Add ESMini visualization plugin to ReportGUI (#159)

Signed-off-by: romanodanilo <[email protected]>
Signed-off-by: romanodanilo <[email protected]>

examples/esmini_viewer/CMakeLists.txt

@@ -13,13 +13,26 @@ project(${ESMINI_VIEWER})
 set(CMAKE_INSTALL_RPATH $ORIGIN/../../lib)
 
 set_property(GLOBAL PROPERTY USE_FOLDERS true)
+find_package(XercesC REQUIRED)
 
 include_directories(${ESMINI_VIEWER} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../src/report_modules/report_module_gui/src
+    ${XercesC_INCLUDE_DIRS}
 )
 
-add_library(${ESMINI_VIEWER} SHARED esmini_viewer.cpp helper.cpp)
-target_link_libraries(${ESMINI_VIEWER} PRIVATE qc4openx-common $<$<PLATFORM_ID:Linux>:stdc++fs>)
+add_library(${ESMINI_VIEWER} SHARED esmini_viewer.cpp)
+
+# Check if the platform requires linking with CMAKE_DL_LIBS (typically on Linux)
+if(CMAKE_DL_LIBS)
+    target_link_libraries(${ESMINI_VIEWER} PRIVATE ${CMAKE_DL_LIBS})
+endif()
+
+target_link_libraries(
+    ${ESMINI_VIEWER}
+    PRIVATE
+    qc4openx-common
+    $<$<PLATFORM_ID:Linux>:stdc++fs>
+    ${XercesC_LIBRARIES}
+)
 
 install(
     TARGETS ${ESMINI_VIEWER}

examples/esmini_viewer/README.md

@@ -1,41 +1,63 @@
 # Esmini viewer plugin
 
-This folder contain the plugin to add an odr viewer based on esmini-odrviewer application
+
+The esmini plugin is a plugin to open esmini simulator to visualize an input OpenDRIVE file
+
+The plugin depends on esminiLib API. More information about the API can be found on the [official documentation](https://esmini.github.io/#_esmini_lib_programming)
 
 ## Installation
 
 After building the framework, a new plugin will be shown in the `File` dropdown menu of the ReportGUI application
 
-The plugin executes the command
+The plugin depends on a single file, the esminiLib library that is included in each [esmini release](https://github.com/esmini/esmini/releases).
+
+- If you are working on windows, the library you will need is `esminiLib.dll`
+
+- If you are working on Linux, the library is `libesminiLib.so`
+
+The library file needs to be downloaded on user local computer.
+
+Then, the application searches for the library file following this approach:
+
+1. Check if library file is present in the folder pointed by the `ESMINI_LIB_PATH` environment variable
+2. Check if library file is present in the folder where the `ReportGUI` executable is present
+
+So in order to use the plugin you can either:
+
+- Define the ESMINI_LIB_PATH environment variable to where you downloaded the library file from esmini
+
+    e.g.
+    ```
+    export ESMINI_LIB_PATH=/home/user/Downloads/esmini-demo/bin
+    ```
+
+- Copy the library file to the location where ReportGUI application is present
 
-```
-odrviewer --density 0 --window 100 100 800 800 --odr YOUR_ODR
-```
+    e.g.
+    ```
+    cp /home/user/Downloads/esmini-demo/bin/libesminiLib.so ~/qc-build/bin/
+    ```
 
-So in order to execute this you need to
 
-1. Download esmini-demo from [esmini release page](https://github.com/esmini/esmini/releases)
-2. Install `odrviewer` in your system path
 
-    - Linux install
-        Long term installation:
+## Additional information
 
-        ```
-        sudo mv esmini-demo/bin/odrviewer /usr/local/bin/
-        ```
+#### Which OpenDRIVE file to render
 
-        Short term installation:
+In order to establish which openDRIVE file to render in esmini, the plugin reads the `InputFile`` param from currently shown result file:
 
-        ```
-        export PATH=$PATH:esmini-demo/bin/
-        ```
+- If it is an OTX file, ignore it
+- If it is an XODR file, wrap it in a simple and empty xosc file
+- If it is an XOSC file, extract its XODR file and wrap it in a simple and empty xosc file
 
-## Usage
+The template empty scenario file is created starting from [the string defined here](./xml_util.h#30)
 
-The plugin checks the input file pointed by the xqar file you are inspecting:
+#### esminiLib function
 
-- If it is an OTX file, the plugin does not show anything
-- If it is an ODR file, the plugin shows it
-- If it is an OSC file, the plugin get the correspoding openDRIVE file from the input openSCENARIO and shows that road network
+The plugin uses the following function from esminiLib:
 
-Currently the plugin has only the functionality of showing the road network and it is presented for demonstration purposes.
+- [`SE_Init`](https://github.com/esmini/esmini/blob/master/EnvironmentSimulator/Libraries/esminiLib/esminiLib.cpp#L645): used to initialize the player to visualize the right OpenDRIVE file
+- [`SE_GetIdByName`](https://github.com/esmini/esmini/blob/master/EnvironmentSimulator/Libraries/esminiLib/esminiLib.cpp#L1424): to retrieve the `marker` object used to move the camera in the scenario
+- [`SE_ReportObjectPosXYH`](https://github.com/esmini/esmini/blob/master/EnvironmentSimulator/Libraries/esminiLib/esminiLib.cpp#L1191): used to move the camera at specified location
+- [`SE_Step`](https://github.com/esmini/esmini/blob/master/EnvironmentSimulator/Libraries/esminiLib/esminiLib.cpp#L955): used to allow the esmini player to advance
+- [`SE_Close`](https://github.com/esmini/esmini/blob/master/EnvironmentSimulator/Libraries/esminiLib/esminiLib.cpp#L939): used to close the esmini player