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Load and run visual plugin (system) on GUI side #1275

Merged
merged 14 commits into from
Feb 4, 2022
Merged

Load and run visual plugin (system) on GUI side #1275

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7885195
load and run visual plugins on gui end
iche033 Dec 23, 2021
10150b1
scene update event emitted on both server and gui side
iche033 Jan 5, 2022
324a63c
shader param update working
iche033 Jan 6, 2022
eedc363
sim time, constants, full example working
iche033 Jan 7, 2022
4eec9b8
add integration test
iche033 Jan 7, 2022
ff9b232
code cleanup
iche033 Jan 7, 2022
258e63f
more code cleanup
iche033 Jan 8, 2022
431e73c
Merge branch 'ign-gazebo6' into visual_plugin
iche033 Jan 8, 2022
ea163a7
style fixes and add some comments
iche033 Jan 8, 2022
9f4a753
review changes
iche033 Jan 10, 2022
f3c7f96
Merge branch 'ign-gazebo6' into visual_plugin
iche033 Jan 20, 2022
92b318c
require display for shader param test
iche033 Jan 21, 2022
006b93c
Merge branch 'ign-gazebo6' into visual_plugin
iche033 Jan 29, 2022
0dead05
style and comment
iche033 Feb 2, 2022
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268 changes: 268 additions & 0 deletions examples/worlds/shader_param.sdf
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@@ -0,0 +1,268 @@
<?xml version="1.0" ?>
<!--

This world contains a sphere model whose visual appearance is altered by the
ShaderParam visual plugin over time.

-->
<sdf version="1.6">
<world name="deformable_sphere">

<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
<background_color>0.8 0.8 0.8</background_color>
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<ignition-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
<title>RGB camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
</ignition-gui>
<topic>camera</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 2">
<ignition-gui>
<title>Depth camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
</ignition-gui>
<topic>depth_camera</topic>
<topic_picker>false</topic_picker>
</plugin>
</gui>

<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
</scene>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<include>
<pose>0 0.0 0.5 0 0 0</pose>
<name>deformable_sphere</name>
<pose>3 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/deformable_sphere</uri>
</include>

<model name="camera">
<static>true</static>
<pose>2.5 0 0.5 0 0.0 3.14</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<topic>camera</topic>
</sensor>
<sensor name="depth_camera" type="depth_camera">
<update_rate>10</update_rate>
<topic>depth_camera</topic>
<camera>
<horizontal_fov>1.05</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>10.0</far>
</clip>
</camera>
</sensor>
</link>
</model>

</world>
</sdf>
54 changes: 54 additions & 0 deletions include/ignition/gazebo/components/Visual.hh
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Expand Up @@ -17,6 +17,11 @@
#ifndef IGNITION_GAZEBO_COMPONENTS_VISUAL_HH_
#define IGNITION_GAZEBO_COMPONENTS_VISUAL_HH_

#include <string>

#include <sdf/parser.hh>
#include <sdf/Element.hh>

#include <ignition/gazebo/components/Factory.hh>
#include <ignition/gazebo/components/Component.hh>
#include <ignition/gazebo/config.hh>
Expand All @@ -27,11 +32,60 @@ namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace serializers
{
class SdfElementSerializer
{
/// \brief Serialization for `sdf::Model`.
/// \param[in] _out Output stream.
/// \param[in] _elem Visual plugin elem to stream
/// \return The stream.
public: static std::ostream &Serialize(std::ostream &_out,
const sdf::ElementPtr &_elem)
{
_out << "<?xml version=\"1.0\" ?>"
<< "<sdf version='" << SDF_PROTOCOL_VERSION << "'>"
<< _elem->ToString("")
<< "</sdf>";
return _out;
}

/// \brief Deserialization for `sdf::Element`.
/// \param[in] _in Input stream.
/// \param[out] _elem Visual plugin elem to populate
/// \return The stream.
public: static std::istream &Deserialize(std::istream &_in,
sdf::ElementPtr &_elem)
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{
std::string sdfStr(std::istreambuf_iterator<char>(_in), {});

sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
bool result = sdf::readString(sdfStr, sdfParsed);
if (!result)
{
ignerr << "Unable to deserialize sdf::ElementPtr" << std::endl;
return _in;
}

_elem = sdfParsed->Root()->GetFirstElement();
return _in;
}
};
}

namespace components
{
/// \brief A component that identifies an entity as being a visual.
using Visual = Component<NoData, class VisualTag>;
IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Visual", Visual)

/// \brief A component that contains a visual plugin's SDF element.
using VisualPlugin = Component<sdf::ElementPtr,
class VisualPluginTag,
serializers::SdfElementSerializer>;
IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.VisualPlugin",
VisualPlugin)
}
}
}
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24 changes: 24 additions & 0 deletions include/ignition/gazebo/gui/GuiEvents.hh
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Expand Up @@ -25,8 +25,11 @@
#include <string>
#include <utility>
#include <vector>

#include <ignition/math/Vector3.hh>
#include <ignition/utils/ImplPtr.hh>
#include <sdf/Element.hh>

#include "ignition/gazebo/gui/Export.hh"
#include "ignition/gazebo/Entity.hh"
#include "ignition/gazebo/config.hh"
Expand Down Expand Up @@ -211,6 +214,27 @@ namespace events
IGN_UTILS_IMPL_PTR(dataPtr)
};

/// \brief Event that notifies a visual plugin is to be loaded
class IGNITION_GAZEBO_GUI_VISIBLE VisualPlugin: public QEvent
{
/// \brief Constructor
/// \param[in] _entity Visual entity id
/// \param[in] _elem Visual plugin SDF element
public: explicit VisualPlugin(ignition::gazebo::Entity _entity,
const sdf::ElementPtr &_elem);

/// \brief Get the entity to load the visual plugin for
public: ignition::gazebo::Entity Entity() const;

/// \brief Get the sdf element of the visual plugin
public: sdf::ElementPtr Element() const;

static const QEvent::Type kType = QEvent::Type(QEvent::User + 8);

/// \internal
/// \brief Private data pointer
IGN_UTILS_IMPL_PTR(dataPtr)
};
} // namespace events
}
} // namespace gui
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