Maliput viewer: Adds UI for layers selection.

delphyne_gui/visualizer/LayersSelectionArea.qml

@@ -0,0 +1,144 @@
+// Copyright 2021 Toyota Research Institute
+
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+
+// Panel that contains checkboxs to enable or disable layers.
+GridLayout {
+  id: filesSelectionArea
+  columns: 3
+  anchors.left: parent.left
+  anchors.leftMargin: 10
+  anchors.right: parent.right
+  anchors.rightMargin: 10
+  anchors.top: parent.top
+  Layout.fillWidth: true
+
+  /**
+  * Title text
+  */
+  Text {
+    id: titleText
+    Layout.columnSpan: 3
+    anchors.horizontalCenter: parent.horizontalCenter
+    Layout.alignment: Qt.AlignVTop | Qt.AlignHCenter
+    font.pointSize: 10
+    text: "MESH LAYERS"
+  }
+
+  /**
+  * Ashpalt checkbox
+  */
+  CheckBox {
+    id: layerAsphalt
+    text: qsTr("Asphalt")
+    checked: true
+    onClicked : {
+      MaliputViewerPlugin.OnNewMeshLayerSelection("asphalt", checked);
+    }
+  }
+
+  /**
+  * Lane checkbox
+  */
+  CheckBox {
+    id: layerLane
+    text: qsTr("Lane")
+    checked: true
+    onClicked : {
+      MaliputViewerPlugin.OnNewMeshLayerSelection("lane_all", checked);
+    }
+  }
+
+  /**
+  * Marker checkbox
+  */
+  CheckBox {
+    id: layerMarker
+    text: qsTr("Marker")
+    checked: true
+    onClicked : {
+      MaliputViewerPlugin.OnNewMeshLayerSelection("marker_all", checked);
+    }
+  }
+
+  /**
+  * HBounds checkbox
+  */
+  CheckBox {
+    id: layerHBounds
+    text: qsTr("HBounds")
+    checked: true
+    onClicked : {
+      MaliputViewerPlugin.OnNewMeshLayerSelection("h_bounds", checked);
+    }
+  }
+
+  /**
+  * BranchPoint checkbox
+  */
+  CheckBox {
+    id: layerBranchPoint
+    text: qsTr("Branch Point")
+    checked: true
+    onClicked : {
+      MaliputViewerPlugin.OnNewMeshLayerSelection("branch_point_all", checked);
+    }
+  }
+
+  /**
+  * GrayedAsphalt checkbox
+  */
+  CheckBox {
+    id: layerGrayedAsphalt
+    text: qsTr("Grayed asphalt")
+    checked: false
+    onClicked : {
+      MaliputViewerPlugin.OnNewMeshLayerSelection("grayed_asphalt", checked);
+    }
+  }
+
+  /**
+  * GrayedLane checkbox
+  */
+  CheckBox {
+    id: layerGrayedLane
+    text: qsTr("Grayed lane")
+    checked: false
+    onClicked : {
+      MaliputViewerPlugin.OnNewMeshLayerSelection("grayed_lane_all", checked);
+    }
+  }
+
+  /**
+  * GrayedMarker checkbox
+  */
+  CheckBox {
+    id: layerGrayedMarker
+    text: qsTr("Grayed marker")
+    checked: false
+    onClicked : {
+      MaliputViewerPlugin.OnNewMeshLayerSelection("grayed_marker_all", checked);
+    }
+  }
+
+  /*
+  * Update checkboxes' state.
+  */
+  Connections {
+    target: MaliputViewerPlugin
+    onLayerCheckboxesChanged: {
+      layerAsphalt.checked = MaliputViewerPlugin.layerCheckboxes[0]
+      layerLane.checked = MaliputViewerPlugin.layerCheckboxes[1]
+      layerMarker.checked = MaliputViewerPlugin.layerCheckboxes[2]
+      layerHBounds.checked = MaliputViewerPlugin.layerCheckboxes[3]
+      layerBranchPoint.checked = MaliputViewerPlugin.layerCheckboxes[4]
+      layerGrayedAsphalt.checked = MaliputViewerPlugin.layerCheckboxes[5]
+      layerGrayedLane.checked = MaliputViewerPlugin.layerCheckboxes[6]
+      layerGrayedMarker.checked = MaliputViewerPlugin.layerCheckboxes[7]
+    }
+  }
+}

delphyne_gui/visualizer/MaliputViewerPlugin.qml

@@ -19,6 +19,7 @@ Rectangle {
     source: "FileSelectionArea.qml"
   }
   ToolSeparator {
+    id: fileSectionSeparator
     orientation: Qt.Horizontal
     anchors.top: filesLoader.bottom
     anchors.topMargin: 15
@@ -27,4 +28,13 @@ Rectangle {
     anchors.right: parent.right
     anchors.rightMargin: 10
   }
+  // Layers Selection Panel
+  Loader {
+    id: layersLoader
+    width: parent.width
+    source: "LayersSelectionArea.qml"
+    anchors.top: fileSectionSeparator.bottom
+    anchors.left: parent.left
+    anchors.right: parent.right
+  }
 }

delphyne_gui/visualizer/maliput_viewer_plugin.cc

@@ -15,6 +15,11 @@ namespace delphyne {
 namespace gui {
 namespace {
 
+// \returns True when @p keyword is found in @p word.
+bool FoundKeyword(const std::string& word, const std::string& keyword) {
+  return word.find(keyword) != std::string::npos;
+}
+
 // \brief Returns the absolute path from @p fileUrl.
 // \details `fileUrl` is expected to be conformed as:
 //          "file://" + "absolute path"
@@ -48,6 +53,25 @@ void MaliputViewerPlugin::OnNewRoadNetwork(const QString& _mapFile, const QStrin
   trafficLightBookFile = GetPathFromFileUrl(_trafficLightBookFile.toStdString());
   phaseRingBookFile = GetPathFromFileUrl(_phaseRingBookFile.toStdString());
   model->Load(mapFile, roadRulebookFile, trafficLightBookFile, phaseRingBookFile);
+  emit LayerCheckboxesChanged();
+  RenderMeshes();
+}
+
+void MaliputViewerPlugin::OnNewMeshLayerSelection(const QString& _layer, bool _state) {
+  static constexpr char const* kAll{"all"};
+  const std::string layer{_layer.toStdString()};
+  const std::size_t all_keyword = layer.find(kAll);
+  // If the keyword "all" is found, enable all of the parsed type.
+  if (FoundKeyword(layer, kAll)) {
+    const std::string keyword = layer.substr(0, all_keyword);
+    for (auto const& it : this->model->Meshes()) {
+      if (FoundKeyword(it.first, keyword)) {
+        this->model->SetLayerState(it.first, _state);
+      }
+    }
+  } else {
+    this->model->SetLayerState(layer, _state);
+  }
   RenderMeshes();
 }
 
@@ -80,45 +104,56 @@ void MaliputViewerPlugin::RenderMeshes() {
 void MaliputViewerPlugin::RenderRoadMeshes(const std::map<std::string, std::unique_ptr<MaliputMesh>>& _maliputMeshes) {
   for (const auto& id_mesh : _maliputMeshes) {
     ignmsg << "Rendering road mesh: " << id_mesh.first << std::endl;
+
+    // Checks if the mesh to be rendered already exists or not.
+    const auto meshExists = meshes.find(id_mesh.first);
+
     if (!id_mesh.second->enabled) {
       ignmsg << "Road mesh " << id_mesh.first << " is disabled." << std::endl;
+      // If the mesh already exists, set visibility to false.
+      if (meshExists != this->meshes.end()) {
+        meshes[id_mesh.first]->SetVisible(false);
+      }
       continue;
     }
-    ignition::rendering::VisualPtr visual;
-    // Creates a material for the visual.
-    ignition::rendering::MaterialPtr material = scene->CreateMaterial();
-    if (!material) {
-      ignerr << "Failed to create material.\n";
-      continue;
-    }
-    visual = scene->CreateVisual();
-    if (!visual) {
-      ignerr << "Failed to create visual.\n";
-      continue;
-    }
-    // Adds the visual to the map for later reference.
-    meshes[id_mesh.first] = visual;
-    // Sets the pose of the mesh.
-    visual->SetLocalPose(ignition::math::Pose3d(0, 0, 0, 1, 0, 0, 0));
-    // Loads the mesh into the visual.
-    if (id_mesh.second->mesh.get() == nullptr) {
-      ignerr << id_mesh.first << "'s mesh pointer is nullptr" << std::endl;
-      continue;
-    }
-    ignition::rendering::MeshDescriptor descriptor(id_mesh.second->mesh.get());
-    descriptor.Load();
-    ignition::rendering::MeshPtr meshGeom = scene->CreateMesh(descriptor);
-    visual->AddGeometry(meshGeom);
-    // Adds the mesh to the parent root visual.
-    rootVisual->AddChild(visual);
+    // If the mesh doesn't exist, it creates new one.
+    if (meshExists == this->meshes.end()) {
+      ignition::rendering::VisualPtr visual;
+      // Creates a material for the visual.
+      ignition::rendering::MaterialPtr material = scene->CreateMaterial();
+      if (!material) {
+        ignerr << "Failed to create material.\n";
+        continue;
+      }
+      visual = scene->CreateVisual();
+      if (!visual) {
+        ignerr << "Failed to create visual.\n";
+        continue;
+      }
+      // Adds the visual to the map for later reference.
+      meshes[id_mesh.first] = visual;
+      // Sets the pose of the mesh.
+      visual->SetLocalPose(ignition::math::Pose3d(0, 0, 0, 1, 0, 0, 0));
+      // Loads the mesh into the visual.
+      if (id_mesh.second->mesh.get() == nullptr) {
+        ignerr << id_mesh.first << "'s mesh pointer is nullptr" << std::endl;
+        continue;
+      }
+      ignition::rendering::MeshDescriptor descriptor(id_mesh.second->mesh.get());
+      descriptor.Load();
+      ignition::rendering::MeshPtr meshGeom = scene->CreateMesh(descriptor);
+      visual->AddGeometry(meshGeom);
+      // Adds the mesh to the parent root visual.
+      rootVisual->AddChild(visual);
 
-    // Applies the correct material to the mesh.
-    if (!FillMaterial(id_mesh.second->material.get(), material)) {
-      ignerr << "Failed to fill " << id_mesh.first << " material information.\n";
-      continue;
+      // Applies the correct material to the mesh.
+      if (!FillMaterial(id_mesh.second->material.get(), material)) {
+        ignerr << "Failed to fill " << id_mesh.first << " material information.\n";
+        continue;
+      }
+      visual->SetMaterial(material);
     }
-    visual->SetMaterial(material);
-    visual->SetVisible(id_mesh.second->visible);
+    meshes.at(id_mesh.first)->SetVisible(id_mesh.second->visible);
   }
 }
 

delphyne_gui/visualizer/maliput_viewer_plugin.hh

@@ -20,6 +20,9 @@ namespace gui {
 class MaliputViewerPlugin : public ignition::gui::Plugin {
   Q_OBJECT
 
+  /// Property used to load the default state of layers visualization in its correspondant UI's checkboxes.
+  Q_PROPERTY(QList<bool> layerCheckboxes READ LayerCheckboxes NOTIFY LayerCheckboxesChanged)
+
  public:
   /// \brief Default constructor.
   MaliputViewerPlugin();
@@ -28,6 +31,11 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   /// \param[in] _pluginElem XML configuration for this plugin.
   void LoadConfig(const tinyxml2::XMLElement* _pluginElem) override;
 
+  Q_INVOKABLE QList<bool> LayerCheckboxes() { return kDefaultLayersSelection; }
+
+ signals:
+  void LayerCheckboxesChanged();
+
  protected:
   /// @brief Timer event callback which handles the logic to load the meshes when
   ///        the scene is not ready yet.
@@ -42,6 +50,11 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   void OnNewRoadNetwork(const QString& _mapFile, const QString& _roadRulebookFile, const QString& _trafficLightBookFile,
                         const QString& _phaseRingBookFile);
 
+  /// \brief Change the visibility of the layers.
+  /// \param[in] _layer The layer to change its visibility.
+  /// \param[in] _state The state of the visibility checkbox.
+  void OnNewMeshLayerSelection(const QString& _layer, bool _state);
+
  private:
   /// @brief The period in milliseconds of the timer to try to load the meshes.
   static constexpr int kTimerPeriodInMs{500};
@@ -86,6 +99,12 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   /// \brief Configurate scene.
   void ConfigurateScene();
 
+  /// \brief Default layer selection for UI's checkboxes.
+  const QList<bool> kDefaultLayersSelection{true /* asphalt */,      true /* lane */,
+                                            true /* marker */,       true /* h_bounds */,
+                                            true /* branchpoint */,  false /* grayed_asphalt */,
+                                            false /* grayed_lane */, false /* grayed_marker */};
+
   /// \brief Holds the map file path.
   std::string mapFile{""};
 

delphyne_gui/visualizer/maliput_viewer_plugin.qrc

@@ -2,5 +2,6 @@
   <qresource prefix="MaliputViewerPlugin/">
     <file>MaliputViewerPlugin.qml</file>
     <file>FileSelectionArea.qml</file>
+    <file>LayersSelectionArea.qml</file>
   </qresource>
 </RCC>