Allow user to modify joint type (#1198)

* Support editing air pressure sensor in the GUI

Signed-off-by: Nate Koenig <[email protected]>

* Add noise to qrc

Signed-off-by: Nate Koenig <[email protected]>

* Add noise to qrc

Signed-off-by: Nate Koenig <[email protected]>

* Fix lint

Signed-off-by: Michael Carroll <[email protected]>

* Update sensor icon

Signed-off-by: Nate Koenig <[email protected]>

* Move AirPressure functions out of ComponentInspector (#1179)

Signed-off-by: Louise Poubel <[email protected]>

* Fix get decimals, and address comments

Signed-off-by: Nate Koenig <[email protected]>

* cleanup and simplification

Signed-off-by: Nate Koenig <[email protected]>

* Require sdf 12.1.0

Signed-off-by: Nate Koenig <[email protected]>

* missign width

Signed-off-by: Nate Koenig <[email protected]>

* Added simulation state aware spin box

Signed-off-by: Nate Koenig <[email protected]>

* Remove console output

Signed-off-by: Nate Koenig <[email protected]>

* Allow user to modify joint type

Signed-off-by: Michael Carroll <[email protected]>

* Updated to use a separate class, and consolidate the look

Signed-off-by: Nate Koenig <[email protected]>

* Added recreate to joint add

Signed-off-by: Nate Koenig <[email protected]>

Co-authored-by: Nate Koenig <[email protected]>
Co-authored-by: Louise Poubel <[email protected]>

src/gui/plugins/component_inspector/CMakeLists.txt

@@ -4,6 +4,7 @@ gz_add_gui_plugin(ComponentInspector
     Altimeter.cc
     ComponentInspector.cc
     Imu.cc
+    JointType.cc
     Lidar.cc
     Magnetometer.cc
     ModelEditor.cc
@@ -13,6 +14,7 @@ gz_add_gui_plugin(ComponentInspector
     Altimeter.hh
     ComponentInspector.hh
     Imu.hh
+    JointType.hh
     Lidar.hh
     Magnetometer.hh
     ModelEditor.hh

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -74,6 +74,7 @@
 #include "Altimeter.hh"
 #include "ComponentInspector.hh"
 #include "Imu.hh"
+#include "JointType.hh"
 #include "Lidar.hh"
 #include "Magnetometer.hh"
 #include "ModelEditor.hh"
@@ -130,6 +131,9 @@ namespace ignition::gazebo
     /// \brief Imu inspector elements
     public: std::unique_ptr<ignition::gazebo::Imu> imu;
 
+    /// \brief Joint inspector elements
+    public: std::unique_ptr<ignition::gazebo::JointType> joint;
+
     /// \brief Lidar inspector elements
     public: std::unique_ptr<ignition::gazebo::Lidar> lidar;
 
@@ -458,6 +462,9 @@ void ComponentInspector::LoadConfig(const tinyxml2::XMLElement *)
   // Create the imu
   this->dataPtr->imu = std::make_unique<Imu>(this);
 
+  // Create the joint
+  this->dataPtr->joint = std::make_unique<JointType>(this);
+
   // Create the lidar
   this->dataPtr->lidar = std::make_unique<Lidar>(this);
 

src/gui/plugins/component_inspector/ComponentInspector.hh

@@ -23,6 +23,7 @@
 #include <string>
 
 #include <sdf/Physics.hh>
+#include <sdf/Joint.hh>
 
 #include <ignition/math/Pose3.hh>
 #include <ignition/math/Vector3.hh>

src/gui/plugins/component_inspector/ComponentInspector.qrc

@@ -6,6 +6,7 @@
   <file>ComponentInspector.qml</file>
   <file>ExpandingTypeHeader.qml</file>
   <file>Imu.qml</file>
+  <file>JointType.qml</file>
   <file>Lidar.qml</file>
   <file>LidarScan.qml</file>
   <file>Light.qml</file>

src/gui/plugins/component_inspector/JointType.cc

@@ -0,0 +1,124 @@
+/*
+ * 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/Joint.hh>
+
+#include <ignition/common/Console.hh>
+#include "ignition/gazebo/components/JointType.hh"
+#include "ignition/gazebo/components/ParentEntity.hh"
+#include "ignition/gazebo/components/Recreate.hh"
+#include <ignition/gazebo/EntityComponentManager.hh>
+
+#include "JointType.hh"
+#include "ComponentInspector.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+JointType::JointType(ComponentInspector *_inspector)
+{
+  _inspector->Context()->setContextProperty("JointTypeImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::JointType>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+
+    const sdf::JointType joint = comp->Data();
+
+    _item->setData(QString("JointType"),
+        ComponentsModel::RoleNames().key("dataType"));
+
+    QString jointType;
+    if (joint == sdf::JointType::BALL)
+      jointType = "Ball";
+    else if (joint == sdf::JointType::CONTINUOUS)
+      jointType = "Continuous";
+    else if (joint == sdf::JointType::FIXED)
+      jointType = "Fixed";
+    else if (joint == sdf::JointType::GEARBOX)
+      jointType = "Gearbox";
+    else if (joint == sdf::JointType::PRISMATIC)
+      jointType = "Prismatic";
+    else if (joint == sdf::JointType::REVOLUTE)
+      jointType = "Revolute";
+    else if (joint == sdf::JointType::REVOLUTE2)
+      jointType = "Revolute2";
+    else if (joint == sdf::JointType::SCREW)
+      jointType = "Screw";
+    else if (joint == sdf::JointType::UNIVERSAL)
+      jointType = "Universal";
+
+    _item->setData(jointType, ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::JointType::typeId, creator);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void JointType::OnJointType(QString _jointType)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    components::JointType *comp =
+      _ecm.Component<components::JointType>(this->inspector->Entity());
+
+    components::ParentEntity *parentComp =
+      _ecm.Component<components::ParentEntity>(this->inspector->Entity());
+
+    if (comp && parentComp)
+    {
+      if (_jointType == "Ball")
+        comp->Data() = sdf::JointType::BALL;
+      else if (_jointType == "Continuous")
+        comp->Data() = sdf::JointType::CONTINUOUS;
+      else if (_jointType == "Fixed")
+        comp->Data() = sdf::JointType::FIXED;
+      else if (_jointType == "Gearbox")
+        comp->Data() = sdf::JointType::GEARBOX;
+      else if (_jointType == "Prismatic")
+        comp->Data() = sdf::JointType::PRISMATIC;
+      else if (_jointType == "Revolute")
+        comp->Data() = sdf::JointType::REVOLUTE;
+      else if (_jointType == "Revolute2")
+        comp->Data() = sdf::JointType::REVOLUTE2;
+      else if (_jointType == "Screw")
+        comp->Data() = sdf::JointType::SCREW;
+      else if (_jointType == "Universal")
+        comp->Data() = sdf::JointType::UNIVERSAL;
+
+      // Make sure to mark the parent as needing recreation. This will
+      // tell the server to rebuild the model with the new link.
+      _ecm.CreateComponent(parentComp->Data(), components::Recreate());
+    }
+    else if (!comp)
+    {
+      ignerr << "Unable to get the joint type component.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the joint's parent entity component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}

src/gui/plugins/component_inspector/JointType.hh

@@ -0,0 +1,47 @@
+/*
+ * 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_JOINT_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_JOINT_HH_
+
+#include <ignition/gazebo/gui/GuiSystem.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspector;
+
+  /// \brief A class that handles joint changes.
+  class JointType : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit JointType(ComponentInspector *_inspector);
+
+    /// \brief Callback in Qt thread when joint type changes.
+    /// \param[in] _surface Surface model
+    public: Q_INVOKABLE void OnJointType(QString _jointType);
+
+    /// \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/JointType.qml

@@ -0,0 +1,108 @@
+/*
+ * 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.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspector"
+import "qrc:/qml"
+
+// Item displaying joint type information.
+Rectangle {
+  id: jointTypeComponent
+  height: jointType.height
+  width: componentInspector.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  ListModel {
+    id: jointTypes
+    ListElement { type: "Ball" }
+    ListElement { type: "Continuous" }
+    ListElement { type: "Fixed" }
+    ListElement { type: "Gearbox" }
+    ListElement { type: "Prismatic" }
+    ListElement { type: "Revolute" }
+    ListElement { type: "Revolute2" }
+    ListElement { type: "Screw" }
+    ListElement { type: "Universal" }
+  }
+
+  function indexFromModel(_model) {
+    if (_model && _model.data !== undefined)
+    {
+      for (var i = 0; i < jointTypes.count; i++)
+      {
+        if (jointTypes.get(i).type === _model.data)
+        {
+          return i
+        }
+      }
+    }
+    return -1
+  }
+
+  FontMetrics {
+    id: fontMetrics
+    font.family: "Roboto"
+  }
+
+  RowLayout {
+    anchors.fill: parent
+
+    Item {
+      height: parent.height
+      width: margin + indentation
+    }
+
+    TypeHeader {
+      id: typeHeader
+    }
+
+    QtObject{
+      // Workaround to keep from using the ListModel as model
+      id: indexObj
+      property int index: indexFromModel(model)
+    }
+
+    ComboBox {
+      id: jointType
+      padding: 0
+      textRole: "type"
+      model: jointTypes
+      currentIndex: indexObj.index
+      Layout.alignment: Qt.AlignRight
+      background: Rectangle {
+        color: "transparent"
+        implicitWidth: 140
+        border.width: 1
+        border.color: "#dedede"
+      }
+      enabled: componentInspector.getSimPaused()
+      onActivated: {
+        JointTypeImpl.OnJointType(currentText)
+      }
+    }
+  }
+}

src/gui/plugins/component_inspector/ModelEditor.cc

@@ -225,6 +225,12 @@ void ModelEditor::Update(const UpdateInfo &,
       auto entity =
         this->dataPtr->entityCreator->CreateEntities(&jointSdf, true);
       this->dataPtr->entityCreator->SetParent(entity, eta.parentEntity);
+      // Make sure to mark the parent as needing recreation. This will
+      // tell the server to rebuild the model with the new link.
+      _ecm.CreateComponent(eta.parentEntity, components::Recreate());
+
+      // traverse the tree and add all new entities created by the entity
+      // creator to the set
       entities.push_back(entity);
     }
   }