Support emitting an event on play/pause/step #306

adlarkin · 2021-10-14T22:44:46Z

Signed-off-by: Ashton Larkin ashton@openrobotics.org

🎉 New feature

Summary

If the GUI's ECM is modified directly while simulation is paused, the GUI needs to tell the server how the ECM changed. The approach taken is to have the WorldControl service called in ign-gazebo's GuiRunner instead of ign-gui's WorldControl plugin. When play/pause/step is pressed in the GUI, an event is emitted that contains the WorldControl information. This event is processed by ign-gazebo's GuiRunner. The GuiRunner will then take the information from this event, combine it with the GUI's ECM state, and call the WorldControl service that was being called in ign-gui before this PR. ign-gui's WorldControl will listen to the world's stats topic for confirmation that the emitted WorldControl event was processed by the server.

It's also worth noting that the client/server communication that exists before this PR (direct service call) is still supported - see the Test It section below.

Test it

note: this PR needs to be tested with gazebosim/gz-sim#1109

Run a gazebo world and try to play/pause/step from the GUI. You should see proper update behavior. You can also try playing/pausing from the command line to verify that those updates work properly as well.

To play from the command line with the original service (make sure you update /world/shapes/control to the service name that matches your world):

ign service -s /world/shapes/control  --reqtype  ignition.msgs.WorldControl --reptype ignition.msgs.Boolean --timeout 2000 --req 'pause: false'

To pause from the command line with the original service (make sure you update /world/shapes/control to the service name that matches your world):

ign service -s /world/shapes/control  --reqtype  ignition.msgs.WorldControl --reptype ignition.msgs.Boolean --timeout 2000 --req 'pause: true'

To play from the command line with the new service that's called by the emitted event (make sure you update /world/shapes/control/state to the service name that matches your world):

ign service -s /world/shapes/control/state  --reqtype  ignition.msgs.WorldControlState --reptype ignition.msgs.Boolean --timeout 2000 --req 'world_control: {pause: false}'

To pause from the command line with the new service that's called by the emitted event (make sure you update /world/shapes/control/state to the service name that matches your world):

ign service -s /world/shapes/control/state  --reqtype  ignition.msgs.WorldControlState --reptype ignition.msgs.Boolean --timeout 2000 --req 'world_control: {pause: true}'

Testing server/client communication through either the new event approach or traditional service approach can be toggled by adding the following to the WorldControl plugin's XML (true for event, false for service - see an example here):

<use_event>true</use_event>

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

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Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

src/plugins/world_control/WorldControl.cc

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin · 2021-10-22T16:37:06Z

This should now be ready for initial review. I have a question for whoever reviews this: #306 (comment)

I also left some notes in the Test It section of this PR about how this can be tested. I'm not too familiar with testing GUI code though, so if someone else has thoughts about a better way of testing, please let me know!

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin · 2021-10-29T21:53:06Z

@nkoenig I have updated this PR to reflect the new design that was discussed in gazebosim/gz-sim#1109 (comment).

include/ignition/gui/GuiEvents.hh

src/plugins/world_control/WorldControl.cc

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin · 2021-11-02T02:56:46Z

@chapulina the tests for the WorldControl plugin use the service approach instead of the new event approach (see de55398). Do tests need to be added for the event approach as well? If so, I'm not sure how this would be tested since the receiving end of the service is in gazebosim/gz-sim#1109.

…ior by default Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig · 2021-11-02T17:32:52Z

I think the step button on the GUI now toggles the Play button.

adlarkin · 2021-11-02T17:48:43Z

I think the step button on the GUI now toggles the Play button.

Are you referring to what I'm seeing in gazebosim/gz-sim#1109 (comment)?

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin · 2021-11-02T21:56:07Z

I think the step button on the GUI now toggles the Play button.

Are you referring to what I'm seeing in ignitionrobotics/ign-gazebo#1109 (comment)?

This should be fixed now - see gazebosim/gz-sim#1109 (comment)

chapulina

Do tests need to be added for the event approach as well?

That would be ideal

If so, I'm not sure how this would be tested since the receiving end of the service is in gazebosim/gz-sim#1109.

How about listening to the event on the test and check that it is called? Maybe you can create a simple class that installs a filter 🤔

src/plugins/world_control/WorldControl.cc

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin · 2021-11-03T16:58:14Z

How about listening to the event on the test and check that it is called? Maybe you can create a simple class that installs a filter thinking

I've added a test for the event approach in 84887d0 and 4148b9a.

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

nkoenig

Works for me. I'd like to switch out the header stepping flag in Garden. Here is the start: gazebosim/gz-msgs#199.

nkoenig · 2021-11-04T18:12:38Z

@adlarkin , @chapulina would it be possible to get this in today so that I can make a release and unblock gazebosim/gz-sim#1157?

adlarkin · 2021-11-04T18:19:11Z

would it be possible to get this in today

That's okay with me - once @chapulina takes a look and no more changes are requested, feel free to merge.

I am seeing a new issue in Windows CI though that's related to the tests I added:

[703.453s] C:\Jenkins\workspace\ign_gui-pr-win\ws\build\ignition-gui6\src\plugins\world_control\moc_WorldControlEventListener.cpp(66,99): error C2491: 'ignition::gui::WorldControlEventListener::staticMetaObject': definition of dllimport static data member not allowed [C:\Jenkins\workspace\ign_gui-pr-win\ws\build\ignition-gui6\src\plugins\world_control\WorldControl.vcxproj]

Does anyone know how to fix this?

Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig · 2021-11-04T20:07:50Z

[703.453s] C:\Jenkins\workspace\ign_gui-pr-win\ws\build\ignition-gui6\src\plugins\world_control\moc_WorldControlEventListener.cpp(66,99): error C2491: 'ignition::gui::WorldControlEventListener::staticMetaObject': definition of dllimport static data member not allowed [C:\Jenkins\workspace\ign_gui-pr-win\ws\build\ignition-gui6\src\plugins\world_control\WorldControl.vcxproj]

Does anyone know how to fix this?

All of your tests were set to run only on linux, so I disable their compilation on windows in 80a64f4.

nkoenig · 2021-11-04T20:50:18Z

Alright, CI is green-enough. There is a flaky test that has failed on Focal, but has passed in other iterations.

nkoenig · 2021-11-05T14:31:02Z

@chapulina , I'm going to merge this by 10am today unless you stop me.

chapulina

I just have minor comments, no blockers

chapulina · 2021-11-05T15:49:17Z

include/ignition/gui/GuiEvents.hh

@@ -27,6 +27,7 @@
 #include <ignition/common/MouseEvent.hh>
 #include <ignition/math/Vector2.hh>
 #include <ignition/math/Vector3.hh>
+#include <ignition/msgs.hh>


It's preferable to include just the message that's needed, this helps with compile times.

Done in 8e7cb8f

chapulina · 2021-11-05T15:52:35Z

src/plugins/world_control/WorldControl.cc

  this->dataPtr->pause = false;
-  this->dataPtr->node.Request(this->dataPtr->controlService, req, cb);
+  if (this->dataPtr->useEvent)


This block from 280 to 294 is repeated 3 times in different functions, consider moving it to a separate function to reduce duplication

Done in 8e7cb8f

chapulina · 2021-11-05T15:55:03Z

src/plugins/world_control/WorldControlEventListener.hh

+  /// \brief Helper class for testing listening to events emitted by the
+  /// WorldControl plugin. This is used for testing the event behavior of
+  /// the WorldControl plugin.
+  class IGNITION_GUI_VISIBLE WorldControlEventListener : public QObject


Great work putting the tests together! Ideally we wouldn't include this as part of the plugin itself, since it's only used for testing. But I think this can be addressed later.

Done in 8e7cb8f

chapulina · 2021-11-05T15:55:58Z

src/plugins/world_control/CMakeLists.txt

-    WorldControl_TEST.cc
-)
-
+if (NOT MSVC)


Just curious, why did you need to separate Windows here? We're already disabling the test on Windows in the test's body.

Because Windows would still compile the testing framework and produce compile time errors.

I see. It was compiling before. Not sure what causes the compiler error here, but I think it's ok to address this later.

As a follow-up, yes,the tests themselves ignore windows. For example: https://github.com/ignitionrobotics/ign-gui/blob/ignition-gui6_6.0.0/src/plugins/world_control/WorldControl_TEST.cc#L66

However, the new helper test class that was added for checking events (#306 (comment)) has to be added as a QT header, or else there will be linking errors. So, it seemed like this new QT header is what was causing issues on windows, and @nkoenig made a patch in #306 (comment) to prevent compiling the helper test class header on windows. I'm not sure if there's a better way to handle this or not, but hopefully that provides some more context/insights about this change.

I tried a few different options to make the header compile on windows, and gave up.

Signed-off-by: Nate Koenig <nate@openrobotics.org>

* share updated GUI ECM info with server on play Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * clarify docs and fix service request type Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * send event on play/pause/step Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * support service and event Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * fix tests Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Flip the default settng of usEvent in order to maintain current behavior by default Signed-off-by: Nate Koenig <nate@openrobotics.org> * ignore stats msgs triggered by a step Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * explicit constructor for new gui event Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * remove deprecation notes (support both event and service) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * test event behavior Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * add missing helper test class Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Disable tests on windows Signed-off-by: Nate Koenig <nate@openrobotics.org> * Address PR feedback Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>

share updated GUI ECM info with server on play

7ad0286

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin added the needs upstream release Blocked by a release of an upstream library label Oct 14, 2021

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adlarkin commented Oct 14, 2021

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This was referenced Oct 14, 2021

Get updated GUI ECM info when a user presses 'play' gazebosim/gz-sim#1109

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Synchronize ECM between GUI/Server gazebosim/gz-sim#1106

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chapulina moved this from Inbox to In progress in Core development Oct 15, 2021

adlarkin mentioned this pull request Oct 18, 2021

Add WorldControlState msg type gazebosim/gz-msgs#190

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clarify docs and fix service request type

34427bd

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin requested review from chapulina and nkoenig October 22, 2021 16:34

adlarkin marked this pull request as ready for review October 22, 2021 16:34

adlarkin requested a review from jennuine as a code owner October 22, 2021 16:34

send event on play/pause/step

915a1a6

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin force-pushed the adlarkin/share_gui_ecm_changes branch from 0eb1905 to 915a1a6 Compare October 29, 2021 21:26

adlarkin changed the title ~~share updated GUI ECM info with server on play~~ Emit an event on play/pause/step instead of calling a service Oct 29, 2021

chapulina suggested changes Oct 30, 2021

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Core development automation moved this from In progress to In review Oct 30, 2021

support service and event

7ff16ce

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin requested a review from chapulina November 2, 2021 02:40

fix tests

de55398

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

Flip the default settng of usEvent in order to maintain current behav…

054d02c

…ior by default Signed-off-by: Nate Koenig <nate@openrobotics.org>

ignore stats msgs triggered by a step

d7e2c4f

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

chapulina reviewed Nov 3, 2021

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adlarkin added 2 commits November 3, 2021 09:28

remove deprecation notes (support both event and service)

0112b87

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

test event behavior

84887d0

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin requested a review from chapulina November 3, 2021 16:58

adlarkin changed the title ~~Emit an event on play/pause/step instead of calling a service~~ Support emitting an event on play/pause/step Nov 3, 2021

adlarkin and others added 2 commits November 3, 2021 11:19

add missing helper test class

4148b9a

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

Merge branch 'ign-gui6' into adlarkin/share_gui_ecm_changes

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Publish 10 world stats msgs/sec instead of 5 gazebosim/gz-sim#1163

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Disable tests on windows

80a64f4

Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig removed the needs upstream release Blocked by a release of an upstream library label Nov 4, 2021

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Merge branch 'ign-gui6' into adlarkin/share_gui_ecm_changes

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Signed-off-by: Nate Koenig <nate@openrobotics.org>

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srmainwaring mentioned this pull request Nov 17, 2021

Gazebo GUI segfault on exit - Plugin::Update called after plugin removed gazebosim/gz-sim#1212

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Design document for syncing GUI ECM with server ECM gazebosim/design#8

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WorldControl: use event by default #531

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Support emitting an event on play/pause/step #306

Support emitting an event on play/pause/step #306

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Support emitting an event on play/pause/step #306

Support emitting an event on play/pause/step #306

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adlarkin commented Oct 14, 2021 • edited

🎉 New feature

Summary

Test it

Checklist

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adlarkin commented Oct 14, 2021 •

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