Add system to an entity through Component Inspector

src/ServerConfig.cc

@@ -91,6 +91,7 @@ class ignition::gazebo::ServerConfig::PluginInfoPrivate
 
  /// \brief XML elements associated with this plugin
  public: sdf::ElementPtr sdf = nullptr;
+
 };
 
 //////////////////////////////////////////////////

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -896,7 +896,6 @@ void ComponentInspector::Update(const UpdateInfo &,
  auto comp = _ecm.Component<components::Material>(this->dataPtr->entity);
  if (comp)
  {
- this->SetType("material");
  setData(item, comp->Data());
  }
  }
@@ -1268,6 +1267,36 @@ transport::Node &ComponentInspector::TransportNode()
  return this->dataPtr->node;
 }
 
+/////////////////////////////////////////////////
+void ComponentInspector::OnAddSystem(const QString &_name,
+ const QString &_filename, const QString &_innerxml)
+{
+ msgs::EntityPlugin_V req;
+ auto ent = req.mutable_entity();
+ ent->set_id(this->dataPtr->entity);
+ auto plugin = req.add_plugins();
+ std::string name = _name.toStdString();
+ std::string filename = _filename.toStdString();
+ std::string innerxml = _innerxml.toStdString();
+ plugin->set_name(name);
+ plugin->set_filename(filename);
+ plugin->set_innerxml(innerxml);
+
+ msgs::Boolean res;
+ bool result;
+ unsigned int timeout = 5000;
+ std::string service{"/world/" + this->dataPtr->worldName +
+ "/entity/system/add"};
+ if (!this->dataPtr->node.Request(service, req, timeout, res, result))
+ {
+ ignerr << "Error adding new system to entity: "
+ << this->dataPtr->entity << "\n"
+ << "Name: " << name << "\n"
+ << "Filename: " << filename << "\n"
+ << "Inner XML: " << innerxml << std::endl;
+ }
+}
+
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gazebo::ComponentInspector,
  ignition::gui::Plugin)

src/gui/plugins/component_inspector/ComponentInspector.hh

@@ -372,6 +372,13 @@ namespace gazebo
  /// \return Transport node
  public: transport::Node &TransportNode();
 
+ /// \brief Callback when a new system is to be added to an entity
+ /// \param[in] _name Name of system
+ /// \param[in] _filename Filename of system
+ /// \param[in] _innerxml Inner XML content of the system
+ public: Q_INVOKABLE void OnAddSystem(const QString &_name,
+ const QString &_filename, const QString &_innerxml);
+
  /// \internal
  /// \brief Pointer to private data.
  private: std::unique_ptr<ComponentInspectorPrivate> dataPtr;

src/gui/plugins/component_inspector/ComponentInspector.qml

@@ -15,9 +15,9 @@
  *
 */
 import QtQuick 2.9
-import QtQuick.Controls 1.4
 import QtQuick.Controls 2.2
 import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.1
 import QtQuick.Layouts 1.3
 import QtQuick.Controls.Styles 1.4
 import IgnGazebo 1.0 as IgnGazebo
@@ -216,6 +216,27 @@ Rectangle {
  }
  }
 
+ ToolButton {
+ id: addSystemButton
+ checkable: false
+ text: "\u002B"
+ contentItem: Text {
+ text: addSystemButton.text
+ color: "#b5b5b5"
+ horizontalAlignment: Text.AlignHCenter
+ verticalAlignment: Text.AlignVCenter
+ }
+ visible: (entityType == "model" || entityType == "visual" ||
+ entityType == "sensor" || entityType == "world")
+ ToolTip.text: "Add a system to this entity"
+ ToolTip.visible: hovered
+ ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+ onClicked: {
+ addSystemDialog.open()
+ }
+ }
+
+
  Label {
  id: entityLabel
  text: 'Entity ' + ComponentInspector.entity
@@ -227,6 +248,100 @@ Rectangle {
  }
  }
 
+ Dialog {
+ id: addSystemDialog
+ modal: false
+ focus: true
+ title: "Add System"
+ closePolicy: Popup.CloseOnEscape
+
+ ColumnLayout {
+ GridLayout {
+ columns: 2
+ columnSpacing: 30
+ Text {
+ text: "Name"
+ Layout.row: 0
+ Layout.column: 0
+ }
+
+ TextField {
+ id: nameField
+ selectByMouse: true
+ Layout.row: 0
+ Layout.column: 1
+ Layout.minimumWidth: 250
+ onTextEdited: {
+ addSystemDialog.updateButtonState();
+ }
+ }
+
+ Text {
+ text: "Filename"
+ Layout.row: 1
+ Layout.column: 0
+ }
+
+ TextField {
+ id: filenameField
+ selectByMouse: true
+ Layout.row: 1
+ Layout.column: 1
+ Layout.minimumWidth: 250
+ onTextEdited: {
+ addSystemDialog.updateButtonState();
+ }
+ }
+ }
+
+ Text {
+ id: innerxmlLabel
+ text: "Inner XML"
+ }
+
+ Flickable {
+ id: innerxmlFlickable
+ Layout.minimumHeight: 300
+ Layout.fillWidth: true
+ Layout.fillHeight: true
+
+ flickableDirection: Flickable.VerticalFlick
+ TextArea.flickable: TextArea {
+ id: innerxmlField
+ wrapMode: Text.WordWrap
+ selectByMouse: true
+ textFormat: TextEdit.PlainText
+ font.pointSize: 10
+ }
+ ScrollBar.vertical: ScrollBar {
+ policy: ScrollBar.AlwaysOn
+ }
+ }
+ }
+
+ footer: DialogButtonBox {
+ id: buttons
+ standardButtons: Dialog.Ok | Dialog.Cancel
+ }
+
+ onOpened: {
+ addSystemDialog.updateButtonState();
+ }
+
+ onAccepted: {
+ ComponentInspector.OnAddSystem(nameField.text.trim(),
+ filenameField.text.trim(), innerxmlField.text.trim())
+ }
+
+ function updateButtonState() {
+ buttons.standardButton(Dialog.Ok).enabled =
+ (nameField.text.trim() != '' &&
+ filenameField.text.trim() != '')
+ }
+ }
+
+
+
  ListView {
  anchors.top: header.bottom
  anchors.bottom: parent.bottom

test/worlds/diff_drive_no_plugin.sdf

@@ -10,6 +10,10 @@
  filename="ignition-gazebo-physics-system"
  name="ignition::gazebo::systems::Physics">
  </plugin>
+ <plugin
+ filename="ignition-gazebo-scene-broadcaster-system"
+ name="ignition::gazebo::systems::SceneBroadcaster">
+ </plugin>
 
  <light type="directional" name="sun">
  <cast_shadows>true</cast_shadows>