Insert Local Models

src/Server.cc

@@ -104,6 +104,8 @@ Server::Server(const ServerConfig &_config)
 
   addResourcePaths();
 
+  addResourcePaths();
+
   sdf::Errors errors;
 
   // Load a world if specified. Check SDF string first, then SDF file

src/ServerPrivate.hh

@@ -94,6 +94,13 @@ namespace ignition
       /// \return Path to the downloaded resource, empty on error.
       public: std::string FetchResourceUri(const common::URI &_uri);
 
+      /// \brief Add resource paths based on latest environment variables.
+      /// This will update the SDF and Ignition environment variables based
+      /// on kResourcesPathEnv, and optionally add more paths to the list.
+      /// \param[in] _paths Optional paths to add.
+      public: void AddResourcePaths(
+                  const std::vector<std::string> &_paths = {});
+
       /// \brief Signal handler callback
       /// \param[in] _sig The signal number
       private: void OnSignal(int _sig);

src/gui/plugins/CMakeLists.txt

@@ -84,6 +84,7 @@ add_subdirectory(modules)
 add_subdirectory(component_inspector)
 add_subdirectory(entity_tree)
 add_subdirectory(grid_config)
+add_subdirectory(resource_spawner)
 add_subdirectory(scene3d)
 add_subdirectory(shapes)
 add_subdirectory(transform_control)

src/gui/plugins/resource_spawner/CMakeLists.txt

@@ -0,0 +1,4 @@
+gz_add_gui_plugin(ResourceSpawner
+  SOURCES ResourceSpawner.cc
+  QT_HEADERS ResourceSpawner.hh
+)

src/gui/plugins/resource_spawner/ResourceSpawner.cc

@@ -0,0 +1,289 @@
+/*
+ * 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.
+ *
+*/
+#include <ignition/msgs/boolean.pb.h>
+#include <ignition/msgs/stringmsg.pb.h>
+
+#include <sdf/Root.hh>
+#include <sdf/parser.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Profiler.hh>
+#include <ignition/common/Filesystem.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/MainWindow.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+#include <ignition/transport/Publisher.hh>
+
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/gui/GuiEvents.hh"
+
+#include "ResourceSpawner.hh"
+
+namespace ignition::gazebo
+{
+  class ResourceSpawnerPrivate
+  {
+    /// \brief Ignition communication node.
+    public: transport::Node node;
+
+    /// \brief The grid model that the qml gridview reflects
+    public: GridModel gridModel;
+
+    /// \brief The path list model that the qml treeview reflects
+    public: PathModel pathModel;
+  };
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+PathModel::PathModel() : QStandardItemModel()
+{
+}
+
+/////////////////////////////////////////////////
+void PathModel::AddPath(const std::string &_path)
+{
+  IGN_PROFILE_THREAD_NAME("Qt thread");
+  IGN_PROFILE("PathModel::AddPath");
+  QStandardItem *parentItem{nullptr};
+
+  parentItem = this->invisibleRootItem();
+
+  auto localModel = new QStandardItem(QString::fromStdString(_path));
+  localModel->setData(QString::fromStdString(_path),
+                      this->roleNames().key("path"));
+
+  parentItem->appendRow(localModel);
+}
+
+/////////////////////////////////////////////////
+QHash<int, QByteArray> PathModel::roleNames() const
+{
+  return
+  {
+    std::pair(100, "path"),
+  };
+}
+
+/////////////////////////////////////////////////
+GridModel::GridModel() : QStandardItemModel()
+{
+}
+
+/////////////////////////////////////////////////
+void GridModel::Clear()
+{
+  QStandardItem *parentItem{nullptr};
+  parentItem = this->invisibleRootItem();
+
+  while (parentItem->rowCount() > 0)
+  {
+    parentItem->removeRow(0);
+  }
+}
+
+/////////////////////////////////////////////////
+void GridModel::AddLocalModel(LocalModel &_model)
+{
+  IGN_PROFILE_THREAD_NAME("Qt thread");
+  IGN_PROFILE("GridModel::AddLocalModel");
+  QStandardItem *parentItem{nullptr};
+
+  parentItem = this->invisibleRootItem();
+
+  auto localModel = new QStandardItem(QString::fromStdString(_model.name));
+  localModel->setData(QString::fromStdString(_model.thumbnailPath),
+                      this->roleNames().key("thumbnail"));
+  localModel->setData(QString::fromStdString(_model.name),
+                      this->roleNames().key("name"));
+  localModel->setData(QString::fromStdString(_model.sdfPath),
+                      this->roleNames().key("sdf"));
+
+  parentItem->appendRow(localModel);
+}
+
+/////////////////////////////////////////////////
+QHash<int, QByteArray> GridModel::roleNames() const
+{
+  return
+  {
+    std::pair(100, "thumbnail"),
+    std::pair(101, "name"),
+    std::pair(102, "sdf"),
+  };
+}
+
+/////////////////////////////////////////////////
+ResourceSpawner::ResourceSpawner()
+  : ignition::gui::Plugin(),
+  dataPtr(std::make_unique<ResourceSpawnerPrivate>())
+{
+  ignition::gui::App()->Engine()->rootContext()->setContextProperty(
+      "LocalModelList", &this->dataPtr->gridModel);
+  ignition::gui::App()->Engine()->rootContext()->setContextProperty(
+      "PathList", &this->dataPtr->pathModel);
+}
+
+/////////////////////////////////////////////////
+ResourceSpawner::~ResourceSpawner() = default;
+
+/////////////////////////////////////////////////
+void ResourceSpawner::LoadLocalModel(const std::string &_path)
+{
+  std::string fileName = common::basename(_path);
+  if (!common::isFile(_path) || fileName != "model.config")
+    return;
+
+  // If we have found model.config, extract thumbnail and sdf
+  LocalModel model;
+  std::string modelPath = common::parentPath(_path);
+  std::string thumbnailPath = common::joinPaths(modelPath, "thumbnails");
+  std::string configFileName = common::joinPaths(modelPath, "model.config");
+  tinyxml2::XMLDocument doc;
+  doc.LoadFile(configFileName.c_str());
+  auto modelXml = doc.FirstChildElement("model");
+
+  if (modelXml)
+  {
+    auto modelName = modelXml->FirstChildElement("name");
+    if (modelName)
+      model.name = modelName->GetText();
+  }
+  std::string sdfPath = sdf::getModelFilePath(modelPath);
+  model.sdfPath = sdfPath;
+
+  // Get first thumbnail image found
+  if (common::exists(thumbnailPath))
+  {
+    for (common::DirIter file(thumbnailPath);
+         file != common::DirIter(); ++file)
+    {
+      std::string current(*file);
+      if (common::isFile(current))
+      {
+        std::string thumbnailFileName = common::basename(current);
+        std::string::size_type thumbnailExtensionIndex =
+          thumbnailFileName.rfind(".");
+        std::string thumbnailFileExtension =
+          thumbnailFileName.substr(thumbnailExtensionIndex + 1);
+        // The standard image types QML supports
+        if (thumbnailFileExtension == "png"  ||
+            thumbnailFileExtension == "jpg"  ||
+            thumbnailFileExtension == "jpeg" ||
+            thumbnailFileExtension == "svg")
+        {
+          model.thumbnailPath = current;
+          break;
+        }
+      }
+    }
+  }
+  this->dataPtr->gridModel.AddLocalModel(model);
+}
+
+/////////////////////////////////////////////////
+void ResourceSpawner::FindLocalModels(const std::string &_path)
+{
+  std::string path = _path;
+  if (common::isDirectory(path))
+  {
+    for (common::DirIter file(path); file != common::DirIter(); ++file)
+    {
+      std::string currentPath(*file);
+      if (common::isDirectory(currentPath))
+      {
+        std::string modelConfigPath =
+          common::joinPaths(currentPath, "model.config");
+          this->LoadLocalModel(modelConfigPath);
+      }
+      else
+      {
+        this->LoadLocalModel(currentPath);
+      }
+    }
+  }
+  else
+  {
+    this->LoadLocalModel(path);
+  }
+}
+
+/////////////////////////////////////////////////
+void ResourceSpawner::AddPath(const std::string &_path)
+{
+  this->dataPtr->pathModel.AddPath(_path);
+}
+
+/////////////////////////////////////////////////
+void ResourceSpawner::OnPathClicked(const QString &_path)
+{
+  this->dataPtr->gridModel.Clear();
+  this->FindLocalModels(_path.toStdString());
+}
+
+/////////////////////////////////////////////////
+void ResourceSpawner::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Resource Spawner";
+
+  // For resource spawn requests
+  ignition::gui::App()->findChild
+    <ignition::gui::MainWindow *>()->installEventFilter(this);
+
+  msgs::StringMsg_V res;
+  bool result;
+  bool executed = this->dataPtr->node.Request(
+      "/gazebo/resource_paths/get", 5000, res, result);
+  if (!executed || !result || res.data_size() < 1)
+  {
+    ignwarn << "No paths found in IGN_GAZEBO_RESOURCE_PATH.\n";
+    return;
+  }
+
+  for (int i = 0; i < res.data_size(); i++)
+  {
+    const std::string path = res.data(i);
+    this->AddPath(path);
+  }
+}
+
+/////////////////////////////////////////////////
+void ResourceSpawner::OnResourceSpawn(const QString &_sdfPath)
+{
+  std::string modelSdfPath = _sdfPath.toStdString();
+
+  // Parse the sdf from the path
+  std::ifstream nameFileout;
+  nameFileout.open(modelSdfPath);
+  std::string line;
+  std::string modelSdfString = "";
+  while (std::getline(nameFileout, line))
+    modelSdfString += line + "\n";
+
+  auto event = new gui::events::SpawnPreviewModel(modelSdfString);
+  ignition::gui::App()->sendEvent(
+      ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+      event);
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::ResourceSpawner,
+                    ignition::gui::Plugin)