377 lines
12 KiB
C++
377 lines
12 KiB
C++
/*
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* Copyright (C) 2016 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/gui/Actions.hh"
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#include "gazebo/gui/GLWidget.hh"
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#include "gazebo/gui/GuiEvents.hh"
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#include "gazebo/gui/GuiIface.hh"
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#include "gazebo/gui/MainWindow.hh"
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#include "model_manipulation.hh"
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#include "test_config.h"
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/////////////////////////////////////////////////
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void MouseDrag(QWidget *_widget, Qt::MouseButton _button,
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Qt::KeyboardModifiers _modifiers,
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const ignition::math::Vector2i &_start,
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const ignition::math::Vector2i &_end)
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{
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ignition::math::Vector2d start(_start.X(), _start.Y());
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ignition::math::Vector2d end(_end.X(), _end.Y());
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// move the mouse cursor to the _start pos
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QPoint startPt(start.X(), start.Y());
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QTest::mouseMove(_widget, startPt);
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// There seem to be a problem simulating mouse drag using QTest
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// so use raw QMouseEvent.
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QMouseEvent *pressEvent = new QMouseEvent(QEvent::MouseButtonPress, startPt,
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_widget->mapToGlobal(startPt), _button, _button, _modifiers);
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QApplication::postEvent(_widget, pressEvent);
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ignition::math::Vector2d dist = end - start;
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// move the cursor to _end pos over 10 steps
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unsigned int steps = 10;
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for (unsigned int i = 0; i < steps; ++i)
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{
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// compute next pos to move the cursor to
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ignition::math::Vector2d nextPos = start + dist * (1.0 / steps) * (i+1);
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QPoint movePt(nextPos.X(), nextPos.Y());
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QMouseEvent *moveEvent = new QMouseEvent(QEvent::MouseMove, movePt,
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_widget->mapToGlobal(movePt), _button, _button, _modifiers);
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QApplication::postEvent(_widget, moveEvent);
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gazebo::common::Time::MSleep(10);
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QCoreApplication::processEvents();
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}
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QPoint releasePt(end.X(), end.Y());
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QMouseEvent *releaseEvent = new QMouseEvent(QEvent::MouseButtonRelease,
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releasePt, _widget->mapToGlobal(releasePt), _button, _button,
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_modifiers);
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QApplication::postEvent(_widget, releaseEvent);
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}
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/////////////////////////////////////////////////
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void ModelManipulationTest::StopProcessingPoseMsgs()
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{
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// increased from 5.0 to 8.0 per issue #1911
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this->resMaxPercentChange = 8.0;
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this->shareMaxPercentChange = 2.0;
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// Load a world which has moving models
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this->Load("test/worlds/revolute_joint_test.world", false, false, false);
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// Create the main window.
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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// Get scene
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auto scene = gazebo::gui::get_active_camera()->GetScene();
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QVERIFY(scene != NULL);
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// Check we're in select mode
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QVERIFY(gazebo::gui::g_arrowAct != NULL);
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QVERIFY(gazebo::gui::g_arrowAct->isChecked());
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this->ProcessEventsAndDraw(mainWindow);
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// Get a moving link and check its pose is changing over time
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auto linkVis = scene->GetVisual("pendulum_0deg::upper_link");
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QVERIFY(linkVis != NULL);
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auto pose = linkVis->GetWorldPose();
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this->ProcessEventsAndDraw(mainWindow);
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QVERIFY(pose != linkVis->GetWorldPose());
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pose = linkVis->GetWorldPose();
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// Select the parent model and check its pose still changes over time
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gazebo::event::Events::setSelectedEntity("pendulum_0deg", "normal");
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this->ProcessEventsAndDraw(mainWindow);
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QVERIFY(pose != linkVis->GetWorldPose());
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pose = linkVis->GetWorldPose();
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// Change to translate mode and check the model stops moving
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QVERIFY(gazebo::gui::g_translateAct != NULL);
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QVERIFY(!gazebo::gui::g_translateAct->isChecked());
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gazebo::gui::g_translateAct->trigger();
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this->ProcessEventsAndDraw(mainWindow);
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// Sequence was: select -> change mode
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QVERIFY(pose == linkVis->GetWorldPose());
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// Deselect model and check it starts moving again even though we're still in
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// translate mode
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gazebo::event::Events::setSelectedEntity("", "move");
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this->ProcessEventsAndDraw(mainWindow);
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QVERIFY(gazebo::gui::g_translateAct->isChecked());
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QVERIFY(pose != linkVis->GetWorldPose());
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pose = linkVis->GetWorldPose();
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// Select model again and check it stops again
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gazebo::event::Events::setSelectedEntity("pendulum_0deg", "move");
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this->ProcessEventsAndDraw(mainWindow);
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// Sequence was: change mode -> select
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QVERIFY(pose == linkVis->GetWorldPose());
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// Change to select mode and check model moves again
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QVERIFY(!gazebo::gui::g_arrowAct->isChecked());
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gazebo::gui::g_arrowAct->trigger();
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this->ProcessEventsAndDraw(mainWindow);
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QVERIFY(gazebo::gui::g_arrowAct->isChecked());
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QVERIFY(pose != linkVis->GetWorldPose());
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delete mainWindow;
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mainWindow = NULL;
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}
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/////////////////////////////////////////////////
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void ModelManipulationTest::Shortcuts()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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// Load a world which has moving models
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this->Load("worlds/shapes.world", false, false, false);
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// Create the main window.
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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this->ProcessEventsAndDraw(mainWindow);
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// Get camera
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gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
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QVERIFY(cam != nullptr);
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gazebo::rendering::ScenePtr scene = cam->GetScene();
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QVERIFY(scene != nullptr);
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gazebo::rendering::VisualPtr boxVis = scene->GetVisual("box");
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QVERIFY(boxVis != nullptr);
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auto glWidget = mainWindow->findChild<gazebo::gui::GLWidget *>("GLWidget");
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QVERIFY(glWidget != nullptr);
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// verify actions are not null
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QVERIFY(gazebo::gui::g_arrowAct != nullptr);
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QVERIFY(gazebo::gui::g_rotateAct != nullptr);
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QVERIFY(gazebo::gui::g_translateAct != nullptr);
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QVERIFY(gazebo::gui::g_scaleAct != nullptr);
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// verify initial action state
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QVERIFY(gazebo::gui::g_arrowAct->isChecked());
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QVERIFY(!gazebo::gui::g_rotateAct->isChecked());
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QVERIFY(!gazebo::gui::g_translateAct->isChecked());
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QVERIFY(!gazebo::gui::g_scaleAct->isChecked());
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// select a model in arrow mode
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QTest::mouseMove(glWidget,
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QPoint(glWidget->width()*0.5, glWidget->height()*0.5));
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QTest::mouseClick(glWidget, Qt::LeftButton, 0,
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QPoint(glWidget->width()*0.5, glWidget->height()*0.5));
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QVERIFY(boxVis->GetHighlighted());
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// switch to translate mode
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QTest::keyClick(glWidget, 't', Qt::NoModifier, 100);
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// verify translate action is checked
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QVERIFY(!gazebo::gui::g_arrowAct->isChecked());
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QVERIFY(gazebo::gui::g_translateAct->isChecked());
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QVERIFY(!gazebo::gui::g_rotateAct->isChecked());
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QVERIFY(!gazebo::gui::g_scaleAct->isChecked());
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// switch to rotate mode
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QTest::keyClick(glWidget, 'r', Qt::NoModifier, 100);
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// verify rotate action is checked
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QVERIFY(!gazebo::gui::g_arrowAct->isChecked());
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QVERIFY(!gazebo::gui::g_translateAct->isChecked());
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QVERIFY(gazebo::gui::g_rotateAct->isChecked());
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QVERIFY(!gazebo::gui::g_scaleAct->isChecked());
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// switch to scale mode
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QTest::keyClick(glWidget, 's', Qt::NoModifier, 100);
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// verify scale action is checked
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QVERIFY(!gazebo::gui::g_arrowAct->isChecked());
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QVERIFY(!gazebo::gui::g_translateAct->isChecked());
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QVERIFY(!gazebo::gui::g_rotateAct->isChecked());
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QVERIFY(gazebo::gui::g_scaleAct->isChecked());
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// try a reset and make sure the rotate mode is not triggered
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QTest::keyClick(glWidget, 'r', Qt::ControlModifier, 100);
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// verify rotate action is not checked
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QVERIFY(!gazebo::gui::g_arrowAct->isChecked());
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QVERIFY(!gazebo::gui::g_translateAct->isChecked());
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QVERIFY(!gazebo::gui::g_rotateAct->isChecked());
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QVERIFY(gazebo::gui::g_scaleAct->isChecked());
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delete mainWindow;
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mainWindow = nullptr;
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}
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/////////////////////////////////////////////////
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void ModelManipulationTest::GlobalLocalFrames()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/shapes.world", true, false, false);
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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// Create the main window.
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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// Get the user camera and scene
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gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
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QVERIFY(cam != NULL);
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gazebo::rendering::ScenePtr scene = cam->GetScene();
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QVERIFY(scene != NULL);
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this->ProcessEventsAndDraw(mainWindow);
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std::string modelName = "box";
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gazebo::rendering::VisualPtr modelVis = scene->GetVisual(modelName);
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QVERIFY(modelVis != NULL);
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// move camera to look at the shapes from +x
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cam->SetWorldPose(ignition::math::Pose3d(
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ignition::math::Vector3d(5, 0.0, 0.5),
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ignition::math::Quaterniond(0, 0, 3.14)));
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// set initial model rotation to -45 degrees around x
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modelVis->SetWorldRotation(ignition::math::Quaterniond(-0.7854, 0, 0));
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auto glWidget = mainWindow->findChild<gazebo::gui::GLWidget *>("GLWidget");
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QVERIFY(glWidget != NULL);
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this->ProcessEventsAndDraw(mainWindow);
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// pick the box model - the translate visual should now be attached at
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// 45 degree angle to the
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auto pickPt = cam->Project(modelVis->GetWorldPose().pos.Ign());
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auto pt = QPoint(pickPt.X(), pickPt.Y());
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QTest::mouseMove(glWidget, pt);
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QTest::mouseClick(glWidget, Qt::LeftButton, 0, pt);
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this->ProcessEventsAndDraw(mainWindow, 10, 30);
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QVERIFY(modelVis->GetHighlighted());
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// manipulate model in translate mode
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gazebo::gui::g_translateAct->trigger();
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this->ProcessEventsAndDraw(mainWindow, 10, 30);
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auto initialPos = modelVis->GetWorldPose().pos.Ign();
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// move the box in +z in local frame
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auto startPos = modelVis->GetWorldPose().pos.Ign() +
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modelVis->GetWorldPose().rot.Ign() *
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ignition::math::Vector3d(0.0, 0, 0.8);
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auto startPt = cam->Project(startPos);
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auto endPos = modelVis->GetWorldPose().pos.Ign() +
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modelVis->GetWorldPose().rot.Ign() *
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ignition::math::Vector3d(0.0, 0, 1.0);
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auto endPt = cam->Project(endPos);
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MouseDrag(glWidget, Qt::LeftButton, Qt::NoModifier, startPt, endPt);
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this->ProcessEventsAndDraw(mainWindow, 10, 30);
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// verify the box has moved
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auto boxNewPos = modelVis->GetWorldPose().pos.Ign();
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QVERIFY(ignition::math::equal(boxNewPos.X(), initialPos.X()));
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QVERIFY(boxNewPos.Y() > initialPos.Y());
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QVERIFY(boxNewPos.Z() > initialPos.Z());
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initialPos = boxNewPos;
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// now move the box in -z in global frame
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startPos = modelVis->GetWorldPose().pos.Ign() +
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ignition::math::Vector3d(0.0, 0.0, 1.0);
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startPt = cam->Project(startPos);
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endPos =
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modelVis->GetWorldPose().pos.Ign() +
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ignition::math::Vector3d(0.0, 0.0, 0.8);
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endPt = cam->Project(endPos);
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QTest::keyPress(glWidget, Qt::Key_Shift, Qt::NoModifier, 100);
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this->ProcessEventsAndDraw(mainWindow, 10, 30);
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MouseDrag(glWidget, Qt::LeftButton, Qt::ShiftModifier, startPt, endPt);
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this->ProcessEventsAndDraw(mainWindow, 10, 30);
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QTest::keyRelease(glWidget, Qt::Key_Shift, Qt::NoModifier, 100);
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this->ProcessEventsAndDraw(mainWindow, 10, 30);
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// verify the box has moved
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boxNewPos = modelVis->GetWorldPose().pos.Ign();
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QVERIFY(ignition::math::equal(boxNewPos.X(), initialPos.X()));
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QVERIFY(ignition::math::equal(boxNewPos.Y(), initialPos.Y()));
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QVERIFY(boxNewPos.Z() < initialPos.Z());
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initialPos = boxNewPos;
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// try the local frame again
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startPos = modelVis->GetWorldPose().pos.Ign() +
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modelVis->GetWorldPose().rot.Ign() *
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ignition::math::Vector3d(0.0, 0, 0.8);
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startPt = cam->Project(startPos);
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endPos = modelVis->GetWorldPose().pos.Ign() +
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modelVis->GetWorldPose().rot.Ign() *
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ignition::math::Vector3d(0.0, 0, 1.0);
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endPt = cam->Project(endPos);
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MouseDrag(glWidget, Qt::LeftButton, Qt::NoModifier, startPt, endPt);
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this->ProcessEventsAndDraw(mainWindow, 10, 30);
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// verify the box has moved
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boxNewPos = modelVis->GetWorldPose().pos.Ign();
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QVERIFY(ignition::math::equal(boxNewPos.X(), initialPos.X()));
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QVERIFY(boxNewPos.Y() > initialPos.Y());
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QVERIFY(boxNewPos.Z() > initialPos.Z());
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cam->Fini();
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mainWindow->close();
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delete mainWindow;
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}
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// Generate a main function for the test
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QTEST_MAIN(ModelManipulationTest)
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