MaliputViewer: Adds Traffic Lights. (#401)

maliput · May 12, 2021 · fb7e818 · fb7e818
1 parent e889e5d
commit fb7e818
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Showing 3 changed files with 48 additions and 5 deletions.
diff --git a/delphyne_gui/visualizer/CMakeLists.txt b/delphyne_gui/visualizer/CMakeLists.txt
@@ -98,6 +98,37 @@ install(
   ARCHIVE DESTINATION lib
 )
 
+# ----------------------------------------
+# traffic light manager library.
+add_library(traffic_light_manager
+  traffic_light_manager.cc
+)
+add_library(delphyne_gui::traffic_light_manager ALIAS traffic_light_manager)
+set_target_properties(traffic_light_manager
+  PROPERTIES
+    OUTPUT_NAME delphyne_gui_traffic_light_manager
+)
+
+ament_target_dependencies(traffic_light_manager
+  "maliput"
+)
+
+target_link_libraries(traffic_light_manager
+  delphyne::public_headers
+  ignition-common3::ignition-common3
+  ignition-math6::ignition-math6
+  ignition-rendering3::ignition-rendering3
+  maliput::api
+)
+
+install(
+  TARGETS traffic_light_manager
+  EXPORT ${PROJECT_NAME}-targets
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+)
+
 # global_attributes library.
 add_library(global_attributes
   global_attributes.cc
@@ -141,6 +172,7 @@ target_link_libraries(MaliputViewerPlugin
     delphyne_gui::global_attributes
     delphyne_gui::maliput_viewer_model
     delphyne_gui::selector
+    delphyne_gui::traffic_light_manager
     ignition-gui3::ignition-gui3
     ignition-common3::ignition-common3
     ignition-transport8::ignition-transport8
@@ -172,8 +204,6 @@ add_library(maliput_viewer_widget
   ${CMAKE_CURRENT_SOURCE_DIR}/rules_visualizer_widget.cc
   orbit_view_control.cc
   render_maliput_widget.cc
-  arrow_mesh.cc
-  traffic_light_manager.cc
   ${MaliputViewerWidget_MOC}
   ${LayerSelectionWidget_MOC}
   ${RenderMaliputWidget_MOC}
@@ -191,6 +221,7 @@ target_link_libraries(maliput_viewer_widget
   delphyne_gui::global_attributes
   delphyne_gui::maliput_viewer_model
   delphyne_gui::selector
+  delphyne_gui::traffic_light_manager
   ignition-common3::ignition-common3
   ignition-gui0::ignition-gui0
   ignition-msgs5::ignition-msgs5
@@ -355,8 +386,7 @@ add_library(TopicsStats
 add_library(delphyne_gui::TopicsStats ALIAS TopicsStats)
 set_target_properties(TopicsStats
   PROPERTIES
-    # TODO(#379): Use TopicsStats instead after removing ign-gui0 from workspace.
-    OUTPUT_NAME TopicsStatsPlugin
+    OUTPUT_NAME TopicsStats
 )
 
 target_link_libraries(TopicsStats

diff --git a/delphyne_gui/visualizer/maliput_viewer_plugin.cc b/delphyne_gui/visualizer/maliput_viewer_plugin.cc
@@ -164,6 +164,9 @@ void MaliputViewerPlugin::OnNewRoadNetwork(const QString& _mapFile, const QStrin
       phaseTreeModel.AddPhaseToPhaseRing(phase, phaseRing.first);
     }
   }
+
+  // Create traffic light manager.
+  trafficLightManager->CreateTrafficLights(model->GetTrafficLights());
 }
 
 void MaliputViewerPlugin::UpdateLaneList() {
@@ -277,6 +280,8 @@ void MaliputViewerPlugin::OnPhaseSelection(const QModelIndex& _index) {
     }
     currentPhase.first = item->text().toStdString();
     currentPhase.second = phaseRingItem->text().toStdString();
+    trafficLightManager->SetBulbStates(
+        model->GetBulbStates(currentPhase.second /* phaseRingId */, currentPhase.first /* phaseId */));
   }
 }
 
@@ -429,6 +434,9 @@ void MaliputViewerPlugin::Clear() {
   // Reset phase table.
   phaseTreeModel.Clear();
   currentPhase = {"" /* phaseId */, "", /* phaseRingId*/};
+
+  // Resert traffic light manager.
+  trafficLightManager->Clear();
 }
 
 void MaliputViewerPlugin::CreateLaneLabelMaterial(ignition::rendering::MaterialPtr& _material) {
@@ -528,7 +536,7 @@ void MaliputViewerPlugin::Initialize() {
   // Create a Selector.
   selector = std::make_unique<Selector>(this->scene, 0.3 /* scaleX */, 0.5 /* scaleY */, 0.1 /* scaleZ */,
                                         50 /* poolSize */, 15 /* numLanes */, 0.6 /* minTolerance */);
-
+  trafficLightManager = std::make_unique<TrafficLightManager>(this->scene);
   // Install event filter to get mouse event from the main scene.
   const ignition::gui::Plugin* scene3D = FilterPluginsByTitle(mainScene3dPluginTitle);
   if (!scene3D) {
@@ -563,6 +571,7 @@ bool MaliputViewerPlugin::eventFilter(QObject* _obj, QEvent* _event) {
   }
   if (_event->type() == ignition::gui::events::Render::kType) {
     arrow->Update();
+    trafficLightManager->Tick();
     if (renderMeshesOption.executeMeshRendering) {
       RenderRoadMeshes(model->Meshes());
       renderMeshesOption.executeMeshRendering = false;

diff --git a/delphyne_gui/visualizer/maliput_viewer_plugin.hh b/delphyne_gui/visualizer/maliput_viewer_plugin.hh
@@ -19,6 +19,7 @@
 #include "arrow_mesh.hh"
 #include "maliput_viewer_model.hh"
 #include "selector.hh"
+#include "traffic_light_manager.hh"
 
 namespace delphyne {
 namespace gui {
@@ -358,6 +359,9 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
 
   /// \brief Selector used for selecting clicked lanes in the visualizer.
   std::unique_ptr<Selector> selector;
+
+  /// \brief Manager of traffic lights visualization.
+  std::unique_ptr<TrafficLightManager> trafficLightManager;
 };
 
 }  // namespace gui