Add IMU component inspector

CMakeLists.txt

@@ -50,7 +50,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat12 REQUIRED)
+ign_find_package(sdformat12 REQUIRED VERSION 12.1)
 set(SDF_VER ${sdformat12_VERSION_MAJOR})
 
 #--------------------------------------

src/cmd/ModelCommandAPI.cc

@@ -21,6 +21,7 @@
 #include <vector>
 #include <map>
 
+#include <sdf/AirPressure.hh>
 #include <sdf/Altimeter.hh>
 #include <sdf/Camera.hh>
 #include <sdf/Imu.hh>
@@ -34,6 +35,7 @@
 #include <ignition/common/Console.hh>
 #include <ignition/common/Filesystem.hh>
 #include <ignition/gazebo/EntityComponentManager.hh>
+#include <ignition/gazebo/components/AirPressureSensor.hh>
 #include <ignition/gazebo/components/Altimeter.hh>
 #include <ignition/gazebo/components/Camera.hh>
 #include <ignition/gazebo/components/ChildLinkName.hh>
@@ -182,6 +184,31 @@ void printNoise(const sdf::Noise &_noise, int _spaces)
     << _noise.DynamicBiasCorrelationTime() << std::endl;
 }
 
+//////////////////////////////////////////////////
+/// \brief Print info about an air pressure sensor.
+/// \param[in] _entity Entity to print information for. Nothing is
+/// printed if the entity is not an air pressure sensor.
+/// \param[in] _ecm The entity component manager.
+/// \param[in] _spaces Number of spaces to indent for every line
+void printAirPressure(const uint64_t _entity,
+    const EntityComponentManager &_ecm, int _spaces)
+{
+  // Get the type and return if the _entity does not have the correct
+  // component.
+  auto comp = _ecm.Component<components::AirPressureSensor>(_entity);
+  if (!comp)
+    return;
+
+  const sdf::Sensor &sensor = comp->Data();
+  const sdf::AirPressure *air = sensor.AirPressureSensor();
+
+  std::cout << std::string(_spaces, ' ') << "- Reference altitude: "
+    << air->ReferenceAltitude() << "\n";
+
+  std::cout << std::string(_spaces, ' ') << "- Pressure noise:\n";
+  printNoise(air->PressureNoise(), _spaces + 2);
+}
+
 //////////////////////////////////////////////////
 /// \brief Print info about an altimeter sensor.
 /// \param[in] _entity Entity to print information for. Nothing is
@@ -603,6 +630,7 @@ void printLinks(const uint64_t _modelEntity,
 
       // Run through all the sensor print statements. Each function will
       // exit early if the the sensor is the wrong type.
+      printAirPressure(sensor, _ecm, spaces + 2);
       printAltimeter(sensor, _ecm, spaces + 2);
       printCamera(sensor, _ecm, spaces + 2);
       printImu(sensor, _ecm, spaces + 2);

src/gui/plugins/component_inspector/AirPressure.cc

@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#include <sdf/AirPressure.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/components/AirPressureSensor.hh>
+#include <ignition/gazebo/EntityComponentManager.hh>
+
+#include "AirPressure.hh"
+#include "ComponentInspector.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+AirPressure::AirPressure(ComponentInspector *_inspector)
+{
+  _inspector->Context()->setContextProperty("AirPressureImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::AirPressureSensor>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+    const sdf::AirPressure *air = comp->Data().AirPressureSensor();
+
+    _item->setData(QString("AirPressure"),
+        ComponentsModel::RoleNames().key("dataType"));
+    _item->setData(QList({
+      QVariant(air->ReferenceAltitude()),
+      QVariant(air->PressureNoise().Mean()),
+      QVariant(air->PressureNoise().BiasMean()),
+      QVariant(air->PressureNoise().StdDev()),
+      QVariant(air->PressureNoise().BiasStdDev()),
+      QVariant(air->PressureNoise().DynamicBiasStdDev()),
+      QVariant(air->PressureNoise().DynamicBiasCorrelationTime()),
+    }), ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::AirPressureSensor::typeId, creator);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void AirPressure::OnAirPressureNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::AirPressureSensor>(
+        this->inspector->Entity());
+    if (comp)
+    {
+      sdf::AirPressure *airpressure = comp->Data().AirPressureSensor();
+      if (airpressure)
+      {
+        sdf::Noise noise = airpressure->PressureNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        airpressure->SetPressureNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the air pressure data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the air pressure component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void AirPressure::OnAirPressureReferenceAltitude(
+    double _referenceAltitude)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::AirPressureSensor>(
+        this->inspector->Entity());
+    if (comp)
+    {
+      sdf::AirPressure *airpressure = comp->Data().AirPressureSensor();
+      if (airpressure)
+      {
+        airpressure->SetReferenceAltitude(_referenceAltitude);
+      }
+      else
+        ignerr << "Unable to get the air pressure data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the air pressure component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}

src/gui/plugins/component_inspector/AirPressure.hh

@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_AIRPRESSURE_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_AIRPRESSURE_HH_
+
+#include <ignition/gazebo/gui/GuiSystem.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspector;
+
+  /// \brief A class that handles air pressure changes.
+  class AirPressure : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit AirPressure(ComponentInspector *_inspector);
+
+    /// \brief This function is called when a user changes values in the
+    /// air pressure sensor.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnAirPressureNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes the air pressure
+    /// reference altitude.
+    /// \param[in] _referenceAltitude New reference altitude value.
+    public: Q_INVOKABLE void OnAirPressureReferenceAltitude(
+                double _referenceAltitude);
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// update callbacks that modify the ECM.
+    private: ComponentInspector *inspector{nullptr};
+  };
+}
+}
+#endif

src/gui/plugins/component_inspector/AirPressure.qml

@@ -0,0 +1,134 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+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 "qrc:/ComponentInspector"
+import "qrc:/qml"
+
+// Item displaying air pressure noise information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspector.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+
+      // Set the 'expandingHeaderText' value to override the default header
+      // values, which is based on the model.
+      expandingHeaderText: "Air pressure"
+      expandingHeaderToolTip: "Air pressure properties"
+    }
+
+    // This is the content that will be expanded/contracted using the
+    // ExpandingHeader above. Note the "id: content" attribute.
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? layout.height : 0
+      clip: true
+      color: "transparent"
+      Layout.leftMargin: 4
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ColumnLayout {
+        id: layout
+        width: parent.width
+
+        RowLayout {
+          id: rowLayout
+          width: layout.width
+
+          Text {
+            leftPadding: 10
+            id: referenceAltitudeText
+            text: "Reference altitude (m)"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+          StateAwareSpin {
+            id: referenceAltitudeSpin
+            Layout.fillWidth: true
+            height: 40
+            numberValue: model.data[0]
+            minValue: 0
+            maxValue: 100000
+            stepValue: 0.1
+            // Connect to the onNoiseUpdate signal in Noise.qml
+            Component.onCompleted: {
+              referenceAltitudeSpin.onChange.connect(
+                  AirPressureImpl.OnAirPressureReferenceAltitude)
+            }
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: noiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Pressure Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the pressure noise values.
+        Noise {
+          id: pressureNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[1]
+          meanBias: model.data[2]
+          stdDevValue: model.data[3]
+          stdDevBias: model.data[4]
+          dynamicBiasStdDev: model.data[5]
+          dynamicBiasCorrelationTime: model.data[6]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            pressureNoise.onNoiseUpdate.connect(
+                AirPressureImpl.OnAirPressureNoise)
+          }
+        }
+      }
+    }
+  }
+}