Drop from fuel plugin

Signed-off-by: ahcorde <ahcorde@gmail.com>

examples/worlds/minimal_scene.sdf

@@ -180,6 +180,16 @@ Missing for parity with GzScene3D:
         <iterations>true</iterations>
       </plugin>
 
+      <plugin filename="DropFromFuel" name="drop_from_fuel">
+        <ignition-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+
       <plugin filename="Spawn" name="Spawn Entities">
         <ignition-gui>
           <anchors target="Select entities">

src/gui/gui.config

@@ -116,6 +116,16 @@
   </ignition-gui>
 </plugin>
 
+<plugin filename="DropFromFuel" name="drop_from_fuel">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
 <plugin filename="Spawn" name="Spawn Entities">
   <ignition-gui>
     <anchors target="Select entities">

src/gui/plugins/CMakeLists.txt

@@ -121,6 +121,7 @@ add_subdirectory(modules)
 add_subdirectory(align_tool)
 add_subdirectory(banana_for_scale)
 add_subdirectory(component_inspector)
+add_subdirectory(drop_from_fuel)
 add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
 add_subdirectory(joint_position_controller)

src/gui/plugins/drop_from_fuel/CMakeLists.txt

@@ -0,0 +1,8 @@
+gz_add_gui_plugin(DropFromFuel
+  SOURCES
+    DropFromFuel.cc
+  QT_HEADERS
+    DropFromFuel.hh
+  PUBLIC_LINK_LIBS
+    ${PROJECT_LIBRARY_TARGET_NAME}-rendering
+)

src/gui/plugins/drop_from_fuel/DropFromFuel.cc

@@ -0,0 +1,231 @@
+/*
+ * Copyright (C) 2021 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 "DropFromFuel.hh"
+
+#include <string>
+#include <vector>
+
+#include <ignition/math/Vector2.hh>
+
+#include <ignition/msgs/boolean.pb.h>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Profiler.hh>
+#include <ignition/common/MeshManager.hh>
+
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/Helpers.hh>
+#include <ignition/gui/MainWindow.hh>
+
+#include <ignition/plugin/Register.hh>
+
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Utils.hh>
+
+#include <ignition/transport/Node.hh>
+
+#include <sdf/Root.hh>
+
+namespace ignition::gazebo
+{
+  class DropFromFuelPrivate
+  {
+    /// \brief Update the 3D scene with new entities
+    public: void OnRender();
+
+    /// \brief User camera
+    public: rendering::CameraPtr camera{nullptr};
+
+    /// \brief Pointer to the rendering scene
+    public: rendering::ScenePtr scene{nullptr};
+
+    /// \brief Ray query for mouse clicks
+    public: rendering::RayQueryPtr rayQuery{nullptr};
+
+    /// \brief Transport node for making transform control requests
+    public: ignition::transport::Node node;
+
+    /// \brief Name of the world
+    public: std::string worldName;
+  };
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+void DropFromFuelPrivate::OnRender()
+{
+  if (nullptr == this->scene)
+  {
+    this->scene = rendering::sceneFromFirstRenderEngine();
+    if (nullptr == this->scene)
+    {
+      return;
+    }
+
+    for (unsigned int i = 0; i < this->scene->NodeCount(); ++i)
+    {
+      auto cam = std::dynamic_pointer_cast<rendering::Camera>(
+        this->scene->NodeByIndex(i));
+      if (cam)
+      {
+        if (std::get<bool>(cam->UserData("user-camera")))
+        {
+          this->camera = cam;
+
+          // Ray Query
+          this->rayQuery = this->camera->Scene()->CreateRayQuery();
+
+          igndbg << "DropFromFuel plugin is using camera ["
+                 << this->camera->Name() << "]" << std::endl;
+          break;
+        }
+      }
+    }
+  }
+}
+
+/////////////////////////////////////////////////
+DropFromFuel::DropFromFuel()
+  : ignition::gui::Plugin(),
+  dataPtr(std::make_unique<DropFromFuelPrivate>())
+{
+}
+
+/////////////////////////////////////////////////
+DropFromFuel::~DropFromFuel() = default;
+
+/////////////////////////////////////////////////
+void DropFromFuel::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Drop from fuel";
+
+  // World name from window, to construct default topics and services
+  auto worldNames = gui::worldNames();
+  if (!worldNames.empty())
+    this->dataPtr->worldName = worldNames[0].toStdString();
+
+  ignition::gui::App()->findChild
+    <ignition::gui::MainWindow *>()->installEventFilter(this);
+}
+
+////////////////////////////////////////////////
+bool DropFromFuel::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == ignition::gui::events::Render::kType)
+  {
+    this->dataPtr->OnRender();
+  }
+  else if (_event->type() == ignition::gui::events::DropOnScene::kType)
+  {
+    auto dropOnSceneEvent =
+      reinterpret_cast<ignition::gui::events::DropOnScene *>(_event);
+    if (dropOnSceneEvent)
+    {
+      if (dropOnSceneEvent->DropText().empty())
+      {
+        ignerr << "Dropped empty entity URI.\n";
+      }
+      else
+      {
+        if (this->dataPtr->camera && this->dataPtr->rayQuery)
+        {
+          std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
+              [](const ignition::msgs::Boolean &_res, const bool _result)
+          {
+            if (!_result || !_res.data())
+              ignerr << "Error creating dropped entity." << std::endl;
+          };
+
+          math::Vector3d pos = ignition::rendering::screenToScene(
+            dropOnSceneEvent->Mouse(),
+            this->dataPtr->camera,
+            this->dataPtr->rayQuery);
+
+          msgs::EntityFactory req;
+          std::string dropStr = dropOnSceneEvent->DropText();
+          if (QUrl(QString(dropStr.c_str())).isLocalFile())
+          {
+            // mesh to sdf model
+            common::rtrim(dropStr);
+
+            if (!common::MeshManager::Instance()->IsValidFilename(dropStr))
+            {
+              ignerr << "Invalid URI: " + dropStr +
+                "\nOnly Fuel URLs or mesh file types DAE, OBJ, and STL"
+                "are supported.";
+              return QObject::eventFilter(_obj, _event);
+            }
+
+            // Fixes whitespace
+            dropStr = common::replaceAll(dropStr, "%20", " ");
+
+            std::string filename = common::basename(dropStr);
+            std::vector<std::string> splitName = common::split(filename, ".");
+
+            std::string sdf = "<?xml version='1.0'?>"
+              "<sdf version='" + std::string(SDF_PROTOCOL_VERSION) + "'>"
+                "<model name='" + splitName[0] + "'>"
+                  "<link name='link'>"
+                    "<visual name='visual'>"
+                      "<geometry>"
+                        "<mesh>"
+                          "<uri>" + dropStr + "</uri>"
+                        "</mesh>"
+                      "</geometry>"
+                    "</visual>"
+                    "<collision name='collision'>"
+                      "<geometry>"
+                        "<mesh>"
+                          "<uri>" + dropStr + "</uri>"
+                        "</mesh>"
+                      "</geometry>"
+                    "</collision>"
+                  "</link>"
+                "</model>"
+              "</sdf>";
+
+            req.set_sdf(sdf);
+          }
+          else
+          {
+            // model from fuel
+            req.set_sdf_filename(dropStr);
+          }
+
+          req.set_allow_renaming(true);
+          msgs::Set(req.mutable_pose(),
+              math::Pose3d(pos.X(), pos.Y(), pos.Z(), 1, 0, 0, 0));
+
+          this->dataPtr->node.Request(
+            "/world/" + this->dataPtr->worldName + "/create",
+            req, cb);
+        }
+      }
+    }
+  }
+
+  return QObject::eventFilter(_obj, _event);
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::DropFromFuel,
+                    ignition::gui::Plugin)

src/gui/plugins/drop_from_fuel/DropFromFuel.hh

@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2021 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_DROP_FROM_FUEL_HH_
+#define IGNITION_GAZEBO_GUI_DROP_FROM_FUEL_HH_
+
+#include <memory>
+
+#include <ignition/gui/Plugin.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class DropFromFuelPrivate;
+
+  /// \brief Allows to DropFromFuel models and lights using te gui event
+  /// DropFromFuelFromDescription
+  class DropFromFuel : public ignition::gui::Plugin
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: DropFromFuel();
+
+    /// \brief Destructor
+    public: ~DropFromFuel() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+    // Documentation inherited
+    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<DropFromFuelPrivate> dataPtr;
+  };
+}
+}
+
+#endif

src/gui/plugins/drop_from_fuel/DropFromFuel.qml

@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2021 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 2.0
+import QtQuick.Controls 2.0
+import QtQuick.Layouts 1.3
+
+// TODO: remove invisible rectangle, see
+// https://github.com/ignitionrobotics/ign-gui/issues/220
+Rectangle {
+  visible: false
+  Layout.minimumWidth: 100
+  Layout.minimumHeight: 100
+}

src/gui/plugins/drop_from_fuel/DropFromFuel.qrc

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