From 52362a786b0b47de3c6736d8d3ebbb34e068d1fb Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Mon, 25 Oct 2021 17:36:52 -0700
Subject: [PATCH] Fix integers and floats on component inspector

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .../component_inspector/ComponentInspector.cc | 73 +++++++++++++++++++
 .../ComponentInspector.qrc                    |  2 +
 src/gui/plugins/component_inspector/Float.qml | 20 +++--
 .../plugins/component_inspector/Integer.qml   | 20 +++--
 4 files changed, 105 insertions(+), 10 deletions(-)

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
index a628836956..89c264a738 100644
--- a/src/gui/plugins/component_inspector/ComponentInspector.cc
+++ b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -27,12 +27,15 @@
 #include "ignition/gazebo/components/Actor.hh"
 #include "ignition/gazebo/components/AngularAcceleration.hh"
 #include "ignition/gazebo/components/AngularVelocity.hh"
+#include "ignition/gazebo/components/BatterySoC.hh"
 #include "ignition/gazebo/components/CastShadows.hh"
+#include "ignition/gazebo/components/CenterOfVolume.hh"
 #include "ignition/gazebo/components/ChildLinkName.hh"
 #include "ignition/gazebo/components/Collision.hh"
 #include "ignition/gazebo/components/Factory.hh"
 #include "ignition/gazebo/components/Gravity.hh"
 #include "ignition/gazebo/components/Joint.hh"
+#include "ignition/gazebo/components/LaserRetro.hh"
 #include "ignition/gazebo/components/Level.hh"
 #include "ignition/gazebo/components/Light.hh"
 #include "ignition/gazebo/components/LinearAcceleration.hh"
@@ -53,7 +56,10 @@
 #include "ignition/gazebo/components/Sensor.hh"
 #include "ignition/gazebo/components/SourceFilePath.hh"
 #include "ignition/gazebo/components/Static.hh"
+#include "ignition/gazebo/components/ThreadPitch.hh"
+#include "ignition/gazebo/components/Transparency.hh"
 #include "ignition/gazebo/components/Visual.hh"
+#include "ignition/gazebo/components/Volume.hh"
 #include "ignition/gazebo/components/WindMode.hh"
 #include "ignition/gazebo/components/World.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
@@ -184,6 +190,13 @@ void ignition::gazebo::setData(QStandardItem *_item, const int &_data)
   _item->setData(_data, ComponentsModel::RoleNames().key("data"));
 }
 
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const Entity &_data)
+{
+  setData(_item, static_cast<int>(_data));
+}
+
 //////////////////////////////////////////////////
 template<>
 void ignition::gazebo::setData(QStandardItem *_item, const double &_data)
@@ -462,6 +475,13 @@ void ComponentInspector::Update(const UpdateInfo &,
         setUnit(item, "rad/s");
       }
     }
+    else if (typeId == components::BatterySoC::typeId)
+    {
+      auto comp = _ecm.Component<components::BatterySoC>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
     else if (typeId == components::CastShadows::typeId)
     {
       auto comp = _ecm.Component<components::CastShadows>(
@@ -469,6 +489,16 @@ void ComponentInspector::Update(const UpdateInfo &,
       if (comp)
         setData(item, comp->Data());
     }
+    else if (typeId == components::CenterOfVolume::typeId)
+    {
+      auto comp = _ecm.Component<components::CenterOfVolume>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m");
+      }
+    }
     else if (typeId == components::ChildLinkName::typeId)
     {
       auto comp = _ecm.Component<components::ChildLinkName>(
@@ -485,6 +515,12 @@ void ComponentInspector::Update(const UpdateInfo &,
         setUnit(item, "m/s\u00B2");
       }
     }
+    else if (typeId == components::LaserRetro::typeId)
+    {
+      auto comp = _ecm.Component<components::LaserRetro>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
     else if (typeId == components::LinearAcceleration::typeId)
     {
       auto comp = _ecm.Component<components::LinearAcceleration>(
@@ -584,6 +620,33 @@ void ComponentInspector::Update(const UpdateInfo &,
       if (comp)
         setData(item, comp->Data());
     }
+    else if (typeId == components::ThreadPitch::typeId)
+    {
+      auto comp = _ecm.Component<components::ThreadPitch>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m");
+      }
+    }
+    else if (typeId == components::Transparency::typeId)
+    {
+      auto comp = _ecm.Component<components::Transparency>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::Volume::typeId)
+    {
+      auto comp = _ecm.Component<components::Volume>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m\u00B3");
+      }
+    }
     else if (typeId == components::WindMode::typeId)
     {
       auto comp = _ecm.Component<components::WindMode>(this->dataPtr->entity);
@@ -600,6 +663,16 @@ void ComponentInspector::Update(const UpdateInfo &,
         setUnit(item, "rad/s\u00B2");
       }
     }
+    else if (typeId == components::WorldAngularVelocity::typeId)
+    {
+      auto comp = _ecm.Component<components::WorldAngularVelocity>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "rad/s");
+      }
+    }
     else if (typeId == components::WorldLinearVelocity::typeId)
     {
       auto comp = _ecm.Component<components::WorldLinearVelocity>(
diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qrc b/src/gui/plugins/component_inspector/ComponentInspector.qrc
index f6b72025ae..952f14179f 100644
--- a/src/gui/plugins/component_inspector/ComponentInspector.qrc
+++ b/src/gui/plugins/component_inspector/ComponentInspector.qrc
@@ -2,6 +2,8 @@
 <qresource prefix="ComponentInspector/">
   <file>Boolean.qml</file>
   <file>ComponentInspector.qml</file>
+  <file>Float.qml</file>
+  <file>Integer.qml</file>
   <file>NoData.qml</file>
   <file>Physics.qml</file>
   <file>Pose3d.qml</file>
diff --git a/src/gui/plugins/component_inspector/Float.qml b/src/gui/plugins/component_inspector/Float.qml
index a72d7801be..f01cfb8e35 100644
--- a/src/gui/plugins/component_inspector/Float.qml
+++ b/src/gui/plugins/component_inspector/Float.qml
@@ -38,6 +38,9 @@ Rectangle {
   // Maximum spinbox value
   property double spinMax: 1000000
 
+  // Unit
+  property string unit: model && model.unit != undefined ? model.unit : ''
+
   RowLayout {
     anchors.fill: parent
 
@@ -55,13 +58,20 @@ Rectangle {
       id: typeHeader
     }
 
-    IgnSpinBox {
+    // TODO(anyone) Support write mode
+    Text {
       id: content
-      value: model.data
-      minimumValue: -spinMax
-      maximumValue: spinMax
-      decimals: xSpin.width < 100 ? 2 : 6
       Layout.fillWidth: true
+      horizontalAlignment: Text.AlignRight
+      color: Material.theme == Material.Light ? "black" : "white"
+      font.pointSize: 12
+      text: {
+        var decimals = getDecimals(content.width)
+        var valueText = model.data.toFixed(decimals)
+        if (unit !== '')
+          valueText += ' ' + unit
+        return valueText
+      }
     }
 
     Item {
diff --git a/src/gui/plugins/component_inspector/Integer.qml b/src/gui/plugins/component_inspector/Integer.qml
index 316c2b2e7c..12c9b5174e 100644
--- a/src/gui/plugins/component_inspector/Integer.qml
+++ b/src/gui/plugins/component_inspector/Integer.qml
@@ -38,7 +38,10 @@ Rectangle {
   // Maximum spinbox value
   property double spinMax: 1000000
 
-  Row {
+  // Unit
+  property string unit: model && model.unit != undefined ? model.unit : ''
+
+  RowLayout {
     anchors.fill: parent
 
     Item {
@@ -55,12 +58,19 @@ Rectangle {
       id: typeHeader
     }
 
-    IgnSpinBox {
+    // TODO(anyone) Support write mode
+    Text {
       id: content
-      value: model.data
-      minimumValue: -spinMax
-      maximumValue: spinMax
       Layout.fillWidth: true
+      horizontalAlignment: Text.AlignRight
+      color: Material.theme == Material.Light ? "black" : "white"
+      font.pointSize: 12
+      text: {
+        var valueText = model.data
+        if (unit !== '')
+          valueText += ' ' + unit
+        return valueText
+      }
     }
 
     Item {