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Implement Pose3d with common widget pose (#1571)
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Signed-off-by: youhy <[email protected]>
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@AzulRadio
AzulRadio authored Jul 14, 2022
1 parent abe0ff6 commit df45262
Showing 1 changed file with 34 additions and 223 deletions.
257 changes: 34 additions & 223 deletions src/gui/plugins/component_inspector/Pose3d.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
*
*/
import QtQuick 2.9
import QtQuick.Controls 1.4
import QtQuick.Controls 2.2
import QtQuick.Controls.Material 2.1
import QtQuick.Layouts 1.3
Expand All @@ -25,7 +24,7 @@ import "qrc:/qml"

// Item displaying 3D pose information.
Rectangle {
height: header.height + content.height
height: header.height + gzPoseInstance.height
width: componentInspector.width
color: index % 2 == 0 ? lightGrey : darkGrey

Expand All @@ -35,83 +34,10 @@ Rectangle {
// Horizontal margins
property int margin: 5

// Maximum spinbox value
property double spinMax: 1000000

// Read-only / write
property bool readOnly: {
var isModel = entityType == "model"
return !(isModel) || nestedModel
}

// Loaded item for X
property var xItem: {}

// Loaded item for Y
property var yItem: {}

// Loaded item for Z
property var zItem: {}

// Loaded item for roll
property var rollItem: {}

// Loaded item for pitch
property var pitchItem: {}

// Loaded item for yaw
property var yawItem: {}

// Send new pose to C++
function sendPose() {
function sendPose(x, y, z, roll, pitch, yaw) {
// TODO(anyone) There's a loss of precision when these values get to C++
Pose3dImpl.OnPose(
xItem.value,
yItem.value,
zItem.value,
rollItem.value,
pitchItem.value,
yawItem.value
);
}

FontMetrics {
id: fontMetrics
font.family: "Roboto"
}

/**
* Used to create a spin box
*/
Component {
id: writableNumber
IgnSpinBox {
id: writableSpin
value: writableSpin.activeFocus ? writableSpin.value : numberValue
minimumValue: -spinMax
maximumValue: spinMax
decimals: getDecimals(writableSpin.width)
onEditingFinished: {
sendPose()
}
}
}

/**
* Used to create a read-only number
*/
Component {
id: readOnlyNumber
Text {
id: numberText
anchors.fill: parent
horizontalAlignment: Text.AlignRight
verticalAlignment: Text.AlignVCenter
text: {
var decimals = getDecimals(numberText.width)
return numberValue.toFixed(decimals)
}
}
Pose3dImpl.OnPose(x, y, z, roll, pitch, yaw);
}

Column {
Expand All @@ -135,7 +61,7 @@ Rectangle {
sourceSize.width: indentation
fillMode: Image.Pad
Layout.alignment : Qt.AlignVCenter
source: content.show ?
source: gzPoseInstance.expand ?
"qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png"
}
TypeHeader {
Expand All @@ -150,7 +76,7 @@ Rectangle {
hoverEnabled: true
cursorShape: Qt.PointingHandCursor
onClicked: {
content.show = !content.show
gzPoseInstance.expand = !gzPoseInstance.expand
}
onEntered: {
header.color = highlightColor
Expand All @@ -160,166 +86,51 @@ Rectangle {
}
}
}

// Content
Rectangle {
id: content
property bool show: false
width: parent.width
height: show ? grid.height : 0
clip: true
color: "transparent"

Behavior on height {
NumberAnimation {
duration: 200;
easing.type: Easing.InOutQuad
}
}

GridLayout {
id: grid
width: parent.width
height: gzPoseInstance.height
RowLayout {
id: gzPoseRow
width: parent.width
columns: 6

// Left spacer
Item {
Layout.rowSpan: 3
width: margin + indentation
}

Text {
text: 'X (m)'
leftPadding: 5
color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
font.pointSize: 12
}

Item {
Layout.fillWidth: true
height: 40
Loader {
id: xLoader
anchors.fill: parent
property double numberValue: model.data[0]
sourceComponent: readOnly ? readOnlyNumber : writableNumber
onLoaded: {
xItem = xLoader.item
}
}
}

Text {
text: 'Roll (rad)'
leftPadding: 5
color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
font.pointSize: 12
Layout.preferredWidth: margin + indentation
}

Item {
// Content
GzPose {
id: gzPoseInstance
Layout.fillWidth: true
height: 40
Loader {
id: rollLoader
anchors.fill: parent
property double numberValue: model.data[3]
sourceComponent: readOnly ? readOnlyNumber : writableNumber
onLoaded: {
rollItem = rollLoader.item
}
}
}

// Right spacer
Item {
Layout.rowSpan: 3
width: margin
}

Text {
text: 'Y (m)'
leftPadding: 5
color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
font.pointSize: 12
}

Item {
Layout.fillWidth: true
height: 40
Loader {
id: yLoader
anchors.fill: parent
property double numberValue: model.data[1]
sourceComponent: readOnly ? readOnlyNumber : writableNumber
onLoaded: {
yItem = yLoader.item
}
readOnly: {
var isModel = entityType == "model"
return !(isModel) || nestedModel
}
}

Text {
text: 'Pitch (rad)'
leftPadding: 5
color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
font.pointSize: 12
}
xValue: model.data[0]
yValue: model.data[1]
zValue: model.data[2]
rollValue: model.data[3]
pitchValue: model.data[4]
yawValue: model.data[5]

Item {
Layout.fillWidth: true
height: 40
Loader {
id: pitchLoader
anchors.fill: parent
property double numberValue: model.data[4]
sourceComponent: readOnly ? readOnlyNumber : writableNumber
onLoaded: {
pitchItem = pitchLoader.item
}
onGzPoseSet: {
// _x, _y, _z, _roll, _pitch, _yaw are parameters of signal gzPoseSet
sendPose(_x, _y, _z, _roll, _pitch, _yaw)
}
}

Text {
text: 'Z (m)'
leftPadding: 5
color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
font.pointSize: 12
}

Item {
Layout.fillWidth: true
height: 40
Loader {
id: zLoader
anchors.fill: parent
property double numberValue: model.data[2]
sourceComponent: readOnly ? readOnlyNumber : writableNumber
onLoaded: {
zItem = zLoader.item
}
}
}
// By default it is closed
expand: false

Text {
text: 'Yaw (rad)'
leftPadding: 5
color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
font.pointSize: 12
}
} // end gzPoseInstance

// Right spacer
Item {
Layout.fillWidth: true
height: 40
Loader {
id: yawLoader
anchors.fill: parent
property double numberValue: model.data[5]
sourceComponent: readOnly ? readOnlyNumber : writableNumber
onLoaded: {
yawItem = yawLoader.item
}
}
Layout.preferredWidth: margin
}
}
}
}
}
} // end RowLayout
} // end Rectangle
} // end Column
} // end Rectangle

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