Add spin box to View Angle plugin for configuring view control sensit…

…ivity (#1799)

Closes #1027

Adds spin box that lets users sets the view controller sensitivity. The limits of the spin box are: [0.01, 10.0] with a step size of 0.1.

Signed-off-by: Ian Chen <[email protected]>

src/gui/plugins/view_angle/ViewAngle.cc

@@ -63,6 +63,9 @@ namespace ignition::gazebo
     /// \brief View Control reference visual service name
     public: std::string viewControlRefVisualService;
 
+    /// \brief View Control sensitivity service name
+    public: std::string viewControlSensitivityService;
+
     /// \brief Move gui camera to pose service name
     public: std::string moveToPoseService;
 
@@ -161,7 +164,12 @@ void ViewAngle::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
   this->dataPtr->viewControlService = "/gui/camera/view_control";
 
   // view control reference visual requests
-  this->dataPtr->viewControlRefVisualService = "/gui/camera/reference_visual";
+  this->dataPtr->viewControlRefVisualService =
+      "/gui/camera/view_control/reference_visual";
+
+  // view control sensitivity requests
+  this->dataPtr->viewControlSensitivityService =
+      "/gui/camera/view_control/sensitivity";
 
   // Subscribe to camera pose
   std::string topic = "/gui/camera/pose";
@@ -299,6 +307,29 @@ void ViewAngle::OnViewControlReferenceVisual(bool _enable)
       this->dataPtr->viewControlRefVisualService, req, cb);
 }
 
+/////////////////////////////////////////////////
+void ViewAngle::OnViewControlSensitivity(double _sensitivity)
+{
+  std::function<void(const msgs::Boolean &, const bool)> cb =
+      [](const msgs::Boolean &/*_rep*/, const bool _result)
+  {
+    if (!_result)
+      ignerr << "Error setting view controller sensitivity" << std::endl;
+  };
+
+  if (_sensitivity <= 0.0)
+  {
+    ignerr << "View controller sensitivity must be greater than 0" << std::endl;
+    return;
+  }
+
+  msgs::Double req;
+  req.set_data(_sensitivity);
+
+  this->dataPtr->node.Request(
+      this->dataPtr->viewControlSensitivityService, req, cb);
+}
+
 /////////////////////////////////////////////////
 QList<double> ViewAngle::CamPose() const
 {

src/gui/plugins/view_angle/ViewAngle.hh

@@ -94,6 +94,10 @@ namespace gazebo
     /// false to hide it
     public slots: void OnViewControlReferenceVisual(bool _enable);
 
+    /// \brief Callback in Qt thread when camera view controller changes.
+    /// \param[in] _sensitivity View control sensitivity vlaue
+    public slots: void OnViewControlSensitivity(double _sensitivity);
+
     /// \brief Get the current gui camera pose.
     public: Q_INVOKABLE QList<double> CamPose() const;
 

src/gui/plugins/view_angle/ViewAngle.qml

@@ -207,6 +207,30 @@ ColumnLayout {
     }
   }
 
+  // view control sensitivity
+  GridLayout {
+    Layout.fillWidth: true
+    Layout.margins: 10
+    columns: 2
+
+    Label {
+      id: viewControlSensitivityLabel
+      text: "View control sensitivity"
+    }
+    IgnSpinBox {
+      id: viewControlSensitivitySpinBox
+      Layout.fillWidth: true
+      value: 1.0
+      maximumValue: 10.0
+      minimumValue: 0.01
+      decimals: 2
+      stepSize: 0.1
+      onEditingFinished:{
+        ViewAngle.OnViewControlSensitivity(value)
+      }
+    }
+  }
+
   // toggle view control reference visual
   CheckBox {
     Layout.alignment: Qt.AlignHCenter