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Support qwt 6.2.0 and remove pin of qwt on 6.1.0 #87

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merged 6 commits into from
Jul 21, 2021
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Support qwt 6.2.0 and remove pin of qwt on 6.1.0 #87

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8723fac
Create 3047.patch
traversaro Jul 20, 2021
24ada44
Update meta.yaml
traversaro Jul 20, 2021
5145248
Update meta.yaml
traversaro Jul 20, 2021
a26e8c3
Update 3047.patch
traversaro Jul 21, 2021
e6b1247
Update 3047.patch
traversaro Jul 21, 2021
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traversaro Jul 21, 2021
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248 changes: 248 additions & 0 deletions recipe/3047.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,248 @@
From a7bcf255ca885bcb53a03bfaeb09273648656ea8 Mon Sep 17 00:00:00 2001
From: Steven Peters <scpeters@openrobotics.org>
Date: Tue, 20 Jul 2021 04:12:00 -0700
Subject: [PATCH] IncrementalPlot.cc: include qwt_scale_map.h

Compilation is broken with qwt 6.2 without this fix.

Signed-off-by: Steven Peters <scpeters@openrobotics.org>
---
gazebo/gui/GLWidget.cc | 4 +-
gazebo/gui/plot/IncrementalPlot.cc | 2 +-
gazebo/gui/plot/PlotCurve.cc | 99 +++++++++++++++++++++++-------
gazebo/gui/plot/qwt_gazebo.h | 4 ++
4 files changed, 83 insertions(+), 26 deletions(-)

diff --git a/gazebo/gui/GLWidget.cc b/gazebo/gui/GLWidget.cc
index 2f748b35ac..0da51b5a8a 100644
--- a/gazebo/gui/GLWidget.cc
+++ b/gazebo/gui/GLWidget.cc
@@ -1378,7 +1378,7 @@ void GLWidget::SetMouseEventButtons(const Qt::MouseButtons &_buttons)
this->dataPtr->mouseEvent.Buttons() | 0x0);
}

- if (_buttons & Qt::MidButton)
+ if (_buttons & Qt::MiddleButton)
{
this->dataPtr->mouseEvent.SetButtons(
this->dataPtr->mouseEvent.Buttons() | common::MouseEvent::MIDDLE);
@@ -1397,6 +1397,6 @@ void GLWidget::SetMouseEventButton(const Qt::MouseButton &_button)
this->dataPtr->mouseEvent.SetButton(common::MouseEvent::LEFT);
else if (_button == Qt::RightButton)
this->dataPtr->mouseEvent.SetButton(common::MouseEvent::RIGHT);
- else if (_button == Qt::MidButton)
+ else if (_button == Qt::MiddleButton)
this->dataPtr->mouseEvent.SetButton(common::MouseEvent::MIDDLE);
}
diff --git a/gazebo/gui/plot/IncrementalPlot.cc b/gazebo/gui/plot/IncrementalPlot.cc
index d5c6ec5acb..90a72a7ef3 100644
--- a/gazebo/gui/plot/IncrementalPlot.cc
+++ b/gazebo/gui/plot/IncrementalPlot.cc
@@ -195,7 +195,7 @@ IncrementalPlot::IncrementalPlot(QWidget *_parent)
// box zoom
this->dataPtr->zoomer = new QwtPlotZoomer(this->canvas());
this->dataPtr->zoomer->setMousePattern(QwtEventPattern::MouseSelect1,
- Qt::MidButton);
+ Qt::MiddleButton);
this->dataPtr->zoomer->setMousePattern(QwtEventPattern::MouseSelect2,
Qt::RightButton, Qt::ControlModifier);
this->dataPtr->zoomer->setMousePattern(QwtEventPattern::MouseSelect3,
diff --git a/gazebo/gui/plot/PlotCurve.cc b/gazebo/gui/plot/PlotCurve.cc
index 3f31a024bb..b59dbdfb83 100644
--- a/gazebo/gui/plot/PlotCurve.cc
+++ b/gazebo/gui/plot/PlotCurve.cc
@@ -24,6 +24,11 @@
#include "gazebo/gui/plot/IncrementalPlot.hh"
#include "gazebo/gui/plot/PlotCurve.hh"

+// member variables in qwt_series_data were renamed in 6.2.0
+#if QWT_VERSION < 0x060200
+#define QWT_VERSION_LT_620
+#endif
+
using namespace gazebo;
using namespace gui;

@@ -51,75 +56,123 @@ namespace gazebo
public: CurveData()
{}

- /// \brief Add a point to the sample.
+ private: inline const QRectF& BoundingRect() const
+ {
+#ifdef QWT_VERSION_LT_620
+ return this->d_boundingRect;
+#else
+ return this->cachedBoundingRect;
+#endif
+ }
+
+ private: inline QRectF& BoundingRect()
+ {
+#ifdef QWT_VERSION_LT_620
+ return this->d_boundingRect;
+#else
+ return this->cachedBoundingRect;
+#endif
+ }
+
+ private: inline const QVector<QPointF>& SamplesRef() const
+ {
+#ifdef QWT_VERSION_LT_620
+ return this->d_samples;
+#else
+ return this->m_samples;
+#endif
+ }
+
+ private: inline QVector<QPointF>& SamplesRef()
+ {
+#ifdef QWT_VERSION_LT_620
+ return this->d_samples;
+#else
+ return this->m_samples;
+#endif
+ }
+
+ /// \brief Bounding rectangle accessor. This create the object
+ /// if it does not already exist or is too small.
/// \return Bounding box of the sample.
public: virtual QRectF boundingRect() const
{
- if (this->d_boundingRect.width() < 0.0)
+ if (this->BoundingRect().width() < 0.0)
+ {
+#ifdef QWT_VERSION_LT_620
this->d_boundingRect = qwtBoundingRect(*this);
+#else
+ this->cachedBoundingRect = qwtBoundingRect(*this);
+#endif
+ }

// set a minimum bounding box height
// this prevents plot's auto scale to zoom in on near-zero
// floating point noise.
double minHeight = 1e-3;
- double absHeight = std::fabs(this->d_boundingRect.height());
+ double absHeight = std::fabs(this->BoundingRect().height());
if (absHeight < minHeight)
{
double halfMinHeight = minHeight * 0.5;
- double mid = this->d_boundingRect.top() +
+ double mid = this->BoundingRect().top() +
(absHeight * 0.5);
+#ifdef QWT_VERSION_LT_620
this->d_boundingRect.setTop(mid - halfMinHeight);
this->d_boundingRect.setBottom(mid + halfMinHeight);
+#else
+ this->cachedBoundingRect.setTop(mid - halfMinHeight);
+ this->cachedBoundingRect.setBottom(mid + halfMinHeight);
+#endif
}

- return this->d_boundingRect;
+ return this->BoundingRect();
}

/// \brief Add a point to the sample.
/// \param[in] _point Point to add.
public: inline void Add(const QPointF &_point)
{
- this->d_samples += _point;
+ this->SamplesRef() += _point;

- if (this->d_samples.size() > maxSampleSize)
+ if (this->SamplesRef().size() > maxSampleSize)
{
// remove sample window
// update bounding rect?
- this->d_samples.remove(0, windowSize);
+ this->SamplesRef().remove(0, windowSize);
}

- if (this->d_samples.size() == 1)
+ if (this->SamplesRef().size() == 1)
{
// init bounding rect
- this->d_boundingRect.setTopLeft(_point);
- this->d_boundingRect.setBottomRight(_point);
+ this->BoundingRect().setTopLeft(_point);
+ this->BoundingRect().setBottomRight(_point);
return;
}

// expand bounding rect
- if (_point.x() < this->d_boundingRect.left())
- this->d_boundingRect.setLeft(_point.x());
- else if (_point.x() > this->d_boundingRect.right())
- this->d_boundingRect.setRight(_point.x());
- if (_point.y() < this->d_boundingRect.top())
- this->d_boundingRect.setTop(_point.y());
- else if (_point.y() > this->d_boundingRect.bottom())
- this->d_boundingRect.setBottom(_point.y());
+ if (_point.x() < this->BoundingRect().left())
+ this->BoundingRect().setLeft(_point.x());
+ else if (_point.x() > this->BoundingRect().right())
+ this->BoundingRect().setRight(_point.x());
+ if (_point.y() < this->BoundingRect().top())
+ this->BoundingRect().setTop(_point.y());
+ else if (_point.y() > this->BoundingRect().bottom())
+ this->BoundingRect().setBottom(_point.y());
}

/// \brief Clear the sample data.
public: void Clear()
{
- this->d_samples.clear();
- this->d_samples.squeeze();
- this->d_boundingRect = QRectF(0.0, 0.0, -1.0, -1.0);
+ this->SamplesRef().clear();
+ this->SamplesRef().squeeze();
+ this->BoundingRect() = QRectF(0.0, 0.0, -1.0, -1.0);
}

/// \brief Get the sample data.
/// \return A vector of same points.
public: QVector<QPointF> Samples() const
{
- return this->d_samples;
+ return this->SamplesRef();
}

/// \brief maxium sample size of this curve.
diff --git a/gazebo/gui/plot/qwt_gazebo.h b/gazebo/gui/plot/qwt_gazebo.h
index 9dbb79b1c4..5209bee359 100644
--- a/gazebo/gui/plot/qwt_gazebo.h
+++ b/gazebo/gui/plot/qwt_gazebo.h
@@ -26,6 +26,7 @@
#if defined __has_include
#if __has_include (<qwt.h>)
#include <qwt_curve_fitter.h>
+ #include <qwt_global.h>
#include <qwt_legend.h>
#include <qwt_painter.h>
#include <qwt_picker_machine.h>
@@ -40,6 +41,7 @@
#include <qwt_plot_panner.h>
#include <qwt_plot_zoomer.h>
#include <qwt_scale_engine.h>
+ #include <qwt_scale_map.h>
#include <qwt_scale_widget.h>
#include <qwt_symbol.h>
#include <qwt_plot_renderer.h>
@@ -49,6 +51,7 @@

#ifndef GAZEBO_GUI_QWT_IS_INCLUDED
#include <qwt/qwt_curve_fitter.h>
+ #include <qwt/qwt_global.h>
#include <qwt/qwt_legend.h>
#include <qwt/qwt_painter.h>
#include <qwt/qwt_picker_machine.h>
@@ -63,6 +66,7 @@
#include <qwt/qwt_plot_panner.h>
#include <qwt/qwt_plot_zoomer.h>
#include <qwt/qwt_scale_engine.h>
+ #include <qwt/qwt_scale_map.h>
#include <qwt/qwt_scale_widget.h>
#include <qwt/qwt_symbol.h>
#include <qwt/qwt_plot_renderer.h>
5 changes: 3 additions & 2 deletions recipe/meta.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,10 @@ source:
- normalize-ogre-path.patch
- fix-windows-model-insert.patch
- fix-invisible-meshes.patch
- 3047.patch

build:
number: 1
number: 2
skip: false
run_exports:
- {{ pin_subpackage('gazebo', max_pin='x') }}
Expand Down Expand Up @@ -77,7 +78,7 @@ requirements:
- tbb-devel 2019.9 # [win]
# tbb pinned on Unix due to https://github.com/conda-forge/gazebo-feedstock/issues/57
- tbb-devel 2020.2 # [not win]
- qwt 6.1.*
- qwt
- tinyxml2
- libtar # [unix]
- libccd # [unix]
Expand Down