Merge branch 'production' into support_robotControllerAxisManufacture…

…rCode

docs/source/changelog.rst

@@ -8,6 +8,12 @@ Version 0.142.0
 
 - Add robotControllerAxisManufacturerCode so that servo drives from different manufacturer connected to daisy chain can be handled.
 - Fix unbounded growth of _vmimic
+* Add ViewerBase::SetUserText to customize HUD text size
+
+Version 0.141.2
+===============
+
+* Fix the issue that second-to-last configuration along the given path segment may not be checked in `Check` function.
 
 Version 0.141.1
 ===============

include/openrave/viewer.h

@@ -176,6 +176,8 @@ class OPENRAVE_API ViewerBase : public InterfaceBase
 
     virtual void SetUserText(const std::string& userText) OPENRAVE_DUMMY_IMPLEMENTATION;
 
+    virtual void SetTextSize(double size) OPENRAVE_DUMMY_IMPLEMENTATION;
+
     /// \brief controls showing the viewer.
     ///
     /// \param showtype If zero, will hide all viewers. If != 0, should show viewers (dependent on plugin could have different meanings)

plugins/qtcoinrave/qtcoinviewer.cpp

@@ -257,25 +257,34 @@ void QtCoinViewer::_InitConstructor(std::istream& sinput)
 
     // add the message texts
     SoSeparator* pmsgsep = new SoSeparator();
-    SoTranslation* pmsgtrans0 = new SoTranslation();
-    pmsgtrans0->translation.setValue(SbVec3f(-0.978f,0.93f,0));
-    pmsgsep->addChild(pmsgtrans0);
+
+    _messageFont = new SoFont();
+    _messageFont->size = 10;
+    pmsgsep->addChild(_messageFont);
+
+    _messageBaseTranslation = new SoTranslation();
+    _messageBaseTranslation->translation.setValue(SbVec3f(-0.978f,0.874f,0));
+    pmsgsep->addChild(_messageBaseTranslation);
     SoBaseColor* pcolor0 = new SoBaseColor();
     pcolor0->rgb.setValue(0.0f,0.0f,0.0f);
     pmsgsep->addChild(pcolor0);
     _messageNodes[0] = new SoText2();
     pmsgsep->addChild(_messageNodes[0]);
 
     _messageShadowTranslation = new SoTranslation();
-    _messageShadowTranslation->translation.setValue(SbVec3f(-0.002f,0.032f,0));
+    _messageShadowTranslation->translation.setValue(SbVec3f(-0.002f,0.0540f,0));
     pmsgsep->addChild(_messageShadowTranslation);
     SoBaseColor* pcolor1 = new SoBaseColor();
     pcolor1->rgb.setValue(0.99f,0.99f,0.99f);
     pmsgsep->addChild(pcolor1);
     _messageNodes[1] = new SoText2();
     pmsgsep->addChild(_messageNodes[1]);
 
-    _ivRoot->addChild(pmsgsep);
+    _messageSwitch = new SoSwitch();
+    _messageSwitch->whichChild.setValue(SO_SWITCH_ALL);
+    _messageSwitch->addChild(pmsgsep);
+
+    _ivRoot->addChild(_messageSwitch);
     _ivRoot->addChild(_ivCamera);
 
     SoEventCallback * ecb = new SoEventCallback;
@@ -640,6 +649,109 @@ void QtCoinViewer::SetUserText(const string& userText)
     _userText = userText;
 }
 
+class SetTextSizeMessage : public QtCoinViewer::EnvMessage
+{
+public:
+    SetTextSizeMessage(QtCoinViewerPtr pviewer, void** ppreturn, double size)
+        : EnvMessage(pviewer, ppreturn, false), _textSize(size) {
+    }
+
+    virtual void viewerexecute() {
+        QtCoinViewerPtr pviewer = _pviewer.lock();
+        if( !pviewer ) {
+            return;
+        }
+        pviewer->_SetTextSize(_textSize);
+        EnvMessage::viewerexecute();
+    }
+
+private:
+    double _textSize;
+};
+
+void QtCoinViewer::SetTextSize(double size)
+{
+    if (_timerSensor->isScheduled() && _bUpdateEnvironment) {
+        EnvMessagePtr pmsg(new SetTextSizeMessage(shared_viewer(), (void**)NULL, size));
+        pmsg->callerexecute(false);
+    }
+}
+
+void QtCoinViewer::_SetTextSize(double size)
+{
+    if ( size >= 0 ) {
+        // TODO: use a font that does not rely on hardcoded breakpoints
+        // move down to next text size breakpoint so that message shadow aligns nicely
+        _messageFont->size = _GetTextBaseSize(size);
+        // hide HUD text if requested size is 0
+        _messageSwitch->whichChild.setValue(size == 0 ? SO_SWITCH_NONE : SO_SWITCH_ALL);
+        // adjust the text offsets
+        _messageBaseTranslation->translation.setValue(_GetMessageBaseTranslation());
+        _messageShadowTranslation->translation.setValue(_GetMessageShadowTranslation());
+    }
+}
+
+// determines a text size that works best with the default qtcoin font (one of 10px, 14px, 18px, 26px)
+// \param size requested text size
+double QtCoinViewer::_GetTextBaseSize(double size)
+{
+    if (size < 14.0) {
+        return 10.0;
+    }
+    if (size < 18.0) {
+        return 14.0;
+    }
+    if (size < 26.0) {
+        return 18.0;
+    }
+    return 26.0;
+}
+
+// based on the current font size of HUD text, computes the 3D offset of the black message "base"
+// node relative to the center of the text plane such that the message aligns nicely with
+// the upper left corner across all preset text sizes
+SbVec3f QtCoinViewer::_GetMessageBaseTranslation()
+{
+    SbViewportRegion v = _pviewer->getViewportRegion();
+    float fwratio = 964.0f/v.getWindowSize()[0], fhratio = 688.0f/v.getWindowSize()[1];
+    float size = _messageFont->size.getValue();
+    // magic window-size-independent constants that ensure that all preset text sizes
+    // are roughly vertically aligned by the top of the first line
+    if (size < 14.0f) {
+        return SbVec3f(-1.0f+(0.022f*fwratio),1.0f-(0.07f*fhratio),0);
+    }
+    if (size < 18.0f) {
+        return SbVec3f(-1.0f+(0.022f*fwratio),1.0f-(0.082f*fhratio),0);
+    }
+    if (size < 26.0f) {
+        return SbVec3f(-1.0f+(0.022f*fwratio),1.0f-(0.106f*fhratio),0);
+    }
+    return SbVec3f(-1.0f+(0.022f*fwratio),1.0f-(0.126f*fhratio),0);
+}
+
+// based on the current font size of HUD text, computes the 3D offset of the white message "shadow"
+// node relative to the message "base" node such that the shadow lies roughly one pixel leftward
+// and upward of the base message, helping to create a shading effect that improves overall HUD text
+// visibility
+SbVec3f QtCoinViewer::_GetMessageShadowTranslation()
+{
+    SbViewportRegion v = _pviewer->getViewportRegion();
+    float fwratio = 964.0f/v.getWindowSize()[0], fhratio = 688.0f/v.getWindowSize()[1];
+    float size = _messageFont->size.getValue();
+    // magic window-size-independent constants that ensure that the message shadow
+    // sits roughly one pixel above the base message text
+    if (size < 14.0f) {
+        return SbVec3f(-0.002f*fwratio,(0.032f*fhratio)*(size/10.0f),0);
+    }
+    if (size < 18.0f) {
+        return SbVec3f(-0.002f*fwratio,(0.0448f*fhratio)*(size/14.0f),0);
+    }
+    if (size < 26.0f) {
+        return SbVec3f(-0.002f*fwratio,(0.0540f*fhratio)*(size/18.0f),0);
+    }
+    return SbVec3f(-0.002f*fwratio,(0.0777f*fhratio)*(size/26.0f),0);
+}
+
 bool QtCoinViewer::LoadModel(const string& pfilename)
 {
     SoInput mySceneInput;
@@ -2800,10 +2912,9 @@ void QtCoinViewer::AdvanceFrame(bool bForward)
             ss << _userText << endl;
         }
 
-        // adjust the shadow text
-        SbViewportRegion v = _pviewer->getViewportRegion();
-        float fwratio = 964.0f/v.getWindowSize()[0], fhratio = 688.0f/v.getWindowSize()[1];
-        _messageShadowTranslation->translation.setValue(SbVec3f(-0.002f*fwratio,0.032f*fhratio,0));
+        // adjust the text offsets
+        _messageBaseTranslation->translation.setValue(_GetMessageBaseTranslation());
+        _messageShadowTranslation->translation.setValue(_GetMessageShadowTranslation());
 
         // search for all new lines
         string msg = ss.str();

plugins/qtcoinrave/qtcoinviewer.h

@@ -132,6 +132,7 @@ class QtCoinViewer : public QMainWindow, public ViewerBase
         return _name;
     }
     virtual void SetUserText(const string& userText);
+    virtual void SetTextSize(double size);
 
     virtual bool LoadModel(const string& filename);
 
@@ -340,6 +341,10 @@ public slots:
     virtual void _SetTriangleMesh(SoSeparator* pparent, const float* ppoints, int stride, const int* pIndices, int numTriangles);
     virtual void _Reset();
     virtual void _SetBkgndColor(const RaveVector<float>& color);
+    virtual void _SetTextSize(double size);
+    virtual double _GetTextBaseSize(double size);
+    virtual SbVec3f _GetMessageBaseTranslation();
+    virtual SbVec3f _GetMessageShadowTranslation();
     virtual void _closegraph(SoSwitch* handle);
     virtual void _SetGraphTransform(SoSwitch* handle, const RaveTransform<float>& t);
     virtual void _SetGraphShow(SoSwitch* handle, bool bshow);
@@ -412,7 +417,10 @@ public slots:
     std::list< boost::shared_ptr<IvDragger> > _plistdraggers;     /// draggers drawn
     SoEventCallback* _eventKeyboardCB;
 
+    SoSwitch* _messageSwitch;
+    SoFont* _messageFont;
     boost::array<SoText2*,2> _messageNodes;
+    SoTranslation* _messageBaseTranslation;
     SoTranslation* _messageShadowTranslation;
 
     bool _altDown[2];
@@ -526,6 +534,7 @@ public slots:
     friend class DeselectMessage;
     friend class ResetMessage;
     friend class SetBkgndColorMessage;
+    friend class SetTextSizeMessage;
     friend class StartPlaybackTimerMessage;
     friend class StopPlaybackTimerMessage;
     friend class SetGraphTransformMessage;

plugins/qtosgrave/osgviewerwidget.cpp

@@ -644,6 +644,7 @@ QOSGViewerWidget::QOSGViewerWidget(EnvironmentBasePtr penv, const std::string& u
     _osgWorldAxis->addChild(CreateOSGXYZAxes(32.0, 2.0));
 
     _vecTextScreenOffset = osg::Vec2(10.0, 0.0);
+    _hudTextSize = 18.0;
 
     if( !!_osgCameraHUD ) {
         // in order to get the axes to render without lighting:
@@ -1163,13 +1164,24 @@ void QOSGViewerWidget::SetViewport(int width, int height)
     osg::Camera *hudcamera = _osghudview->getCamera();
     hudcamera->setViewport(0, 0, width * scale, height * scale);
 
-    double textheight = 18*scale;
-    _osgHudText->setCharacterSize(textheight);
-    _osgHudText->setFontResolution(textheight, textheight);
-    SetHUDTextOffset(_vecTextScreenOffset.x(), _vecTextScreenOffset.y());
+    SetHUDTextSize(_hudTextSize);
     _UpdateHUDAxisTransform(width, height);
 }
 
+void QOSGViewerWidget::SetHUDTextSize(double size)
+{
+    if ( size >= 0 ) {
+        _hudTextSize = size;
+
+        float scale = this->devicePixelRatio();
+        double textheight = _hudTextSize*scale;
+        _osgHudText->setCharacterSize(textheight);
+        _osgHudText->setFontResolution(textheight, textheight);
+
+        SetHUDTextOffset(_vecTextScreenOffset.x(), _vecTextScreenOffset.y());
+    }
+}
+
 osg::Vec2 QOSGViewerWidget::GetHUDTextOffset()
 {
     return osg::Vec2(_vecTextScreenOffset.x(), _vecTextScreenOffset.y());
@@ -1180,7 +1192,7 @@ void QOSGViewerWidget::SetHUDTextOffset(double xOffset, double yOffset)
     _vecTextScreenOffset.set(xOffset, yOffset);
 
     double scale = this->devicePixelRatio();
-    double textheight = 18*scale;
+    double textheight = _hudTextSize*scale;
     _osgHudText->setPosition(
         osg::Vec3(
             -_osgview->getCamera()->getViewport()->width() / 2 + _vecTextScreenOffset.x(),

plugins/qtosgrave/osgviewerwidget.h

@@ -128,6 +128,9 @@ class QOSGViewerWidget : public QOpenGLWidget
     /// \brief called when the qt window size changes
     void SetViewport(int width, int height);
 
+    /// \brief sets the HUD text size, scaled off of devicePixelRatio
+    void SetHUDTextSize(double size);
+
     /// \brief gets the screen offset of HUD text (default with no control buttons is (10.0, 0.0))
     osg::Vec2 GetHUDTextOffset();
 
@@ -345,6 +348,7 @@ class QOSGViewerWidget : public QOpenGLWidget
                    ///  causing getProjectionMatrixAsXXX to return negative
                    ///  values. Therefore, we manage zNear ourselves
     double _currentOrthoFrustumSize; ///< coordinate for the right vertical clipping plane 
+    double _hudTextSize; ///< size of HUD text, scaled off of devicePixelRatio
 
     void GetSwitchedButtonValue(unsigned int &button);
 

plugins/qtosgrave/qtosgviewer.cpp

@@ -2041,6 +2041,11 @@ void QtOSGViewer::SetUserText(const string& userText)
     _posgWidget->SetUserHUDText(userText);
 }
 
+void QtOSGViewer::SetTextSize(double size)
+{
+    _posgWidget->SetHUDTextSize(size);
+}
+
 bool QtOSGViewer::LoadModel(const string& filename)
 {
     if( filename == "") {

plugins/qtosgrave/qtosgviewer.h

@@ -113,6 +113,9 @@ class QtOSGViewer : public QMainWindow, public ViewerBase
     /// \brief Set User-defined text to be displayed in the viewer window
     virtual void SetUserText(const string& userText);
 
+    /// \brief Set size of text to be displayed in the viewer window
+    virtual void SetTextSize(double size);
+
     /// \brief notified when a body has been removed from the environment
     virtual void RemoveKinBody(KinBodyPtr pbody) {
         if( !!pbody ) {

python/bindings/openravepy_viewer.cpp

@@ -258,6 +258,9 @@ class PyViewerBase : public PyInterfaceBase
     void SetUserText(const std::string &userText) {
         _pviewer->SetUserText(userText);
     }
+    void SetTextSize(const double size) {
+        _pviewer->SetTextSize(size);
+    }
     std::string GetName() {
         return _pviewer->GetName();
     }
@@ -386,6 +389,7 @@ void init_openravepy_viewer()
                        .def("Show",&PyViewerBase::Show, PY_ARGS("showtype") DOXY_FN(ViewerBase,Show))
                        .def("SetTitle",&PyViewerBase::SetName, PY_ARGS("title") DOXY_FN(ViewerBase,SetName))
                        .def("SetUserText",&PyViewerBase::SetUserText, PY_ARGS("userText") DOXY_FN(ViewerBase,SetUserText))
+                       .def("SetTextSize",&PyViewerBase::SetTextSize, PY_ARGS("size") DOXY_FN(ViewerBase,SetTextSize))
                        .def("SetName",&PyViewerBase::SetName, PY_ARGS("title") DOXY_FN(ViewerBase,SetName))
                        .def("GetName",&PyViewerBase::GetName, DOXY_FN(ViewerBase,GetName))
                        .def("RegisterCallback",&PyViewerBase::RegisterCallback, PY_ARGS("properties", "callback") DOXY_FN(ViewerBase,RegisterItemSelectionCallback))