Update new / removed entity GUI events (#1213)

Signed-off-by: Louise Poubel <[email protected]>

include/ignition/gazebo/gui/GuiEvents.hh

@@ -23,6 +23,8 @@
 #include <utility>
 #include <vector>
 #include <ignition/math/Vector3.hh>
+#include <ignition/utils/ImplPtr.hh>
+#include "ignition/gazebo/gui/Export.hh"
 #include "ignition/gazebo/Entity.hh"
 #include "ignition/gazebo/config.hh"
 
@@ -38,7 +40,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace events
 {
   /// \brief Event that notifies when new entities have been selected.
-  class EntitiesSelected : public QEvent
+  class IGNITION_GAZEBO_GUI_VISIBLE EntitiesSelected : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _entities All the selected entities
@@ -76,7 +78,7 @@ namespace events
   };
 
   /// \brief Event that notifies when all entities have been deselected.
-  class DeselectAllEntities : public QEvent
+  class IGNITION_GAZEBO_GUI_VISIBLE DeselectAllEntities : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _fromUser True if the event was directly generated by the
@@ -100,68 +102,60 @@ namespace events
     private: bool fromUser{false};
   };
 
-  /// \brief Event that contains newly created and removed entities
-  class AddedRemovedEntities : public QEvent
+  /// \brief Event that contains entities newly created or removed from the
+  /// GUI, but that aren't present on the server yet.
+  /// \sa NewRemovedEntities
+  class IGNITION_GAZEBO_GUI_VISIBLE GuiNewRemovedEntities : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _newEntities Set of newly created entities
     /// \param[in] _removedEntities Set of recently removed entities
-    public: AddedRemovedEntities(const std::set<Entity> &_newEntities,
-                const std::set<Entity> &_removedEntities)
-        : QEvent(kType), newEntities(_newEntities),
-          removedEntities(_removedEntities)
-    {
-    }
+    public: GuiNewRemovedEntities(const std::set<Entity> &_newEntities,
+                const std::set<Entity> &_removedEntities);
 
     /// \brief Get the set of newly created entities
-    public: const std::set<Entity> &NewEntities() const
-    {
-      return this->newEntities;
-    }
+    public: const std::set<Entity> &NewEntities() const;
 
     /// \brief Get the set of recently removed entities
-    public: const std::set<Entity> &RemovedEntities() const
-    {
-      return this->removedEntities;
-    }
+    public: const std::set<Entity> &RemovedEntities() const;
 
     /// \brief Unique type for this event.
     static const QEvent::Type kType = QEvent::Type(QEvent::User + 3);
 
-    /// \brief Set of newly created entities
-    private: std::set<Entity> newEntities;
-
-    /// \brief Set of recently removed entities
-    private: std::set<Entity> removedEntities;
+    /// \internal
+    /// \brief Private data pointer
+    IGN_UTILS_IMPL_PTR(dataPtr)
   };
 
-  /// \brief Event that notifies when new entities have been removed.
-  class RemovedEntities : public QEvent
+  /// \brief Event that notifies when new entities have been created or removed
+  /// on the server. This is a duplication of what `GuiSystem`s would get from
+  /// `EachNew` / `EachRemoved` ECM calls.
+  /// \sa GuiNewRemovedEntities
+  class IGNITION_GAZEBO_GUI_VISIBLE NewRemovedEntities : public QEvent
   {
     /// \brief Constructor
-    /// \param[in] _entities All the removed entities
-    public: explicit RemovedEntities(const std::vector<Entity> &_entities)
-        : QEvent(kType), entities(_entities)
-    {
-    }
+    /// \param[in] _newEntities Set of newly created entities
+    /// \param[in] _removedEntities Set of recently removed entities
+    public: NewRemovedEntities(const std::set<Entity> &_newEntities,
+                const std::set<Entity> &_removedEntities);
 
-    /// \brief Get the data sent with the event.
-    /// \return The entities being removed.
-    public: std::vector<Entity> Data() const
-    {
-      return this->entities;
-    }
+    /// \brief Get the set of newly created entities
+    public: const std::set<Entity> &NewEntities() const;
+
+    /// \brief Get the set of recently removed entities
+    public: const std::set<Entity> &RemovedEntities() const;
 
     /// \brief Unique type for this event.
     static const QEvent::Type kType = QEvent::Type(QEvent::User + 4);
 
-    /// \brief The removed entities.
-    private: std::vector<Entity> entities;
+    /// \internal
+    /// \brief Private data pointer
+    IGN_UTILS_IMPL_PTR(dataPtr)
   };
 
   /// \brief True if a transform control is currently active (translate /
   /// rotate / scale). False if we're in selection mode.
-  class TransformControlModeActive : public QEvent
+  class IGNITION_GAZEBO_GUI_VISIBLE TransformControlModeActive : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _tranformModeActive is the transform control mode active

src/gui/CMakeLists.txt

@@ -1,13 +1,15 @@
 set (gui_sources
   AboutDialogHandler.cc
   Gui.cc
+  GuiEvents.cc
   GuiFileHandler.cc
   GuiRunner.cc
   PathManager.cc
 )
 
 set (gtest_sources
   Gui_TEST.cc
+  GuiEvents_TEST.cc
 )
 
 add_subdirectory(plugins)

src/gui/GuiEvents.cc

@@ -0,0 +1,85 @@
+/*
+ * 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 "ignition/gazebo/gui/GuiEvents.hh"
+
+class ignition::gazebo::gui::events::GuiNewRemovedEntities::Implementation
+{
+  /// \brief Set of newly created entities
+  public: std::set<Entity> newEntities;
+
+  /// \brief Set of recently removed entities
+  public: std::set<Entity> removedEntities;
+};
+
+class ignition::gazebo::gui::events::NewRemovedEntities::Implementation
+{
+  /// \brief Set of newly created entities
+  public: std::set<Entity> newEntities;
+
+  /// \brief Set of recently removed entities
+  public: std::set<Entity> removedEntities;
+};
+
+using namespace ignition;
+using namespace gazebo;
+using namespace gui;
+using namespace events;
+
+/////////////////////////////////////////////////
+GuiNewRemovedEntities::GuiNewRemovedEntities(
+    const std::set<Entity> &_newEntities,
+    const std::set<Entity> &_removedEntities)
+    : QEvent(kType), dataPtr(utils::MakeImpl<Implementation>())
+{
+  this->dataPtr->newEntities = _newEntities;
+  this->dataPtr->removedEntities = _removedEntities;
+}
+
+/////////////////////////////////////////////////
+const std::set<Entity> &GuiNewRemovedEntities::NewEntities() const
+{
+  return this->dataPtr->newEntities;
+}
+
+/////////////////////////////////////////////////
+const std::set<Entity> &GuiNewRemovedEntities::RemovedEntities() const
+{
+  return this->dataPtr->removedEntities;
+}
+
+/////////////////////////////////////////////////
+NewRemovedEntities::NewRemovedEntities(
+    const std::set<Entity> &_newEntities,
+    const std::set<Entity> &_removedEntities)
+    : QEvent(kType), dataPtr(utils::MakeImpl<Implementation>())
+{
+  this->dataPtr->newEntities = _newEntities;
+  this->dataPtr->removedEntities = _removedEntities;
+}
+
+/////////////////////////////////////////////////
+const std::set<Entity> &NewRemovedEntities::NewEntities() const
+{
+  return this->dataPtr->newEntities;
+}
+
+/////////////////////////////////////////////////
+const std::set<Entity> &NewRemovedEntities::RemovedEntities() const
+{
+  return this->dataPtr->removedEntities;
+}

src/gui/GuiEvents_TEST.cc

@@ -0,0 +1,67 @@
+/*
+ * 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 <gtest/gtest.h>
+
+#include "ignition/gazebo/test_config.hh"
+#include "ignition/gazebo/gui/GuiEvents.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace gui;
+
+/////////////////////////////////////////////////
+TEST(GuiEventsTest, GuiNewRemovedEntities)
+{
+  events::GuiNewRemovedEntities event({1, 2, 3}, {4, 5});
+
+  EXPECT_LT(QEvent::User, event.type());
+
+  auto addedEntities = event.NewEntities();
+  EXPECT_EQ(3u, addedEntities.size());
+  EXPECT_NE(addedEntities.find(1), addedEntities.end());
+  EXPECT_NE(addedEntities.find(2), addedEntities.end());
+  EXPECT_NE(addedEntities.find(3), addedEntities.end());
+  EXPECT_EQ(addedEntities.find(100), addedEntities.end());
+
+  auto removedEntities = event.RemovedEntities();
+  EXPECT_EQ(2u, removedEntities.size());
+  EXPECT_NE(removedEntities.find(4), removedEntities.end());
+  EXPECT_NE(removedEntities.find(5), removedEntities.end());
+  EXPECT_EQ(removedEntities.find(6), removedEntities.end());
+}
+
+/////////////////////////////////////////////////
+TEST(GuiEventsTest, NewRemovedEntities)
+{
+  events::NewRemovedEntities event({1, 2, 3}, {4, 5});
+
+  EXPECT_LT(QEvent::User, event.type());
+
+  auto addedEntities = event.NewEntities();
+  EXPECT_EQ(3u, addedEntities.size());
+  EXPECT_NE(addedEntities.find(1), addedEntities.end());
+  EXPECT_NE(addedEntities.find(2), addedEntities.end());
+  EXPECT_NE(addedEntities.find(3), addedEntities.end());
+  EXPECT_EQ(addedEntities.find(100), addedEntities.end());
+
+  auto removedEntities = event.RemovedEntities();
+  EXPECT_EQ(2u, removedEntities.size());
+  EXPECT_NE(removedEntities.find(4), removedEntities.end());
+  EXPECT_NE(removedEntities.find(5), removedEntities.end());
+  EXPECT_EQ(removedEntities.find(6), removedEntities.end());
+}

src/gui/plugins/entity_tree/EntityTree.cc

@@ -556,13 +556,15 @@ bool EntityTree::eventFilter(QObject *_obj, QEvent *_event)
     }
   }
   else if (_event->type() ==
-           ignition::gazebo::gui::events::AddedRemovedEntities::kType)
+           ignition::gazebo::gui::events::GuiNewRemovedEntities::kType)
   {
     std::lock_guard<std::mutex> lock(this->dataPtr->newRemovedEntityMutex);
     auto addedRemovedEvent =
-        reinterpret_cast<gui::events::AddedRemovedEntities *>(_event);
+        reinterpret_cast<gui::events::GuiNewRemovedEntities *>(_event);
     if (addedRemovedEvent)
     {
+      // TODO(chapulina) Make these entities visually different from entities
+      // created from the server.
       for (auto entity : addedRemovedEvent->NewEntities())
         this->dataPtr->newEntities.insert(entity);
 

src/gui/plugins/scene_manager/GzSceneManager.cc

@@ -17,7 +17,7 @@
 
 #include "GzSceneManager.hh"
 
-#include <vector>
+#include <set>
 
 #include <ignition/common/Profiler.hh>
 #include <ignition/gui/Application.hh>
@@ -85,16 +85,25 @@ void GzSceneManager::Update(const UpdateInfo &_info,
   this->dataPtr->renderUtil.UpdateECM(_info, _ecm);
   this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm);
 
-  // Emit entities removed event
-  std::vector<Entity> removed;
+  // Emit entities created / removed event for gui::Plugins which don't have
+  // direct access to the ECM.
+  std::set<Entity> created;
+  _ecm.EachNew<components::Name>(
+      [&](const Entity &_entity, const components::Name *)->bool
+      {
+        created.insert(_entity);
+        return true;
+      });
+  std::set<Entity> removed;
   _ecm.EachRemoved<components::Name>(
       [&](const Entity &_entity, const components::Name *)->bool
       {
-        removed.push_back(_entity);
+        removed.insert(_entity);
         return true;
       });
 
-  ignition::gazebo::gui::events::RemovedEntities removedEvent(removed);
+  ignition::gazebo::gui::events::NewRemovedEntities removedEvent(
+      created, removed);
   ignition::gui::App()->sendEvent(
       ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
       &removedEvent);

src/gui/plugins/select_entities/SelectEntities.cc

@@ -574,13 +574,13 @@ bool SelectEntities::eventFilter(QObject *_obj, QEvent *_event)
     }
   }
   else if (_event->type() ==
-           ignition::gazebo::gui::events::RemovedEntities::kType)
+           ignition::gazebo::gui::events::NewRemovedEntities::kType)
   {
     if (!this->dataPtr->wireBoxes.empty())
     {
-      auto removedEvent =
-          reinterpret_cast<gui::events::RemovedEntities *>(_event);
-      for (auto &entity : removedEvent->Data())
+      auto event =
+          reinterpret_cast<gui::events::NewRemovedEntities *>(_event);
+      for (auto &entity : event->RemovedEntities())
       {
         auto wireBoxIt = this->dataPtr->wireBoxes.find(entity);
         if (wireBoxIt != this->dataPtr->wireBoxes.end())