6 ➡️ 7 (#524)

Signed-off-by: Jenn Nguyen <[email protected]>

src/plugins/CMakeLists.txt

@@ -112,6 +112,7 @@ function(gz_gui_add_plugin plugin_name)
 endfunction()
 
 # Plugins
+add_subdirectory(camera_fps)
 add_subdirectory(camera_tracking)
 add_subdirectory(grid_config)
 add_subdirectory(image_display)

src/plugins/camera_fps/CMakeLists.txt

@@ -0,0 +1,9 @@
+gz_gui_add_plugin(CameraFps
+  SOURCES
+    CameraFps.cc
+  QT_HEADERS
+    CameraFps.hh
+  PUBLIC_LINK_LIBS
+   gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
+)
+

src/plugins/camera_fps/CameraFps.cc

@@ -0,0 +1,131 @@
+/*
+ * Copyright (C) 2023 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.
+ *
+*/
+
+#include <list>
+#include <string>
+
+#include <gz/common/Console.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/rendering/RenderingIface.hh>
+#include <gz/rendering/Scene.hh>
+
+#include "gz/gui/Application.hh"
+#include "gz/gui/GuiEvents.hh"
+#include "gz/gui/MainWindow.hh"
+
+#include "CameraFps.hh"
+
+/// \brief Private data class for CameraFps
+class gz::gui::plugins::CameraFpsPrivate
+{
+  /// \brief Previous camera update time
+  public: std::optional<std::chrono::steady_clock::time_point>
+      prevCameraUpdateTime;
+
+  /// \brief A moving window of camera update times
+  public: std::list<std::chrono::duration<double>> cameraUpdateTimes;
+
+  /// \brief Sum of all update times in the moving window
+  public: std::chrono::duration<double> cameraUpdateTimeSum;
+
+  /// \brief Size of camera update time window
+  /// \todo(anyone) make this configurable
+  public: unsigned int cameraFPSWindowSize = 20u;
+
+  /// \brief Camera FPS string value
+  public: QString cameraFPSValue;
+};
+
+using namespace gz;
+using namespace gui;
+using namespace plugins;
+
+/////////////////////////////////////////////////
+void CameraFps::OnRender()
+{
+  auto now = std::chrono::steady_clock::now();
+  if (!this->dataPtr->prevCameraUpdateTime.has_value())
+  {
+    this->dataPtr->prevCameraUpdateTime = now;
+    return;
+  }
+
+  const std::chrono::duration<double> dt =
+    std::chrono::steady_clock::now() - *this->dataPtr->prevCameraUpdateTime;
+  this->dataPtr->prevCameraUpdateTime = now;
+  this->dataPtr->cameraUpdateTimeSum += dt;
+  if (this->dataPtr->cameraUpdateTimes.size() >=
+      this->dataPtr->cameraFPSWindowSize)
+  {
+    auto first = this->dataPtr->cameraUpdateTimes.front();
+    this->dataPtr->cameraUpdateTimes.pop_front();
+    this->dataPtr->cameraUpdateTimeSum -= first;
+    double sum = this->dataPtr->cameraUpdateTimeSum.count();
+    double avg = sum /
+        static_cast<double>(this->dataPtr->cameraFPSWindowSize);
+    this->SetCameraFpsValue(QString::fromStdString(std::to_string(1.0/avg)));
+  }
+  this->dataPtr->cameraUpdateTimes.push_back(dt);
+}
+
+/////////////////////////////////////////////////
+CameraFps::CameraFps()
+  : Plugin(), dataPtr(new CameraFpsPrivate)
+{
+}
+
+/////////////////////////////////////////////////
+CameraFps::~CameraFps()
+{
+}
+
+/////////////////////////////////////////////////
+void CameraFps::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Camera FPS";
+
+  App()->findChild<MainWindow *>()->installEventFilter(this);
+}
+
+/////////////////////////////////////////////////
+bool CameraFps::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == events::Render::kType)
+  {
+    this->OnRender();
+  }
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+QString CameraFps::CameraFpsValue() const
+{
+  return this->dataPtr->cameraFPSValue;
+}
+
+/////////////////////////////////////////////////
+void CameraFps::SetCameraFpsValue(const QString &_value)
+{
+  this->dataPtr->cameraFPSValue = _value;
+  this->CameraFpsValueChanged();
+}
+
+// Register this plugin
+GZ_ADD_PLUGIN(gz::gui::plugins::CameraFps,
+                    gz::gui::Plugin)

src/plugins/camera_fps/CameraFps.hh

@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2023 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 GZ_GUI_PLUGINS_CAMERAFPS_HH_
+#define GZ_GUI_PLUGINS_CAMERAFPS_HH_
+
+#include <memory>
+
+#include "gz/gui/Plugin.hh"
+
+namespace gz
+{
+namespace gui
+{
+namespace plugins
+{
+  class CameraFpsPrivate;
+
+  /// \brief This plugin displays the GUI camera's Framerate Per Second (FPS)
+  class CameraFps : public Plugin
+  {
+    Q_OBJECT
+
+    /// \brief Camera frames per second
+    Q_PROPERTY(
+      QString cameraFPSValue
+      READ CameraFpsValue
+      WRITE SetCameraFpsValue
+      NOTIFY CameraFpsValueChanged
+    )
+
+    /// \brief Constructor
+    public: CameraFps();
+
+    /// \brief Destructor
+    public: virtual ~CameraFps();
+
+    // Documentation inherited
+    public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+        override;
+
+    /// \brief Set the camera FPS value string
+    /// \param[in] _value Camera FPS value string
+    public: Q_INVOKABLE void SetCameraFpsValue(const QString &_value);
+
+    /// \brief Get the camera FPS value string
+    /// \return Camera FPS value string
+    public: Q_INVOKABLE QString CameraFpsValue() const;
+
+    /// \brief Notify that camera FPS value has changed
+    signals: void CameraFpsValueChanged();
+
+    /// \brief Perform rendering calls in the rendering thread.
+    private: void OnRender();
+
+    // Documentation inherited
+    private: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<CameraFpsPrivate> dataPtr;
+  };
+}
+}
+}
+#endif

src/plugins/camera_fps/CameraFps.qml

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2023 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.
+ *
+*/
+
+import QtQuick 2.9
+import QtQuick.Controls 2.1
+import QtQuick.Layouts 1.3
+
+Rectangle {
+  id: cameraFps
+  color: "transparent"
+  Layout.minimumWidth: 150
+  Layout.minimumHeight: 80
+
+  RowLayout {
+    id: cameraFpsLayout
+    anchors.fill: parent
+    anchors.margins: 10
+
+    Label {
+      ToolTip.text: qsTr("Camera FPS")
+      font.weight: Font.DemiBold
+      text: "FPS"
+    }
+
+    Label {
+      objectName: "cameraFps"
+      text: CameraFps.cameraFPSValue
+      Layout.alignment: Qt.AlignRight
+    }
+  }
+}

src/plugins/camera_fps/CameraFps.qrc

@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="CameraFps/">
+  <file>CameraFps.qml</file>
+</qresource>
+</RCC>

test/integration/camera_tracking.cc

@@ -187,7 +187,7 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   EXPECT_TRUE(rep.data());
 
   // Many update loops to process many events
-  maxSleep = 300;
+  maxSleep = 600;
   for (auto it : {150.0, 200.0})
   {
     // Move target