Add sensors to a link via the GUI (#1188)

* add an add entity button to component inspector. Currently only enabled for models Signed-off-by: Ian Chen <[email protected]> * add model editor gui plugin that inserts visuals to the scene in the render thread Signed-off-by: Ian Chen <[email protected]> * write to ECM Signed-off-by: Ian Chen <[email protected]> * get updated GUI ECM info in world control CB Signed-off-by: Ashton Larkin <[email protected]> * support adding light links Signed-off-by: Ian Chen <[email protected]> * working on adding tests Signed-off-by: Ashton Larkin <[email protected]> * remove TODO note, issue fixed by #1131 Signed-off-by: Ashton Larkin <[email protected]> * notify other GUI plugins of added/removed entities via GUI events Signed-off-by: Ashton Larkin <[email protected]> * use const ref for constructor input params Signed-off-by: Ashton Larkin <[email protected]> * guarantee 64 bit entity IDs with gazebo::Entity instead of unsigned int Signed-off-by: Ashton Larkin <[email protected]> * testing makr as new entity func Signed-off-by: Ian Chen <[email protected]> * rm printouts Signed-off-by: Ian Chen <[email protected]> * register type Signed-off-by: Ian Chen <[email protected]> * refactor render util Signed-off-by: Ian Chen <[email protected]> * apply GUI ECM's diff to server ECM at end of pause interval Signed-off-by: Ashton Larkin <[email protected]> * use gui event to update server Signed-off-by: Ashton Larkin <[email protected]> * Working on sensor addition and editing Signed-off-by: Nate Koenig <[email protected]> * handle step and support original control service Signed-off-by: Ashton Larkin <[email protected]> * Reduced code duplication Signed-off-by: Nate Koenig <[email protected]> * Set gazebo's default to use the event based system Signed-off-by: Nate Koenig <[email protected]> * Testing things out Signed-off-by: Nate Koenig <[email protected]> * updates Signed-off-by: Nate Koenig <[email protected]> * workaround for avoiding crash on exit Signed-off-by: Ian Chen <[email protected]> * refactor, comment out unused menu items Signed-off-by: Ian Chen <[email protected]> * remove commented out code, add CreateLight function Signed-off-by: Ian Chen <[email protected]> * add model editor src files Signed-off-by: Ian Chen <[email protected]> * remove more commented out code Signed-off-by: Ian Chen <[email protected]> * Fix build Signed-off-by: Nate Koenig <[email protected]> * use entity instead of entity name Signed-off-by: Nate Koenig <[email protected]> * Update link add menu Signed-off-by: Nate Koenig <[email protected]> * Updates Signed-off-by: Nate Koenig <[email protected]> * Added back in sensor menu Signed-off-by: Nate Koenig <[email protected]> * Updates Signed-off-by: Nate Koenig <[email protected]> * Updates Signed-off-by: Nate Koenig <[email protected]> * Updates Signed-off-by: Nate Koenig <[email protected]> * use entity instead of entity name (#1176) Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Adding sensors Signed-off-by: Nate Koenig <[email protected]> * 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]> * fix adding ellipsoid Signed-off-by: Ian Chen <[email protected]> * merge model_editor into component_inspector Signed-off-by: Ian Chen <[email protected]> * fixing warnings Signed-off-by: Ian Chen <[email protected]> * Adjust tool tips Signed-off-by: Nate Koenig <[email protected]> * Updates Signed-off-by: Nate Koenig <[email protected]> * updates Signed-off-by: Nate Koenig <[email protected]> * updates Signed-off-by: Nate Koenig <[email protected]> * Adding lidar menu Signed-off-by: Nate Koenig <[email protected]> * alphabetize Signed-off-by: Nate Koenig <[email protected]> * Comment out sensors not supported Signed-off-by: Nate Koenig <[email protected]> * Added segmentation camera Signed-off-by: Nate Koenig <[email protected]> * fix id Signed-off-by: Nate Koenig <[email protected]> * fix codecheck Signed-off-by: Nate Koenig <[email protected]> * Fix submenue Signed-off-by: Nate Koenig <[email protected]> * Remove lidar menu, and address comments Signed-off-by: Nate Koenig <[email protected]> * fix codecheck Signed-off-by: Nate Koenig <[email protected]> * Merged Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
gazebosim · Dec 2, 2021 · 93893f0 · 93893f0
1 parent e427bed
commit 93893f0
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Showing 19 changed files with 599 additions and 237 deletions.
diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh
@@ -83,7 +83,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \param[in] _ecm Const reference to the entity component manager
     /// \param[in] _entities Entities to create visuals for.
     public: void CreateVisualsForEntities(const EntityComponentManager &_ecm,
-                const std::set<Entity> &_entities);
+                                          const std::set<Entity> &_entities);
 
     /// \brief Set the rendering engine to use
     /// \param[in] _engineName Name of the rendering engine.

diff --git a/src/gui/plugins/component_inspector/AirPressure.cc b/src/gui/plugins/component_inspector/AirPressure.cc
@@ -68,7 +68,7 @@ Q_INVOKABLE void AirPressure::OnAirPressureNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::AirPressureSensor>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::AirPressure *airpressure = comp->Data().AirPressureSensor();
@@ -100,7 +100,7 @@ Q_INVOKABLE void AirPressure::OnAirPressureReferenceAltitude(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::AirPressureSensor>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::AirPressure *airpressure = comp->Data().AirPressureSensor();

diff --git a/src/gui/plugins/component_inspector/Altimeter.cc b/src/gui/plugins/component_inspector/Altimeter.cc
@@ -72,7 +72,7 @@ Q_INVOKABLE void Altimeter::OnAltimeterPositionNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::Altimeter>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Altimeter *altimeter = comp->Data().AltimeterSensor();
@@ -106,7 +106,7 @@ Q_INVOKABLE void Altimeter::OnAltimeterVelocityNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::Altimeter>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Altimeter *altimeter = comp->Data().AltimeterSensor();

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -1054,7 +1054,7 @@ Entity ComponentInspector::GetEntity() const
 }
 
 /////////////////////////////////////////////////
-void ComponentInspector::SetEntity(const Entity &_entity)
+void ComponentInspector::SetEntity(const gazebo::Entity &_entity)
 {
   // If nothing is selected, display world properties
   if (_entity == kNullEntity)

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.hh b/src/gui/plugins/component_inspector/ComponentInspector.hh
@@ -346,7 +346,7 @@ namespace gazebo
 
     /// \brief Set the entity currently inspected.
     /// \param[in] _entity Entity ID.
-    public: Q_INVOKABLE void SetEntity(const Entity &_entity);
+    public: Q_INVOKABLE void SetEntity(const gazebo::Entity &_entity);
 
     /// \brief Notify that entity has changed.
     signals: void EntityChanged();

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qml b/src/gui/plugins/component_inspector/ComponentInspector.qml
@@ -306,34 +306,34 @@ Rectangle {
       }
 
       ToolButton {
-        id: addButton
+        id: addLinkButton
         checkable: false
         text: "Add entity"
         visible: entityType == "model"
         contentItem: Image {
           fillMode: Image.Pad
           horizontalAlignment: Image.AlignHCenter
           verticalAlignment: Image.AlignVCenter
-          source: "qrc:/Gazebo/images/plus.png"
+          source: "qrc:/Gazebo/images/plus-link.png"
           sourceSize.width: 18;
           sourceSize.height: 18;
         }
-        ToolTip.text: "Add an entity to a model"
+        ToolTip.text: "Add a link or light to a model"
         ToolTip.visible: hovered
         ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
         onClicked: {
-          getSimPaused() ? addLinkMenu.open() : pausePopup.open()
+          getSimPaused() ? addLinkMenu.open() : linkAddPausePopup.open()
         }
         Popup {
-          id: pausePopup
+          id: linkAddPausePopup
           modal: true
           focus: true
-          x: parent.width - popupContentText.width
-          y: parent.height + popupContentText.height
+          x: parent.width - linkAdPopupContentText.width
+          y: parent.height + linkAdPopupContentText.height
           contentItem: Text {
-            id: popupContentText
+            id: linkAdPopupContentText
             padding: 10
-            text: "Pause simulation to add an entity"
+            text: "Pause simulation to add a link or light"
           }
           closePolicy: Popup.CloseOnEscape | Popup.CloseOnPressOutsideParent
         }
@@ -350,7 +350,6 @@ Rectangle {
           }
         }
 
-
         Menu {
           id: addLinkMenu
 
@@ -577,7 +576,175 @@ Rectangle {
               addLinkMenu.close()
             }
           }
+        }
+      }
 
+      ToolButton {
+        id: addSensorButton
+        checkable: false
+        text: "Add sensor"
+        visible: entityType == "link"
+        contentItem: Image {
+          fillMode: Image.Pad
+          horizontalAlignment: Image.AlignHCenter
+          verticalAlignment: Image.AlignVCenter
+          source: "qrc:/Gazebo/images/plus-sensor.png"
+          sourceSize.width: 18;
+          sourceSize.height: 18;
+        }
+        ToolTip.text: "Add a sensor to a link"
+        ToolTip.visible: hovered
+        ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+        onClicked: {
+          getSimPaused() ? addSensorMenu.open() : sensorAddPausePopup.open()
+        }
+        Popup {
+          id: sensorAddPausePopup
+          modal: true
+          focus: true
+          x: parent.width - sensorAddPopupContentText.width
+          y: parent.height + sensorAddPopupContentText.height
+          contentItem: Text {
+            id: sensorAddPopupContentText
+            padding: 10
+            text: "Pause simulation to add a sensor"
+          }
+          closePolicy: Popup.CloseOnEscape | Popup.CloseOnPressOutsideParent
+        }
+
+        Menu {
+          id: addSensorMenu
+          MenuItem {
+            id: airPressure
+            text: "Air pressure"
+            onTriggered: {
+              ComponentInspector.OnAddEntity(airPressure.text, "sensor");
+            }
+          }
+
+          MenuItem {
+            id: altimeter
+            text: "Altimeter"
+            onTriggered: {
+              ComponentInspector.OnAddEntity(altimeter.text, "sensor");
+            }
+          }
+
+          MenuItem {
+            id: cameraSensorMenu
+            text: "Camera >"
+
+            MouseArea {
+              id: viewSubCameraArea
+              anchors.fill: parent
+              hoverEnabled: true
+              onEntered: cameraSubmenu.open()
+            }
+          }
+
+          MenuItem {
+            id: contact
+            text: "Contact"
+            onTriggered: {
+              ComponentInspector.OnAddEntity(contact.text, "sensor");
+            }
+          }
+
+          MenuItem {
+            id: forceTorque
+            text: "Force torque"
+            onTriggered: {
+              ComponentInspector.OnAddEntity(forceTorque.text, "sensor");
+            }
+          }
+
+          /*MenuItem {
+            id: gps
+            text: "GPS"
+            onTriggered: {
+              ComponentInspector.OnAddEntity(gps.text, "sensor");
+            }
+          }*/
+
+          MenuItem {
+            id: gpuLidar
+            text: "GPU Lidar"
+             onTriggered: {
+              ComponentInspector.OnAddEntity("gpu_lidar", "sensor");
+            }
+          }
+
+          MenuItem {
+            id: imu
+            text: "IMU"
+            onTriggered: {
+              ComponentInspector.OnAddEntity(imu.text, "sensor");
+            }
+          }
+
+          MenuItem {
+            id: magnetometer
+            text: "Magnetometer"
+            onTriggered: {
+              ComponentInspector.OnAddEntity(magnetometer.text, "sensor");
+            }
+          }
+        }
+
+        Menu {
+          id: cameraSubmenu
+          x: addSensorMenu.x - addSensorMenu.width
+          y: addSensorMenu.y + cameraSensorMenu.y
+
+          MenuItem {
+            id: depth
+            text: "Depth"
+             onTriggered: {
+              ComponentInspector.OnAddEntity("depth_camera", "sensor");
+            }
+          }
+          MenuItem {
+            id: logical
+            text: "Logical"
+             onTriggered: {
+              ComponentInspector.OnAddEntity("logical_camera", "sensor");
+            }
+          }
+          MenuItem {
+            id: monocular
+            text: "Monocular"
+             onTriggered: {
+              ComponentInspector.OnAddEntity("camera", "sensor");
+            }
+          }
+          /*MenuItem {
+            id: multicamera
+            text: "Multicamera"
+             onTriggered: {
+              ComponentInspector.OnAddEntity("multicamera", "sensor");
+            }
+          }*/
+          MenuItem {
+            id: rgbd
+            text: "RGBD"
+             onTriggered: {
+              ComponentInspector.OnAddEntity("rgbd_camera", "sensor");
+            }
+          }
+          MenuItem {
+            id: segmentation
+            text: "Segmentation"
+             onTriggered: {
+              ComponentInspector.OnAddEntity("segmentation_camera", "sensor");
+            }
+          }
+          MenuItem {
+            id: thermal
+            text: "Thermal"
+             onTriggered: {
+              ComponentInspector.OnAddEntity("thermal_camera", "sensor");
+            }
+          }
         }
       }
 
@@ -592,7 +759,6 @@ Rectangle {
     }
   }
 
-
   ListView {
     anchors.top: header.bottom
     anchors.bottom: parent.bottom

diff --git a/src/gui/plugins/component_inspector/ExpandingTypeHeader.qml b/src/gui/plugins/component_inspector/ExpandingTypeHeader.qml
@@ -49,7 +49,7 @@ Rectangle {
       fillMode: Image.Pad
       Layout.alignment : Qt.AlignVCenter
       source: content.show ?
-          "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png"
+          "qrc:/Gazebo/images/chevron-down.svg" : "qrc:/Gazebo/images/chevron-right.svg"
     }
     TypeHeader {
       id: typeHeader

diff --git a/src/gui/plugins/component_inspector/Imu.cc b/src/gui/plugins/component_inspector/Imu.cc
@@ -103,7 +103,7 @@ Q_INVOKABLE void Imu::OnLinearAccelerationXNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::Imu>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Imu *imu = comp->Data().ImuSensor();
@@ -137,7 +137,7 @@ Q_INVOKABLE void Imu::OnLinearAccelerationYNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::Imu>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Imu *imu = comp->Data().ImuSensor();
@@ -171,7 +171,7 @@ Q_INVOKABLE void Imu::OnLinearAccelerationZNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::Imu>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Imu *imu = comp->Data().ImuSensor();
@@ -205,7 +205,7 @@ Q_INVOKABLE void Imu::OnAngularVelocityXNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::Imu>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Imu *imu = comp->Data().ImuSensor();
@@ -239,7 +239,7 @@ Q_INVOKABLE void Imu::OnAngularVelocityYNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::Imu>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Imu *imu = comp->Data().ImuSensor();
@@ -273,7 +273,7 @@ Q_INVOKABLE void Imu::OnAngularVelocityZNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::Imu>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Imu *imu = comp->Data().ImuSensor();

diff --git a/src/gui/plugins/component_inspector/JointType.cc b/src/gui/plugins/component_inspector/JointType.cc
@@ -81,10 +81,10 @@ Q_INVOKABLE void JointType::OnJointType(QString _jointType)
       [=](EntityComponentManager &_ecm)
   {
     components::JointType *comp =
-      _ecm.Component<components::JointType>(this->inspector->Entity());
+      _ecm.Component<components::JointType>(this->inspector->GetEntity());
 
     components::ParentEntity *parentComp =
-      _ecm.Component<components::ParentEntity>(this->inspector->Entity());
+      _ecm.Component<components::ParentEntity>(this->inspector->GetEntity());
 
     if (comp && parentComp)
     {

diff --git a/src/gui/plugins/component_inspector/Lidar.cc b/src/gui/plugins/component_inspector/Lidar.cc
@@ -82,7 +82,7 @@ Q_INVOKABLE void Lidar::OnLidarNoise(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::GpuLidar>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Lidar *lidar = comp->Data().LidarSensor();
@@ -120,7 +120,7 @@ Q_INVOKABLE void Lidar::OnLidarChange(
       [=](EntityComponentManager &_ecm)
   {
     auto comp = _ecm.Component<components::GpuLidar>(
-        this->inspector->Entity());
+        this->inspector->GetEntity());
     if (comp)
     {
       sdf::Lidar *lidar = comp->Data().LidarSensor();