Playback Scrubber (gazebosim#299)

Signed-off-by: John Shepherd <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]>
wyca-robotics · Dec 13, 2020 · c1f3f40 · c1f3f40
1 parent 22ecd09
commit c1f3f40
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Showing 15 changed files with 767 additions and 11 deletions.
diff --git a/include/ignition/gazebo/components/LogPlaybackStatistics.hh b/include/ignition/gazebo/components/LogPlaybackStatistics.hh
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef IGNITION_GAZEBO_COMPONENTS_LogPlaybackStatistics_HH_
+#define IGNITION_GAZEBO_COMPONENTS_LogPlaybackStatistics_HH_
+
+#include <ignition/msgs/log_playback_stats.pb.h>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Conversions.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component type that contains log playback,
+  /// systems::LogPlayback, information.
+  /// The log playback is created from world entity upon the playback plugin
+  /// being loaded
+  using LogPlaybackStatistics = Component<ignition::msgs::LogPlaybackStatistics,
+      class LogPlaybackStatisticsTag, serializers::MsgSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.LogPlaybackStatistics",
+      LogPlaybackStatistics)
+}
+}
+}
+}
+
+#endif
diff --git a/src/cmd/cmdgazebo.rb.in b/src/cmd/cmdgazebo.rb.in
@@ -418,6 +418,13 @@ class Cmd
       # Import the runGui function
       Importer.extern 'int runGui(const char *)'
 
+      # If playback is specified, and the user has not specified a
+      # custom gui config, set the gui config to load the playback
+      # gui config
+      if (options['playback'] != '' and options['gui_config'] == '')
+        options['gui_config'] = "_playback_"
+      end
+
       # Neither the -s nor -g options were used, so run both the server
       # and gui.
       if options['server'] == 0 && options['gui'] == 0

diff --git a/src/gui/CMakeLists.txt b/src/gui/CMakeLists.txt
@@ -45,6 +45,7 @@ set(CMAKE_AUTORCC OFF)
 
 install(TARGETS ${gui_target} DESTINATION ${IGN_LIB_INSTALL_DIR})
 install (FILES gui.config DESTINATION ${IGN_DATA_INSTALL_DIR}/gui)
+install (FILES playback_gui.config DESTINATION ${IGN_DATA_INSTALL_DIR}/gui)
 
 # Tests
 set (gtest_sources

diff --git a/src/gui/Gui.cc b/src/gui/Gui.cc
@@ -71,14 +71,21 @@ std::unique_ptr<ignition::gui::Application> createGui(
 
   // add import path so we can load custom modules
   app->Engine()->addImportPath(IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR);
+  std::string defaultGuiConfigName = "gui.config";
 
   // Set default config file for Gazebo
   std::string defaultConfig;
   if (nullptr == _defaultGuiConfig)
   {
+    // The playback flag (and not the gui-config flag) was
+    // specified from the command line
+    if (nullptr != _guiConfig && std::string(_guiConfig) == "_playback_")
+    {
+      defaultGuiConfigName = "playback_gui.config";
+    }
     ignition::common::env(IGN_HOMEDIR, defaultConfig);
     defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition",
-        "gazebo", "gui.config");
+        "gazebo", defaultGuiConfigName);
   }
   else
   {
@@ -150,14 +157,9 @@ std::unique_ptr<ignition::gui::Application> createGui(
   std::size_t runnerCount = 0;
 
   // Configuration file from command line
-  if (_guiConfig != nullptr && std::strlen(_guiConfig) > 0)
+  if (_guiConfig != nullptr && std::strlen(_guiConfig) > 0 &&
+      std::string(_guiConfig) != "_playback_")
   {
-    if (!app->LoadConfig(_guiConfig))
-    {
-      ignwarn << "Failed to load config file[" << _guiConfig << "]."
-              << std::endl;
-    }
-
     // Use the first world name with the config file
     // TODO(anyone) Most of ign-gazebo's transport API includes the world name,
     // which makes it complicated to mix configurations across worlds.
@@ -167,6 +169,13 @@ std::unique_ptr<ignition::gui::Application> createGui(
         &ignition::gazebo::GuiRunner::OnPluginAdded);
     ++runnerCount;
     runner->setParent(ignition::gui::App());
+
+    // Load plugins after runner is up
+    if (!app->LoadConfig(_guiConfig))
+    {
+      ignwarn << "Failed to load config file[" << _guiConfig << "]."
+              << std::endl;
+    }
   }
   // GUI configuration from SDF (request to server)
   else
@@ -236,7 +245,7 @@ std::unique_ptr<ignition::gui::Application> createGui(
     if (!ignition::common::exists(defaultConfig))
     {
       auto installedConfig = ignition::common::joinPaths(
-          IGNITION_GAZEBO_GUI_CONFIG_PATH, "gui.config");
+          IGNITION_GAZEBO_GUI_CONFIG_PATH, defaultGuiConfigName);
       if (!ignition::common::copyFile(installedConfig, defaultConfig))
       {
         ignerr << "Failed to copy installed config [" << installedConfig

diff --git a/src/gui/playback_gui.config b/src/gui/playback_gui.config
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+
+<!-- Window -->
+<window>
+  <width>1000</width>
+  <height>845</height>
+  <style
+    material_theme="Light"
+    material_primary="DeepOrange"
+    material_accent="LightBlue"
+    toolbar_color_light="#f3f3f3"
+    toolbar_text_color_light="#111111"
+    toolbar_color_dark="#414141"
+    toolbar_text_color_dark="#f3f3f3"
+    plugin_toolbar_color_light="#bbdefb"
+    plugin_toolbar_text_color_light="#111111"
+    plugin_toolbar_color_dark="#607d8b"
+    plugin_toolbar_text_color_dark="#eeeeee"
+  />
+  <menus>
+    <drawer default="false">
+    </drawer>
+  </menus>
+</window>
+
+<!-- GUI plugins -->
+
+<!-- 3D scene -->
+<plugin filename="GzScene3D" 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 3.14</camera_pose>
+</plugin>
+
+<!-- Play / pause / step -->
+<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>
+
+</plugin>
+
+<!-- Playback Scrubber -->
+<plugin filename="PlaybackScrubber" name="PlaybackScrubber">
+  <ignition-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="double" key="height">90</property>
+    <property type="double" key="width">350</property>
+    <property type="double" key="z">1</property>
+    <property key="cardBackground" type="string">#66666666</property>
+
+    <property type="string" key="state">floating</property>
+    <anchors target="3D View">
+      <line own="horizontalCenter" target="horizontalCenter"/>
+      <line own="bottom" target="bottom"/>
+    </anchors>
+  </ignition-gui>
+</plugin>
+
+<!-- Inspector -->
+<plugin filename="ComponentInspector" name="Component inspector">
+  <ignition-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+</plugin>
+
+<!-- Entity tree -->
+<plugin filename="EntityTree" name="Entity tree">
+  <ignition-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+</plugin>
diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt
@@ -85,6 +85,7 @@ add_subdirectory(align_tool)
 add_subdirectory(component_inspector)
 add_subdirectory(entity_tree)
 add_subdirectory(grid_config)
+add_subdirectory(playback_scrubber)
 add_subdirectory(resource_spawner)
 add_subdirectory(scene3d)
 add_subdirectory(shapes)

diff --git a/src/gui/plugins/playback_scrubber/CMakeLists.txt b/src/gui/plugins/playback_scrubber/CMakeLists.txt
@@ -0,0 +1,4 @@
+gz_add_gui_plugin(PlaybackScrubber
+  SOURCES PlaybackScrubber.cc
+  QT_HEADERS PlaybackScrubber.hh
+)