Added altimeter sensor inspector

src/gui/plugins/component_inspector/Altimeter.cc

@@ -0,0 +1,131 @@
+/*
+ * 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/Altimeter.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/components/Altimeter.hh>
+
+#include "Altimeter.hh"
+#include "ComponentInspector.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+Altimeter::Altimeter(ComponentInspector *_inspector)
+{
+  _inspector->Context()->setContextProperty("AltimeterImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::Altimeter>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+    const sdf::Altimeter *alt = comp->Data().AltimeterSensor();
+
+    _item->setData(QString("Altimeter"),
+        ComponentsModel::RoleNames().key("dataType"));
+    _item->setData(QList({
+      QVariant(alt->VerticalPositionNoise().Mean()),
+      QVariant(alt->VerticalPositionNoise().BiasMean()),
+      QVariant(alt->VerticalPositionNoise().StdDev()),
+      QVariant(alt->VerticalPositionNoise().BiasStdDev()),
+      QVariant(alt->VerticalPositionNoise().DynamicBiasStdDev()),
+      QVariant(alt->VerticalPositionNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(alt->VerticalVelocityNoise().Mean()),
+      QVariant(alt->VerticalVelocityNoise().BiasMean()),
+      QVariant(alt->VerticalVelocityNoise().StdDev()),
+      QVariant(alt->VerticalVelocityNoise().BiasStdDev()),
+      QVariant(alt->VerticalVelocityNoise().DynamicBiasStdDev()),
+      QVariant(alt->VerticalVelocityNoise().DynamicBiasCorrelationTime()),
+    }), ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::Altimeter::typeId, creator);
+}
+/////////////////////////////////////////////////
+Q_INVOKABLE void Altimeter::OnAltimeterPositionNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Altimeter>(
+        this->inspector->Entity());
+    if (comp)
+    {
+      sdf::Altimeter *altimeter = comp->Data().AltimeterSensor();
+      if (altimeter)
+      {
+        sdf::Noise noise = altimeter->VerticalPositionNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        altimeter->SetVerticalPositionNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the altimeter data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the altimeter component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Altimeter::OnAltimeterVelocityNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Altimeter>(
+        this->inspector->Entity());
+    if (comp)
+    {
+      sdf::Altimeter *altimeter = comp->Data().AltimeterSensor();
+      if (altimeter)
+      {
+        sdf::Noise noise = altimeter->VerticalVelocityNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        altimeter->SetVerticalVelocityNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the altimeter data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the altimeter component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}

src/gui/plugins/component_inspector/Altimeter.hh

@@ -0,0 +1,71 @@
+/*
+ * 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_ALTIMETER_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_ALTIMETER_HH_
+
+#include <ignition/gazebo/gui/GuiSystem.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspector;
+
+  /// \brief A class that handles altimeter changes.
+  class Altimeter : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: Altimeter(ComponentInspector *_inspector);
+
+    /// \brief This function is called when a user changes values in the
+    /// altimeter sensor's position noise.
+    /// \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 OnAltimeterPositionNoise(
+                  double _mean, double _meanBias, double _stdDev,
+                  double _stdDevBias, double _dynamicBiasStdDev,
+                  double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// altimeter sensor's velocity noise.
+    /// \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 OnAltimeterVelocityNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \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/Altimeter.qml

@@ -0,0 +1,144 @@
+/*
+ * 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 altimeter 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: "Altimeter noise"
+      expandingHeaderToolTip: "Altimeter noise 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
+
+        // Space out the section header.
+        Rectangle {
+          id: verticalPositionNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            id: verticalPositionNoiseText
+            text: "Vertical Position Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the position noise values.
+        Noise {
+          id: verticalPositionNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[0]
+          meanBias: model.data[1]
+          stdDevValue: model.data[2]
+          stdDevBias: model.data[3]
+          dynamicBiasStdDev: model.data[4]
+          dynamicBiasCorrelationTime: model.data[5]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            verticalPositionNoise.onNoiseUpdate.connect(
+                AltimeterImpl.OnAltimeterPositionNoise)
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: verticalVelocityNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Vertical Velocity Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the velocity noise values.
+        Noise {
+          id: verticalVelocityNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[6]
+          meanBias: model.data[7]
+          stdDevValue: model.data[8]
+          stdDevBias: model.data[9]
+          dynamicBiasStdDev: model.data[10]
+          dynamicBiasCorrelationTime: model.data[11]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            verticalVelocityNoise.onNoiseUpdate.connect(
+                AltimeterImpl.OnAltimeterVelocityNoise)
+          }
+        }
+      }
+    }
+  }
+}

src/gui/plugins/component_inspector/CMakeLists.txt

@@ -1,11 +1,13 @@
 gz_add_gui_plugin(ComponentInspector
   SOURCES
     AirPressure.cc
+    Altimeter.cc
     ComponentInspector.cc
     ModelEditor.cc
     Types.cc
   QT_HEADERS
     AirPressure.hh
+    Altimeter.hh
     ComponentInspector.hh
     ModelEditor.hh
     Types.hh

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -71,6 +71,7 @@
 #include "ignition/gazebo/gui/GuiEvents.hh"
 
 #include "AirPressure.hh"
+#include "Altimeter.hh"
 #include "ComponentInspector.hh"
 #include "ModelEditor.hh"
 
@@ -117,6 +118,9 @@ namespace ignition::gazebo
     /// \brief Air pressure sensor inspector elements
     public: std::unique_ptr<ignition::gazebo::AirPressure> airPressure;
 
+    /// \brief Altimeter sensor inspector elements
+    public: std::unique_ptr<ignition::gazebo::Altimeter> altimeter;
+
     /// \brief Set of callbacks to execute during the Update function.
     public: std::vector<
             std::function<void(EntityComponentManager &)>> updateCallbacks;
@@ -432,6 +436,9 @@ void ComponentInspector::LoadConfig(const tinyxml2::XMLElement *)
 
   // Create air pressure
   this->dataPtr->airPressure = std::make_unique<AirPressure>(this);
+
+  // Create altimeter
+  this->dataPtr->altimeter = std::make_unique<Altimeter>(this);
 }
 
 //////////////////////////////////////////////////

src/gui/plugins/component_inspector/ComponentInspector.qrc

@@ -1,6 +1,7 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource prefix="ComponentInspector/">
   <file>AirPressure.qml</file>
+  <file>Altimeter.qml</file>
   <file>Boolean.qml</file>
   <file>ComponentInspector.qml</file>
   <file>ExpandingTypeHeader.qml</file>