From 59b494a739ceb117f37eee31b5f99ef4e9fd8113 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 30 Dec 2021 15:47:21 +0100
Subject: [PATCH] ArViz: Collect interaction feedback in a buffer
Signed-off-by: Fabian Paus <fabian.paus@kit.edu>
---
.../components/ArViz/Coin/Visualizer.cpp | 79 +++++++++++++++----
.../components/ArViz/Coin/Visualizer.h | 1 +
.../components/ArViz/Example/ArVizExample.cpp | 14 ++++
source/RobotAPI/interface/ArViz/Elements.ice | 3 +-
4 files changed, 82 insertions(+), 15 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index 76f82431e..2c5ab83a7 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -246,6 +246,7 @@ namespace armarx::viz
// Has an interaction been added?
viz::data::InteractionDescription& oldInteraction = oldElement->data->interaction;
viz::data::InteractionDescription& newInteraction = updatedElementPtr->interaction;
+ // TODO: Also handle the case, when an interaction is removed!
if (newInteraction.enableFlags != oldInteraction.enableFlags
|| oldInteraction.contextMenuOptions != newInteraction.contextMenuOptions)
{
@@ -360,6 +361,9 @@ namespace armarx::viz
return entry.get() == userData;
});
elementInteractions.erase(removedInteraction);
+
+ elementVisu.separator->setUserData(nullptr);
+ elementVisu.separator->setName("");
}
layer->node->removeChild(elementVisu.separator);
iter = layer->elements.erase(iter);
@@ -381,8 +385,8 @@ namespace armarx::viz
storage = stateStorage;
root->removeAllChildren();
layers.data.clear();
- pulledUpdates.revision = 0;
- pulledUpdates.updates.clear();
+ edUpdates.revision = 0;
+ edUpdates.updates.clear();
updateResult = CoinVisualizerUpdateResult::SUCCESS;
state = CoinVisualizerState::RUNNING;
}
@@ -410,12 +414,17 @@ namespace armarx::viz
IceUtil::Time time_start = IceUtil::Time::now();
CoinVisualizer_UpdateTiming timing;
- // We should restart the pull for updates so it can run in parallel
data::LayerUpdates currentUpdates = pulledUpdates;
updateResult = CoinVisualizerUpdateResult::WAITING;
timing.waitStart = time_start;
storage->begin_pullUpdatesSince(currentUpdates.revision, callback);
+ // TODO: Also send the interaction feedback to the storage
+ // Would be best to do it in a single network call
+
+ // Clear interaction feedback buffer after it has been sent
+ interactionFeedbackBuffer.clear();
+
auto layerIDsBefore = getLayerIDs();
IceUtil::Time time_pull = IceUtil::Time::now();
@@ -547,7 +556,7 @@ namespace armarx::viz
}
}
- void CoinVisualizer::onSelection(SoPath* path)
+ static ElementInteractionData* findInteractionDataOnPath(SoPath* path)
{
// Search for user data in the path
// We stored ElementInteractionData into the user data of the parent SoSeparator
@@ -567,17 +576,23 @@ namespace armarx::viz
}
}
- if (userData == nullptr)
+ return static_cast<ElementInteractionData*>(userData);
+ }
+
+ void CoinVisualizer::onSelection(SoPath* path)
+ {
+ ElementInteractionData* id = findInteractionDataOnPath(path);
+ if (id == 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 something. But no user data attached!";
+ // Removed logging, since this is not an error, but expected
+ // This happens, when the user selects an object that was not marked as selectable
+ // ARMARX_INFO << "Selected something. But no user data attached.";
return;
}
- ElementInteractionData* id = static_cast<ElementInteractionData*>(userData);
CoinLayer* layer = layers.findLayer(id->layer);
if (layer == nullptr)
@@ -599,16 +614,52 @@ namespace armarx::viz
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?
+
+ viz::data::InteractionFeedback& feedback = interactionFeedbackBuffer.emplace_back();
+ feedback.type = viz::data::InteractionFeedbackType::SELECT;
+ feedback.component = id->layer.first;
+ feedback.layer = id->layer.second;
+ feedback.element = id->element;
+ feedback.revision = pulledUpdates.revision;
}
void CoinVisualizer::onDeselection(SoPath* path)
{
- // TODO
- SoNode* tailNode = path->getTail();
- ARMARX_INFO << "Deselected: " << tailNode->getClassTypeId().getName().getString();
+ ElementInteractionData* id = findInteractionDataOnPath(path);
+ if (id == nullptr)
+ {
+ // An object was deselected that does not have any interactions enabled
+ return;
+ }
+
+ CoinLayer* layer = layers.findLayer(id->layer);
+ if (layer == nullptr)
+ {
+ ARMARX_WARNING << "Deselected 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 << "Deselected an element which does not exist: \n"
+ << "Layer: " << id->layer.first << "/" << id->layer.second
+ << ", element: " << id->element;
+ return;
+ }
+
+ ARMARX_INFO << "Deselected element: \n"
+ << "Layer: " << id->layer.first << "/" << id->layer.second
+ << ", element: " << id->element;
+
+
+ viz::data::InteractionFeedback& feedback = interactionFeedbackBuffer.emplace_back();
+ feedback.type = viz::data::InteractionFeedbackType::DESELECT;
+ feedback.component = id->layer.first;
+ feedback.layer = id->layer.second;
+ feedback.element = id->element;
+ feedback.revision = pulledUpdates.revision;
}
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 cbb5dca4e..0581a3869 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -242,6 +242,7 @@ namespace armarx::viz
// 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<ElementInteractionData>> elementInteractions;
+ std::vector<viz::data::InteractionFeedback> interactionFeedbackBuffer;
void onUpdateSuccess(data::LayerUpdates const& updates);
void onUpdateFailure(Ice::Exception const& ex);
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
index c61c26054..2cef2e309 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
@@ -337,6 +337,7 @@ namespace armarx
viz::PointCloud pc = viz::PointCloud("points")
.position(Eigen::Vector3f(2000.0f, 0.0f, 400.0f))
.transparency(0.0f);
+ pc.enable(viz::interaction().selection());
viz::ColoredPoint p;
p.color = viz::Color::fromRGBA(255, 255, 0, 255);
@@ -514,6 +515,19 @@ namespace armarx
.contextMenu({"First Option", "Second Option", "Third Option"}));
layer.add(box);
+
+ viz::Cylinder cyl = viz::Cylinder("cylinder")
+ .position(Eigen::Vector3f(1000.0f, 0.0f, 2000.0f))
+ .direction(Eigen::Vector3f::UnitZ())
+ .height(200.0f)
+ .radius(50.0f)
+ .color(viz::Color::fromRGBA(255, 165, 0));
+ // Enable some interaction possibilities
+ cyl.enable(viz::interaction()
+ .selection()
+ .contextMenu({"Cyl Option 1", "Cyl Option 2"}));
+
+ layer.add(cyl);
}
diff --git a/source/RobotAPI/interface/ArViz/Elements.ice b/source/RobotAPI/interface/ArViz/Elements.ice
index 72bca2162..8b7aa4db0 100644
--- a/source/RobotAPI/interface/ArViz/Elements.ice
+++ b/source/RobotAPI/interface/ArViz/Elements.ice
@@ -55,7 +55,7 @@ module data
{
const int NONE = 0;
- const int SELCECT = 1;
+ const int SELECT = 1;
const int DESELECT = 2;
const int CONTEXT_MENU_OPEN = 3;
@@ -85,6 +85,7 @@ module data
int type = 0;
// The element with which the interaction took place
+ string component;
string layer;
string element;
// The revision in which the interaction took place
--
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