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AlignTool.cc
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AlignTool.cc
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/*
* 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 <gz/msgs/boolean.pb.h>
#include <gz/msgs/pose.pb.h>
#include <algorithm>
#include <iostream>
#include <map>
#include <queue>
#include <string>
#include <vector>
#include <gz/common/Console.hh>
#include <gz/gui/Application.hh>
#include <gz/gui/MainWindow.hh>
#include <gz/plugin/Register.hh>
#include <gz/rendering/Geometry.hh>
#include <gz/rendering/Material.hh>
#include <gz/rendering/RenderEngine.hh>
#include <gz/rendering/RenderTypes.hh>
#include <gz/rendering/RenderingIface.hh>
#include <gz/rendering/Scene.hh>
#include <gz/rendering/Visual.hh>
#include <gz/transport/Node.hh>
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/components/Name.hh"
#include "gz/sim/components/World.hh"
#include "gz/sim/gui/GuiEvents.hh"
#include "gz/sim/rendering/RenderUtil.hh"
#include "AlignTool.hh"
namespace ignition::gazebo
{
class AlignToolPrivate
{
/// \brief Ignition communication node.
public: transport::Node node;
/// \brief The service call string for requesting a new pose for an entity.
public: std::string poseCmdService;
/// \brief Mutex to protect align tool
public: std::mutex mutex;
/// \brief The current world name.
public: std::string worldName;
/// \brief The current selected axis about which to align.
public: AlignAxis axis{AlignAxis::ALIGN_X};
/// \brief The current align state.
public: AlignState currentState{AlignState::NONE};
/// \brief Flag to indicate if the entities should be aligned to the first
/// or last entity selected.
public: bool first{true};
/// \brief The current selected entities
public: std::vector<Entity> selectedEntities;
/// \brief The previous positions of all the selected nodes. Should always
/// be equal to the number of selected entities.
public: std::vector<math::Vector3d> prevPositions;
/// \brief The current queue of states to be executed.
public: std::queue<AlignState> states;
/// \brief The map of the original transparency values for the nodes.
public: std::map<std::string, double> originalTransparency;
/// \brief Pointer to the scene.
public: rendering::ScenePtr scene{nullptr};
};
}
using namespace ignition;
using namespace ignition::gazebo;
/////////////////////////////////////////////////
AlignTool::AlignTool()
: GuiSystem(), dataPtr(std::make_unique<AlignToolPrivate>())
{
// Deselect all entities upon loading plugin
gui::events::DeselectAllEntities deselectEvent(true);
gz::gui::App()->sendEvent(
gz::gui::App()->findChild<gz::gui::MainWindow *>(),
&deselectEvent);
}
/////////////////////////////////////////////////
AlignTool::~AlignTool() = default;
/////////////////////////////////////////////////
void AlignTool::LoadConfig(const tinyxml2::XMLElement *)
{
if (this->title.empty())
this->title = "Align tool";
// For align tool requests
gz::gui::App()->findChild
<gz::gui::MainWindow *>()->installEventFilter(this);
}
/////////////////////////////////////////////////
void AlignTool::Update(const UpdateInfo &/* _info */,
EntityComponentManager &_ecm)
{
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
if (this->dataPtr->worldName.empty())
{
// TODO(anyone) Only one scene is supported for now
_ecm.Each<components::World, components::Name>(
[&](const Entity &/*_entity*/,
const components::World * /* _world */ ,
const components::Name *_name)->bool
{
this->dataPtr->worldName = _name->Data();
return true;
});
}
}
/////////////////////////////////////////////////
void AlignTool::OnAlignAxis(const QString &_axis)
{
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
std::string newAxis = _axis.toStdString();
std::transform(newAxis.begin(), newAxis.end(), newAxis.begin(), ::tolower);
if (newAxis == "x")
{
this->dataPtr->axis = AlignAxis::ALIGN_X;
}
else if (newAxis == "y")
{
this->dataPtr->axis = AlignAxis::ALIGN_Y;
}
else if (newAxis == "z")
{
this->dataPtr->axis = AlignAxis::ALIGN_Z;
}
else
{
ignwarn << "Invalid align axis string: " << newAxis << "\n";
ignwarn << "The valid options are:\n";
ignwarn << " - X\n";
ignwarn << " - Y\n";
ignwarn << " - Z\n";
}
}
/////////////////////////////////////////////////
void AlignTool::OnAlignTarget(const QString &_target)
{
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
std::string newTarget = _target.toStdString();
std::transform(newTarget.begin(), newTarget.end(),
newTarget.begin(), ::tolower);
if (newTarget == "first")
{
this->dataPtr->first = true;
}
else if (newTarget == "last")
{
this->dataPtr->first = false;
}
else
{
ignwarn << "Invalid align target string: " << newTarget << "\n";
ignwarn << "The valid options are:\n";
ignwarn << " - first\n";
ignwarn << " - last\n";
}
}
/////////////////////////////////////////////////
void AlignTool::OnHoveredEntered()
{
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
this->AddState(AlignState::HOVER);
}
/////////////////////////////////////////////////
void AlignTool::OnHoveredExited()
{
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
// Always reset after an exit, if an align call is made, it
// will have updated the prev positions of the entities so a
// reset after align will result in no change
this->AddState(AlignState::RESET);
}
/////////////////////////////////////////////////
void AlignTool::OnAlign()
{
this->AddState(AlignState::ALIGN);
}
/////////////////////////////////////////////////
void AlignTool::AddState(const AlignState &_state)
{
this->dataPtr->states.push(_state);
}
////////////////////////////////////////////////
void AlignTool::MakeTransparent(const rendering::NodePtr &_node)
{
if (!_node)
return;
for (auto n = 0u; n < _node->ChildCount(); ++n)
{
auto child = _node->ChildByIndex(n);
this->MakeTransparent(child);
}
auto vis = std::dynamic_pointer_cast<rendering::Visual>(_node);
if (nullptr == vis)
return;
// Visual material
auto visMat = vis->Material();
if (nullptr != visMat)
{
// If the entity isn't already transparent, make it transparent
if (this->dataPtr->originalTransparency.find(vis->Name()) ==
this->dataPtr->originalTransparency.end())
{
this->dataPtr->originalTransparency[vis->Name()] = visMat->Transparency();
visMat->SetTransparency(visMat->Transparency() + 0.5);
}
}
for (auto g = 0u; g < vis->GeometryCount(); ++g)
{
auto geom = vis->GeometryByIndex(g);
// Geometry material
auto geomMat = geom->Material();
if (nullptr == geomMat)
continue;
// If the entity isn't already transparent, make it transparent
if (this->dataPtr->originalTransparency.find(geom->Name()) ==
this->dataPtr->originalTransparency.end())
{
this->dataPtr->originalTransparency[geom->Name()] =
geomMat->Transparency();
geomMat->SetTransparency(geomMat->Transparency() + 0.5);
}
}
}
/////////////////////////////////////////////////
void AlignTool::MakeSolid(const rendering::NodePtr &_node)
{
if (!_node)
return;
for (auto n = 0u; n < _node->ChildCount(); ++n)
{
auto child = _node->ChildByIndex(n);
this->MakeSolid(child);
}
auto vis = std::dynamic_pointer_cast<rendering::Visual>(_node);
if (nullptr == vis)
return;
// Visual material
auto visMat = vis->Material();
if (nullptr != visMat)
{
auto visTransparency =
this->dataPtr->originalTransparency.find(vis->Name());
if (visTransparency != this->dataPtr->originalTransparency.end())
{
visMat->SetTransparency(visTransparency->second);
}
}
for (auto g = 0u; g < vis->GeometryCount(); ++g)
{
auto geom = vis->GeometryByIndex(g);
// Geometry material
auto geomMat = geom->Material();
if (nullptr == geomMat)
continue;
auto geomTransparency =
this->dataPtr->originalTransparency.find(geom->Name());
if (geomTransparency != this->dataPtr->originalTransparency.end())
{
geomMat->SetTransparency(geomTransparency->second);
}
}
}
/////////////////////////////////////////////////
void AlignTool::Align()
{
if (this->dataPtr->currentState == AlignState::NONE)
return;
// load scene
if (!this->dataPtr->scene)
this->dataPtr->scene = rendering::sceneFromFirstRenderEngine();
// Get current list of selected entities
std::vector<rendering::VisualPtr> selectedList;
rendering::VisualPtr relativeVisual;
for (const auto &entityId : this->dataPtr->selectedEntities)
{
for (auto i = 0u; i < this->dataPtr->scene->VisualCount(); ++i)
{
rendering::VisualPtr vis =
this->dataPtr->scene->VisualByIndex(i);
if (!vis)
continue;
if (std::get<int>(vis->UserData("gazebo-entity")) ==
static_cast<int>(entityId))
{
selectedList.push_back(vis);
}
}
}
// Selected links will result in this list being empty as they won't be
// found in the above VisualByIndex call
if (selectedList.size() < 2)
return;
// Set relative visual to move the others around
this->dataPtr->first ?
(relativeVisual = selectedList.front()) :
(relativeVisual = selectedList.back());
// Callback function for ignition node request
std::function<void(const msgs::Boolean &, const bool)> cb =
[](const msgs::Boolean &/* _rep*/, const bool _result)
{
if (!_result)
ignerr << "Error setting pose" << std::endl;
};
// Set service topic
if (this->dataPtr->poseCmdService.empty())
{
this->dataPtr->poseCmdService = "/world/" + this->dataPtr->worldName
+ "/set_pose";
}
int axisIndex = static_cast<int>(this->dataPtr->axis);
msgs::Pose req;
// Index math to avoid iterating through the selected node
for (unsigned int i = this->dataPtr->first;
i < selectedList.size() + this->dataPtr->first - 1; i++)
{
rendering::VisualPtr vis = selectedList[i];
// Check here to see if visual is top level or not, continue if not
rendering::VisualPtr topLevelVis = this->TopLevelVisual(
this->dataPtr->scene, vis);
if (topLevelVis != vis)
continue;
math::Vector3d newPos = vis->WorldPosition();
// If a reset is occuring, the user has not clicked align,
// so pull all of the previous positions and set
if (this->dataPtr->currentState == AlignState::RESET)
{
// Index offset given the relative node does not get added to the
// prevPositions vector
newPos = this->dataPtr->prevPositions[i-this->dataPtr->first];
this->MakeSolid(vis);
vis->SetWorldPosition(newPos);
vis->SetUserData("pause-update", static_cast<int>(0));
}
// If an align is occurring, the user has clicked the align button,
// make a request to the backend to send the node to the new position
else if (this->dataPtr->currentState == AlignState::ALIGN)
{
this->MakeSolid(vis);
req.set_name(vis->Name());
msgs::Set(req.mutable_position(), newPos);
msgs::Set(req.mutable_orientation(), vis->WorldRotation());
this->dataPtr->node.Request(this->dataPtr->poseCmdService, req, cb);
vis->SetUserData("pause-update", static_cast<int>(0));
this->dataPtr->prevPositions[i-this->dataPtr->first] = newPos;
}
// Hover state has been entered, update visuals to relative visual,
// prevent RenderUtil from updating the visual to its actual position,
// and store the current position of the nodes
else if (this->dataPtr->currentState == AlignState::HOVER)
{
newPos[axisIndex] = relativeVisual->WorldPosition()[axisIndex];
// Store the vis's world positions in a vector
this->dataPtr->prevPositions.push_back(vis->WorldPosition());
// Make the visual transparent and update to new position
this->MakeTransparent(vis);
vis->SetWorldPosition(newPos);
vis->SetUserData("pause-update", static_cast<int>(1));
}
}
// If reset has iterated once, set state back to none as job
// has been completed, and reset transparency map
if (this->dataPtr->currentState == AlignState::RESET)
{
this->dataPtr->originalTransparency.clear();
this->dataPtr->currentState = AlignState::NONE;
this->dataPtr->prevPositions.clear();
}
// Also reset transparency map if state is align
else if (this->dataPtr->currentState == AlignState::ALIGN)
{
this->dataPtr->originalTransparency.clear();
}
}
/////////////////////////////////////////////////
rendering::VisualPtr AlignTool::TopLevelVisual(rendering::ScenePtr &_scene,
rendering::VisualPtr &_visual) const
{
auto visNode = std::dynamic_pointer_cast<rendering::Node>(_visual);
auto node = this->TopLevelNode(_scene, visNode);
return std::dynamic_pointer_cast<rendering::Visual>(node);
}
/////////////////////////////////////////////////
rendering::NodePtr AlignTool::TopLevelNode(rendering::ScenePtr &_scene,
rendering::NodePtr &_node) const
{
rendering::NodePtr rootNode =
_scene->RootVisual();
rendering::NodePtr node;
if (_node)
{
node = std::dynamic_pointer_cast<rendering::Node>(_node->Parent());
// Be sure not to skip checking the node before iterating through
// its ancestors below
if (node && node == rootNode)
return _node;
}
while (node && node->Parent() != rootNode)
{
node =
std::dynamic_pointer_cast<rendering::Node>(node->Parent());
}
return node;
}
/////////////////////////////////////////////////
bool AlignTool::eventFilter(QObject *_obj, QEvent *_event)
{
if (_event->type() == gui::events::Render::kType)
{
// This event is called in Scene3d's RenderThread, so it's safe to make
// rendering calls here
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
// If there's a state available, pop it from the queue and execute it
if (!this->dataPtr->states.empty())
{
this->dataPtr->currentState = this->dataPtr->states.front();
this->dataPtr->states.pop();
this->Align();
}
}
else if (_event->type() ==
gui::events::EntitiesSelected::kType)
{
auto selectedEvent =
reinterpret_cast<gui::events::EntitiesSelected *>(_event);
// Only update if a valid cast, the data isn't empty, and
// the command is not from user (sent from backend)
if (selectedEvent && !selectedEvent->Data().empty())
{
for (const auto &_entity : selectedEvent->Data())
{
// If the element already exists in the selected entities vector,
// continue
if (std::find(this->dataPtr->selectedEntities.begin(),
this->dataPtr->selectedEntities.end(),
_entity) != this->dataPtr->selectedEntities.end())
continue;
this->dataPtr->selectedEntities.push_back(_entity);
}
}
}
else if (_event->type() ==
gui::events::DeselectAllEntities::kType)
{
this->dataPtr->selectedEntities.clear();
}
return QObject::eventFilter(_obj, _event);
}
// Register this plugin
IGNITION_ADD_PLUGIN(AlignTool,
gz::gui::Plugin)