Add support for loading CSV files via the UI

lrauv_ignition_plugins/CMakeLists.txt

@@ -184,6 +184,7 @@ add_lrauv_plugin(TimeAnalysisPlugin)
 add_lrauv_plugin(WorldCommPlugin
   PROTO
     lrauv_init)
+add_lrauv_plugin(WorldConfigPlugin GUI)
 
 #============================================================================
 # Install public headers

lrauv_ignition_plugins/src/ScienceSensorsSystem.cc

@@ -941,4 +941,4 @@ IGNITION_ADD_PLUGIN(
   tethys::ScienceSensorsSystem::ISystemPostUpdate)
 
 IGNITION_ADD_PLUGIN_ALIAS(tethys::ScienceSensorsSystem,
-    "tethys::ScienceSensorsSystem")
+    "tethys::ScienceSensorsSystem")

lrauv_ignition_plugins/src/WorldConfigPlugin.cc

@@ -0,0 +1,70 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/*
+ * Development of this module has been funded by the Monterey Bay Aquarium
+ * Research Institute (MBARI) and the David and Lucile Packard Foundation
+ */
+
+#include "WorldConfigPlugin.hh"
+#include <gz/common/Console.hh>
+#include <gz/plugin/Register.hh>
+
+#include <gz/gui/Application.hh>
+#include <gz/gui/Conversions.hh>
+#include <gz/gui/GuiEvents.hh>
+#include <gz/gui/MainWindow.hh>
+
+namespace tethys
+{
+
+WorldConfig::WorldConfig() : gz::gui::Plugin()
+{
+  gz::gui::App()->Engine()->rootContext()->setContextProperty(
+    "WorldConfig", this);
+  this->pub =
+    this->node.Advertise<gz::msgs::StringMsg>(
+      "/world/science_sensor/environment_data_path");
+}
+
+WorldConfig::~WorldConfig()
+{
+
+}
+
+void WorldConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+{
+  if (this->title.empty())
+    this->title = "World Configuration";
+
+  gz::gui::App()->findChild<
+    gz::gui::MainWindow *>()->installEventFilter(this);
+}
+
+void WorldConfig::SetFilePath(QUrl _filePath)
+{
+  igndbg << "setting file path " << _filePath.path().toStdString() << std::endl;
+
+  gz::msgs::StringMsg msg;
+  msg.set_data(_filePath.path().toStdString());
+  this->pub.Publish(msg);
+}
+
+}
+// Register this plugin
+IGNITION_ADD_PLUGIN(tethys::WorldConfig,
+                    gz::gui::Plugin)

lrauv_ignition_plugins/src/WorldConfigPlugin.hh

@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/*
+ * Development of this module has been funded by the Monterey Bay Aquarium
+ * Research Institute (MBARI) and the David and Lucile Packard Foundation
+ */
+
+#ifndef TETHYS_CONTROLPANEL_HH_
+#define TETHYS_CONTROLPANEL_HH_
+
+#include <gz/gui/Plugin.hh>
+
+#include <gz/transport/Node.hh>
+
+namespace tethys
+{
+
+/// \brief Control Panel for controlling the tethys using the GUI.
+class WorldConfig : public gz::gui::Plugin
+{
+  Q_OBJECT
+
+  /// \brief Constructor
+  public: WorldConfig();
+
+  /// \brief Destructor
+  public: ~WorldConfig();
+
+  /// \brief Documentation inherited
+  public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+  /// \brief Set the file path to be loaded
+  /// \param[in] _filePath The file path to be loaded
+  public: Q_INVOKABLE void SetFilePath(QUrl _filePath);
+
+  /// \brief Transport node
+  private: gz::transport::Node node;
+
+  /// \brief Transport publisher
+  private: gz::transport::Node::Publisher pub;
+};
+
+}
+
+#endif

lrauv_ignition_plugins/src/WorldConfigPlugin.qml

@@ -0,0 +1,65 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+
+/*
+ * Development of this module has been funded by the Monterey Bay Aquarium
+ * Research Institute (MBARI) and the David and Lucile Packard Foundation
+ */
+
+import QtQuick 2.9
+import QtQuick.Controls 2.1
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Dialogs 1.0
+
+GridLayout {
+  id: mainLayout
+  columns: 5
+  rowSpacing: 2
+  columnSpacing: 2
+  anchors.fill: parent
+  anchors.leftMargin: 10
+  anchors.rightMargin: 10
+  Layout.minimumWidth: 400
+  Layout.minimumHeight: 300
+
+  Label {
+    text: "Load Environment Data CSV"
+    Layout.columnSpan: 3
+  }
+  Button {
+    id: vehicleNameValue
+    Layout.columnSpan: 2
+    Layout.fillWidth: true
+    text: "Browse files..."
+    onClicked: fileDialog.open()
+  }
+
+  FileDialog {
+    id: fileDialog
+    title: "Please choose a file"
+    folder: shortcuts.home
+    visible: false
+    onAccepted: {
+      WorldConfig.SetFilePath(fileDialog.fileUrl)
+    }
+    onRejected: {
+    }
+    //Component.onCompleted: visible = true
+  }
+}

lrauv_ignition_plugins/src/WorldConfigPlugin.qrc

@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="WorldConfigPlugin">
+  <file>WorldConfigPlugin.qml</file>
+</qresource>
+</RCC>

lrauv_ignition_plugins/worlds/buoyant_tethys.sdf

@@ -334,6 +334,14 @@
         <topic>/tethys/navsat</topic>
         <topic_picker>true</topic_picker>
       </plugin>
+
+      <!-- Sensor Data Map -->
+      <plugin filename="WorldConfigPlugin" name="Environmental Configuration">
+        <ignition-gui>
+          <title>Environmental Configuration</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
     </gui>
 
     <light type="directional" name="sun">

lrauv_ignition_plugins/worlds/empty_environment.sdf

@@ -324,6 +324,14 @@
         <topic>/tethys/navsat</topic>
         <topic_picker>true</topic_picker>
       </plugin>
+
+       <!-- Sensor Data Map -->
+      <plugin filename="WorldConfigPlugin" name="Environmental Configuration">
+        <ignition-gui>
+          <title>Environmental Configuration</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
     </gui>
 
     <light type="directional" name="sun">

lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em

@@ -359,6 +359,13 @@ for tile in tiles:
           <property type="string" key="state">docked_collapsed</property>
         </ignition-gui>
       </plugin>
+      <!-- Sensor Data Map -->
+      <plugin filename="WorldConfigPlugin" name="Environmental Configuration">
+        <ignition-gui>
+          <title>Environmental Configuration</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
       <plugin filename="SpawnPanelPlugin" name="Spawn LRAUV Panel">
         <ignition-gui>
           <title>Spawn LRAUVs</title>