Migrate select tool (#256)

* Move select tool

* Make select tool compile

* Add Selection Panel

* Fix selection

* Move Viewport methods to SelectionManager

* Extract rendering functionality from SelectionManager

- Push necessary functionality to DisplayContext
- Not many more methods needed to extract VisualizationManager dependency
- This allows unittesting of selection_manager

* First simple test for selection_manager

- Add a second constructor for testing
- Delete publisher code (can't work well with tests)

* Inline ViewPort functions

- avoid overloaded functions for Ogre::Viewport in addition to those
  expecting a RenderWindow

* Cleanup of tool base class and failed tool

* Add tests for SelectionTool

* Fix selection behaviour of PointCloud.

* Rework test setup for selection_manager

* Reduce public interface of selection manager

- Some functions may need to be made public again once more of rviz is ported.

* Refactor SelectionHandler

* Add SelectionHandlerTest

* Add tests for selection manager

* Refactor SelectionHandler.

* small first refactorings

- introduce structs to simplify function signatures
- replace typedefs with using

* Move SelectionRenderer to public interface

* First simple refactoring pass

* Refactor SelectionRenderer

* Replace output parameters with class member usage

* Rename namespace rviz_common::selection to rviz_common::interaction

* Extract additional methods in SelectionRenderer

* Add tests for SelectionHandler and fix linters

* Introduce HandlerManager

- extracts the object handling from SelectionManager
- prerequisite for splitting the 3D picking from the SelectionManager
- Add HandlerManager to DisplayContext/ VisualizationManager
- Use HandlerManager from SelectionManager and for SelectionHandler

* Adapt all selection handlers to new interface and add tests

- offer a template function to create SelectionHandlers
- add tests to point_cloud_selection_handler + refactoring
- Fix sloppy following behaviour of the selection box for PoseDisplay and Arrow marker

* Extract non selection parts of SelectionManager into ViewPicker

* Let SelectionManager listen to HandlerManager changes

* Rewrite SelectionHandler tests

* Clean up SelectionManager and SelectionRenderer interface

* Move preRenderPass and postRenderPass runs into renderer

* Encapsulate HandlersMap and improve user experience

- Refactor HandlerManager to no longer expose the handlers map
- returns a HandlerRange instead which can be iterated over and
  contains directly the handlers
- Use deadlock free locking variant
- Add documentation

* Cleanup include statements

* Cleanup style

* Use shared_ptrs instead of raw pointers

Store only weak_ptrs in mocks so that the cleanup can happen during teardown.

* Minor refactoring of ViewPicker

* Try to fix Windows build

* Replace SetUp/Teardown in tests with constructor

* Replace SetUp/Teardown with constructor in the remaining packages

rviz_common/CMakeLists.txt

@@ -108,8 +108,9 @@ set(rviz_common_headers_to_moc
   include/rviz_common/render_panel.hpp
   src/rviz_common/scaled_image_widget.hpp
   src/rviz_common/screenshot_dialog.hpp
-  include/rviz_common/selection/selection_manager.hpp
-  include/rviz_common/selection/selection_manager_iface.hpp
+  include/rviz_common/interaction/selection_manager.hpp
+  include/rviz_common/interaction/selection_manager_iface.hpp
+  include/rviz_common/interaction/selection_renderer.hpp
   src/rviz_common/splash_screen.hpp
   # src/rviz_common/time_panel.hpp
   include/rviz_common/tool.hpp
@@ -185,9 +186,12 @@ set(rviz_common_source_files
   src/rviz_common/ros_integration/ros_node_storage.cpp
   src/rviz_common/scaled_image_widget.cpp
   src/rviz_common/screenshot_dialog.cpp
-  # src/rviz_common/selection_panel.cpp
-  src/rviz_common/selection/selection_handler.cpp
-  src/rviz_common/selection/selection_manager.cpp
+  src/rviz_common/selection_panel.cpp
+  src/rviz_common/interaction/handler_manager.cpp
+  src/rviz_common/interaction/selection_handler.cpp
+  src/rviz_common/interaction/selection_manager.cpp
+  src/rviz_common/interaction/selection_renderer.cpp
+  src/rviz_common/interaction/view_picker.cpp
   src/rviz_common/splash_screen.cpp
   # src/rviz_common/time_panel.cpp
   src/rviz_common/tool_manager.cpp
@@ -346,6 +350,29 @@ if(BUILD_TESTING)
   if((APPLE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug") OR DISPLAYPRESENT OR EnableDisplayTests STREQUAL "True")
     message(STATUS "Enabling tests requiring a display")
 
+    ament_add_gmock(selection_manager_test
+      test/interaction/selection_manager_test.cpp
+      test/interaction/mock_selection_renderer.hpp
+      test/interaction/selection_test_fixture.hpp
+      test/display_context_fixture.cpp)
+    if(TARGET selection_manager_test)
+      target_link_libraries(selection_manager_test
+        rviz_common
+        rviz_ogre_vendor::OgreMain
+        rviz_ogre_vendor::OgreOverlay)
+    endif()
+
+    ament_add_gmock(selection_handler_test
+      test/interaction/selection_handler_test.cpp
+      test/interaction/selection_test_fixture.hpp
+      test/display_context_fixture.cpp)
+    if(TARGET selection_handler_test)
+      target_link_libraries(selection_handler_test
+        rviz_common
+        rviz_ogre_vendor::OgreMain
+        rviz_ogre_vendor::OgreOverlay)
+    endif()
+
     ament_add_gtest(rviz_common_display_test
       test/display_test.cpp
       test/mock_display.cpp

rviz_common/default.rviz

@@ -9,8 +9,8 @@ Panels:
       Splitter Ratio: 0.5
     Tree Height: 464
   # TODO(wjwwood): restore these panels when ported
-  # - Class: rviz/Selection
-  #   Name: Selection
+  - Class: rviz_common/Selection
+    Name: Selection
   # - Class: rviz/Tool Properties
   #   Expanded:
   #     - /2D Pose Estimate1
@@ -58,7 +58,7 @@ Visualization Manager:
     # - Class: rviz/Interact
     #   Hide Inactive Objects: true
     - Class: rviz_default_plugins/MoveCamera
-    # - Class: rviz/Select
+    - Class: rviz_default_plugins/Select
     # - Class: rviz/FocusCamera
     # - Class: rviz/Measure
     # - Class: rviz/SetInitialPose

rviz_common/include/rviz_common/display_context.hpp

@@ -63,12 +63,14 @@ class Node;
 namespace rviz_common
 {
 
-namespace selection
+namespace interaction
 {
 
 class SelectionManagerIface;
+class HandlerManagerIface;
+class ViewPickerIface;
 
-}  // namespace selection
+}  // namespace interaction
 
 class BitAllocator;
 class DisplayFactory;
@@ -112,9 +114,19 @@ class RVIZ_COMMON_PUBLIC DisplayContext : public QObject
 
   /// Return a pointer to the SelectionManager.
   virtual
-  rviz_common::selection::SelectionManagerIface *
+  std::shared_ptr<rviz_common::interaction::SelectionManagerIface>
   getSelectionManager() const = 0;
 
+  /// Return a pointer to the HandlerManager.
+  virtual
+  std::shared_ptr<rviz_common::interaction::HandlerManagerIface>
+  getHandlerManager() const = 0;
+
+  /// Return a pointer to the ViewPicker.
+  virtual
+  std::shared_ptr<rviz_common::interaction::ViewPickerIface>
+  getViewPicker() const = 0;
+
   /// Return the FrameManager instance.
   virtual
   FrameManagerIface *
@@ -200,6 +212,14 @@ class RVIZ_COMMON_PUBLIC DisplayContext : public QObject
   std::shared_ptr<rclcpp::Clock>
   getClock() = 0;
 
+  virtual
+  void
+  lockRender() = 0;
+
+  virtual
+  void
+  unlockRender() = 0;
+
 public Q_SLOTS:
   /// Queue a render.
   /**

rviz_common/include/rviz_common/selection/forwards.hpp → rviz_common/include/rviz_common/interaction/forwards.hpp

@@ -28,8 +28,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef RVIZ_COMMON__SELECTION__FORWARDS_HPP_
-#define RVIZ_COMMON__SELECTION__FORWARDS_HPP_
+#ifndef RVIZ_COMMON__INTERACTION__FORWARDS_HPP_
+#define RVIZ_COMMON__INTERACTION__FORWARDS_HPP_
 
 #include <map>
 #include <set>
@@ -51,16 +51,16 @@
 
 namespace rviz_common
 {
-namespace selection
+namespace interaction
 {
 
-typedef uint32_t CollObjectHandle;
-typedef std::vector<CollObjectHandle> V_CollObject;
-typedef std::vector<V_CollObject> VV_CollObject;
-typedef std::set<CollObjectHandle> S_CollObject;
+using CollObjectHandle = uint32_t;
+using V_CollObject = std::vector<CollObjectHandle>;
+using VV_CollObject = std::vector<V_CollObject>;
+using S_CollObject = std::set<CollObjectHandle>;
 
-typedef std::set<uint64_t> S_uint64;
-typedef std::vector<uint64_t> V_uint64;
+using S_uint64 = std::set<uint64_t>;
+using V_uint64 = std::vector<uint64_t>;
 
 struct Picked
 {
@@ -74,7 +74,7 @@ struct Picked
   S_uint64 extra_handles;
 };
 
-typedef std::unordered_map<CollObjectHandle, Picked> M_Picked;
+using M_Picked = std::unordered_map<CollObjectHandle, Picked>;
 
 inline uint32_t colorToHandle(Ogre::PixelFormat fmt, uint32_t col)
 {
@@ -99,7 +99,7 @@ inline CollObjectHandle colorToHandle(const Ogre::ColourValue & color)
 }
 
 
-}  // namespace selection
+}  // namespace interaction
 }  // namespace rviz_common
 
-#endif  // RVIZ_COMMON__SELECTION__FORWARDS_HPP_
+#endif  // RVIZ_COMMON__INTERACTION__FORWARDS_HPP_

rviz_common/include/rviz_common/interaction/handler_manager.hpp

@@ -0,0 +1,99 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
+ * Copyright (c) 2018, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its contributors
+ *       may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef RVIZ_COMMON__INTERACTION__HANDLER_MANAGER_HPP_
+#define RVIZ_COMMON__INTERACTION__HANDLER_MANAGER_HPP_
+
+#include "handler_manager_iface.hpp"
+
+#include <mutex>
+#include <vector>
+
+#include "rviz_common/interaction/forwards.hpp"
+#include "rviz_common/interaction/handler_manager_listener.hpp"
+#include "rviz_common/interaction/selection_handler.hpp"
+#include "rviz_common/visibility_control.hpp"
+
+
+namespace rviz_common
+{
+
+class DisplayContext;
+
+namespace interaction
+{
+
+class RVIZ_COMMON_PUBLIC HandlerManager
+  : public HandlerManagerIface
+{
+public:
+  HandlerManager();
+
+  ~HandlerManager() override;
+
+  void addHandler(CollObjectHandle handle, SelectionHandlerWeakPtr handler) override;
+
+  void removeHandler(CollObjectHandle handle) override;
+
+  SelectionHandlerPtr getHandler(CollObjectHandle handle) override;
+
+  std::unique_lock<std::recursive_mutex> lock() override;
+
+  std::unique_lock<std::recursive_mutex> lock(std::defer_lock_t defer_lock) override;
+
+  void addListener(HandlerManagerListener * listener) override;
+
+  void removeListener(HandlerManagerListener * listener) override;
+
+  CollObjectHandle createHandle() override;
+
+  void enableInteraction(bool enable) override;
+
+  bool getInteractionEnabled() const override;
+
+  HandlerRange handlers() override;
+
+private:
+  uint32_t uid_counter_;
+
+  bool interaction_enabled_;
+
+  std::recursive_mutex handlers_mutex_;
+  std::recursive_mutex uid_mutex_;
+
+  M_ObjectHandleToSelectionHandler handlers_;
+  std::vector<HandlerManagerListener *> listeners_;
+};
+
+}  // namespace interaction
+}  // namespace rviz_common
+
+#endif  // RVIZ_COMMON__INTERACTION__HANDLER_MANAGER_HPP_