Added Reset button to world_control

src/plugins/world_control/WorldControl.cc

@@ -311,6 +311,18 @@ void WorldControl::OnPause()
   this->dataPtr->SendEventMsg(msg);
 }
 
+/////////////////////////////////////////////////
+void WorldControl::OnReset()
+{
+  msgs::WorldControl msg;
+  auto msgReset = new msgs::WorldReset();
+  msgReset->set_all(true);
+  msg.set_pause(true);
+  msg.set_allocated_reset(msgReset);
+
+  this->dataPtr->SendEventMsg(msg);
+}
+
 /////////////////////////////////////////////////
 void WorldControl::OnStepCount(const unsigned int _steps)
 {

src/plugins/world_control/WorldControl.hh

@@ -82,6 +82,9 @@ namespace plugins
     /// \brief Callback in Qt thread when pause button is clicked.
     public slots: void OnPause();
 
+    /// \brief Callback in Qt thread when reset button is clicked.
+    public slots: void OnReset();
+
     /// \brief Callback in Qt thread when step button is clicked.
     public slots: void OnStep();
 
@@ -95,6 +98,9 @@ namespace plugins
     /// \brief Notify that it's now paused.
     signals: void paused();
 
+    /// \brief Notify that it's now resetted.
+    signals: void reset();
+
     /// \brief Subscriber callback when new world statistics are received
     private: void OnWorldStatsMsg(const gz::msgs::WorldStatistics &_msg);
 

src/plugins/world_control/WorldControl.qml

@@ -24,7 +24,7 @@ RowLayout {
   id: worldControl
   width: 200
   spacing: 2
-  Layout.minimumWidth: 121
+  Layout.minimumWidth: 200
   Layout.minimumHeight: 100
 
   Connections {
@@ -52,6 +52,11 @@ RowLayout {
    */
   property bool showPlay: false
 
+  /**
+   * True to show reset button
+   */
+  property bool showReset: true
+
   /**
    * True to show step buttons
    */
@@ -67,6 +72,11 @@ RowLayout {
    */
   property string playIcon: "\u25B6"
 
+  /**
+   * Reset button
+   */
+  property string resetIcon: "\u21bb"
+
   /**
    * Pause icon
    */
@@ -82,6 +92,66 @@ RowLayout {
    */
   property bool paused: false
 
+  /**
+   * Reset
+   */
+  RoundButton {
+    id: stopButton
+    objectName: "stopButton"
+    visible: showReset
+    text: resetIcon
+    checkable: true
+    Layout.alignment : Qt.AlignVCenter
+    Layout.minimumWidth: width
+    Layout.leftMargin: 10
+    onClicked: {
+      confirmationDialogOnReset.open()
+    }
+    Material.background: Material.primary
+    ToolTip.visible: hovered
+    ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+    ToolTip.text: qsTr("Reset the simulation")
+  }
+
+  Shortcut {
+    sequence: "Ctrl+R"
+    onActivated: confirmationDialogOnReset.open()
+  }
+
+
+  /**
+   *  Confirmation dialog on close button
+   */
+  Dialog {
+    id: confirmationDialogOnReset
+    title: "Do you really want to reset the simulation?"
+    objectName: "confirmationDialogOnReset"
+
+    modal: true
+    focus: true
+    parent: ApplicationWindow.overlay
+    width: 500
+    x: (parent.width - width) / 2
+    y: (parent.height - height) / 2
+    closePolicy: Popup.CloseOnEscape
+    standardButtons: Dialog.Ok  | Dialog.Discard
+
+    onAboutToShow: function () {
+      footer.standardButton(Dialog.Discard).text = "Abort"
+      footer.standardButton(Dialog.Ok).text = "Reset"
+    }
+
+    footer:
+      DialogButtonBox {
+        onClicked: function (btn) {
+          confirmationDialogOnReset.close()
+          if (btn == this.standardButton(Dialog.Ok)) {
+            WorldControl.OnReset()
+          }
+        }
+    }
+  }
+
   /**
    * Play / pause
    */
@@ -100,6 +170,9 @@ RowLayout {
       else
         WorldControl.OnPause()
     }
+    ToolTip.visible: hovered
+    ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+    ToolTip.text: paused ? qsTr("Run the simulation") : qsTr("Pause the simulation")
     Material.background: Material.primary
   }
 

src/plugins/world_control/WorldControlEventListener.cc

@@ -38,6 +38,8 @@ bool WorldControlEventListener::eventFilter(QObject *_obj, QEvent *_event)
     {
       this->listenedToPlay = !worldControlEvent->WorldControlInfo().pause();
       this->listenedToPause = worldControlEvent->WorldControlInfo().pause();
+      this->listenedToReset =
+        worldControlEvent->WorldControlInfo().reset().all();
       this->listenedToStep =
         worldControlEvent->WorldControlInfo().multi_step() > 0u;
     }

src/plugins/world_control/WorldControlEventListener.hh

@@ -49,8 +49,11 @@ namespace gui
     /// \brief Whether a pause event has been received (true) or not (false)
     public: bool listenedToPause{false};
 
-    /// \brief Whether a pause event has been received (true) or not (false)
+    /// \brief Whether a step event has been received (true) or not (false)
     public: bool listenedToStep{false};
+
+    /// \brief Whether a reset event has been received (true) or not (false)
+    public: bool listenedToReset{false};
   };
 }
 }