Grid config: set values from startup and improve layout

examples/config/grid_config.config

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+
+<plugin filename="MinimalScene">
+    <ignition-gui>
+      <title>View 1</title>
+      <property type="string" key="state">docked</property>
+    </ignition-gui>
+    <engine>ogre2</engine>
+    <scene>scene</scene>
+    <ambient_light>1 1 1</ambient_light>
+    <background_color>0.8 0.8 0.8</background_color>
+    <camera_pose>-6 3 6 0 0.5 0</camera_pose>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+  <ignition-gui>
+    <anchors target="View 1">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="GridConfig" name="Grid config">
+  <ignition-gui>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+  <cell_count>3</cell_count>
+  <vertical_cell_count>2</vertical_cell_count>
+  <cell_length>2</cell_length>
+  <pose>1 2 3  0 0 0</pose>
+  <color>1 0 0 1</color>
+</plugin>

src/plugins/grid_config/GridConfig.cc

@@ -15,8 +15,11 @@
  *
 */
 
+#include <string>
+
 #include <ignition/common/Console.hh>
 #include <ignition/gui/Application.hh>
+#include <ignition/gui/Conversions.hh>
 #include <ignition/gui/GuiEvents.hh>
 #include <ignition/gui/MainWindow.hh>
 #include <ignition/plugin/Register.hh>
@@ -75,11 +78,49 @@ GridConfig::GridConfig()
 GridConfig::~GridConfig() = default;
 
 /////////////////////////////////////////////////
-void GridConfig::LoadConfig(const tinyxml2::XMLElement *)
+void GridConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
 {
   if (this->title.empty())
     this->title = "Grid config";
 
+  // Configuration
+  if (_pluginElem)
+  {
+    // For grid to be configured at startup
+    if (auto cellCountElem = _pluginElem->FirstChildElement("cell_count"))
+      cellCountElem->QueryIntText(&this->dataPtr->gridParam.hCellCount);
+
+    if (auto vElem = _pluginElem->FirstChildElement("vertical_cell_count"))
+      vElem->QueryIntText(&this->dataPtr->gridParam.vCellCount);
+
+    if (auto lengthElem = _pluginElem->FirstChildElement("cell_length"))
+      lengthElem->QueryDoubleText(&this->dataPtr->gridParam.cellLength);
+
+    auto elem = _pluginElem->FirstChildElement("pose");
+    if (nullptr != elem && nullptr != elem->GetText())
+    {
+      std::stringstream poseStr;
+      poseStr << std::string(elem->GetText());
+      poseStr >> this->dataPtr->gridParam.pose;
+    }
+
+    elem = _pluginElem->FirstChildElement("color");
+    if (nullptr != elem && nullptr != elem->GetText())
+    {
+      std::stringstream colorStr;
+      colorStr << std::string(elem->GetText());
+      colorStr >> this->dataPtr->gridParam.color;
+    }
+    this->newParams(
+        this->dataPtr->gridParam.hCellCount,
+        this->dataPtr->gridParam.vCellCount,
+        this->dataPtr->gridParam.cellLength,
+        convert(this->dataPtr->gridParam.pose.Pos()),
+        convert(this->dataPtr->gridParam.pose.Rot().Euler()),
+        convert(this->dataPtr->gridParam.color));
+    this->dataPtr->dirty = true;
+  }
+
   ignition::gui::App()->findChild<
       ignition::gui::MainWindow *>()->installEventFilter(this);
 }
@@ -149,42 +190,9 @@ void GridConfig::UpdateGrid()
 /////////////////////////////////////////////////
 void GridConfig::LoadGrid()
 {
-  auto loadedEngNames = rendering::loadedEngines();
-  if (loadedEngNames.empty())
-    return;
-
-  // assume there is only one engine loaded
-  auto engineName = loadedEngNames[0];
-  if (loadedEngNames.size() > 1)
-  {
-    igndbg << "More than one engine is available. "
-      << "Grid config plugin will use engine ["
-        << engineName << "]" << std::endl;
-  }
-  auto engine = rendering::engine(engineName);
-  if (!engine)
-  {
-    ignerr << "Internal error: failed to load engine [" << engineName
-      << "]. Grid plugin won't work." << std::endl;
-    return;
-  }
-
-  if (engine->SceneCount() == 0)
-    return;
-
-  // assume there is only one scene
-  // load scene
-  auto scene = engine->SceneByIndex(0);
-  if (!scene)
-  {
-    ignerr << "Internal error: scene is null." << std::endl;
+  auto scene = rendering::sceneFromFirstRenderEngine();
+  if (nullptr == scene)
     return;
-  }
-
-  if (!scene->IsInitialized() || nullptr == scene->RootVisual())
-  {
-    return;
-  }
 
   // load grid
   // if gridPtr found, load the existing gridPtr to class

src/plugins/grid_config/GridConfig.hh

@@ -77,6 +77,21 @@ namespace gui
     /// \param[in] _checked indicates show or hide grid
     public slots: void OnShow(bool _checked);
 
+    /// \brief Notify QML that grid values have changed.
+    /// \param[in] _hCellCount Horizontal cell count
+    /// \param[in] _vCellCount Vertical cell count
+    /// \param[in] _cellLength Cell length
+    /// \param[in] _pos XYZ Position
+    /// \param[in] _rot RPY orientation
+    /// \param[in] _color Grid color
+    signals: void newParams(
+        int _hCellCount,
+        int _vCellCount,
+        double _cellLength,
+        QVector3D _pos,
+        QVector3D _rot,
+        QColor _color);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<GridConfigPrivate> dataPtr;