Define placeholders for text

src/examples/cameras.cpp

@@ -14,7 +14,8 @@ class MyApp : public robot_dart::gui::magnum::GlfwApplication {
         // we synchronize by default if we have the graphics activated
         simu->scheduler().set_sync(true);
         // enable summary text when graphics activated
-        simu->enable_summary_text(true);
+        simu->enable_text_panel(true);
+        simu->enable_status_bar(true);
     }
 
 protected:

src/examples/talos.cpp

@@ -59,6 +59,8 @@ int main()
             Eigen::VectorXd commands = (init_positions + delta_pos) - robot->positions(dofs);
             robot->set_commands(commands, dofs);
         }
+        simu.set_text_panel(robot->model_filename() + "\n"
+            + simu.default_text_panel());
         simu.step_world();
     }
 

src/python/simu.cpp

@@ -131,8 +131,11 @@ namespace robot_dart {
                 .def("remove_robot", (void (RobotDARTSimu::*)(size_t)) & RobotDARTSimu::remove_robot)
                 .def("clear_robots", &RobotDARTSimu::clear_robots)
 
-                .def("enable_summary_text", &RobotDARTSimu::enable_summary_text,
+                .def("enable_text_panel", &RobotDARTSimu::enable_text_panel,
                     py::arg("enable") = true)
+                .def("enable_status_bar", &RobotDARTSimu::enable_status_bar,
+                    py::arg("enable") = true)
+
 
                 .def("add_text", &RobotDARTSimu::add_text, py::return_value_policy::reference,
                     py::arg("text"),

src/robot_dart/gui/magnum/base_application.cpp

@@ -174,7 +174,7 @@ namespace robot_dart {
                     _font->fillGlyphCache(*_glyph_cache,
                         "abcdefghijklmnopqrstuvwxyz"
                         "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-                        "0123456789:-+,.!° ");
+                        "0123456789:-+*,.!° /|[]()_");
 
                     /* Initialize dynamic text */
                     _dynamic_text.reset(new Magnum::Text::Renderer2D(*_font, *_glyph_cache, 32.0f, Magnum::Text::Alignment::TopLeft));

src/robot_dart/gui/magnum/graphics.cpp

@@ -8,7 +8,8 @@ namespace robot_dart {
                 // we synchronize by default if we have the graphics activated
                 simu->scheduler().set_sync(true);
                 // enable summary text when graphics activated
-                simu->enable_summary_text(true);
+                simu->enable_text_panel(true);
+                simu->enable_status_bar(true);
             }
         } // namespace magnum
     } // namespace gui

src/robot_dart/gui/magnum/windowless_graphics.cpp

@@ -8,7 +8,8 @@ namespace robot_dart {
                 // we should not synchronize by default if we want windowless graphics (usually used only for sensors)
                 simu->scheduler().set_sync(false);
                 // disable summary text when windowless graphics activated
-                simu->enable_summary_text(false);
+                simu->enable_text_panel(false);
+                simu->enable_status_bar(false);
             }
         } // namespace magnum
     } // namespace gui

src/robot_dart/robot_dart_simu.cpp

@@ -147,28 +147,35 @@ namespace robot_dart {
         }
 
         if (_scheduler(_graphics_freq)) {
+            if (_text_panel) {
+                if (_text_panel->text == "")
+                    _text_panel->text = default_text_panel();
+                Eigen::Affine2d tf = Eigen::Affine2d::Identity();
+                tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., _graphics->height() / 2.));
+                _text_panel->transformation = tf;
+            }
+            if (_status_bar){
+                if (_status_bar->text == "")
+                    _status_bar->text = default_status_bar();
+                Eigen::Affine2d tf = Eigen::Affine2d::Identity();
+                tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., 50 -_graphics->height() / 2.));
+                _status_bar->transformation = tf;
+            }
+
             _graphics->refresh();
 
             for (auto& robot : _robots) {
                 _gui_data->update_robot(robot);
             }
+
+            if (_text_panel)
+                _text_panel->text = "";
+            if (_status_bar)
+                _status_bar->text = "";
         }
 
         _old_index++;
-        double rt = _scheduler.step();
-        if (_summary_text) {
-            std::ostringstream out;
-            out.precision(3);
-            out << std::fixed << "Sim. Time: " << _world->getTime() << "s" << std::endl
-                << "Time: " << rt << "s";
-
-            _summary_text->text = out.str();
-
-            Eigen::Affine2d tf = Eigen::Affine2d::Identity();
-            tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., _graphics->height() / 2.));
-
-            _summary_text->transformation = tf;
-        }
+        _scheduler.step();
 
         return _break;
     }
@@ -407,18 +414,48 @@ namespace robot_dart {
 
     simu::GUIData* RobotDARTSimu::gui_data() { return &(*_gui_data); }
 
-    void RobotDARTSimu::enable_summary_text(bool enable)
+
+    void RobotDARTSimu::enable_text_panel(bool enable) { _enable(_text_panel, enable); }
+    void RobotDARTSimu::enable_status_bar(bool enable) { _enable(_status_bar, enable); }
+    void RobotDARTSimu::_enable(std::shared_ptr<simu::TextData>& text, bool enable)
     {
-        if (!_summary_text && enable) {
-            _summary_text = _gui_data->add_text("Sim. Time: 0s");
+        if (!text && enable) {
+            text = _gui_data->add_text("");
         }
         else if (!enable) {
-            if (_summary_text)
-                _gui_data->remove_text(_summary_text);
-            _summary_text = nullptr;
+            if (text)
+                _gui_data->remove_text(text);
+            text = nullptr;
         }
     }
+
+    void RobotDARTSimu::set_text_panel(const std::string& str) {
+        if (_text_panel)
+            _text_panel->text = str;
+    }
+
+    void RobotDARTSimu::set_status_bar(const std::string& str) {
+        if (_status_bar)
+            _status_bar->text = str;
+    }
+
+    std::string RobotDARTSimu::default_text_panel() const {
+        std::ostringstream out;
+        out.precision(3);
+        double rt = _scheduler.current_time();
 
+        out << std::fixed << "Sim. Time: " << _world->getTime() << "s" << std::endl
+            << "Time: " << rt << "s";
+
+        return out.str();
+    }
+
+    std::string RobotDARTSimu::default_status_bar() const {
+        if (_robots.empty())
+            return "";
+        return _robots[0]->model_filename();
+    }
+
     std::shared_ptr<simu::TextData> RobotDARTSimu::add_text(const std::string& text, const Eigen::Affine2d& tf, Eigen::Vector4d color)
     {
         return _gui_data->add_text(text, tf, color);

src/robot_dart/robot_dart_simu.hpp

@@ -114,7 +114,12 @@ namespace robot_dart {
         void clear_robots();
 
         simu::GUIData* gui_data();
-        void enable_summary_text(bool enable = true);
+        void enable_text_panel(bool enable = true);
+        std::string default_text_panel() const;
+        void set_text_panel(const std::string& str);
+        void enable_status_bar(bool enable = true);
+        std::string default_status_bar() const;
+        void set_status_bar(const std::string& str);
         std::shared_ptr<simu::TextData> add_text(const std::string& text, const Eigen::Affine2d& tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1));
 
         void add_floor(double floor_width = 10.0, double floor_height = 0.1, const Eigen::Vector6d& pose = Eigen::Vector6d::Zero(), const std::string& floor_name = "floor");
@@ -138,6 +143,8 @@ namespace robot_dart {
         void remove_all_collision_masks();
 
     protected:
+        void _enable(std::shared_ptr<simu::TextData>& text, bool enable);
+
         dart::simulation::WorldPtr _world;
         size_t _old_index;
         bool _break;
@@ -147,7 +154,9 @@ namespace robot_dart {
         std::vector<robot_t> _robots;
         std::shared_ptr<gui::Base> _graphics;
         std::unique_ptr<simu::GUIData> _gui_data;
-        std::shared_ptr<simu::TextData> _summary_text = nullptr;
+        std::shared_ptr<simu::TextData> _text_panel = nullptr;
+        std::shared_ptr<simu::TextData> _status_bar = nullptr;
+
         Scheduler _scheduler;
         int _physics_freq = -1, _control_freq = -1, _graphics_freq = 40;
     };