Add joint position controller GUI, also enable tests for GUI plugins

src/gui/plugins/CMakeLists.txt

@@ -57,14 +57,22 @@ endfunction()
 #
 # [QT_HEADERS]: Qt headers that need to be moc'ed
 #
+# [TEST_SOURCES]: Source files for unit tests.
+#
 # [PUBLIC_LINK_LIBS]: Specify a list of libraries to be publicly linked.
 #
 # [PRIVATE_LINK_LIBS]: Specify a list of libraries to be privately linked.
 #
 function(gz_add_gui_plugin plugin_name)
   set(options)
   set(oneValueArgs)
-  set(multiValueArgs SOURCES QT_HEADERS PUBLIC_LINK_LIBS PRIVATE_LINK_LIBS)
+  set(multiValueArgs
+    SOURCES
+    QT_HEADERS
+    TEST_SOURCES
+    PUBLIC_LINK_LIBS
+    PRIVATE_LINK_LIBS
+  )
 
   cmake_parse_arguments(gz_add_gui_plugin "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
@@ -75,6 +83,22 @@ function(gz_add_gui_plugin plugin_name)
     PRIVATE_LINK_LIBS ${gz_add_gui_plugin_PRIVATE_LINK_LIBS} ignition-plugin${IGN_PLUGIN_VER}::register
   )
 
+  if(gz_add_gui_plugin_TEST_SOURCES)
+    ign_build_tests(TYPE UNIT
+      SOURCES
+        ${gz_add_gui_plugin_TEST_SOURCES}
+      LIB_DEPS
+        ignition-gazebo${PROJECT_VERSION_MAJOR}-gui
+        ${plugin_name}
+      INCLUDE_DIRS
+        # Used to make internal source file headers visible to the unit tests
+        ${CMAKE_CURRENT_SOURCE_DIR}
+        # Used to make test-directory headers visible to the unit tests
+        ${PROJECT_SOURCE_DIR}
+        # Used to make test_config.h visible to the unit tests
+        ${PROJECT_BINARY_DIR})
+  endif()
+
   install (TARGETS ${plugin_name} DESTINATION ${IGNITION_GAZEBO_GUI_PLUGIN_INSTALL_DIR})
 endfunction()
 
@@ -85,6 +109,7 @@ add_subdirectory(align_tool)
 add_subdirectory(component_inspector)
 add_subdirectory(entity_tree)
 add_subdirectory(grid_config)
+add_subdirectory(joint_position_controller)
 add_subdirectory(playback_scrubber)
 add_subdirectory(resource_spawner)
 add_subdirectory(scene3d)

src/gui/plugins/joint_position_controller/CMakeLists.txt

@@ -0,0 +1,8 @@
+gz_add_gui_plugin(JointPositionController
+  SOURCES
+    JointPositionController.cc
+  QT_HEADERS
+    JointPositionController.hh
+  TEST_SOURCES
+    JointPositionController_TEST.cc
+)

src/gui/plugins/joint_position_controller/Joint.qml

@@ -0,0 +1,112 @@
+/*
+ * 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 2.9
+import QtQuick.Controls 2.2
+import QtQuick.Layouts 1.3
+import "qrc:/JointPositionController"
+import "qrc:/qml"
+
+Rectangle {
+  id: joint
+  height: slider.height
+  width: jointPositionController.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Position value
+  property double value: 0.0
+
+  // Horizontal margins
+  property int margin: 15
+
+  Connections {
+    target: joint
+    onValueChanged: {
+      jointPositionController.onCommand(model.name, joint.value);
+      spin.value = joint.value;
+      slider.value = joint.value;
+    }
+  }
+
+  RowLayout {
+    anchors.fill: parent
+    spacing: 0
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+
+    Text {
+      text: model.name
+      Layout.alignment: Qt.AlignVCenter
+      Layout.preferredWidth: 100
+      elide: Text.ElideRight
+      ToolTip {
+        visible: ma.containsMouse
+        delay: Qt.styleHints.mousePressAndHoldInterval
+        text: model.name
+        y: -30
+        enter: null
+        exit: null
+      }
+      MouseArea {
+        id: ma
+        anchors.fill: parent
+        hoverEnabled: true
+        acceptedButtons: Qt.RightButton
+      }
+    }
+
+    IgnSpinBox {
+      id: spin
+      value: model.value
+      minimumValue: model.min
+      maximumValue: model.max
+      decimals: 2
+      onEditingFinished: {
+        joint.value = spin.value
+      }
+    }
+
+    Text {
+      text: model.min.toFixed(2)
+      Layout.alignment: Qt.AlignVCenter
+    }
+
+    Slider {
+      id: slider
+      Layout.alignment: Qt.AlignVCenter
+      Layout.fillWidth: true
+      from: model.min
+      to: model.max
+      value: model.value
+      onMoved: {
+        joint.value = slider.value
+      }
+    }
+
+    Text {
+      text: model.max.toFixed(2)
+      Layout.alignment: Qt.AlignVCenter
+    }
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+  }
+}