Insert Local Models

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(insert_model)
 add_subdirectory(scene3d)
 add_subdirectory(shapes)
 add_subdirectory(transform_control)

src/gui/plugins/insert_model/CMakeLists.txt

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

src/gui/plugins/insert_model/InsertModel.cc

@@ -0,0 +1,221 @@
+/*
+ * 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 "InsertModel.hh"
+
+namespace ignition::gazebo
+{
+  class InsertModelPrivate
+  {
+    /// \brief Ignition communication node.
+    public: transport::Node node;
+
+    /// \brief Mutex to protect mode
+    public: std::mutex mutex;
+
+    /// \brief Transform control service name
+    public: std::string service;
+
+    /// \brief The grid model that the qml gridview reflects
+    public: GridModel gridModel;
+  };
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+GridModel::GridModel() : QStandardItemModel()
+{
+}
+
+/////////////////////////////////////////////////
+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"),
+  };
+}
+
+/////////////////////////////////////////////////
+InsertModel::InsertModel()
+  : ignition::gui::Plugin(),
+  dataPtr(std::make_unique<InsertModelPrivate>())
+{
+  ignition::gui::App()->Engine()->rootContext()->setContextProperty(
+      "LocalModelList", &this->dataPtr->gridModel);
+}
+
+/////////////////////////////////////////////////
+InsertModel::~InsertModel() = default;
+
+/////////////////////////////////////////////////
+void InsertModel::FindLocalModels(const std::string &_path)
+{
+  std::string path = _path;
+  // Recurse if directory
+  if (common::isDirectory(path))
+  {
+    for (common::DirIter file(path); file != common::DirIter(); ++file)
+    {
+      std::string current(*file);
+      this->FindLocalModels(current);
+    }
+  }
+  else if (common::isFile(path))
+  {
+    std::string fileName = common::basename(path);
+
+    // If we have found model.config, extract thumbnail and sdf
+    if (fileName == "model.config")
+    {
+      LocalModel model;
+      model.configPath = path;
+      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 InsertModel::FindLocalModels(const std::vector<std::string> &_paths)
+{
+  for (const auto &path : _paths)
+    this->FindLocalModels(path);
+}
+
+/////////////////////////////////////////////////
+void InsertModel::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "InsertModel";
+
+  // For shapes requests
+  ignition::gui::App()->findChild
+    <ignition::gui::MainWindow *>()->installEventFilter(this);
+
+  // TODO(john): create vector of paths from IGN_GAZEBO_RESOURCE_PATH here
+  std::string path =
+    "/home/john/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models";
+  std::vector<std::string> paths;
+  paths.push_back(path);
+
+  this->FindLocalModels(paths);
+}
+
+/////////////////////////////////////////////////
+void InsertModel::OnMode(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::InsertModel,
+                    ignition::gui::Plugin)

src/gui/plugins/insert_model/InsertModel.hh

@@ -0,0 +1,98 @@
+/*
+ * 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_INSERT_MODEL_HH_
+#define IGNITION_GAZEBO_GUI_INSERT_MODEL_HH_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <ignition/gui/Plugin.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class InsertModelPrivate;
+
+  /// \brief Local model used to update the GridModel
+  struct LocalModel
+  {
+    std::string configPath = "";
+    std::string sdfPath = "";
+    std::string thumbnailPath = "";
+    std::string name = "";
+  };
+
+  /// \brief Provides a model by which the insert model qml plugin pulls
+  /// and updates from
+  class GridModel : public QStandardItemModel
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: explicit GridModel();
+
+    /// \brief Destructor
+    public: ~GridModel() override = default;
+
+    /// \brief Add a local model to the grid view.
+    /// param[in] _model The local model to be added
+    public slots: void AddLocalModel(LocalModel &_model);
+
+    // Documentation inherited
+    public: QHash<int, QByteArray> roleNames() const override;
+  };
+
+  /// \brief Provides interface for communicating to backend for generation
+  /// of local models
+  class InsertModel : public ignition::gui::Plugin
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: InsertModel();
+
+    /// \brief Destructor
+    public: ~InsertModel() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+    /// \brief Callback in Qt thread when mode changes.
+    /// \param[in] _mode New transform mode
+    public slots: void OnMode(const QString &_mode);
+
+    /// \brief Recursively searches the provided paths for all model.config's
+    /// and populates a vector of local models with the information
+    /// \param[in] _paths The paths to search
+    public: void FindLocalModels(const std::vector<std::string> &_paths);
+
+    /// \brief Recursively searches the provided path for all model.config's
+    /// and populates a vector of local models with the information
+    /// \param[in] _path The path to search
+    public: void FindLocalModels(const std::string &_path);
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<InsertModelPrivate> dataPtr;
+  };
+}
+}
+
+#endif

src/gui/plugins/insert_model/InsertModel.qml

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Window 2.2
+import QtQuick.Controls 2.1
+import QtQuick.Controls.Material 2.2
+import QtQuick.Controls.Material.impl 2.2
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+
+Rectangle {
+  id: insertmodel
+  color: "transparent"
+  Layout.minimumWidth: 200
+  Layout.minimumHeight: 500
+  anchors.fill: parent
+  GridView {
+    id: gridView
+    anchors.fill: parent
+
+    model: LocalModelList
+    delegate: Rectangle {
+      width: gridView.cellWidth
+      height: gridView.cellHeight
+      color: "transparent"
+      Image {
+        anchors.fill: parent
+        anchors.margins: 1
+        source: model.thumbnail == "" ? "NoThumbnail.png" : model.thumbnail
+        fillMode: Image.PreserveAspectFit
+      }
+      MouseArea {
+        anchors.fill: parent
+        onClicked: {
+          InsertModel.OnMode(model.sdf);
+        }
+      }
+      Text {
+        text: model.name
+        width: parent.width
+        height: parent.height
+        minimumPointSize: 5
+        font.pointSize: 60
+        fontSizeMode: Text.Fit
+        anchors.bottom: parent.bottom
+        anchors.horizontalCenter: parent.horizontalCenter
+      }
+   }
+ }
+}