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Add Track and Follow options in gui EntityContextMenu (#2402)
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Signed-off-by: Benjamin Perseghetti <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Co-authored-by: Jenn Nguyen <[email protected]>
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@bperseghetti @ahcorde @jennuine
3 people authored May 22, 2024
1 parent 6af7445 commit 7c95f5a
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Showing 3 changed files with 170 additions and 12 deletions.
103 changes: 95 additions & 8 deletions src/gui/plugins/modules/EntityContextMenu.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,12 @@
#include "EntityContextMenu.hh"

#include <gz/msgs/boolean.pb.h>
#include <gz/msgs/stringmsg.pb.h>
#include <gz/msgs/cameratrack.pb.h>
#include <gz/msgs/entity.pb.h>
#include <gz/msgs/stringmsg.pb.h>

#include <iostream>
#include <mutex>
#include <string>

#include <gz/common/Console.hh>
Expand All @@ -35,14 +37,21 @@ namespace gz::sim
/// \brief Private data class for EntityContextMenu
class EntityContextMenuPrivate
{

/// \brief Protects variable changed through services.
public: std::mutex mutex;

/// \brief Gazebo communication node.
public: transport::Node node;

/// \brief Move to service name
public: std::string moveToService;

/// \brief Follow service name
public: std::string followService;
/// \brief Track topic name
public: std::string trackTopic;

/// \brief Currently tracked topic name
public: std::string currentTrackTopic;

/// \brief Remove service name
public: std::string removeService;
Expand Down Expand Up @@ -76,12 +85,37 @@ namespace gz::sim

/// \brief Name of world.
public: std::string worldName;

/// \brief Storing last follow target for look at.
public: std::string followTargetLookAt;

/// \brief Flag used to disable look at when not following target.
public: bool followingTarget{false};

/// \brief /gui/track publisher
public: transport::Node::Publisher trackPub;
};
}

using namespace gz;
using namespace sim;

/////////////////////////////////////////////////
void EntityContextMenu::OnCurrentlyTrackedSub(const msgs::CameraTrack &_msg)
{
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
this->dataPtr->followingTarget = false;
if (_msg.track_mode() == gz::msgs::CameraTrack::FOLLOW ||
_msg.track_mode() == gz::msgs::CameraTrack::FOLLOW_LOOK_AT ||
_msg.track_mode() == gz::msgs::CameraTrack::FOLLOW_FREE_LOOK)
{
this->dataPtr->followingTarget = true;
}
this->FollowingTargetChanged();

return;
}

/////////////////////////////////////////////////
void GzSimPlugin::registerTypes(const char *_uri)
{
Expand All @@ -94,11 +128,17 @@ void GzSimPlugin::registerTypes(const char *_uri)
EntityContextMenu::EntityContextMenu()
: dataPtr(std::make_unique<EntityContextMenuPrivate>())
{
this->dataPtr->currentTrackTopic = "/gui/currently_tracked";
this->dataPtr->node.Subscribe(this->dataPtr->currentTrackTopic,
&EntityContextMenu::OnCurrentlyTrackedSub, this);
gzmsg << "Currently tracking topic on ["
<< this->dataPtr->currentTrackTopic << "]" << std::endl;

// For move to service requests
this->dataPtr->moveToService = "/gui/move_to";

// For follow service requests
this->dataPtr->followService = "/gui/follow";
// For track topic message
this->dataPtr->trackTopic = "/gui/track";

// For remove service requests
this->dataPtr->removeService = "/world/default/remove";
Expand Down Expand Up @@ -129,11 +169,27 @@ EntityContextMenu::EntityContextMenu()

// For paste service requests
this->dataPtr->pasteService = "/gui/paste";

this->dataPtr->trackPub =
this->dataPtr->node.Advertise<msgs::CameraTrack>(this->dataPtr->trackTopic);
}

/////////////////////////////////////////////////
EntityContextMenu::~EntityContextMenu() = default;

/////////////////////////////////////////////////
void EntityContextMenu::SetFollowingTarget(bool &_followingTarget)
{
this->dataPtr->followingTarget = _followingTarget;
this->FollowingTargetChanged();
}

/////////////////////////////////////////////////
bool EntityContextMenu::FollowingTarget() const
{
return this->dataPtr->followingTarget;
}

/////////////////////////////////////////////////
void EntityContextMenu::OnRemove(
const QString &_data, const QString &_type)
Expand Down Expand Up @@ -196,9 +252,40 @@ void EntityContextMenu::OnRequest(const QString &_request, const QString &_data)
}
else if (request == "follow")
{
msgs::StringMsg req;
req.set_data(_data.toStdString());
this->dataPtr->node.Request(this->dataPtr->followService, req, cb);
msgs::CameraTrack followMsg;
followMsg.mutable_follow_target()->set_name(_data.toStdString());
followMsg.set_track_mode(msgs::CameraTrack::FOLLOW);
this->dataPtr->followTargetLookAt = followMsg.follow_target().name();
gzmsg << "Follow target: " << followMsg.follow_target().name() << std::endl;
this->dataPtr->trackPub.Publish(followMsg);
}
else if (request == "free_look")
{
msgs::CameraTrack followMsg;
followMsg.mutable_follow_target()->set_name(_data.toStdString());
followMsg.set_track_mode(msgs::CameraTrack::FOLLOW_FREE_LOOK);
this->dataPtr->followTargetLookAt = followMsg.follow_target().name();
gzmsg << "Follow target: " << followMsg.follow_target().name() << std::endl;
this->dataPtr->trackPub.Publish(followMsg);
}
else if (request == "look_at")
{
msgs::CameraTrack followMsg;
followMsg.mutable_track_target()->set_name(_data.toStdString());
followMsg.set_track_mode(msgs::CameraTrack::FOLLOW_LOOK_AT);
followMsg.mutable_follow_target()->set_name(
this->dataPtr->followTargetLookAt);
gzmsg << "Follow target: " << followMsg.follow_target().name() << std::endl;
gzmsg << "Look at target: " << followMsg.track_target().name() << std::endl;
this->dataPtr->trackPub.Publish(followMsg);
}
else if (request == "track")
{
msgs::CameraTrack trackMsg;
trackMsg.mutable_track_target()->set_name(_data.toStdString());
trackMsg.set_track_mode(msgs::CameraTrack::TRACK);
gzmsg << "Track target: " << trackMsg.track_target().name() << std::endl;
this->dataPtr->trackPub.Publish(trackMsg);
}
else if (request == "view_transparent")
{
Expand Down
23 changes: 23 additions & 0 deletions src/gui/plugins/modules/EntityContextMenu.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#define GZ_SIM_GUI_ENTITYCONTEXTMENU_HH_

#include <gz/gui/qt.h>
#include <gz/msgs/cameratrack.pb.h>
#include <QtQml/QQmlExtensionPlugin>
#include <memory>

Expand Down Expand Up @@ -46,13 +47,35 @@ namespace sim
class EntityContextMenu : public QQuickItem
{
Q_OBJECT
/// \brief followingTarget
Q_PROPERTY(
bool followingTarget
READ FollowingTarget
WRITE SetFollowingTarget
NOTIFY FollowingTargetChanged
)

/// \brief Constructor
public: EntityContextMenu();

/// \brief Destructor
public: ~EntityContextMenu() override;

/// \brief Get whether it is following target
/// \return True if followingTarget
public: Q_INVOKABLE bool FollowingTarget() const;

/// \brief Set whether followingTarget
/// \param[in] _followingTarget True if followingTarget
public: Q_INVOKABLE void SetFollowingTarget(bool &_followingTarget);

/// \brief Notify that followingTarget has changed
signals: void FollowingTargetChanged();

/// \brief Callback function to get data from the message
/// \param[in] _msg CameraTrack message
public: void OnCurrentlyTrackedSub(const msgs::CameraTrack &_msg);

/// \brief Callback when a context menu item is invoked
/// \param[in] _data Request data
/// \param[in] _type Entity type
Expand Down
56 changes: 52 additions & 4 deletions src/gui/plugins/modules/EntityContextMenu.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,19 @@ Item {
onTriggered: context.OnRequest("move_to", context.entity)
}
MenuItem {
id: followMenu
text: "Follow"
onTriggered: context.OnRequest("follow", context.entity)
id: followOptionsSubmenu
text: "Follow Options >"
MouseArea {
id: followOptionsSubMouseArea
anchors.fill: parent
hoverEnabled: true
onEntered: secondMenu.open()
}
}
MenuItem {
id: trackMenu
text: "Track"
onTriggered: context.OnRequest("track", context.entity)
}
MenuItem {
id: removeMenu
Expand Down Expand Up @@ -67,13 +77,42 @@ Item {
id: viewSubMouseArea
anchors.fill: parent
hoverEnabled: true
onEntered: secondMenu.open()
onEntered: thirdMenu.open()
}
}
}
Menu {
id: secondMenu
x: menu.x + menu.width
y: menu.y + followOptionsSubmenu.y
MenuItem {
id: followMenu
text: "Follow"
onTriggered: {
menu.close()
context.OnRequest("follow", context.entity)
}
}
MenuItem {
id: followFreeLookMenu
text: "Free Look"
onTriggered: {
menu.close()
context.OnRequest("free_look", context.entity)
}
}
MenuItem {
id: followLookAtMenu
text: "Look At"
onTriggered: {
menu.close()
context.OnRequest("look_at", context.entity)
}
}
}
Menu {
id: thirdMenu
x: menu.x + menu.width
y: menu.y + viewSubmenu.y
MenuItem {
id: viewCOMMenu
Expand Down Expand Up @@ -140,6 +179,9 @@ Item {
context.type = _type
moveToMenu.enabled = false
followMenu.enabled = false
followFreeLookMenu.enabled = false
followLookAtMenu.enabled = false
trackMenu.enabled = false
removeMenu.enabled = false
viewTransparentMenu.enabled = false;
viewCOMMenu.enabled = false;
Expand All @@ -156,6 +198,12 @@ Item {
{
moveToMenu.enabled = true
followMenu.enabled = true
followFreeLookMenu.enabled = true
if (context.followingTarget)
{
followLookAtMenu.enabled = true
}
trackMenu.enabled = true
}

if (context.type == "model" || context.type == "light")
Expand Down

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