Merged in 2_to_3_select (pull request #539)

Forward port Selection to Citadel

Approved-by: Louise Poubel <[email protected]>

README.md

@@ -140,7 +140,7 @@ for dependency installation instructions for each supported operating system.
 1. Install third-party libraries:
 
     ```
-    sudo apt-get -y install cmake build-essential curl cppcheck g++-8 libbenchmark-dev libgflags-dev doxygen ruby-ronn libtinyxml2-dev libtinyxml-dev software-properties-common libeigen3-dev
+    sudo apt-get -y install cmake build-essential curl cppcheck g++-8 libbenchmark-dev libgflags-dev doxygen ruby-ronn libtinyxml2-dev libtinyxml-dev software-properties-common libeigen3-dev qtdeclarative5-models-plugin
     ```
 
 2. Install required Ignition libraries:

include/ignition/gazebo/gui/GuiEvents.hh

@@ -0,0 +1,117 @@
+/*
+ * 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_GUI_GUIEVENTS_HH_
+#define IGNITION_GAZEBO_GUI_GUIEVENTS_HH_
+
+#include <QEvent>
+#include <utility>
+#include <vector>
+#include "ignition/gazebo/Entity.hh"
+#include "ignition/gazebo/config.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+namespace gui {
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+/// \brief Namespace for all events. Refer to the EventManager class for
+/// more information about events.
+namespace events
+{
+  /// \brief Event that notifies when new entities have been selected.
+  class EntitiesSelected : public QEvent
+  {
+    /// \brief Constructor
+    /// \param[in] _entities All the selected entities
+    /// \param[in] _fromUser True if the event was directly generated by the
+    /// user, false in case it's been propagated through a different mechanism.
+    public: explicit EntitiesSelected(
+        const std::vector<Entity> &_entities,  // NOLINT
+        bool _fromUser = false)
+        : QEvent(kType), entities(_entities), fromUser(_fromUser)
+    {
+    }
+
+    /// \brief Get the data sent with the event.
+    /// \return The entities being selected.
+    public: std::vector<Entity> Data() const
+    {
+      return this->entities;
+    }
+
+    /// \brief Get whether the event was generated by the user.
+    /// \return True for the user.
+    public: bool FromUser() const
+    {
+      return this->fromUser;
+    }
+
+    /// \brief Unique type for this event.
+    static const QEvent::Type kType = QEvent::Type(QEvent::User + 1);
+
+    /// \brief The selected entities.
+    private: std::vector<Entity> entities;
+
+    /// \brief Whether the event was generated by the user,
+    private: bool fromUser{false};
+  };
+
+  /// \brief Event that notifies when all entities have been deselected.
+  class DeselectAllEntities : public QEvent
+  {
+    /// \brief Constructor
+    /// \param[in] _fromUser True if the event was directly generated by the
+    /// user, false in case it's been propagated through a different mechanism.
+    public: explicit DeselectAllEntities(bool _fromUser = false)
+        : QEvent(kType), fromUser(_fromUser)
+    {
+    }
+
+    /// \brief Get whether the event was generated by the user.
+    /// \return True for the user.
+    public: bool FromUser() const
+    {
+      return this->fromUser;
+    }
+
+    /// \brief Unique type for this event.
+    static const QEvent::Type kType = QEvent::Type(QEvent::User + 2);
+
+    /// \brief Whether the event was generated by the user,
+    private: bool fromUser{false};
+  };
+
+  /// \brief Event called in the render thread of a 3D scene.
+  /// It's safe to make rendering calls in this event's callback.
+  class Render : public QEvent
+  {
+    public: Render()
+        : QEvent(Type)
+    {
+    }
+    /// \brief Unique type for this event.
+    static const QEvent::Type Type = QEvent::Type(QEvent::User + 3);
+  };
+}  // namespace events
+}
+}  // namespace gui
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif  // IGNITION_GAZEBO_GUI_GUIEVENTS_HH_

include/ignition/gazebo/rendering/RenderUtil.hh

@@ -19,6 +19,7 @@
 
 #include <memory>
 #include <string>
+#include <vector>
 
 #include <sdf/Sensor.hh>
 
@@ -120,12 +121,29 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 
     /// \brief Set the entity being selected
     /// \param[in] _node Node representing the selected entity
+    /// \TODO(anyone) Make const ref when merging forward
+    // NOLINTNEXTLINE
     public: void SetSelectedEntity(rendering::NodePtr _node);
 
-    /// \brief Get the entity being selected
-    /// \return Node representing the selected entity
+    /// \brief Get the entity for a given node.
+    /// \param[in] _node Node to get the entity for.
+    /// \return The entity for that node, or `kNullEntity` for no entity.
+    /// \deprecated Use `ignition::rendering::Visual::UserData` instead.
+    public: Entity IGN_DEPRECATED(3)
+        EntityFromNode(const rendering::NodePtr &_node);
+
+    /// \brief Get the entity being selected. This will only return the
+    /// last entity selected.
+    /// \TODO(anyone) Deprecate in favour of SelectedEntities
     public: rendering::NodePtr SelectedEntity() const;
 
+    /// \brief Get the entities currently selected, in order of selection.
+    /// \return Map of currently selected entities, entity to rendering node id
+    public: std::vector<Entity> SelectedEntities() const;
+
+    /// \brief Clears the set of selected entities and lowlights all of them.
+    public: void DeselectAllEntities();
+
     /// \brief Set whether the transform controls are currently being dragged.
     /// \param[in] _active True if active.
     public: void SetTransformActive(bool _active);

include/ignition/gazebo/rendering/SceneManager.hh

@@ -123,7 +123,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \return true if exists, false otherwise
     public: bool HasEntity(Entity _id) const;
 
-    /// \brief Get a rendering node given an id
+    /// \brief Get a rendering node given an entity id
     /// \param[in] _id Entity's unique id
     /// \return Pointer to requested entity's node
     public: rendering::NodePtr NodeById(Entity _id) const;
@@ -144,6 +144,13 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \param[in] _id Entity's unique id
     public: void RemoveEntity(Entity _id);
 
+    /// \brief Get the entity for a given node.
+    /// \param[in] _node Node to get the entity for.
+    /// \return The entity for that node, or `kNullEntity` for no entity.
+    /// \todo(anyone) Deprecate in favour of
+    /// `ignition::rendering::Node::UserData` once that's available.
+    public: Entity EntityFromNode(const rendering::NodePtr &_node) const;
+
     /// \brief Load a geometry
     /// \param[in] _geom Geometry sdf dom
     /// \param[out] _scale Geometry scale that will be set based on sdf
@@ -164,9 +171,19 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// Usually, this will be a model or a light.
     /// \param[in] _visual Child visual
     /// \return Top level visual containining this visual
+    /// \TODO(anyone) Make it const ref when merging forward
     public: rendering::VisualPtr TopLevelVisual(
+        // NOLINTNEXTLINE
         rendering::VisualPtr _visual) const;
 
+    /// \brief Get the top level node for the given node, which
+    /// is the ancestor which is a direct child to the root visual.
+    /// Usually, this will be a model or a light.
+    /// \param[in] _node Child node
+    /// \return Top level node containining this node
+    public: rendering::NodePtr TopLevelNode(
+        const rendering::NodePtr &_node) const;
+
     /// \internal
     /// \brief Pointer to private data class
     private: std::unique_ptr<SceneManagerPrivate> dataPtr;

src/gui/plugins/entity_tree/EntityTree.cc

@@ -19,6 +19,7 @@
 #include <ignition/common/Console.hh>
 #include <ignition/common/Profiler.hh>
 #include <ignition/gui/Application.hh>
+#include <ignition/gui/MainWindow.hh>
 #include <ignition/plugin/Register.hh>
 
 #include "ignition/gazebo/components/Collision.hh"
@@ -34,6 +35,7 @@
 #include "ignition/gazebo/components/Visual.hh"
 #include "ignition/gazebo/components/World.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/gui/GuiEvents.hh"
 
 #include "EntityTree.hh"
 
@@ -223,6 +225,21 @@ QString TreeModel::ScopedName(const QModelIndex &_index) const
   return scopedName;
 }
 
+/////////////////////////////////////////////////
+unsigned int TreeModel::EntityId(const QModelIndex &_index) const
+{
+  Entity entity{kNullEntity};
+  QStandardItem *item = this->itemFromIndex(_index);
+  if (!item)
+    return entity;
+
+  QVariant entityVar  = item->data(this->roleNames().key("entity"));
+  if (!entityVar.isValid())
+    return entity;
+
+  return entityVar.toUInt();
+}
+
 /////////////////////////////////////////////////
 QHash<int, QByteArray> TreeModel::roleNames() const
 {
@@ -237,8 +254,8 @@ EntityTree::EntityTree()
   : GuiSystem(), dataPtr(std::make_unique<EntityTreePrivate>())
 {
   // Connect model
-  gui::App()->Engine()->rootContext()->setContextProperty("EntityTreeModel",
-      &this->dataPtr->treeModel);
+  ignition::gui::App()->Engine()->rootContext()->setContextProperty(
+     "EntityTreeModel", &this->dataPtr->treeModel);
 }
 
 /////////////////////////////////////////////////
@@ -249,6 +266,9 @@ void EntityTree::LoadConfig(const tinyxml2::XMLElement *)
 {
   if (this->title.empty())
     this->title = "Entity tree";
+
+  ignition::gui::App()->findChild<
+      ignition::gui::MainWindow *>()->installEventFilter(this);
 }
 
 //////////////////////////////////////////////////
@@ -336,6 +356,61 @@ void EntityTree::Update(const UpdateInfo &, EntityComponentManager &_ecm)
   });
 }
 
+/////////////////////////////////////////////////
+void EntityTree::OnEntitySelectedFromQml(unsigned int _entity)
+{
+  std::vector<Entity> entitySet {_entity};
+  auto event = new gui::events::EntitiesSelected(entitySet, true);
+  ignition::gui::App()->sendEvent(
+      ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+      event);
+}
+
+/////////////////////////////////////////////////
+void EntityTree::DeselectAllEntities()
+{
+  auto event = new gui::events::DeselectAllEntities(true);
+  ignition::gui::App()->sendEvent(
+      ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+      event);
+}
+
+/////////////////////////////////////////////////
+bool EntityTree::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == ignition::gazebo::gui::events::EntitiesSelected::kType)
+  {
+    auto selectedEvent =
+        reinterpret_cast<gui::events::EntitiesSelected *>(_event);
+    if (selectedEvent && !selectedEvent->Data().empty())
+    {
+      for (const auto &entity : selectedEvent->Data())
+      {
+        if (entity == kNullEntity)
+          continue;
+
+        QMetaObject::invokeMethod(this->PluginItem(), "onEntitySelectedFromCpp",
+            Qt::QueuedConnection, Q_ARG(QVariant,
+            QVariant(static_cast<unsigned int>(entity))));
+      }
+    }
+  }
+  else if (_event->type() ==
+           ignition::gazebo::gui::events::DeselectAllEntities::kType)
+  {
+    auto deselectAllEvent =
+        reinterpret_cast<gui::events::DeselectAllEntities *>(_event);
+    if (deselectAllEvent)
+    {
+      QMetaObject::invokeMethod(this->PluginItem(), "deselectAllEntities",
+          Qt::QueuedConnection);
+    }
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gazebo::EntityTree,
                     ignition::gui::Plugin)

src/gui/plugins/entity_tree/EntityTree.hh

@@ -68,6 +68,11 @@ namespace gazebo
     /// \return Scoped name of the entity
     public: Q_INVOKABLE QString ScopedName(const QModelIndex &_index) const;
 
+    /// \brief Get the entity ID of a tree item at specified index
+    /// \param[in] _index Model index
+    /// \return Entity ID
+    public: Q_INVOKABLE unsigned int EntityId(const QModelIndex &_index) const;
+
     /// \brief Keep track of which item corresponds to which entity.
     private: std::map<Entity, QStandardItem *> entityItems;
   };
@@ -92,6 +97,18 @@ namespace gazebo
     // Documentation inherited
     public: void Update(const UpdateInfo &, EntityComponentManager &) override;
 
+    /// \brief Callback when an entity has been selected. This should be
+    /// called from QML.
+    /// \param[in] _entity Entity being selected.
+    public: Q_INVOKABLE void OnEntitySelectedFromQml(unsigned int _entity);
+
+    /// \brief Callback when all entities have been deselected.
+    /// This should be called from QML.
+    public: Q_INVOKABLE void DeselectAllEntities();
+
+    // Documentation inherited
+    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<EntityTreePrivate> dataPtr;