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Merge branch 'ign-gazebo6' into server-config-root-dom
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@nkoenig
nkoenig committed Mar 31, 2022
2 parents 61f286a + 4121a5c commit 72958cb
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Showing 16 changed files with 776 additions and 127 deletions.
1 change: 1 addition & 0 deletions examples/worlds/lights.sdf
View file
Expand Up @@ -52,6 +52,7 @@
<quadratic>0.01</quadratic>
</attenuation>
<cast_shadows>false</cast_shadows>
<visualize>false</visualize>
</light>

<light type="spot" name="spot">
Expand Down
56 changes: 56 additions & 0 deletions src/Conversions.cc
View file
Expand Up @@ -570,6 +570,25 @@ msgs::Light ignition::gazebo::convert(const sdf::Light &_in)
out.set_spot_inner_angle(_in.SpotInnerAngle().Radian());
out.set_spot_outer_angle(_in.SpotOuterAngle().Radian());
out.set_spot_falloff(_in.SpotFalloff());

{
// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = out.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(_in.LightOn());
}

{
// todo(ahcorde) Use the field visualize_visual in light.proto from
// Garden on.
auto header = out.mutable_header()->add_data();
header->set_key("visualizeVisual");
std::string *value = header->add_value();
*value = std::to_string(_in.Visualize());
}

if (_in.Type() == sdf::LightType::POINT)
out.set_type(msgs::Light_LightType_POINT);
else if (_in.Type() == sdf::LightType::SPOT)
Expand Down Expand Up @@ -599,6 +618,43 @@ sdf::Light ignition::gazebo::convert(const msgs::Light &_in)
out.SetSpotInnerAngle(math::Angle(_in.spot_inner_angle()));
out.SetSpotOuterAngle(math::Angle(_in.spot_outer_angle()));
out.SetSpotFalloff(_in.spot_falloff());

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
bool visualizeVisual = true;
for (int i = 0; i < _in.header().data_size(); ++i)
{
for (int j = 0;
j < _in.header().data(i).value_size(); ++j)
{
if (_in.header().data(i).key() ==
"visualizeVisual")
{
visualizeVisual = ignition::math::parseInt(
_in.header().data(i).value(0));
}
}
}
out.SetVisualize(visualizeVisual);

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
bool isLightOn = true;
for (int i = 0; i < _in.header().data_size(); ++i)
{
for (int j = 0;
j < _in.header().data(i).value_size(); ++j)
{
if (_in.header().data(i).key() ==
"isLightOn")
{
isLightOn = ignition::math::parseInt(
_in.header().data(i).value(0));
}
}
}
out.SetLightOn(isLightOn);

if (_in.type() == msgs::Light_LightType_POINT)
out.SetType(sdf::LightType::POINT);
else if (_in.type() == msgs::Light_LightType_SPOT)
Expand Down
8 changes: 6 additions & 2 deletions src/gui/plugins/component_inspector/CMakeLists.txt
View file
@@ -1,4 +1,8 @@
gz_add_gui_plugin(ComponentInspector
SOURCES ComponentInspector.cc
QT_HEADERS ComponentInspector.hh
SOURCES
ComponentInspector.cc
Pose3d.cc
QT_HEADERS
ComponentInspector.hh
Pose3d.hh
)
146 changes: 85 additions & 61 deletions src/gui/plugins/component_inspector/ComponentInspector.cc
View file
Expand Up @@ -24,7 +24,6 @@
#include <ignition/gui/Application.hh>
#include <ignition/gui/MainWindow.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "ignition/gazebo/components/Actor.hh"
#include "ignition/gazebo/components/AngularAcceleration.hh"
Expand Down Expand Up @@ -56,8 +55,6 @@
#include "ignition/gazebo/components/PerformerAffinity.hh"
#include "ignition/gazebo/components/Physics.hh"
#include "ignition/gazebo/components/PhysicsEnginePlugin.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/components/PoseCmd.hh"
#include "ignition/gazebo/components/RenderEngineGuiPlugin.hh"
#include "ignition/gazebo/components/RenderEngineServerPlugin.hh"
#include "ignition/gazebo/components/SelfCollide.hh"
Expand All @@ -75,6 +72,7 @@
#include "ignition/gazebo/gui/GuiEvents.hh"

#include "ComponentInspector.hh"
#include "Pose3d.hh"

namespace ignition::gazebo
{
Expand Down Expand Up @@ -109,31 +107,19 @@ namespace ignition::gazebo

/// \brief Transport node for making command requests
public: transport::Node node;

/// \brief A map of component types to the function used to update it.
public: std::map<ComponentTypeId, inspector::UpdateViewCb>
updateViewCbs;

/// \brief Handles all components displayed as a 3D pose.
public: std::unique_ptr<inspector::Pose3d> pose3d;
};
}

using namespace ignition;
using namespace gazebo;

//////////////////////////////////////////////////
template<>
void ignition::gazebo::setData(QStandardItem *_item, const math::Pose3d &_data)
{
if (nullptr == _item)
return;

_item->setData(QString("Pose3d"),
ComponentsModel::RoleNames().key("dataType"));
_item->setData(QList({
QVariant(_data.Pos().X()),
QVariant(_data.Pos().Y()),
QVariant(_data.Pos().Z()),
QVariant(_data.Rot().Roll()),
QVariant(_data.Rot().Pitch()),
QVariant(_data.Rot().Yaw())
}), ComponentsModel::RoleNames().key("data"));
}

//////////////////////////////////////////////////
template<>
void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
Expand All @@ -155,6 +141,36 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
lightType = 2;
}

bool visualizeVisual = true;
for (int i = 0; i < _data.header().data_size(); ++i)
{
for (int j = 0;
j < _data.header().data(i).value_size(); ++j)
{
if (_data.header().data(i).key() ==
"visualizeVisual")
{
visualizeVisual = ignition::math::parseInt(
_data.header().data(i).value(0));
}
}
}

bool isLightOn = true;
for (int i = 0; i < _data.header().data_size(); ++i)
{
for (int j = 0;
j < _data.header().data(i).value_size(); ++j)
{
if (_data.header().data(i).key() ==
"isLightOn")
{
isLightOn = ignition::math::parseInt(
_data.header().data(i).value(0));
}
}
}

_item->setData(QString("Light"),
ComponentsModel::RoleNames().key("dataType"));
_item->setData(QList({
Expand All @@ -178,7 +194,9 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
QVariant(_data.spot_outer_angle()),
QVariant(_data.spot_falloff()),
QVariant(_data.intensity()),
QVariant(lightType)
QVariant(lightType),
QVariant(isLightOn),
QVariant(visualizeVisual)
}), ComponentsModel::RoleNames().key("data"));
}

Expand Down Expand Up @@ -454,6 +472,9 @@ void ComponentInspector::LoadConfig(const tinyxml2::XMLElement *)
// Connect model
this->Context()->setContextProperty(
"ComponentsModel", &this->dataPtr->componentsModel);

// Type-specific handlers
this->dataPtr->pose3d = std::make_unique<inspector::Pose3d>(this);
}

//////////////////////////////////////////////////
Expand Down Expand Up @@ -737,12 +758,6 @@ void ComponentInspector::Update(const UpdateInfo &,
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::Pose::typeId)
{
auto comp = _ecm.Component<components::Pose>(this->dataPtr->entity);
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::RenderEngineGuiPlugin::typeId)
{
auto comp = _ecm.Component<components::RenderEngineGuiPlugin>(
Expand Down Expand Up @@ -864,18 +879,10 @@ void ComponentInspector::Update(const UpdateInfo &,
setUnit(item, "m/s");
}
}
else if (typeId == components::WorldPose::typeId)
else if (this->dataPtr->updateViewCbs.find(typeId) !=
this->dataPtr->updateViewCbs.end())
{
auto comp = _ecm.Component<components::WorldPose>(this->dataPtr->entity);
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::WorldPoseCmd::typeId)
{
auto comp = _ecm.Component<components::WorldPoseCmd>(
this->dataPtr->entity);
if (comp)
setData(item, comp->Data());
this->dataPtr->updateViewCbs[typeId](_ecm, item);
}
else if (typeId == components::Material::typeId)
{
Expand Down Expand Up @@ -909,6 +916,13 @@ void ComponentInspector::Update(const UpdateInfo &,
}
}

/////////////////////////////////////////////////
void ComponentInspector::AddUpdateViewCb(ComponentTypeId _id,
inspector::UpdateViewCb _cb)
{
this->dataPtr->updateViewCbs[_id] = _cb;
}

/////////////////////////////////////////////////
bool ComponentInspector::eventFilter(QObject *_obj, QEvent *_event)
{
Expand Down Expand Up @@ -998,34 +1012,15 @@ void ComponentInspector::SetPaused(bool _paused)
this->PausedChanged();
}

/////////////////////////////////////////////////
void ComponentInspector::OnPose(double _x, double _y, double _z, double _roll,
double _pitch, double _yaw)
{
std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
[](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
{
if (!_result)
ignerr << "Error setting pose" << std::endl;
};

ignition::msgs::Pose req;
req.set_id(this->dataPtr->entity);
msgs::Set(req.mutable_position(), math::Vector3d(_x, _y, _z));
msgs::Set(req.mutable_orientation(), math::Quaterniond(_roll, _pitch, _yaw));
auto poseCmdService = "/world/" + this->dataPtr->worldName
+ "/set_pose";
this->dataPtr->node.Request(poseCmdService, req, cb);
}

/////////////////////////////////////////////////
void ComponentInspector::OnLight(
double _rSpecular, double _gSpecular, double _bSpecular, double _aSpecular,
double _rDiffuse, double _gDiffuse, double _bDiffuse, double _aDiffuse,
double _attRange, double _attLinear, double _attConstant,
double _attQuadratic, bool _castShadows, double _directionX,
double _directionY, double _directionZ, double _innerAngle,
double _outerAngle, double _falloff, double _intensity, int _type)
double _outerAngle, double _falloff, double _intensity, int _type,
bool _isLightOn, bool _visualizeVisual)
{
std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
[](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
Expand All @@ -1035,6 +1030,23 @@ void ComponentInspector::OnLight(
};

ignition::msgs::Light req;
{
// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = req.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(_isLightOn);
}
{
// todo(ahcorde) Use the field visualize_visual in light.proto from
// Garden on.
auto header = req.mutable_header()->add_data();
header->set_key("visualizeVisual");
std::string *value = header->add_value();
*value = std::to_string(_visualizeVisual);
}

req.set_name(this->dataPtr->entityName);
req.set_id(this->dataPtr->entity);
ignition::msgs::Set(req.mutable_diffuse(),
Expand Down Expand Up @@ -1237,6 +1249,18 @@ bool ComponentInspector::NestedModel() const
return this->dataPtr->nestedModel;
}

/////////////////////////////////////////////////
const std::string &ComponentInspector::WorldName() const
{
return this->dataPtr->worldName;
}

/////////////////////////////////////////////////
transport::Node &ComponentInspector::TransportNode()
{
return this->dataPtr->node;
}

// Register this plugin
IGNITION_ADD_PLUGIN(ignition::gazebo::ComponentInspector,
ignition::gui::Plugin)

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