From 51bf2254c38d3367a66d21d70a8c96355d0de8eb Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 30 Dec 2021 10:04:20 +0100
Subject: [PATCH] ArViz: Add selection callbacks
---
.../ArViz/Client/elements/ElementOps.h | 1 +
.../components/ArViz/Coin/ElementVisualizer.h | 1 +
.../components/ArViz/Coin/Visualizer.cpp | 165 +++++++++++++-----
.../components/ArViz/Coin/Visualizer.h | 19 ++
.../ArViz/ArVizWidgetController.cpp | 10 +-
5 files changed, 147 insertions(+), 49 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h b/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
index b4dc3c192..fb3f4b81a 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
@@ -227,6 +227,7 @@ namespace armarx::viz
DerivedT& enable(InteractionDescription const& interactionDescription)
{
data_->interaction = interactionDescription.data_;
+ return *static_cast<DerivedT*>(this);
}
diff --git a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
index af58bde80..595db2893 100644
--- a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
@@ -29,6 +29,7 @@ namespace armarx::viz::coin
SoUnits* units;
SoTransform* transform;
SoMaterial* material;
+ // TODO: Transform to flag system
bool wasUpdated = true;
bool visible = true;
};
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index c76af807a..b20d6f504 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -34,6 +34,18 @@ namespace armarx::viz
}
};
+ static void selectionCallback(void* data, SoPath* path)
+ {
+ CoinVisualizer* this_ = static_cast<CoinVisualizer*>(data);
+ this_->onSelection(path);
+ }
+
+ static void deselectionCallback(void* data, SoPath* path)
+ {
+ CoinVisualizer* this_ = static_cast<CoinVisualizer*>(data);
+ this_->onDeselection(path);
+ }
+
static const char* toString(CoinVisualizerState state)
{
switch (state)
@@ -86,7 +98,15 @@ namespace armarx::viz
callback = newCallback_StorageInterface_pullUpdatesSince(callbackData,
&CoinVisualizerWrapper::onUpdateSuccess,
&CoinVisualizerWrapper::onUpdateFailure);
+
root = new SoSeparator;
+
+ // The SoSelection node enable selection of nodes via mouse click / ray casting
+ selection = new SoSelection;
+ selection->addSelectionCallback(&selectionCallback, this);
+ selection->addDeselectionCallback(&deselectionCallback, this);
+
+ selection->addChild(root);
}
CoinVisualizer::~CoinVisualizer()
@@ -124,6 +144,24 @@ namespace armarx::viz
state = CoinVisualizerState::STOPPED;
}
+ static void removeElementsIfNotUpdated(CoinLayer* layer)
+ {
+ for (auto iter = layer->elements.begin(); iter != layer->elements.end();)
+ {
+ coin::ElementVisualization& elementVisu = *iter->visu;
+ if (elementVisu.wasUpdated)
+ {
+ elementVisu.wasUpdated = false;
+ ++iter;
+ }
+ else
+ {
+ layer->node->removeChild(elementVisu.separator);
+ iter = layer->elements.erase(iter);
+ }
+ }
+ }
+
CoinVisualizer_ApplyTiming CoinVisualizer::apply(data::LayerUpdate const& update)
{
IceUtil::Time time_start = IceUtil::Time::now();
@@ -132,6 +170,31 @@ namespace armarx::viz
timing.layerName = update.name;
CoinLayerID layerID(update.component, update.name);
+ CoinLayer& layer = findOrAddLayer(layerID);
+
+ IceUtil::Time time_addLayer = IceUtil::Time::now();
+ timing.addLayer = time_addLayer - time_start;
+
+ addOrUpdateElements(&layer, update);
+
+ IceUtil::Time time_updates = IceUtil::Time::now();
+ timing.updateElements = time_updates - time_addLayer;
+
+ removeElementsIfNotUpdated(&layer);
+
+ IceUtil::Time time_remove = IceUtil::Time::now();
+ timing.removeElements = time_remove - time_updates;
+
+ emitLayerUpdated(layerID, layer);
+
+ IceUtil::Time time_end = IceUtil::Time::now();
+ timing.total = time_end - time_start;
+
+ return timing;
+ }
+
+ CoinLayer& CoinVisualizer::findOrAddLayer(CoinLayerID const& layerID)
+ {
auto layerIt = layers.lowerBound(layerID);
if (layerIt == layers.data.end() || layerIt->id != layerID)
@@ -144,13 +207,13 @@ namespace armarx::viz
layerIt = layers.data.insert(layerIt, CoinLayer(layerID, coinNode));
}
- IceUtil::Time time_addLayer = IceUtil::Time::now();
- timing.addLayer = time_addLayer - time_start;
+ return *layerIt;
+ }
- // Add or update the elements in the update
- CoinLayer& layer = *layerIt;
- layer.elements.reserve(update.elements.size());
- for (auto& updatedElementPtr : update.elements)
+ void CoinVisualizer::addOrUpdateElements(CoinLayer* layer, data::LayerUpdate const& update)
+ {
+ layer->elements.reserve(update.elements.size());
+ for (viz::data::ElementPtr const& updatedElementPtr : update.elements)
{
if (!updatedElementPtr)
{
@@ -179,9 +242,9 @@ namespace armarx::viz
}
coin::ElementVisualizer* visualizer = elementVisualizers[visuIndex].get();
- auto oldElementIter = layer.lowerBound(updatedElement.id);
+ auto oldElementIter = layer->lowerBound(updatedElement.id);
CoinLayerElement* oldElement = nullptr;
- if (oldElementIter != layer.elements.end() && oldElementIter->data->id == updatedElement.id)
+ if (oldElementIter != layer->elements.end() && oldElementIter->data->id == updatedElement.id)
{
// Element already exists
CoinLayerElement* oldElement = &*oldElementIter;
@@ -199,14 +262,14 @@ namespace armarx::viz
else
{
// Types are different, so we delete the old element and create a new one
- layer.node->removeChild(oldElementVisu.separator);
+ layer->node->removeChild(oldElementVisu.separator);
}
}
auto elementVisu = visualizer->create(updatedElement);
if (elementVisu->separator)
{
- layer.node->addChild(elementVisu->separator);
+ layer->node->addChild(elementVisu->separator);
if (oldElement)
{
oldElement->data = updatedElementPtr;
@@ -215,7 +278,7 @@ namespace armarx::viz
else
{
// Need to add a new element
- layer.elements.insert(oldElementIter, CoinLayerElement{updatedElementPtr, std::move(elementVisu)});
+ layer->elements.insert(oldElementIter, CoinLayerElement{updatedElementPtr, std::move(elementVisu)});
}
}
else
@@ -226,35 +289,6 @@ namespace armarx::viz
<< "You need to register a visualizer for each type in ArViz/Coin/Visualizer.cpp";
}
}
-
- IceUtil::Time time_updates = IceUtil::Time::now();
- timing.updateElements = time_updates - time_addLayer;
-
- // Remove the elements which were not contained in the update
- for (auto iter = layer.elements.begin(); iter != layer.elements.end();)
- {
- coin::ElementVisualization& elementVisu = *iter->visu;
- if (elementVisu.wasUpdated)
- {
- elementVisu.wasUpdated = false;
- ++iter;
- }
- else
- {
- layer.node->removeChild(elementVisu.separator);
- iter = layer.elements.erase(iter);
- }
- }
-
- IceUtil::Time time_remove = IceUtil::Time::now();
- timing.removeElements = time_remove - time_updates;
-
- emitLayerUpdated(layerID, layer);
-
- IceUtil::Time time_end = IceUtil::Time::now();
- timing.total = time_end - time_start;
-
- return timing;
}
void CoinVisualizer::update()
@@ -437,6 +471,57 @@ namespace armarx::viz
}
}
+ void CoinVisualizer::onSelection(SoPath* path)
+ {
+ SoNode* tailNode = path->getTail();
+
+ // TODO: Store CoinElementID into user data if interaction is enabled!
+ // Search for user data
+ void* userData = tailNode->getUserData();
+ if (userData == nullptr)
+ {
+ // In this case, we want to deselect all objects in the scene,
+ // because the selected object was not marked for selection interactions
+ selection->deselectAll();
+
+ // TODO: Remove logging, this is not an error, but expected
+ ARMARX_INFO << "Selected: " << tailNode->getClassTypeId().getName().getString()
+ << "\nBut no user data attached!";
+ }
+ CoinElementID* id = static_cast<CoinElementID*>(userData);
+
+ CoinLayer* layer = layers.findLayer(id->layer);
+ if (layer == nullptr)
+ {
+ ARMARX_WARNING << "Selected an element whose layer does not exist: \n"
+ << "Layer: " << id->layer.first << "/" << id->layer.second
+ << ", element: " << id->element;
+ return;
+ }
+ CoinLayerElement* element = layer->findElement(id->element);
+ if (element == nullptr)
+ {
+ ARMARX_WARNING << "Selected an element which does not exist: \n"
+ << "Layer: " << id->layer.first << "/" << id->layer.second
+ << ", element: " << id->element;
+ return;
+ }
+
+ ARMARX_INFO << "Selected element: \n"
+ << "Layer: " << id->layer.first << "/" << id->layer.second
+ << ", element: " << id->element;
+ // TODO: Mark object as selected,
+ // Store interaction
+ // Batch send interaction at the end of the main loop?
+ }
+
+ void CoinVisualizer::onDeselection(SoPath* path)
+ {
+ // TODO
+ SoNode* tailNode = path->getTail();
+ ARMARX_INFO << "Deselected: " << tailNode->getClassTypeId().getName().getString();
+ }
+
void CoinVisualizer::exportToVRML(const std::string& exportFilePath)
{
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.h b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
index 195172e9c..6ae911753 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -4,7 +4,9 @@
#include <RobotAPI/interface/ArViz/Component.h>
+#include <Inventor/nodes/SoSelection.h>
#include <Inventor/nodes/SoSeparator.h>
+
#include <IceUtil/Shared.h>
#include <functional>
@@ -184,6 +186,12 @@ namespace armarx::viz
struct CoinVisualizerWrapper;
+ struct CoinElementID
+ {
+ CoinLayerID layer;
+ std::string element;
+ };
+
class CoinVisualizer
{
public:
@@ -219,10 +227,20 @@ namespace armarx::viz
CoinVisualizer_UpdateTiming getTiming();
+ CoinLayer& findOrAddLayer(CoinLayerID const& layerID);
+ void addOrUpdateElements(CoinLayer* layer, data::LayerUpdate const& update);
+
std::vector<CoinLayerID> getLayerIDs();
void emitLayersChanged(std::vector<CoinLayerID> const& layerIDs);
void emitLayerUpdated(CoinLayerID const& layerID, CoinLayer const& layer);
+ void onSelection(SoPath* path);
+ void onDeselection(SoPath* path);
+ // These are selectable element IDs and need to be persistent in memory.
+ // We store a raw pointer to these into the SoSeperator objects of Coin.
+ // Later, we can retrieve the element ID from this pointer, if it has been selected.
+ std::vector<std::unique_ptr<CoinElementID>> selectableElementIDs;
+
void onUpdateSuccess(data::LayerUpdates const& updates);
void onUpdateFailure(Ice::Exception const& ex);
IceUtil::Handle<CoinVisualizerWrapper> callbackData;
@@ -236,6 +254,7 @@ namespace armarx::viz
std::vector<std::type_index> elementVisualizersTypes;
std::vector<std::unique_ptr<coin::ElementVisualizer>> elementVisualizers;
+ SoSelection* selection = nullptr;
SoSeparator* root = nullptr;
std::atomic<CoinVisualizerUpdateResult> updateResult{CoinVisualizerUpdateResult::SUCCESS};
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index c3aad744b..5df52a995 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -31,8 +31,6 @@
#include <QTimer>
#include <QFileDialog>
-#define ENABLE_INTROSPECTION 1
-
namespace armarx
{
@@ -98,7 +96,6 @@ namespace armarx
connect(widget.layerTree, &QTreeWidget::currentItemChanged, this, &This::updateSelectedLayer);
-#if ENABLE_INTROSPECTION
connect(widget.layerInfoTreeGroupBox, &QGroupBox::toggled, &layerInfoTree, &LayerInfoTree::setEnabled);
connect(widget.defaultShowLimitSpinBox, qOverload<int>(&QSpinBox::valueChanged),
&layerInfoTree, &LayerInfoTree::setMaxElementCountDefault);
@@ -108,8 +105,6 @@ namespace armarx
layerInfoTree.setEnabled(widget.layerInfoTreeGroupBox->isChecked());
layerInfoTree.registerVisualizerCallbacks(visualizer);
-#endif
-
// We need a callback from the visualizer, when the layers have changed
// So we can update the tree accordingly
@@ -321,7 +316,6 @@ namespace armarx
void ArVizWidgetController::updateSelectedLayer(QTreeWidgetItem* current, QTreeWidgetItem* previous)
{
-#if ENABLE_INTROSPECTION
(void) previous;
if (!current->parent())
@@ -342,8 +336,6 @@ namespace armarx
{
layerInfoTree.setSelectedLayer(id, &visualizer.layers);
}
-
-#endif
}
void ArVizWidgetController::onCollapseAll(bool)
@@ -1004,7 +996,7 @@ namespace armarx
SoNode* ArVizWidgetController::getScene()
{
- return visualizer.root;
+ return visualizer.selection;
}
static const std::string CONFIG_KEY_STORAGE = "Storage";
--
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