Creates the backend of TopicInterfacePlugin. #385

agalbachicar · 2021-04-20T16:36:03Z

Subscribes to a topic and reads a google::protobuf::message,
parses the message into MessageWidget class to access the information and types easier.
Prints data to ignerr to show it works -- will change once the UI is in place.

- Subscribes to a topic and reads a google::protobuf::message, - parses the message into MessageWidget class to access the information and types easier. - Prints data to ignerr to show it works -- will change once the UI is in place.

agalbachicar · 2021-04-20T16:41:44Z

Note for the reviewers: there are several TODOs. I wanted to split the parsing procedure from the UI procedure because it is a bunch of code so far. Here is a dump of the scene with delphyne_mali2:

{ type: ignition.msgs.Scene, is_compound: true{ { origin_visual: { type: b, is_compound: false, value: { false } } }, { light: { type: ignition.msgs.Light, is_compound: true{ { parent_id: { type: j, is_compound: false, value: { 0 } } }, { diffuse: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 1 } } }, { b: { type: f, is_compound: false, value: { 0.9 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0.9 } } }, { r: { type: f, is_compound: false, value: { 0.9 } } },  } }, { range: { type: f, is_compound: false, value: { 0 } } }, { specular: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 1 } } }, { b: { type: f, is_compound: false, value: { 0.9 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0.9 } } }, { r: { type: f, is_compound: false, value: { 0.9 } } },  } }, { pose: { type: ignition.msgs.Pose, is_compound: true{ { orientation: { type: ignition.msgs.Quaternion, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { w: { type: d, is_compound: false, value: { 0 } } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { id: { type: j, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { position: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } },  } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: { directional_light } } }, { attenuation_linear: { type: f, is_compound: false, value: { 0 } } }, { attenuation_constant: { type: f, is_compound: false, value: { 0 } } }, { direction: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { -0.5 } } }, { z: { type: d, is_compound: false, value: { -1 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { -0.5 } } },  } }, { spot_inner_angle: { type: f, is_compound: false, value: { 0 } } }, { type: { type: N8delphyne3gui13MessageWidget9EnumValueE, is_compound: false, value: {  value: 2, name: DIRECTIONAL } } }, { attenuation_quadratic: { type: f, is_compound: false, value: { 0 } } }, { spot_outer_angle: { type: f, is_compound: false, value: { 0 } } }, { cast_shadows: { type: b, is_compound: false, value: { true } } }, { spot_falloff: { type: f, is_compound: false, value: { 0 } } }, { id: { type: j, is_compound: false, value: { 0 } } },  } }, { grid: { type: b, is_compound: false, value: { false } } }, { fog: { type: ignition.msgs.Fog, is_compound: true{ { end: { type: f, is_compound: false, value: { 0 } } }, { start: { type: f, is_compound: false, value: { 0 } } }, { density: { type: f, is_compound: false, value: { 0 } } }, { color: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 0 } } }, { b: { type: f, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0 } } }, { r: { type: f, is_compound: false, value: { 0 } } },  } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { type: { type: N8delphyne3gui13MessageWidget9EnumValueE, is_compound: false, value: {  value: 0, name: NONE } } },  } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 500000000 } } }, { sec: { type: l, is_compound: false, value: { 7 } } },  } },  } }, { ambient: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 0 } } }, { b: { type: f, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0 } } }, { r: { type: f, is_compound: false, value: { 0 } } },  } }, { sky: { type: ignition.msgs.Sky, is_compound: true{ { humidity: { type: d, is_compound: false, value: { 0 } } }, { cloud_ambient: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 0 } } }, { b: { type: f, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0 } } }, { r: { type: f, is_compound: false, value: { 0 } } },  } }, { time: { type: d, is_compound: false, value: { 0 } } }, { wind_speed: { type: d, is_compound: false, value: { 0 } } }, { mean_cloud_size: { type: d, is_compound: false, value: { 0 } } }, { sunrise: { type: d, is_compound: false, value: { 0 } } }, { sunset: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { wind_direction: { type: d, is_compound: false, value: { 0 } } },  } }, { shadows: { type: b, is_compound: false, value: { false } } }, { model: { type: ignition.msgs.Model, is_compound: true{ { self_collide: { type: b, is_compound: false, value: { false } } }, { scale: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { deleted: { type: b, is_compound: false, value: { false } } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { is_static: { type: b, is_compound: false, value: { false } } }, { bounding_box: { type: ignition.msgs.AxisAlignedBox, is_compound: true{ { max_corner: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { min_corner: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } },  } }, { pose: { type: ignition.msgs.Pose, is_compound: true{ { orientation: { type: ignition.msgs.Quaternion, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { w: { type: d, is_compound: false, value: { 0 } } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { id: { type: j, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { position: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } },  } }, { link: { type: ignition.msgs.Link, is_compound: true{ { visual: { type: ignition.msgs.Visual, is_compound: true{ { type: { type: N8delphyne3gui13MessageWidget9EnumValueE, is_compound: false, value: {  value: 0, name: ENTITY } } }, { parent_name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { laser_retro: { type: d, is_compound: false, value: { 0 } } }, { id: { type: j, is_compound: false, value: { 2514647190 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { delete_me: { type: b, is_compound: false, value: { false } } }, { parent_id: { type: j, is_compound: false, value: { 0 } } }, { meta: { type: ignition.msgs.Visual.Meta, is_compound: true{ { layer: { type: i, is_compound: false, value: { 0 } } },  } }, { material: { type: ignition.msgs.Material, is_compound: true{ { pbr: { type: ignition.msgs.Material.PBR, is_compound: true{ { ambient_occlusion_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { specular_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { glossiness: { type: d, is_compound: false, value: { 0 } } }, { environment_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { roughness_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { albedo_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { glossiness_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { type: { type: N8delphyne3gui13MessageWidget9EnumValueE, is_compound: false, value: {  value: 0, name: NONE } } }, { emissive_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { metalness_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { normal_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { metalness: { type: d, is_compound: false, value: { 0 } } }, { roughness: { type: d, is_compound: false, value: { 0 } } },  } }, { lighting: { type: b, is_compound: false, value: { false } } }, { emissive: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 0 } } }, { b: { type: f, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0 } } }, { r: { type: f, is_compound: false, value: { 0 } } },  } }, { specular: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 0 } } }, { b: { type: f, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0 } } }, { r: { type: f, is_compound: false, value: { 0 } } },  } }, { shader_type: { type: N8delphyne3gui13MessageWidget9EnumValueE, is_compound: false, value: {  value: 0, name: VERTEX } } }, { script: { type: ignition.msgs.Material.Script, is_compound: true{ { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } },  } }, { normal_map: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { ambient: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 0 } } }, { b: { type: f, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0 } } }, { r: { type: f, is_compound: false, value: { 0 } } },  } }, { diffuse: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 0 } } }, { b: { type: f, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0 } } }, { r: { type: f, is_compound: false, value: { 0 } } },  } },  } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { cast_shadows: { type: b, is_compound: false, value: { false } } }, { transparency: { type: d, is_compound: false, value: { 0 } } }, { pose: { type: ignition.msgs.Pose, is_compound: true{ { orientation: { type: ignition.msgs.Quaternion, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { w: { type: d, is_compound: false, value: { 1 } } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { id: { type: j, is_compound: false, value: { 2514647190 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { position: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } },  } }, { geometry: { type: ignition.msgs.Geometry, is_compound: true{ { mesh: { type: ignition.msgs.MeshGeom, is_compound: true{ { center_submesh: { type: b, is_compound: false, value: { false } } }, { submesh: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { scale: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 1 } } }, { z: { type: d, is_compound: false, value: { 1 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 1 } } },  } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { filename: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: { /tmp/SShapeRoad.obj } } },  } }, { heightmap: { type: ignition.msgs.HeightmapGeom, is_compound: true{ { filename: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } }, { image: { type: ignition.msgs.Image, is_compound: true{ { pixel_format_type: { type: N8delphyne3gui13MessageWidget9EnumValueE, is_compound: false, value: {  value: 0, name: UNKNOWN_PIXEL_FORMAT } } }, { step: { type: j, is_compound: false, value: { 0 } } }, { height: { type: j, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { width: { type: j, is_compound: false, value: { 0 } } },  } }, { use_terrain_paging: { type: b, is_compound: false, value: { false } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { sampling: { type: j, is_compound: false, value: { 0 } } }, { size: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { width: { type: i, is_compound: false, value: { 0 } } }, { origin: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { height: { type: i, is_compound: false, value: { 0 } } },  } }, { image: { type: ignition.msgs.ImageGeom, is_compound: true{ { granularity: { type: i, is_compound: false, value: { 0 } } }, { height: { type: d, is_compound: false, value: { 0 } } }, { scale: { type: d, is_compound: false, value: { 0 } } }, { threshold: { type: i, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { uri: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } },  } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { cylinder: { type: ignition.msgs.CylinderGeom, is_compound: true{ { length: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { radius: { type: d, is_compound: false, value: { 0 } } },  } }, { sphere: { type: ignition.msgs.SphereGeom, is_compound: true{ { radius: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } },  } }, { type: { type: N8delphyne3gui13MessageWidget9EnumValueE, is_compound: false, value: {  value: 6, name: MESH } } }, { box: { type: ignition.msgs.BoxGeom, is_compound: true{ { size: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } },  } }, { plane: { type: ignition.msgs.PlaneGeom, is_compound: true{ { d: { type: d, is_compound: false, value: { 0 } } }, { size: { type: ignition.msgs.Vector2d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { normal: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } },  } },  } }, { visible: { type: b, is_compound: false, value: { false } } }, { is_static: { type: b, is_compound: false, value: { false } } }, { scale: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } },  } }, { pose: { type: ignition.msgs.Pose, is_compound: true{ { orientation: { type: ignition.msgs.Quaternion, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { w: { type: d, is_compound: false, value: { 0 } } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { id: { type: j, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { position: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } },  } }, { enabled: { type: b, is_compound: false, value: { false } } }, { density: { type: ignition.msgs.Density, is_compound: true{ { density: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } },  } }, { id: { type: j, is_compound: false, value: { 147361781 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { inertial: { type: ignition.msgs.Inertial, is_compound: true{ { izz: { type: d, is_compound: false, value: { 0 } } }, { iyz: { type: d, is_compound: false, value: { 0 } } }, { iyy: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { pose: { type: ignition.msgs.Pose, is_compound: true{ { orientation: { type: ignition.msgs.Quaternion, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { w: { type: d, is_compound: false, value: { 0 } } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { id: { type: j, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { position: { type: ignition.msgs.Vector3d, is_compound: true{ { y: { type: d, is_compound: false, value: { 0 } } }, { z: { type: d, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { x: { type: d, is_compound: false, value: { 0 } } },  } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: {  } } },  } }, { ixx: { type: d, is_compound: false, value: { 0 } } }, { mass: { type: d, is_compound: false, value: { 0 } } }, { ixz: { type: d, is_compound: false, value: { 0 } } }, { ixy: { type: d, is_compound: false, value: { 0 } } },  } }, { self_collide: { type: b, is_compound: false, value: { false } } }, { name: { type: NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE, is_compound: false, value: { surface } } }, { gravity: { type: b, is_compound: false, value: { false } } }, { canonical: { type: b, is_compound: false, value: { false } } }, { kinematic: { type: b, is_compound: false, value: { false } } },  } }, { id: { type: j, is_compound: false, value: { 2 } } },  } }, { background: { type: ignition.msgs.Color, is_compound: true{ { a: { type: f, is_compound: false, value: { 0 } } }, { b: { type: f, is_compound: false, value: { 0 } } }, { header: { type: ignition.msgs.Header, is_compound: true{ { stamp: { type: ignition.msgs.Time, is_compound: true{ { nsec: { type: i, is_compound: false, value: { 0 } } }, { sec: { type: l, is_compound: false, value: { 0 } } },  } },  } }, { g: { type: f, is_compound: false, value: { 0 } } }, { r: { type: f, is_compound: false, value: { 0 } } },  } },  }

agalbachicar · 2021-04-21T17:55:49Z

In 19098ce I fixed the serialization string. I tested it with a shorter message, /clock:

{
  type: ignition.msgs.Clock,
  is_compound: true,
  children:
  {
    {
      real:
      {
        type: ignition.msgs.Time,
        is_compound: true,
        children:
        {
          {
            nsec: { type: i, is_compound: false, value: { 0 } }
          },
          {
            sec: { type: l, is_compound: false, value: { 0 } }
          },
        },
      }
    },
    {
      header:
      {
        type: ignition.msgs.Header,
        is_compound: true,
        children:
        {
          {
            stamp:
            {
              type: ignition.msgs.Time,
              is_compound: true,
              children:
              {
                {
                  nsec: { type: i, is_compound: false, value: { 0 } }
                },
                {
                  sec: { type: l, is_compound: false, value: { 0 } }
                },
              },
            }
          },
        },
      }
    },
    {
      sim: 
      {
        type: ignition.msgs.Time,
        is_compound: true,
        children:
        {
          {
            nsec: { type: i, is_compound: false, value: { 784999999 } }
          },
          {
            sec: { type: l, is_compound: false, value: { 7 } }
          },
        },
      }
    },
    {
      system:
      {
        type: ignition.msgs.Time,
        is_compound: true,
        children:
        {
          {
            nsec: { type: i, is_compound: false, value: { 0 } }
          },
          {
            sec: { type: l, is_compound: false, value: { 0 } }
          },
        },
      }
    },
  },
}

And the igntion message defition is:

message Clock
{
  /// \brief Optional header data
  Header header = 1;

  Time system = 2;
  Time real   = 3;
  Time sim    = 4;
}

where Time is:

message Time
{
  /// \brief Seconds
  int64 sec = 1;

  /// \brief Nanoseconds
  int32 nsec = 2;
}

and Header:

message Header
{
  message Map {
    string key = 1;
    repeated string value = 2;
  }

  Time stamp           = 1;
  repeated Map data             = 2;
}

francocipollone

Nice Job! LGTM

I will take a look again at the reflection logic later on just to be sure, I didn't fully get when fieldDescriptor->is_repeated().

francocipollone · 2021-04-23T12:08:37Z

delphyne_gui/visualizer/topic_interface_plugin/message_widget.cc

+
+    const auto fieldType = fieldDescriptor->type();
+
+    const std::string fieldName = fieldDescriptor->name();


Why don't directly call it scopedName ?

Good point. Thanks!

francocipollone · 2021-04-23T12:11:17Z

delphyne_gui/visualizer/topic_interface_plugin/message_widget.h

+ private:
+  /// @brief Parses @p msg and stores the values into `variantValue` or
+  ///        `children`.
+  void Parse(google::protobuf::Message* msg);


nit: msg to _msg

francocipollone · 2021-04-23T12:24:10Z

delphyne_gui/visualizer/topic_interface_plugin/message_widget.h

+  const std::unordered_map<std::string, std::unique_ptr<MessageWidget>>& Children() const { return children; }
+
+ private:
+  /// @brief Parses @p msg and stores the values into `variantValue` or


Is Parse method storing the values in variantValue?

francocipollone · 2021-04-23T12:47:20Z

delphyne_gui/visualizer/topic_interface_plugin/topic_interface_plugin.cc

+  // Build the message widget.
+  if (!msgType.empty()) {
+    auto newMsg = ignition::msgs::Factory::New(msgType, "");
+    if (!newMsg) {
+      ignerr << "Unable to create message of type[" << msgType << "] "
+             << "widget will be initialized when a message is received." << std::endl;
+    }
+  }


Sorry, I don't get what this is for.

Removed. Nothing, it was part of the migration but it is not needed.

francocipollone · 2021-04-23T12:48:48Z

delphyne_gui/visualizer/topic_interface_plugin/topic_interface_plugin.h

+
+ signals:
+
+ protected:


nit: remove not used sections.

francocipollone

LGTM

Creates the backend of TopicInterfacePlugin.

0a39dc3

- Subscribes to a topic and reads a google::protobuf::message, - parses the message into MessageWidget class to access the information and types easier. - Prints data to ignerr to show it works -- will change once the UI is in place.

agalbachicar requested review from scpeters and francocipollone April 20, 2021 16:36

Fixes serialization.

19098ce

francocipollone previously approved these changes Apr 23, 2021

View reviewed changes

agalbachicar added 2 commits April 23, 2021 14:12

Merge branch 'master' into agalbachicar/#332_topic_interface_ign_gui_3

f381eed

Fixes review comments.

602c897

agalbachicar dismissed francocipollone’s stale review via 602c897 April 23, 2021 17:24

agalbachicar requested a review from francocipollone April 23, 2021 17:27

francocipollone approved these changes Apr 26, 2021

View reviewed changes

agalbachicar merged commit b12edb9 into master Apr 26, 2021

agalbachicar deleted the agalbachicar/#332_topic_interface_ign_gui_3 branch April 26, 2021 13:38

agalbachicar mentioned this pull request Apr 26, 2021

Migrate to newer version of ignition-gui #332

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Creates the backend of TopicInterfacePlugin. #385

Creates the backend of TopicInterfacePlugin. #385

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		const auto fieldType = fieldDescriptor->type();

		const std::string fieldName = fieldDescriptor->name();

Creates the backend of TopicInterfacePlugin. #385

Creates the backend of TopicInterfacePlugin. #385

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