KeyPublisher (#81)

Signed-off-by: mohamedsayed18 <[email protected]>
Co-authored-by: Louise Poubel <[email protected]>

examples/config/keypublisher.config

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<plugin filename="KeyPublisher">
+</plugin>
+
+<plugin filename="TopicEcho">
+</plugin>

src/plugins/CMakeLists.txt

@@ -107,6 +107,7 @@ endfunction()
 # Plugins
 add_subdirectory(grid_3d)
 add_subdirectory(image_display)
+add_subdirectory(key_publisher)
 add_subdirectory(publisher)
 add_subdirectory(scene3d)
 add_subdirectory(topic_echo)

src/plugins/key_publisher/CMakeLists.txt

@@ -0,0 +1,8 @@
+ign_gui_add_plugin(KeyPublisher
+ SOURCES
+ KeyPublisher.cc
+ QT_HEADERS
+ KeyPublisher.hh
+ TEST_SOURCES # todo
+ # KeyPublisher_TEST.cc 
+)

src/plugins/key_publisher/KeyPublisher.cc

@@ -0,0 +1,91 @@
+/*
+ * Copyright (C) 2020 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/msgs/int32.pb.h>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/MainWindow.hh>
+#include <ignition/plugin/Register.hh>
+
+#include "KeyPublisher.hh"
+
+namespace ignition
+{
+namespace gui
+{
+ class KeyPublisherPrivate
+ {
+ /// \brief Node for communication
+ public: ignition::transport::Node node;
+
+ /// \brief Publisher
+ public: ignition::transport::Node::Publisher pub;
+
+ /// \brief Topic
+ public: std::string topic = "keyboard/keypress";
+
+ /// \brief Publish keyboard strokes
+ /// \param[in] key_press Pointer to the keyevent
+ public: void KeyPub(QKeyEvent *_keyPress)
+ {
+ ignition::msgs::Int32 Msg;
+ Msg.set_data(_keyPress->key());
+ pub.Publish(Msg);
+ }
+ };
+}
+}
+
+using namespace ignition;
+using namespace gui;
+
+/////////////////////////////////////////////////
+KeyPublisher::KeyPublisher(): Plugin(), dataPtr(new KeyPublisherPrivate)
+{
+ // Advertise publisher node
+ this->dataPtr->pub = this->dataPtr->node.Advertise<ignition::msgs::Int32>
+ (this->dataPtr->topic);
+}
+
+/////////////////////////////////////////////////
+KeyPublisher::~KeyPublisher()
+{
+}
+
+/////////////////////////////////////////////////
+void KeyPublisher::LoadConfig(const tinyxml2::XMLElement *)
+{
+ if (this->title.empty())
+ this->title = "Key tool";
+
+ ignition::gui::App()->findChild
+ <ignition::gui::MainWindow *>()->QuickWindow()->installEventFilter(this);
+}
+
+/////////////////////////////////////////////////
+bool KeyPublisher::eventFilter(QObject *_obj, QEvent *_event)
+{
+ if (_event->type() == QEvent::KeyPress)
+ {
+ QKeyEvent *keyEvent = static_cast<QKeyEvent*>(_event);
+ this->dataPtr->KeyPub(keyEvent);
+ }
+ return QObject::eventFilter(_obj, _event);
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gui::KeyPublisher,
+ ignition::gui::Plugin)

src/plugins/key_publisher/KeyPublisher.hh

@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2020 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_KEYPUBLISHER_HH_
+#define IGNITION_GUI_PLUGINS_KEYPUBLISHER_HH_
+
+#include <ignition/gui/qt.h>
+#include <ignition/gui/Plugin.hh>
+#include <ignition/transport/Node.hh>
+
+namespace ignition
+{
+namespace gui
+{
+ class KeyPublisherPrivate;
+
+ /// \brief Publish keyboard stokes to "keyboard/keypress" topic.
+ ///
+ /// ## Configuration
+ /// This plugin doesn't accept any custom configuration.
+ class KeyPublisher : public ignition::gui::Plugin
+ {
+ Q_OBJECT
+
+ /// \brief Constructor
+ public: KeyPublisher();
+
+ /// \brief Destructor
+ public: virtual ~KeyPublisher();
+
+ // Documentation inherited
+ public: virtual void LoadConfig(const tinyxml2::XMLElement *) override;
+
+ /// \brief Filter events in Qt
+ /// \param[in] _obj The watched object
+ /// \param[in] _event Event that happen in Qt
+ protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+ /// \internal
+ /// \brief Pointer to private data.
+ private: std::unique_ptr<KeyPublisherPrivate> dataPtr;
+ };
+}
+}
+
+#endif

src/plugins/key_publisher/KeyPublisher.qml

@@ -0,0 +1,26 @@
+/*
+ * Copyright (C) 2020 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 2.0
+import QtQuick.Controls 2.0
+
+Rectangle {
+ visible: false
+ width: 100
+ height: 100
+}
+

src/plugins/key_publisher/KeyPublisher.qrc

@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+ <qresource prefix="KeyPublisher/">
+ <file>KeyPublisher.qml</file>
+ </qresource>
+</RCC>

tutorials/03_plugins.md

@@ -68,6 +68,14 @@ Echo messages from an Ignition Transport topic.
 
  ign gui -c examples/config/pubsub.config
 
+### Key publisher
+
+Publish key presses through Ignition Transport.
+
+ ign gui -c examples/config/keypublisher.config
+
+Change the topic to echo to `/keyboard/keypress`, echo, and start pressing keys.
+
 ### Topic viewer
 
 **Not ported to versions 1 or higher yet**