Add link menu updates (#1177)

* use entity instead of entity name Signed-off-by: Nate Koenig <[email protected]> * Update link add menu Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Ian Chen <[email protected]>
gazebosim · Nov 9, 2021 · 539295c · 539295c
1 parent 26965e3
commit 539295c
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Showing 7 changed files with 275 additions and 146 deletions.
diff --git a/include/ignition/gazebo/gui/GuiEvents.hh b/include/ignition/gazebo/gui/GuiEvents.hh
@@ -165,8 +165,8 @@ namespace events
     /// \brief Constructor
     /// \param[in] _tranformModeActive is the transform control mode active
     public: explicit ModelEditorAddEntity(QString _entity, QString _type,
-        ignition::gazebo::Entity _parent) : QEvent(kType), entity(_entity),
-        type(_type), parent(_parent)
+        ignition::gazebo::Entity _parent, QString _uri) : QEvent(kType), entity(_entity),
+        type(_type), parent(_parent), uri(_uri)
     {
     }
 
@@ -176,6 +176,12 @@ namespace events
       return this->entity;
     }
 
+    /// \brief Get the URI, if any, associated with the entity to add
+    public: QString Uri() const
+    {
+      return this->uri;
+    }
+
     /// \brief Get the entity type
     public: QString EntityType() const
     {
@@ -194,6 +200,7 @@ namespace events
     private: QString entity;
     private: QString type;
     private: ignition::gazebo::Entity parent;
+    private: QString uri;
   };
 
 }  // namespace events

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -18,6 +18,7 @@
 #include <iostream>
 #include <regex>
 #include <ignition/common/Console.hh>
+#include <ignition/common/MeshManager.hh>
 #include <ignition/common/Profiler.hh>
 #include <ignition/gui/Application.hh>
 #include <ignition/gui/MainWindow.hh>
@@ -1022,17 +1023,43 @@ bool ComponentInspector::NestedModel() const
 }
 
 /////////////////////////////////////////////////
-void ComponentInspector::OnAddEntity(QString _entity, QString _type)
+void ComponentInspector::OnAddEntity(const QString &_entity,
+    const QString &_type)
 {
   // currently just assumes parent is the model
   // todo(anyone) support adding visuals / collisions / sensors to links
   ignition::gazebo::gui::events::ModelEditorAddEntity addEntityEvent(
-      _entity, _type, this->dataPtr->entity);
+      _entity, _type, this->dataPtr->entity, QString(""));
   ignition::gui::App()->sendEvent(
       ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
       &addEntityEvent);
 }
 
+/////////////////////////////////////////////////
+void ComponentInspector::OnLoadMesh(const QString &_entity,
+    const QString &_type, const QString &_mesh)
+{
+  std::string meshStr = _mesh.toStdString();
+  if (QUrl(_mesh).isLocalFile())
+  {
+    // mesh to sdf model
+    common::rtrim(meshStr);
+
+    if (!common::MeshManager::Instance()->IsValidFilename(meshStr))
+    {
+      QString errTxt = QString::fromStdString("Invalid URI: " + meshStr +
+        "\nOnly mesh file types DAE, OBJ, and STL are supported.");
+      return;
+    }
+
+    ignition::gazebo::gui::events::ModelEditorAddEntity addEntityEvent(
+        _entity, _type, this->dataPtr->entity, QString(meshStr.c_str()));
+    ignition::gui::App()->sendEvent(
+        ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+        &addEntityEvent);
+  }
+}
+
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gazebo::ComponentInspector,
                     ignition::gui::Plugin)
diff --git a/src/gui/plugins/component_inspector/ComponentInspector.hh b/src/gui/plugins/component_inspector/ComponentInspector.hh
@@ -334,7 +334,15 @@ namespace gazebo
     /// \brief Callback in Qt thread when an entity is to be added
     /// \param[in] _entity Entity to add, e.g. box, sphere, cylinder, etc
     /// \param[in] _type Entity type, e.g. link, visual, collision, etc
-    public: Q_INVOKABLE void OnAddEntity(QString _entity, QString _type);
+    public: Q_INVOKABLE void OnAddEntity(const QString &_entity,
+                const QString &_type);
+
+    /// \brief Callback to insert a new entity
+    /// \param[in] _entity Entity to add, e.g. box, sphere, cylinder, etc
+    /// \param[in] _type Entity type, e.g. link, visual, collision, etc
+    /// \param[in] _mesh Mesh file to load.
+    public: Q_INVOKABLE void OnLoadMesh(const QString &_entity,
+                const QString &_type, const QString &_mesh);
 
     /// \internal
     /// \brief Pointer to private data.

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qml b/src/gui/plugins/component_inspector/ComponentInspector.qml
@@ -18,6 +18,7 @@ import QtQuick 2.9
 import QtQuick.Controls 1.4
 import QtQuick.Controls 2.2
 import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
 import QtQuick.Layouts 1.3
 import QtQuick.Controls.Styles 1.4
 import IgnGazebo 1.0 as IgnGazebo
@@ -125,6 +126,20 @@ Rectangle {
         _heading);
   }
 
+  // The component for a menu section header
+  Component {
+    id: menuSectionHeading
+    Rectangle {
+      height: childrenRect.height
+
+      Text {
+          text: sectionText 
+          font.pointSize: 10
+          padding: 5
+      }
+    }
+  }
+
   Rectangle {
     id: header
     height: lockButton.height
@@ -218,6 +233,138 @@ Rectangle {
         onClicked: {
           addLinkMenu.open()
         }
+
+        FileDialog {
+          id: loadFileDialog
+          title: "Load mesh"
+          folder: shortcuts.home
+          nameFilters: [ "Collada files (*.dae)", "(*.stl)", "(*.obj)" ]
+          selectMultiple: false
+          selectExisting: true
+          onAccepted: {
+            ComponentInspector.OnLoadMesh("mesh", "link", fileUrl)
+          }
+        }
+
+        Menu {
+          id: addLinkMenu
+
+          Item {
+            Layout.fillWidth: true
+            height: childrenRect.height
+            Loader { 
+              property string sectionText: "Link"
+              sourceComponent: menuSectionHeading
+            }
+          }
+
+          MenuItem {
+            id: boxLink
+            text: "Box"
+            onClicked: {
+              ComponentInspector.OnAddEntity("box", "link");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: capsuleLink
+            text: "Capsule"
+            onClicked: {
+              ComponentInspector.OnAddEntity("capsule", "link");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: cylinderLink
+            text: "Cylinder"
+            onClicked: {
+              ComponentInspector.OnAddEntity("cylinder", "link");
+            }
+          }
+
+          MenuItem {
+            id: ellipsoidLink
+            text: "Ellipsoid"
+            onClicked: {
+              ComponentInspector.OnAddEntity("ellipsoid", "link");
+            }
+          }
+
+          MenuItem {
+            id: emptyLink
+            text: "Empty"
+            onClicked: {
+              ComponentInspector.OnAddEntity("empty", "link");
+            }
+          }
+
+          MenuItem {
+            id: meshLink
+            text: "Mesh"
+            onClicked: {
+              loadFileDialog.open()
+            }
+          }
+
+          MenuItem {
+            id: sphereLink
+            text: "Sphere"
+            onClicked: {
+              ComponentInspector.OnAddEntity("sphere", "link");
+            }
+          }
+
+          MenuSeparator {
+            padding: 0
+            topPadding: 12
+            bottomPadding: 12
+            contentItem: Rectangle {
+              implicitWidth: 200
+              implicitHeight: 1
+              color: "#1E000000"
+            }
+          }
+
+          Item {
+            Layout.fillWidth: true
+            height: childrenRect.height
+            Loader { 
+              property string sectionText: "Light"
+              sourceComponent: menuSectionHeading
+            }
+          }
+
+          MenuItem {
+            id: directionalLink
+            text: "Directional"
+            onClicked: {
+              ComponentInspector.OnAddEntity("directional", "light");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: pointLink
+            text: "Point"
+            onClicked: {
+              ComponentInspector.OnAddEntity("point", "light");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: spotLink
+            text: "Spot"
+            onClicked: {
+              ComponentInspector.OnAddEntity("spot", "light");
+              addLinkMenu.close()
+            }
+          }
+
+          // \todo(anyone) Add joints
+        } 
       }
 
       Label {
@@ -231,110 +378,6 @@ Rectangle {
     }
   }
 
-  ListModel {
-    id: linkItems
-    ListElement {
-      text: "Box"
-      type: "Link"
-    }
-    ListElement {
-      text: "Cylinder"
-      type: "Link"
-    }
-    ListElement {
-      text: "Empty"
-      type: "Link"
-    }
-    ListElement {
-      text: "Sphere"
-      type: "Link"
-    }
-    ListElement {
-      text: "Capsule"
-      type: "Link"
-    }
-    ListElement {
-      text: "Ellipsoid"
-      type: "Link"
-    }
-    ListElement {
-      text: "Directional"
-      type: "Light"
-    }
-    ListElement {
-      text: "Spot"
-      type: "Light"
-    }
-    ListElement {
-      text: "Point"
-      type: "Light"
-    }
-
-    // \todo Uncomment the following items once they are supported
-    // ListElement {
-    //   text: "Mesh"
-    //   type: "Link"
-    // }
-    // ListElement {
-    //   text: "Ball"
-    //   type: "Joint"
-    // }
-    // ListElement {
-    //   text: "Continuous"
-    //   type: "Joint"
-    // }
-    // ListElement {
-    //   text: "Fixed"
-    //   type: "Joint"
-    // }
-    //  ListElement {
-    //   text: "Prismatic"
-    //   type: "Joint"
-    // }
-    // ListElement {
-    //   text: "Revolute"
-    //   type: "Joint"
-    // }
-    //  ListElement {
-    //   text: "Universal"
-    //   type: "Joint"
-    // }
-  }
-  // The delegate for each section header
-  Component {
-    id: sectionHeading
-    Rectangle {
-      height: childrenRect.height
-
-      Text {
-          text: section
-          font.pointSize: 10
-          padding: 5
-      }
-    }
-  }
-
-  Menu {
-    id: addLinkMenu
-    ListView {
-      id: addLinkMenuListView
-      height: addLinkMenu.height
-      delegate: ItemDelegate {
-        width: parent.width
-        text: model.text
-        highlighted: ListView.isCurrentItem
-        onClicked: {
-          ComponentInspector.OnAddEntity(model.text, "link");
-          addLinkMenu.close()
-        }
-      }
-      model: linkItems
-      section.property: "type"
-      section.criteria: ViewSection.FullString
-      section.delegate: sectionHeading
-    }
-  }
-
 
   ListView {
     anchors.top: header.bottom

diff --git a/src/gui/plugins/entity_tree/EntityTree.hh b/src/gui/plugins/entity_tree/EntityTree.hh
@@ -135,8 +135,8 @@ namespace gazebo
     public: Q_INVOKABLE void OnInsertEntity(const QString &_type);
 
     /// \brief Callback to insert a new entity
-    /// \param[in] _type Type of entity to insert
-    public: Q_INVOKABLE void OnLoadMesh(const QString &_type);
+    /// \param[in] _file Mesh file to create a model from.
+    public: Q_INVOKABLE void OnLoadMesh(const QString &_mesh);
 
     // Documentation inherited
     protected: bool eventFilter(QObject *_obj, QEvent *_event) override;