Add Track and Follow options in gui EntityContextMenu

src/gui/plugins/modules/EntityContextMenu.cc

@@ -20,10 +20,12 @@
 
 #include <gz/msgs/boolean.pb.h>
 #include <gz/msgs/stringmsg.pb.h>
+#include <gz/msgs/cameratrack.pb.h>
 #include <gz/msgs/entity.pb.h>
 
 #include <iostream>
 #include <string>
+#include <mutex>
 
 #include <gz/common/Console.hh>
 #include <gz/sim/Conversions.hh>
@@ -35,14 +37,21 @@ namespace gz::sim
   /// \brief Private data class for EntityContextMenu
   class EntityContextMenuPrivate
   {
+
+    /// \brief Protects variable changed through services.
+    public: std::mutex mutex;
+
     /// \brief Gazebo communication node.
     public: transport::Node node;
 
     /// \brief Move to service name
     public: std::string moveToService;
 
-    /// \brief Follow service name
-    public: std::string followService;
+    /// \brief Track topic name
+    public: std::string trackTopic;
+
+    /// \brief Currently tracked topic name
+    public: std::string currentTrackTopic;
 
     /// \brief Remove service name
     public: std::string removeService;
@@ -76,12 +85,42 @@ namespace gz::sim
 
     /// \brief Name of world.
     public: std::string worldName;
+
+    /// \brief storing last follow target for look at.
+    public: std::string followTargetLookAt;
+
+    /// \brief Flag used to disable look at when not following target.
+    public: bool followingTarget{false};
+
+    /// \brief /gui/track publisher
+    public: transport::Node::Publisher trackPub;
   };
 }
 
 using namespace gz;
 using namespace sim;
 
+/////////////////////////////////////////////////
+void EntityContextMenu::OnCurrentlyTrackedSub(const msgs::CameraTrack &_msg)
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+  if (_msg.track_mode() == gz::msgs::CameraTrack::FOLLOW ||
+      _msg.track_mode() == gz::msgs::CameraTrack::FOLLOW_LOOK_AT ||
+      _msg.track_mode() == gz::msgs::CameraTrack::FOLLOW_FREE_LOOK)
+  {
+    // gzmsg << "Currently following a target: Look At enabled."<< std::endl;
+    this->dataPtr->followingTarget = true;
+    this->FollowingTargetChanged();
+  }
+  else
+  {
+    this->dataPtr->followingTarget = false;
+    this->FollowingTargetChanged();
+  }
+
+  return;
+}
+
 /////////////////////////////////////////////////
 void GzSimPlugin::registerTypes(const char *_uri)
 {
@@ -94,11 +133,17 @@ void GzSimPlugin::registerTypes(const char *_uri)
 EntityContextMenu::EntityContextMenu()
   : dataPtr(std::make_unique<EntityContextMenuPrivate>())
 {
+  this->dataPtr->currentTrackTopic = "/gui/currently_tracked";
+  this->dataPtr->node.Subscribe(this->dataPtr->currentTrackTopic,
+      &EntityContextMenu::OnCurrentlyTrackedSub, this);
+  gzmsg << "Currently tracking topic on ["
+         << this->dataPtr->currentTrackTopic << "]" << std::endl;
+
   // For move to service requests
   this->dataPtr->moveToService = "/gui/move_to";
 
-  // For follow service requests
-  this->dataPtr->followService = "/gui/follow";
+  // For track topic message
+  this->dataPtr->trackTopic = "/gui/track";
 
   // For remove service requests
   this->dataPtr->removeService = "/world/default/remove";
@@ -129,11 +174,28 @@ EntityContextMenu::EntityContextMenu()
 
   // For paste service requests
   this->dataPtr->pasteService = "/gui/paste";
+
+  this->dataPtr->trackPub =
+    this->dataPtr->node.Advertise<msgs::CameraTrack>(this->dataPtr->trackTopic);
+
 }
 
 /////////////////////////////////////////////////
 EntityContextMenu::~EntityContextMenu() = default;
 
+/////////////////////////////////////////////////
+void EntityContextMenu::SetFollowingTarget(const bool &_followingTarget)
+{
+  this->dataPtr->followingTarget = _followingTarget;
+  this->FollowingTargetChanged();
+}
+
+/////////////////////////////////////////////////
+bool EntityContextMenu::FollowingTarget() const
+{
+  return this->dataPtr->followingTarget;
+}
+
 /////////////////////////////////////////////////
 void EntityContextMenu::OnRemove(
   const QString &_data, const QString &_type)
@@ -196,9 +258,39 @@ void EntityContextMenu::OnRequest(const QString &_request, const QString &_data)
   }
   else if (request == "follow")
   {
-    msgs::StringMsg req;
-    req.set_data(_data.toStdString());
-    this->dataPtr->node.Request(this->dataPtr->followService, req, cb);
+    msgs::CameraTrack followMsg;
+    followMsg.set_follow_target(_data.toStdString());
+    followMsg.set_track_mode(msgs::CameraTrack::FOLLOW);
+    this->dataPtr->followTargetLookAt = followMsg.follow_target();
+    gzmsg << "Follow target: " << followMsg.follow_target() << std::endl;
+    this->dataPtr->trackPub.Publish(followMsg);
+  }
+  else if (request == "free_look")
+  {
+    msgs::CameraTrack followMsg;
+    followMsg.set_follow_target(_data.toStdString());
+    followMsg.set_track_mode(msgs::CameraTrack::FOLLOW_FREE_LOOK);
+    this->dataPtr->followTargetLookAt = followMsg.follow_target();
+    gzmsg << "Follow target: " << followMsg.follow_target() << std::endl;
+    this->dataPtr->trackPub.Publish(followMsg);
+  }
+  else if (request == "look_at")
+  {
+    msgs::CameraTrack followMsg;
+    followMsg.set_track_target(_data.toStdString());
+    followMsg.set_track_mode(msgs::CameraTrack::FOLLOW_LOOK_AT);
+    followMsg.set_follow_target(this->dataPtr->followTargetLookAt);
+    gzmsg << "Follow target: " << followMsg.follow_target() << std::endl;
+    gzmsg << "Look at target: " << followMsg.track_target() << std::endl;
+    this->dataPtr->trackPub.Publish(followMsg);
+  }
+  else if (request == "track")
+  {
+    msgs::CameraTrack trackMsg;
+    trackMsg.set_track_target(_data.toStdString());
+    trackMsg.set_track_mode(msgs::CameraTrack::TRACK);
+    gzmsg << "Track target: " << trackMsg.track_target() << std::endl;
+    this->dataPtr->trackPub.Publish(trackMsg);
   }
   else if (request == "view_transparent")
   {

src/gui/plugins/modules/EntityContextMenu.hh

@@ -19,6 +19,7 @@
 #define GZ_SIM_GUI_ENTITYCONTEXTMENU_HH_
 
 #include <gz/gui/qt.h>
+#include <gz/msgs/cameratrack.pb.h>
 #include <QtQml/QQmlExtensionPlugin>
 #include <memory>
 
@@ -46,13 +47,35 @@ namespace sim
   class EntityContextMenu : public QQuickItem
   {
     Q_OBJECT
+    /// \brief followingTarget
+    Q_PROPERTY(
+      bool followingTarget
+      READ FollowingTarget
+      WRITE SetFollowingTarget
+      NOTIFY FollowingTargetChanged
+    )
 
     /// \brief Constructor
     public: EntityContextMenu();
 
     /// \brief Destructor
     public: ~EntityContextMenu() override;
 
+    /// \brief Get whether it is following target
+    /// \return True if followingTarget
+    public: Q_INVOKABLE bool FollowingTarget() const;
+
+    /// \brief Set whether followingTarget
+    /// \param[in] _followingTarget True if followingTarget
+    public: Q_INVOKABLE void SetFollowingTarget(const bool &_followingTarget);
+
+    /// \brief Notify that followingTarget has changed
+    signals: void FollowingTargetChanged();
+
+    /// \brief Callback function to get data from the message
+    /// \param[in]_msg CameraTrack message
+    public: void OnCurrentlyTrackedSub(const msgs::CameraTrack &_msg);
+
     /// \brief Callback when a context menu item is invoked
     /// \param[in] _data Request data
     /// \param[in] _type Entity type

src/gui/plugins/modules/EntityContextMenu.qml

@@ -28,9 +28,19 @@ Item {
       onTriggered: context.OnRequest("move_to", context.entity)
     }
     MenuItem {
-      id: followMenu
-      text: "Follow"
-      onTriggered: context.OnRequest("follow", context.entity)
+      id: followOptionsSubmenu
+      text: "Follow Options >"
+      MouseArea {
+        id: followOptionsSubMouseArea
+        anchors.fill: parent
+        hoverEnabled: true
+        onEntered: secondMenu.open()
+      }
+    }
+    MenuItem {
+      id: trackMenu
+      text: "Track"
+      onTriggered: context.OnRequest("track", context.entity)
     }
     MenuItem {
       id: removeMenu
@@ -67,13 +77,42 @@ Item {
         id: viewSubMouseArea
         anchors.fill: parent
         hoverEnabled: true
-        onEntered: secondMenu.open()
+        onEntered: thirdMenu.open()
       }
     }
   }
   Menu {
     id: secondMenu
     x: menu.x + menu.width
+    y: menu.y + followOptionsSubmenu.y
+    MenuItem {
+      id: followMenu
+      text: "Follow"
+      onTriggered: {
+        menu.close()
+        context.OnRequest("follow", context.entity)
+      }
+    }
+    MenuItem {
+      id: followFreeLookMenu
+      text: "Free Look"
+      onTriggered: {
+        menu.close()
+        context.OnRequest("free_look", context.entity)
+      }
+    }
+    MenuItem {
+      id: followLookAtMenu
+      text: "Look At"
+      onTriggered: {
+        menu.close()
+        context.OnRequest("look_at", context.entity)
+      }
+    }
+  }
+  Menu {
+    id: thirdMenu
+    x: menu.x + menu.width
     y: menu.y + viewSubmenu.y
     MenuItem {
       id: viewCOMMenu
@@ -140,6 +179,9 @@ Item {
     context.type = _type
     moveToMenu.enabled = false
     followMenu.enabled = false
+    followFreeLookMenu.enabled = false
+    followLookAtMenu.enabled = false
+    trackMenu.enabled = false
     removeMenu.enabled = false
     viewTransparentMenu.enabled = false;
     viewCOMMenu.enabled = false;
@@ -156,6 +198,12 @@ Item {
     {
       moveToMenu.enabled = true
       followMenu.enabled = true
+      followFreeLookMenu.enabled = true
+      if (context.followingTarget)
+      {
+        followLookAtMenu.enabled = true
+      }
+      trackMenu.enabled = true
     }
 
     if (context.type == "model" || context.type == "light")