Add acoustic environment vis scaffolding

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>

src/gui/plugins/CMakeLists.txt

@@ -136,6 +136,7 @@ add_subdirectory(copy_paste)
 add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
 add_subdirectory(environment_loader)
+add_subdirectory(environment_visualization)
 add_subdirectory(joint_position_controller)
 add_subdirectory(lights)
 add_subdirectory(playback_scrubber)

src/gui/plugins/environment_loader/EnvironmentLoader.qml

@@ -196,7 +196,7 @@ GridLayout {
     Layout.fillWidth: true
     enabled: EnvironmentLoader.configured
     model: EnvironmentLoader.referenceList
-    currentText: EnvironmentLoader.reference
+    //currentText: EnvironmentLoader.reference
     onCurrentTextChanged: {
       EnvironmentLoader.reference = currentText
     }

src/gui/plugins/environment_visualization/CMakeLists.txt

@@ -0,0 +1,8 @@
+gz_add_gui_plugin(EnvironmentVisualization
+  SOURCES EnvironmentVisualization.cc
+  QT_HEADERS EnvironmentVisualization.hh
+  PRIVATE_LINK_LIBS
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-common${GZ_COMMON_VER}::io
+    gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
+)

src/gui/plugins/environment_visualization/EnvironmentVisualization.cc

@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2022 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 "EnvironmentVisualization.hh"
+
+#include <gz/gui/Application.hh>
+#include <gz/gui/MainWindow.hh>
+#include <gz/sim/components/Environment.hh>
+#include <gz/sim/Util.hh>
+
+#include <gz/plugin/Register.hh>
+
+#include <atomic>
+#include <mutex>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <gz/common/CSVStreams.hh>
+#include <gz/common/DataFrame.hh>
+
+using namespace gz;
+using namespace sim;
+
+namespace gz
+{
+namespace sim
+{
+inline namespace GZ_SIM_VERSION_NAMESPACE
+{
+/// \brief Private data class for EnvironmentVisualization
+class EnvironmentVisualizationPrivate
+{
+  /// \brief To synchronize member access.
+  public: std::mutex mutex;
+
+  /// \brief Whether to attempt an environmental data load.
+  public: std::atomic<bool> needsLoad{false};
+
+  /// \brief Setup publishers
+  public: 
+
+  /// \brief first load we need to scan for existing data sensor
+  public: bool first;
+};
+}
+}
+}
+
+/////////////////////////////////////////////////
+EnvironmentVisualization::EnvironmentVisualization()
+  : GuiSystem(), dataPtr(new EnvironmentVisualizationPrivate)
+{
+  gui::App()->Engine()->rootContext()->setContextProperty(
+      "EnvironmentVisualization", this);
+}
+
+/////////////////////////////////////////////////
+EnvironmentVisualization::~EnvironmentVisualization()
+{
+}
+
+/////////////////////////////////////////////////
+void EnvironmentVisualization::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Environment Visualization Resolution";
+
+  gui::App()->findChild<gui::MainWindow *>()->installEventFilter(this);
+}
+
+/////////////////////////////////////////////////
+void EnvironmentVisualization::Update(const UpdateInfo &,
+                               EntityComponentManager &_ecm)
+{
+  _ecm.EachNew<components::Environment>(
+    [](
+      const Entity &_entity,
+      const components::Environment* environment
+    ) {
+
+    }
+  );
+
+  auto environData =
+    _ecm.Component<components::Environment>(
+      worldEntity(_ecm));
+}
+
+// Register this plugin
+GZ_ADD_PLUGIN(gz::sim::EnvironmentVisualization, gz::gui::Plugin)

src/gui/plugins/environment_visualization/EnvironmentVisualization.hh

@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2022 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_SIM_GUI_ENVIRONMENTVISUALIZATION_HH_
+#define GZ_SIM_GUI_ENVIRONMENTVISUALIZATION_HH_
+
+#include <memory>
+
+#include "gz/sim/gui/GuiSystem.hh"
+#include "gz/gui/qt.h"
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE
+{
+  class EnvironmentVisualizationPrivate;
+
+  /// \class EnvironmentVisualization EnvironmentVisualization.hh
+  ///     gz/sim/systems/EnvironmentVisualization.hh
+  /// \brief A GUI plugin for a user to load an Environment
+  /// component into the ECM on a live simulation.
+  class EnvironmentVisualization : public gz::sim::GuiSystem
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: EnvironmentVisualization();
+
+    /// \brief Destructor
+    public: ~EnvironmentVisualization() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+    // Documentation inherited
+    public: void Update(const UpdateInfo &,
+                        EntityComponentManager &_ecm) override;
+
+    /// \internal
+    /// \brief Pointer to private data
+    private: std::unique_ptr<EnvironmentVisualizationPrivate> dataPtr;
+  };
+}
+}
+}
+#endif

src/gui/plugins/environment_visualization/EnvironmentVisualization.qml

@@ -0,0 +1,99 @@
+/*
+ * Copyright (C) 2022 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.Dialogs 1.0
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import "qrc:/qml"
+
+
+GridLayout {
+  columns: 8
+  columnSpacing: 10
+  Layout.minimumWidth: 350
+  Layout.minimumHeight: 400
+  anchors.fill: parent
+  anchors.leftMargin: 10
+  anchors.rightMargin: 10
+
+  Label {
+    Layout.row: 0
+    Layout.columnSpan: 8
+    horizontalAlignment: Text.AlignCenter
+    id: instructionLabel
+    color: "dimgrey"
+    text: qsTr("For the actual pointcloud please open the point_cloud panel")
+  }
+
+  Label {
+    Layout.row: 1
+    Layout.columnSpan: 2
+    horizontalAlignment: Text.AlignRight
+    id: dimensionLabelX
+    color: "dimgrey"
+    text: qsTr("X resolution")
+  }
+
+  Slider {
+    Layout.row: 1
+    Layout.column: 2
+    Layout.columnSpan: 6
+    id: stepSliderX
+    from: 10
+    value: 2
+    to: 1000
+  }
+
+  Label {
+    Layout.row: 2
+    Layout.columnSpan: 2
+    horizontalAlignment: Text.AlignRight
+    id: dimensionLabelY
+    color: "dimgrey"
+    text: qsTr("Y resolution")
+  }
+
+  Slider {
+    Layout.row: 2
+    Layout.column: 2
+    Layout.columnSpan: 6
+    id: stepSliderY
+    from: 10
+    value: 2
+    to: 1000
+  }
+
+  Label {
+    Layout.row: 3
+    Layout.columnSpan: 2
+    horizontalAlignment: Text.AlignRight
+    id: dimensionLabelZ
+    color: "dimgrey"
+    text: qsTr("Z resolution")
+  }
+
+  Slider {
+    Layout.row: 3
+    Layout.column: 2
+    Layout.columnSpan: 6
+    id: stepSliderZ
+    from: 10
+    value: 2
+    to: 1000
+  }
+}

src/gui/plugins/environment_visualization/EnvironmentVisualization.qrc

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