First working version (VisualizationFrame)

ros2 · Aug 27, 2022 · 3e03e30 · 3e03e30
1 parent f564d55
commit 3e03e30
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Showing 10 changed files with 637 additions and 156 deletions.
diff --git a/rviz_common/include/rviz_common/visualization_frame.hpp b/rviz_common/include/rviz_common/visualization_frame.hpp
@@ -84,6 +84,9 @@ class RVIZ_COMMON_PUBLIC VisualizationFrame : public QMainWindow, public WindowM
 {
   Q_OBJECT
 
+protected:
+  explicit VisualizationFrame(QWidget * parent = nullptr);
+
 public:
   explicit VisualizationFrame(
     ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node, QWidget * parent = nullptr);

diff --git a/rviz_common/src/rviz_common/visualization_frame.cpp b/rviz_common/src/rviz_common/visualization_frame.cpp
@@ -98,6 +98,30 @@
 namespace rviz_common
 {
 
+VisualizationFrame::VisualizationFrame(QWidget * parent) 
+: QMainWindow(parent),
+  app_(nullptr),
+  render_panel_(nullptr),
+  show_help_action_(nullptr),
+  file_menu_(nullptr),
+  recent_configs_menu_(nullptr),
+  toolbar_(nullptr),
+  manager_(nullptr),
+  splash_(nullptr),
+  toolbar_actions_(nullptr),
+  show_choose_new_master_option_(false),
+  panel_factory_(nullptr),
+  add_tool_action_(nullptr),
+  remove_tool_menu_(nullptr),
+  initialized_(false),
+  geom_change_detector_(new WidgetGeometryChangeDetector(this)),
+  loading_(false),
+  post_load_timer_(new QTimer(this)),
+  frame_count_(0),
+  toolbar_visible_(true)
+  {
+  }
+
 VisualizationFrame::VisualizationFrame(
   ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node, QWidget * parent)
 : QMainWindow(parent),

diff --git a/rviz_python_bindings/CMakeLists.txt b/rviz_python_bindings/CMakeLists.txt
@@ -1,137 +1,164 @@
 cmake_minimum_required(VERSION 3.8)
 project(rviz_python_bindings)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-
-set(rviz_shiboken_QT_COMPONENTS
-  QtCore
-  QtGui
-  QtWidgets
-)
+set(bindings_library "rviz_shiboken")
 
 find_package(ament_cmake REQUIRED)
-find_package(python_qt_binding REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(Shiboken2 REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Core Gui Widgets)
 find_package(rviz_common REQUIRED)
-find_package(rviz_rendering REQUIRED)
-find_package(Qt5Core REQUIRED)
-find_package(Qt5Gui REQUIRED)
-find_package(Qt5Widgets REQUIRED)
 find_package(rviz_ogre_vendor REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rmw REQUIRED)
-find_package(rcl_interfaces REQUIRED)
-find_package(rosidl_typesupport_interface REQUIRED)
-find_package(tf2_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
-include(shiboken_helper.cmake)
-
-if(shiboken_helper_FOUND)
-  set(_configure_shiboken TRUE)
-  if(_configure_shiboken)
-
-    # To add a new rviz class to the bindings, add it:
-    # - in rviz_shiboken_SRCS below, like rviz_myclass_wrapper.cpp
-    # - in rviz_HDRS below, like ../rviz/my_class.h
-    # - in global.h, like #include <rviz/my_class.h>
-    # - in typesystem.xml, like <object-type name="rviz::MyClass"/>
-
-    set(rviz_shiboken_SRCS
-      librviz_shiboken/librviz_shiboken_module_wrapper.cpp
-      librviz_shiboken/rviz_common_visualizationframe_wrapper.cpp
-      librviz_shiboken/rviz_common_visualizationmanager_wrapper.cpp
-      librviz_shiboken/rviz_common_display_wrapper.cpp
-      librviz_shiboken/rviz_common_displaygroup_wrapper.cpp
-      librviz_shiboken/rviz_rendering_ogrelogging_wrapper.cpp
-      librviz_shiboken/rviz_common_properties_property_wrapper.cpp
-      librviz_shiboken/rviz_common_properties_boolproperty_wrapper.cpp
-      librviz_shiboken/rviz_common_paneldockwidget_wrapper.cpp
-      librviz_shiboken/rviz_common_viewmanager_wrapper.cpp
-      librviz_shiboken/rviz_common_tool_wrapper.cpp
-      librviz_shiboken/rviz_common_toolmanager_wrapper.cpp
-      librviz_shiboken/rviz_common_config_wrapper.cpp
-      librviz_shiboken/rviz_common_config_mapiterator_wrapper.cpp
-      librviz_shiboken/rviz_common_yamlconfigreader_wrapper.cpp
-      librviz_shiboken/rviz_common_yamlconfigwriter_wrapper.cpp
-      librviz_shiboken/rviz_common_wrapper.cpp
-      librviz_shiboken/rviz_rendering_wrapper.cpp
-      librviz_shiboken/rviz_common_properties_wrapper.cpp
+
+
+add_library(rviz_python SHARED
+  src/visualizer_frame_py.cpp
+)
+
+target_include_directories(rviz_python PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_options(rviz_python PUBLIC -Wl,--no-undefined)
+ament_target_dependencies(rviz_python
+  rviz_common
+  Qt5
+)
+
+install(TARGETS rviz_python
+  EXPORT export_rviz_python
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+message(STATUS "LIBRARY OUTPUT DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz")
+if(Shiboken2_FOUND)
+  message(STATUS "Found Shiboken2 version ${Shiboken2_VERSION}")
+  if(NOT ${Shiboken2_VERSION} VERSION_LESS "5.13")
+    get_property(SHIBOKEN_INCLUDE_DIR TARGET Shiboken2::libshiboken PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    get_property(SHIBOKEN_LIBRARY TARGET Shiboken2::libshiboken PROPERTY LOCATION)
+    set(SHIBOKEN_BINARY Shiboken2::shiboken2)
+  endif()
+  message(STATUS "Using SHIBOKEN_INCLUDE_DIR: ${SHIBOKEN_INCLUDE_DIR}")
+  message(STATUS "Using SHIBOKEN_LIBRARY: ${SHIBOKEN_LIBRARY}")
+  message(STATUS "Using SHIBOKEN_BINARY: ${SHIBOKEN_BINARY}")
+endif()
+
+find_package(PySide2 QUIET)
+if(PySide2_FOUND)
+  message(STATUS "Found PySide2 version ${PySide2_VERSION}")
+  if(NOT ${PySide2_VERSION} VERSION_LESS "5.13")
+    get_property(PYSIDE_INCLUDE_DIR TARGET PySide2::pyside2 PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    get_property(PYSIDE_LIBRARY TARGET PySide2::pyside2 PROPERTY LOCATION)
+  endif()
+  message(STATUS "Using PYSIDE_INCLUDE_DIR: ${PYSIDE_INCLUDE_DIR}")
+  message(STATUS "Using PYSIDE_LIBRARY: ${PYSIDE_LIBRARY}")
+  message(STATUS "Using PYSIDE_TYPESYSTEMS: ${PYSIDE_TYPESYSTEMS}")
+endif()
+
+set(generated_sources
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_shiboken_module_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_visualizerframepy_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_yamlconfigreader_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_yamlconfigwriter_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_config_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_visualizationframe_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_visualizationmanager_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_displaygroup_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${bindings_library}/rviz_common_display_wrapper.cpp
     )
-
-
-    set(rviz_HDRS
-      global.hpp
-      # ${rviz_common_INCLUDE_DIRS}/visualization_frame.hpp
-      # ${rviz_common_INCLUDE_DIRS}/visualization_manager.hpp
-      # ${rviz_common_INCLUDE_DIRS}/view_manager.hpp
-      # ${rviz_common_INCLUDE_DIRS}/view_controller.hpp
-      # ${rviz_common_INCLUDE_DIRS}/display.hpp
-      # ${rviz_common_INCLUDE_DIRS}/display_group.hpp
-      # ${rviz_common_INCLUDE_DIRS}/properties/property.hpp
-      # ${rviz_common_INCLUDE_DIRS}/properties/bool_property.hpp
-      # ${rviz_common_INCLUDE_DIRS}/panel_dock_widget.hpp
-      # ${rviz_common_INCLUDE_DIRS}/tool.hpp
-      # ${rviz_common_INCLUDE_DIRS}/tool_manager.hpp
-      # ${rviz_rendering_INCLUDE_DIRS}/ogre_helpers/ogre_logging.hpp
-      # ${rviz_common_INCLUDE_DIRS}/config.hpp
-      # ${rviz_common_INCLUDE_DIRS}/yaml_config_reader.hpp
-      # ${rviz_common_INCLUDE_DIRS}/yaml_config_writer.hpp
+
+list(APPEND SHIBOKEN_HELPER_INCLUDE_DIRS
+    ${QT_INCLUDE_DIR}
+    ${PYSIDE_INCLUDE_DIR}
+    ${PYTHON_INCLUDE_DIR}
+    ${SHIBOKEN_INCLUDE_DIR}
+    ${Qt5Core_INCLUDE_DIRS}
+    ${Qt5Gui_INCLUDE_DIRS}
+    ${Qt5Widgets_INCLUDE_DIRS}
+    ${rviz_common_INCLUDE_DIRS}
+    ${OGRE_INCLUDE_DIRS}
+    ${rmw_INCLUDE_DIRS}
+    ${rclcpp_INCLUDE_DIRS}
+    ${tf2_msgs_INCLUDE_DIRS}
+    ${rcl_interfaces_INCLUDE_DIRS}
+    ${pluginlib_INCLUDE_DIRS}
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES}
     )
 
-    list(APPEND rviz_shiboken_INCLUDE_DIRS 
-      ${rviz_common_INCLUDE_DIRS} 
-      ${rviz_rendering_INCLUDE_DIRS} 
-      ${Qt5Core_INCLUDE_DIRS} 
-      ${Qt5Gui_INCLUDE_DIRS} 
-      ${Qt5Widgets_INCLUDE_DIRS} 
-      ${OGRE_INCLUDE_DIRS}
-      ${rclcpp_INCLUDE_DIRS}
-      ${rmw_INCLUDE_DIRS}
-      ${rosidl_typesupport_interface_INCLUDE_DIRS}
-      ${rcl_interfaces_INCLUDE_DIRS}
-      ${tf2_msgs_INCLUDE_DIRS}
-      ${pluginlib_INCLUDE_DIRS}
-      )
-    message(INFO ${PROJECT_SOURCE_DIR}/shiboken)
-    shiboken_generator(
-      librviz
-      global.hpp
-      typesystem.xml
-      ${PROJECT_SOURCE_DIR}/
-      "${rviz_shiboken_SRCS}"
-      "${rviz_HDRS}"
-      "${rviz_shiboken_INCLUDE_DIRS}"
-      "${CMAKE_CURRENT_BINARY_DIR}"
+  set(SHIBOKEN_HELPER_INCLUDE_DIRS_WITH_COLONS "")
+  foreach(dir ${SHIBOKEN_HELPER_INCLUDE_DIRS})
+    set(SHIBOKEN_HELPER_INCLUDE_DIRS_WITH_COLONS "${SHIBOKEN_HELPER_INCLUDE_DIRS_WITH_COLONS}:${dir}")
+  endforeach()
+
+set(shiboken_options --generator-set=shiboken 
+    --avoid-protected-hack
+    --enable-pyside-extensions
+    -I${CMAKE_SOURCE_DIR}:${SHIBOKEN_HELPER_INCLUDE_DIRS_WITH_COLONS}
+    -T${CMAKE_SOURCE_DIR}:${PYSIDE_TYPESYSTEMS}
+    --output-directory=${CMAKE_CURRENT_BINARY_DIR}
+    --language-level=c++17
     )
 
-    include_directories(rviz_shiboken
-    ${rviz_common_INCLUDE_DIRS} 
-    ${rviz_rendering_INCLUDE_DIRS} 
-    ${Qt5Core_INCLUDE_DIRS} 
-    ${Qt5Gui_INCLUDE_DIRS} 
-    ${Qt5Widgets_INCLUDE_DIRS} 
+
+add_custom_command(OUTPUT ${generated_sources}
+    COMMAND ${SHIBOKEN_BINARY}
+    ${shiboken_options} ${CMAKE_CURRENT_SOURCE_DIR}/global.hpp ${CMAKE_CURRENT_SOURCE_DIR}/typesystem.xml
+    DEPENDS ${generated_sources_dependencies}
+    IMPLICIT_DEPENDS CXX global.hpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    COMMENT "Running generator for ${typesystem_file}.")
+
+ament_python_install_package(rviz)
+
+add_library(${bindings_library} MODULE ${generated_sources})
+
+# Apply relevant include and link flags.
+target_include_directories(${bindings_library} PRIVATE 
+    ${QT_INCLUDE_DIR}
+    ${PYTHON_INCLUDE_DIR}
+    ${SHIBOKEN_INCLUDE_DIR}
+    ${PYSIDE_INCLUDE_DIR}
+    ${Qt5Core_INCLUDE_DIRS}
+    ${Qt5Gui_INCLUDE_DIRS}
+    ${Qt5Widgets_INCLUDE_DIRS}
+    ${rviz_common_INCLUDE_DIRS}
     ${OGRE_INCLUDE_DIRS}
-    ${rclcpp_INCLUDE_DIRS}
     ${rmw_INCLUDE_DIRS}
-    ${rosidl_typesupport_interface_INCLUDE_DIRS}
-    ${rcl_interfaces_INCLUDE_DIRS}
+    ${rclcpp_INCLUDE_DIRS}
     ${tf2_msgs_INCLUDE_DIRS}
     ${pluginlib_INCLUDE_DIRS}
-    )
+    ${rcl_interfaces_INCLUDE_DIRS}
+    ${PYSIDE_INCLUDE_DIR}/QtCore
+    ${PYSIDE_INCLUDE_DIR}/QtGui
+    ${PYSIDE_INCLUDE_DIR}/QtWidgets
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+    ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES}
+  )
 
-    shiboken_include_directories(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}")
-    add_library(rviz_shiboken ${rviz_shiboken_SRCS})
-    target_link_libraries(rviz_shiboken ${PROJECT_NAME})
-    shiboken_target_link_libraries(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}")
-    target_compile_features(rviz_shiboken PUBLIC c_std_99 cxx_std_17)
-    target_compile_options(rviz_shiboken PUBLIC -fPIC -Wl,--no-undefined -w)
+target_link_libraries(${bindings_library} PRIVATE
+  ${QT_LIBRARIES}
+  ${PYTHON_LIBRARY}
+  ${SHIBOKEN_LIBRARY}
+  ${PYSIDE_LIBRARY}
+  Qt5::Core
+  Qt5::Gui
+  Qt5::Widgets
+  rviz_python
+  ${rviz_common_LIBRARIES}
+)
+
+set_target_properties(${bindings_library} PROPERTIES
+PREFIX "")
 
-    install(TARGETS rviz_shiboken
-      LIBRARY DESTINATION ${AMENT})
-  endif()
-endif()
+
+install(TARGETS ${bindings_library}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz
+)
 
 
 if(BUILD_TESTING)
@@ -146,4 +173,14 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  rviz_python
+)
+ament_export_targets(
+  export_rviz_python
+)
+
 ament_package()
diff --git a/rviz_python_bindings/global.hpp b/rviz_python_bindings/global.hpp
@@ -30,33 +30,14 @@
 #ifndef PYTHON_GLOBAL_H
 #define PYTHON_GLOBAL_H
 
-#undef QT_NO_STL
-#undef QT_NO_STL_WCHAR
-
-#ifndef NULL
-#define NULL 0
-#endif
-
-#include "pyside2_global.h"
-
-#include <QtCore/QtCore>
-#include <QtGui/QtGui>
-#include <QtWidgets/QtWidgets>
-
-
+#include <pyside2_global.h>
 #include <rviz_common/visualization_frame.hpp>
 #include <rviz_common/visualization_manager.hpp>
-#include <rviz_common/display.hpp>
 #include <rviz_common/display_group.hpp>
-#include <rviz_rendering/ogre_logging.hpp>
-#include <rviz_common/properties/property.hpp>
-#include <rviz_common/properties/bool_property.hpp>
-#include <rviz_common/panel_dock_widget.hpp>
-#include <rviz_common/view_manager.hpp>
-#include <rviz_common/tool.hpp>
-#include <rviz_common/tool_manager.hpp>
-#include <rviz_common/config.hpp>
+#include <rviz_common/display.hpp>
+#include <rviz_python_bindings/visualizer_frame_py.hpp>
 #include <rviz_common/yaml_config_reader.hpp>
 #include <rviz_common/yaml_config_writer.hpp>
+#include <rviz_common/config.hpp>
 
 #endif // PYTHON_GLOBAL_H