request;
auto selectedWorld = ui_->availableWorldsCombo->currentText();
if (useUriForWorlds_)
{
request.uri = selectedWorld.toStdString();
}
else
{
request.resource_string = selectedWorld.toStdString();
}

auto cb = [this](auto response)
{
ProduceWarningIfProblem(this, "Load World", response);
GetCurrentWorld();
};
loadWorldService_->call_service_async(cb, request);
}

void SimulationWidget::UnloadWorld()
{
if (!unloadWorldService_)
{
QMessageBox::warning(this, "Service Not Available",
"Unload World service is not available. Please select a valid service.");
return;
}

simulation_interfaces::srv::UnloadWorld::Request request;

auto cb = [this](auto response)
{
ProduceWarningIfProblem(this, "Unload World", response);
GetCurrentWorld();
};
unloadWorldService_->call_service_async(cb, request);
}

void SimulationWidget::GetAvailableWorlds()
{
if (!getAvailableWorldsService_)
{
QMessageBox::warning(this, "Service Not Available",
"Get Available Worlds service is not available. Please select a valid service.");
return;
}

simulation_interfaces::srv::GetAvailableWorlds::Request request;
request.offline_only = ui_->worldsUseOfflineCheck->isChecked();

auto cb = [this](auto response)
{
ProduceWarningIfProblem(this, "Get Available Worlds", response);
if (response && response->result.result == simulation_interfaces::msg::Result::RESULT_OK)
{
ui_->availableWorldsCombo->clear();

auto worlds = response->worlds;

if (!worlds.empty())
{
// Determine if we are using URI or resource string based on the first world
useUriForWorlds_ = !worlds[0].world_resource.uri.empty();
}

for (const auto& world : worlds)
{

const QString worldStr = useUriForWorlds_
? QString::fromStdString(world.world_resource.uri)
: QString::fromStdString(world.world_resource.resource_string);
ui_->availableWorldsCombo->addItem(worldStr);
}
}
};
getAvailableWorldsService_->call_service_async(cb, request);
}

void SimulationWidget::GetCurrentWorld()
{
if (!getCurrentWorldService_)
{
// Getting current world is called periodically, so just update the label without showing a message box
ui_->currentWorldLabel->setText("Current world: unknown due to unavailable service");
return;
}
simulation_interfaces::srv::GetCurrentWorld::Request request;
auto cb = [this](auto response)
{
// Check for NO_WORLD_LOADED error, which is not an error in this context
if (response &&
response->result.result == simulation_interfaces::srv::GetCurrentWorld::Response::NO_WORLD_LOADED)
{
ui_->currentWorldLabel->setText("Current world: No world loaded");
return;
}

ProduceWarningIfProblem(this, "Get Current World", response);
if (response && response->result.result == simulation_interfaces::msg::Result::RESULT_OK)
{
useUriForWorlds_ = !response->world.world_resource.uri.empty();
const QString worldStr = useUriForWorlds_
? QString::fromStdString(response->world.world_resource.uri)
: QString::fromStdString(response->world.world_resource.resource_string);
ui_->currentWorldLabel->setText("Current world: " + worldStr);
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Nit (UX/UI): Won't this produce a "Current world:" when no world is selected? Maybe consider a special case for no world loaded.

}
};
getCurrentWorldService_->call_service_async(cb, request);
}

void SimulationWidget::ActionThreadWorker(int steps)
{
actionThreadRunning_.store(true);
Expand Down Expand Up @@ -877,6 +1000,47 @@ namespace q_simulation_interfaces
serviceInterfaces_.insert(setSimulationStateService_);
}
break;
case ServiceType::SERVICE_GET_CURRENT_WORLD:
serviceInterfaces_.erase(getCurrentWorldService_);
getCurrentWorldService_ = shouldReset
? nullptr
: std::make_shared<Service<simulation_interfaces::srv::GetCurrentWorld>>(selectedServiceName, node_);
if (getCurrentWorldService_)
{
serviceInterfaces_.insert(getCurrentWorldService_);
}
GetCurrentWorld();
break;
case ServiceType::SERVICE_GET_AVAILABLE_WORLDS:
serviceInterfaces_.erase(getAvailableWorldsService_);
getAvailableWorldsService_ = shouldReset
? nullptr
: std::make_shared<Service<simulation_interfaces::srv::GetAvailableWorlds>>(selectedServiceName, node_);
if (getAvailableWorldsService_)
{
serviceInterfaces_.insert(getAvailableWorldsService_);
}
break;
case ServiceType::SERVICE_LOAD_WORLD:
serviceInterfaces_.erase(loadWorldService_);
loadWorldService_ = shouldReset
? nullptr
: std::make_shared<Service<simulation_interfaces::srv::LoadWorld>>(selectedServiceName, node_);
if (loadWorldService_)
{
serviceInterfaces_.insert(loadWorldService_);
}
break;
case ServiceType::SERVICE_UNLOAD_WORLD:
serviceInterfaces_.erase(unloadWorldService_);
unloadWorldService_ = shouldReset
? nullptr
: std::make_shared<Service<simulation_interfaces::srv::UnloadWorld>>(selectedServiceName, node_);
if (unloadWorldService_)
{
serviceInterfaces_.insert(unloadWorldService_);
}
break;
case ServiceType::ACTION_SIMULATE_STEPS:
simulateStepsAction_ = selectedServiceName;
break;
Expand Down
16 changes: 15 additions & 1 deletion src/simulation_widget.h
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Expand Up @@ -30,15 +30,19 @@
#include <QComboBox>
#include <q_simulation_interfaces/service_discovery.h>
#include <simulation_interfaces/srv/delete_entity.hpp>
#include <simulation_interfaces/srv/get_available_worlds.hpp>
#include <simulation_interfaces/srv/get_current_world.hpp>
#include <simulation_interfaces/srv/get_entities.hpp>
#include <simulation_interfaces/srv/get_entity_state.hpp>
#include <simulation_interfaces/srv/get_simulation_state.hpp>
#include <simulation_interfaces/srv/get_spawnables.hpp>
#include <simulation_interfaces/srv/load_world.hpp>
#include <simulation_interfaces/srv/reset_simulation.hpp>
#include <simulation_interfaces/srv/set_entity_state.hpp>
#include <simulation_interfaces/srv/set_simulation_state.hpp>
#include <simulation_interfaces/srv/spawn_entity.hpp>
#include <simulation_interfaces/srv/step_simulation.hpp>
#include <simulation_interfaces/srv/unload_world.hpp>

namespace Ui
{
Expand All @@ -65,7 +69,6 @@ namespace q_simulation_interfaces
void hideEvent(QHideEvent* event) override;
void showEvent(QShowEvent* event) override;

void onShowServicesTab();
void GetSpawnables();
void SpawnButton();
void GetAllEntities();
Expand All @@ -78,6 +81,10 @@ namespace q_simulation_interfaces
void GetSimulationState();
void SetSimulationState();
void StepSimulationService();
void LoadWorld();
void UnloadWorld();
void GetAvailableWorlds();
void GetCurrentWorld();

//! The thread with own ROS 2 node that will run the action client
void ActionThreadWorker(int steps);
Expand Down Expand Up @@ -112,10 +119,17 @@ namespace q_simulation_interfaces
std::shared_ptr<Service<simulation_interfaces::srv::GetSimulationState>> getSimulationStateService_;
std::shared_ptr<Service<simulation_interfaces::srv::SetSimulationState>> setSimulationStateService_;
std::shared_ptr<Service<simulation_interfaces::srv::StepSimulation>> stepSimulationService_;
std::shared_ptr<Service<simulation_interfaces::srv::GetAvailableWorlds>> getAvailableWorldsService_;
std::shared_ptr<Service<simulation_interfaces::srv::GetCurrentWorld>> getCurrentWorldService_;
std::shared_ptr<Service<simulation_interfaces::srv::LoadWorld>> loadWorldService_;
std::shared_ptr<Service<simulation_interfaces::srv::UnloadWorld>> unloadWorldService_;

// Action names
std::string simulateStepsAction_ = "";

// Whether to use URI or resource string for worlds
bool useUriForWorlds_ = true;

// Vector to hold all service interfaces of created services
std::set<std::shared_ptr<ServiceInterface>> serviceInterfaces_;
QTimer* timer_; //! Timer for periodic updates
Expand Down
14 changes: 14 additions & 0 deletions src/string_to_keys.h
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Expand Up @@ -44,7 +44,14 @@ const std::map<int, std::string> FeatureToName{
{31, "STEP_SIMULATION_SINGLE"},
{32, "STEP_SIMULATION_MULTIPLE"},
{33, "STEP_SIMULATION_ACTION"},
{40, "WORLD_LOADING"},
{41, "WORLD_RESOURCE_STRING"},
{42, "WORLD_TAGS"},
{43, "WORLD_UNLOADING"},
{44, "WORLD_INFO_GETTING"},
{45, "AVAILABLE_WORLDS"},
};

const std::map<int, std::string> FeatureDescription{
{0, "Supports spawn interface (SpawnEntity)."},
{1, "Supports deleting entities (DeleteEntity)."},
Expand All @@ -71,7 +78,14 @@ const std::map<int, std::string> FeatureDescription{
{31, "Supports single stepping through simulation with StepSimulation interface."},
{32, "Supports multi-stepping through simulation, either through StepSimulation service or StepSimulation action."},
{33, "Supports SimulateSteps action interface."},
{40, "Supports loading worlds through LoadWorld interface."},
{41, "Supports resource_string field in LoadWorld interface."},
{42, "Supports tags field in LoadWorld interface."},
{43, "Supports unloading worlds through UnloadWorld interface."},
{44, "Supports GetWorldInfo interface."},
{45, "Supports GetAvailableWorlds interface."},
};

const std::unordered_map<std::string, int> ScopeNameToId{
{"SCOPE_DEFAULT", 0}, {"SCOPE_TIME", 1}, {"SCOPE_STATE", 2}, {"SCOPE_SPAWNED", 4}, {"SCOPE_ALL", 255},
};
Expand Down