Support copy/paste

include/ignition/gazebo/rendering/SceneManager.hh

@@ -21,6 +21,8 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <utility>
+#include <vector>
 
 #include <sdf/Geometry.hh>
 #include <sdf/Actor.hh>
@@ -127,6 +129,30 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: rendering::VisualPtr CreateLink(Entity _id,
         const sdf::Link &_link, Entity _parentId = 0);
 
+    /// \brief Filter a node and its children according to specific criteria.
+    /// \param[in] _node The name of the node where filtering should start.
+    /// \param[in] _filter Callback function that defines how _node and its
+    /// children should be filtered. The function parameter is a node. The
+    /// callback returns true if the node should be filtered; false otherwise.
+    /// \return A list of filtered nodes in top level order. This list can
+    /// contain _node itself, or child nodes of _node. An empty list means no
+    /// nodes were filtered.
+    public: std::vector<rendering::NodePtr> Filter(const std::string &_node,
+                std::function<bool(
+                  const rendering::NodePtr _nodeToFilter)> _filter) const;
+
+    /// \brief Copy a visual that currently exists in the scene
+    /// \param[in] _id Unique visual id of the copied visual
+    /// \param[in] _visual Name of the visual to copy
+    /// \param[in] _parentId Parent id of the copied visual
+    /// \return A pair with the first element being the copied visual object,
+    /// and the second element being a list of the entity IDs for the copied
+    /// visual's children, in level order. If copying the visual failed, the
+    /// first element will be nullptr. If the copied visual has no children, the
+    /// second element will be empty.
+    public: std::pair<rendering::VisualPtr, std::vector<Entity>> CopyVisual(
+                Entity _id, const std::string &_visual, Entity _parentId = 0);
+
     /// \brief Create a visual
     /// \param[in] _id Unique visual id
     /// \param[in] _visual Visual sdf dom
@@ -316,6 +342,11 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \param[in] _jointId Joint visual id.
     public: void UpdateJointParentPose(Entity _jointId);
 
+    /// \brief Create a unique entity ID
+    /// \return A unique entity ID. kNullEntity is returned if no unique entity
+    /// IDs are available
+    public: Entity UniqueId() const;
+
     /// \internal
     /// \brief Pointer to private data class
     private: std::unique_ptr<SceneManagerPrivate> dataPtr;

src/gui/gui.config

@@ -222,6 +222,20 @@
   </ignition-gui>
 </plugin>
 
+<!-- Copy/Paste -->
+<plugin filename="CopyPaste" name="CopyPaste">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">300</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">100</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </ignition-gui>
+</plugin>
+
 <!-- Inspector -->
 <plugin filename="ComponentInspector" name="Component inspector">
   <ignition-gui>

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(copy_paste)
 add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
 add_subdirectory(joint_position_controller)

src/gui/plugins/copy_paste/CMakeLists.txt

@@ -0,0 +1,4 @@
+gz_add_gui_plugin(CopyPaste
+  SOURCES CopyPaste.cc
+  QT_HEADERS CopyPaste.hh
+)

src/gui/plugins/copy_paste/CopyPaste.cc

@@ -0,0 +1,185 @@
+/*
+ * 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 <memory>
+#include <mutex>
+#include <string>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/MainWindow.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport.hh>
+
+#include "ignition/gazebo/components/Name.hh"
+#include "ignition/gazebo/gui/GuiEvents.hh"
+
+#include "CopyPaste.hh"
+
+namespace ignition::gazebo
+{
+  class CopyPastePrivate
+  {
+    /// \brief The entity that is currently selected
+    public: Entity selectedEntity = kNullEntity;
+
+    /// \brief The name of the entity that is currently selected
+    public: std::string selectedEntityName = "";
+
+    /// \brief The name of the entity that is copied
+    public: std::string copiedData = "";
+
+    /// \brief Transport node for handling service calls
+    public: transport::Node node;
+
+    /// \brief Name of the copy service
+    public: const std::string copyService = "/gui/copy";
+
+    /// \brief Name of the paste service
+    public: const std::string pasteService = "/gui/paste";
+
+    /// \brief A mutex to ensure that there are no race conditions between
+    /// copy/paste
+    public: std::mutex mutex;
+  };
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+CopyPaste::CopyPaste()
+  : GuiSystem(), dataPtr(std::make_unique<CopyPastePrivate>())
+{
+  if (!this->dataPtr->node.Advertise(this->dataPtr->copyService,
+        &CopyPaste::CopyServiceCB, this))
+  {
+    ignerr << "Error advertising service [" << this->dataPtr->copyService
+           << "]" << std::endl;
+  }
+
+  if (!this->dataPtr->node.Advertise(this->dataPtr->pasteService,
+        &CopyPaste::PasteServiceCB, this))
+  {
+    ignerr << "Error advertising service [" << this->dataPtr->pasteService
+           << "]" << std::endl;
+  }
+}
+
+/////////////////////////////////////////////////
+CopyPaste::~CopyPaste() = default;
+
+/////////////////////////////////////////////////
+void CopyPaste::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Copy/Paste";
+
+  ignition::gui::App()->findChild<
+      ignition::gui::MainWindow *>()->installEventFilter(this);
+  ignition::gui::App()->findChild<
+      ignition::gui::MainWindow *>()->QuickWindow()->installEventFilter(this);
+}
+
+/////////////////////////////////////////////////
+void CopyPaste::Update(const UpdateInfo &/*_info*/,
+    EntityComponentManager &_ecm)
+{
+  std::lock_guard<std::mutex> guard(this->dataPtr->mutex);
+  auto nameComp =
+    _ecm.Component<components::Name>(this->dataPtr->selectedEntity);
+  if (!nameComp)
+    return;
+  this->dataPtr->selectedEntityName = nameComp->Data();
+}
+
+/////////////////////////////////////////////////
+void CopyPaste::OnCopy()
+{
+  std::lock_guard<std::mutex> guard(this->dataPtr->mutex);
+  this->dataPtr->copiedData = this->dataPtr->selectedEntityName;
+}
+
+/////////////////////////////////////////////////
+void CopyPaste::OnPaste()
+{
+  std::lock_guard<std::mutex> guard(this->dataPtr->mutex);
+
+  // we should only paste if something has been copied
+  if (!this->dataPtr->copiedData.empty())
+  {
+    ignition::gui::events::SpawnCloneFromName event(this->dataPtr->copiedData);
+    ignition::gui::App()->sendEvent(
+      ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+      &event);
+  }
+}
+
+/////////////////////////////////////////////////
+bool CopyPaste::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == ignition::gazebo::gui::events::EntitiesSelected::kType)
+  {
+    std::lock_guard<std::mutex> guard(this->dataPtr->mutex);
+
+    auto selectedEvent =
+        reinterpret_cast<gui::events::EntitiesSelected *>(_event);
+    if (selectedEvent && (selectedEvent->Data().size() == 1u))
+      this->dataPtr->selectedEntity = selectedEvent->Data()[0];
+  }
+  if (_event->type() == QEvent::KeyPress)
+  {
+    QKeyEvent *keyEvent = static_cast<QKeyEvent *>(_event);
+    if (keyEvent && keyEvent->matches(QKeySequence::Copy))
+    {
+      this->OnCopy();
+    }
+    else if (keyEvent && keyEvent->matches(QKeySequence::Paste))
+    {
+      this->OnPaste();
+    }
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+bool CopyPaste::CopyServiceCB(const ignition::msgs::StringMsg &_req,
+    ignition::msgs::Boolean &_resp)
+{
+  {
+    std::lock_guard<std::mutex> guard(this->dataPtr->mutex);
+    this->dataPtr->copiedData = _req.data();
+  }
+  _resp.set_data(true);
+  return true;
+}
+
+/////////////////////////////////////////////////
+bool CopyPaste::PasteServiceCB(const ignition::msgs::Empty &/*_req*/,
+    ignition::msgs::Boolean &_resp)
+{
+  this->OnPaste();
+  _resp.set_data(true);
+  return true;
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::CopyPaste,
+                    ignition::gui::Plugin)

src/gui/plugins/copy_paste/CopyPaste.hh

@@ -0,0 +1,83 @@
+/*
+ * 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_COPYPASTE_HH_
+#define IGNITION_GAZEBO_GUI_COPYPASTE_HH_
+
+#include <memory>
+
+#include <ignition/msgs.hh>
+
+#include "ignition/gazebo/gui/GuiSystem.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+  class CopyPastePrivate;
+
+  /// \brief Plugin for copying/pasting entities in the GUI.
+  class CopyPaste : public ignition::gazebo::GuiSystem
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: CopyPaste();
+
+    /// \brief Destructor
+    public: ~CopyPaste() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+    // Documentation inherited
+    public: void Update(const UpdateInfo &_info,
+                EntityComponentManager &_ecm) override;
+
+    /// \brief Callback to copy the selected entity
+    public slots: void OnCopy();
+
+    /// \brief Callback to paste the data that has been copied, if copied data
+    /// exists.
+    public slots: void OnPaste();
+
+    // Documentation inherited
+    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \brief Callback for handling a copy service request
+    /// \param[in] _req The service request, which contains the name of the
+    /// entity to be copied
+    /// \param[out] _resp The service response
+    /// \return Whether the service was successful (true) or not (false)
+    private: bool CopyServiceCB(const ignition::msgs::StringMsg &_req,
+                ignition::msgs::Boolean &_resp);
+
+    /// \brief Callback for handling a paste service request
+    /// \param[in] _req The service request
+    /// \param[out] _resp The service response
+    /// \return Whether the service was successful (true) or not (false)
+    private: bool PasteServiceCB(const ignition::msgs::Empty &_req,
+                ignition::msgs::Boolean &_resp);
+
+    /// \internal
+    /// \brief Pointer to private data
+    private: std::unique_ptr<CopyPastePrivate> dataPtr;
+  };
+}
+}
+
+#endif