Component inspector: refactor Pose3d C++ code into a separate class

[chapulina]

🎉 New feature

Part of

• System inspector #191

Summary

While working on the system inspector, I thought it would be good to adopt some of the refactoring done for the model editor in #1231 to keep the code organized. That work is happening on the chapulina/6/system_inspector branch.

This PR ports the approach used on ComponentModelEditor:

• All the logic relative to a given display type is moved to its own class / file.
• I ported Pose3d to the new format as an example. It's a comprehensive example because:
  • It registers a callback to update the view (C++ ➡️ QML)
  • It has a C++ Q_INVOKABLE function which is called from QML (QML ➡️ C++)
• Some differences from ComponentModelEditor
  • Renamed RegisterComponentCreator to AddUpdateViewCb because I think this reflects better what the function is used for
  • Removed the Entity parameter from the callback because it can be attained from the inspector
  • I had to expose the WorldName and TransportNode so Pose3d could use them (this isn't used by the model editor because it doesn't send commands through transport directly)
  • One display type can handle multiple component types (i.e. inspector::Pose3d works with components::Pose, components::WorldPose and components::WorldPoseCmd)

Test it

Check that all affected components are behaving as always:

1. ign gazebo rolling_shapes.sdf
2. See the model poses update as they roll
3. Edit the poses and see the shapes teleported accordingly
4. See how link poses are correct, and read-only
5. ign gazebo sensors.sdf
6. See the WorldPose component for the sensor entities

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸

[codecov]

Codecov Report

Merging #1400 (e25fcfe) into ign-gazebo3 (64755e5) will increase coverage by 0.04%.
The diff coverage is 28.57%.

@@               Coverage Diff               @@
##           ign-gazebo3    #1400      +/-   ##
===============================================
+ Coverage        77.82%   77.86%   +0.04%     
===============================================
  Files              248      250       +2     
  Lines            14342    14352      +10     
===============================================
+ Hits             11161    11175      +14     
+ Misses            3181     3177       -4     

Impacted Files	Coverage Δ
.../plugins/component_inspector/ComponentInspector.hh	28.57% <ø> (ø)
src/gui/plugins/component_inspector/Pose3d.hh	0.00% <0.00%> (ø)
.../plugins/component_inspector/ComponentInspector.cc	8.31% <36.36%> (+1.57%)	⬆️
src/gui/plugins/component_inspector/Pose3d.cc	43.47% <43.47%> (ø)

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 64755e5...e25fcfe. Read the comment docs.

[nkoenig]

I'm assuming you left out the pose3d edit toggling based on the play/pause state in order to reduce the diff, correct?

[chapulina]

I'm assuming you left out the pose3d edit toggling based on the play/pause state in order to reduce the diff, correct?

Oh no, that was because I'm not backporting the model editing functionality. I'm only backporting the APIs that allow us to split up the C++ code.

So the pose editing here should continue working the same way as it already does on Citadel, which is while either playing or paused, using a service call.

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1