NavSat (GPS) map plugin (#342)

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

.github/ci/packages.apt

@@ -14,6 +14,8 @@ qml-module-qt-labs-platform
 qml-module-qt-labs-settings
 qml-module-qtcharts
 qml-module-qtgraphicaleffects
+qml-module-qtlocation
+qml-module-qtpositioning
 qml-module-qtqml-models2
 qml-module-qtquick-controls
 qml-module-qtquick-controls2

CMakeLists.txt

@@ -64,7 +64,7 @@ set(IGN_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs8 REQUIRED)
+ign_find_package(ignition-msgs8 REQUIRED VERSION 8.2)
 set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 
 #--------------------------------------

Migration.md

@@ -5,6 +5,10 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition GUI 6.2 to 6.3
+
+* New QML dependencies, only needed for the NavSatMap plugin: `qml-module-qtlocation`, `qml-module-qtpositioning`
+
 ## Ignition GUI 6.1 to 6.2
 
 * All features from `Grid3D` have been incorportated into `GridConfig`. The code

src/plugins/CMakeLists.txt

@@ -123,6 +123,7 @@ add_subdirectory(plotting)
 add_subdirectory(publisher)
 add_subdirectory(marker_manager)
 add_subdirectory(minimal_scene)
+add_subdirectory(navsat_map)
 add_subdirectory(scene3d)
 add_subdirectory(screenshot)
 add_subdirectory(tape_measure)

src/plugins/navsat_map/CMakeLists.txt

@@ -0,0 +1,7 @@
+ign_gui_add_plugin(NavSatMap
+  SOURCES
+    NavSatMap.cc
+  QT_HEADERS
+    NavSatMap.hh
+)
+

src/plugins/navsat_map/NavSatMap.cc

@@ -0,0 +1,191 @@
+/*
+ * 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 "NavSatMap.hh"
+
+#include <algorithm>
+#include <iostream>
+#include <limits>
+#include <string>
+#include <vector>
+
+#include <ignition/common/Console.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include "ignition/gui/Application.hh"
+
+namespace ignition
+{
+namespace gui
+{
+namespace plugins
+{
+  class NavSatMapPrivate
+  {
+    /// \brief List of topics publishing navSat messages.
+    public: QStringList topicList;
+
+    /// \brief Holds data to set as the next navSat
+    public: msgs::NavSat navSatMsg;
+
+    /// \brief Node for communication.
+    public: transport::Node node;
+
+    /// \brief Mutex for accessing navSat data
+    public: std::recursive_mutex navSatMutex;
+  };
+}
+}
+}
+
+using namespace ignition;
+using namespace gui;
+using namespace plugins;
+
+/////////////////////////////////////////////////
+NavSatMap::NavSatMap()
+  : Plugin(), dataPtr(new NavSatMapPrivate)
+{
+}
+
+/////////////////////////////////////////////////
+NavSatMap::~NavSatMap()
+{
+}
+
+/////////////////////////////////////////////////
+void NavSatMap::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+{
+  // Default name in case user didn't define one
+  if (this->title.empty())
+    this->title = "Navigation satellite map";
+
+  std::string topic;
+  bool topicPicker = true;
+
+  // Read configuration
+  if (_pluginElem)
+  {
+    if (auto topicElem = _pluginElem->FirstChildElement("topic"))
+      topic = topicElem->GetText();
+
+    if (auto pickerElem = _pluginElem->FirstChildElement("topic_picker"))
+      pickerElem->QueryBoolText(&topicPicker);
+  }
+
+  if (topic.empty() && !topicPicker)
+  {
+    ignwarn << "Can't hide topic picker without a default topic." << std::endl;
+    topicPicker = true;
+  }
+
+  this->PluginItem()->setProperty("showPicker", topicPicker);
+
+  if (!topic.empty())
+  {
+    this->SetTopicList({QString::fromStdString(topic)});
+    this->OnTopic(QString::fromStdString(topic));
+  }
+  else
+    this->OnRefresh();
+}
+
+/////////////////////////////////////////////////
+void NavSatMap::ProcessMessage()
+{
+  std::lock_guard<std::recursive_mutex> lock(this->dataPtr->navSatMutex);
+
+  this->newMessage(this->dataPtr->navSatMsg.latitude_deg(),
+      this->dataPtr->navSatMsg.longitude_deg());
+}
+
+/////////////////////////////////////////////////
+void NavSatMap::OnMessage(const msgs::NavSat &_msg)
+{
+  std::lock_guard<std::recursive_mutex> lock(this->dataPtr->navSatMutex);
+  this->dataPtr->navSatMsg = _msg;
+
+  // Signal to main thread that the navSat changed
+  QMetaObject::invokeMethod(this, "ProcessMessage");
+}
+
+/////////////////////////////////////////////////
+void NavSatMap::OnTopic(const QString _topic)
+{
+  auto topic = _topic.toStdString();
+  if (topic.empty())
+    return;
+
+  // Unsubscribe
+  auto subs = this->dataPtr->node.SubscribedTopics();
+  for (auto sub : subs)
+    this->dataPtr->node.Unsubscribe(sub);
+
+  // Subscribe to new topic
+  if (!this->dataPtr->node.Subscribe(topic, &NavSatMap::OnMessage,
+      this))
+  {
+    ignerr << "Unable to subscribe to topic [" << topic << "]" << std::endl;
+  }
+}
+
+/////////////////////////////////////////////////
+void NavSatMap::OnRefresh()
+{
+  // Clear
+  this->dataPtr->topicList.clear();
+
+  // Get updated list
+  std::vector<std::string> allTopics;
+  this->dataPtr->node.TopicList(allTopics);
+  for (auto topic : allTopics)
+  {
+    std::vector<transport::MessagePublisher> publishers;
+    this->dataPtr->node.TopicInfo(topic, publishers);
+    for (auto pub : publishers)
+    {
+      if (pub.MsgTypeName() == "ignition.msgs.NavSat")
+      {
+        this->dataPtr->topicList.push_back(QString::fromStdString(topic));
+        break;
+      }
+    }
+  }
+
+  // Select first one
+  if (this->dataPtr->topicList.count() > 0)
+    this->OnTopic(this->dataPtr->topicList.at(0));
+  this->TopicListChanged();
+}
+
+/////////////////////////////////////////////////
+QStringList NavSatMap::TopicList() const
+{
+  return this->dataPtr->topicList;
+}
+
+/////////////////////////////////////////////////
+void NavSatMap::SetTopicList(const QStringList &_topicList)
+{
+  this->dataPtr->topicList = _topicList;
+  this->TopicListChanged();
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gui::plugins::NavSatMap,
+                    ignition::gui::Plugin)

src/plugins/navsat_map/NavSatMap.hh

@@ -0,0 +1,106 @@
+/*
+ * 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_GUI_PLUGINS_IMAGEDISPLAY_HH_
+#define IGNITION_GUI_PLUGINS_IMAGEDISPLAY_HH_
+
+#include <memory>
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif
+#include <ignition/msgs/navsat.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#include "ignition/gui/Plugin.hh"
+
+namespace ignition
+{
+namespace gui
+{
+namespace plugins
+{
+  class NavSatMapPrivate;
+
+  /// \brief Display NavSat messages coming through an Ignition transport topic
+  /// on top of a map.
+  ///
+  /// ## Configuration
+  ///
+  /// \<topic\> : Set the topic to receive NavSat messages.
+  /// \<topic_picker\> : Whether to show the topic picker, true by default. If
+  ///                    this is false, a \<topic\> must be specified.
+  class NavSatMap : public Plugin
+  {
+    Q_OBJECT
+
+    /// \brief Topic list
+    Q_PROPERTY(
+      QStringList topicList
+      READ TopicList
+      WRITE SetTopicList
+      NOTIFY TopicListChanged
+    )
+
+    /// \brief Constructor
+    public: NavSatMap();
+
+    /// \brief Destructor
+    public: virtual ~NavSatMap();
+
+    // Documentation inherited
+    public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem);
+
+    /// \brief Callback when refresh button is pressed.
+    public slots: void OnRefresh();
+
+    /// \brief Callback when a new topic is chosen on the combo box.
+    public slots: void OnTopic(const QString _topic);
+
+    /// \brief Get the list of topics publishing NavSat messages
+    /// \return List of topics
+    public: Q_INVOKABLE QStringList TopicList() const;
+
+    /// \brief Set the topic list
+    /// \param[in] _topicList List of topics
+    public: Q_INVOKABLE void SetTopicList(const QStringList &_topicList);
+
+    /// \brief Notify that topic list has changed
+    signals: void TopicListChanged();
+
+    /// \brief Notify that a new message has been received.
+    /// \param[in] _latitudeDeg Latitude in degrees
+    /// \param[in] _longitudeDeg Longitude in degrees
+    signals: void newMessage(double _latitudeDeg, double _longitudeDeg);
+
+    /// \brief Callback in main thread when message changes
+    private slots: void ProcessMessage();
+
+    /// \brief Subscriber callback when new message is received
+    /// \param[in] _msg New message
+    private: void OnMessage(const ignition::msgs::NavSat &_msg);
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<NavSatMapPrivate> dataPtr;
+  };
+}
+}
+}
+
+#endif