OriginGrid plugin: Sync with Render event.

delphyne_gui/visualizer/display_plugins/origin_display.cc

@@ -4,6 +4,9 @@
 #include <cmath>
 
 #include <ignition/common/Console.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/MainWindow.hh>
 #include <ignition/math/Color.hh>
 #include <ignition/math/Pose3.hh>
 #include <ignition/plugin/Register.hh>
@@ -29,23 +32,30 @@ void OriginDisplay::LoadConfig(const tinyxml2::XMLElement* _pluginElem) {
       IsVisibleChanged();
     }
   }
+  // Install event filter.
+  ignition::gui::App()->findChild<ignition::gui::MainWindow*>()->installEventFilter(this);
 
-  // Get the render engine.
-  // Note: we don't support other engines than Ogre.
-  auto engine = ignition::rendering::engine(kEngineName);
-  if (!engine) {
-    ignerr << "Engine \"" << kEngineName << "\" not supported, origin display plugin won't work." << std::endl;
-    return;
-  }
-  // Get the scene.
-  auto scene = engine->SceneByName(sceneName);
-  if (!scene) {
-    ignwarn << "Scene \"" << sceneName << "\" not found, origin display plugin won't work until the scene is created."
-            << " Trying again in " << kTimerPeriodInMs << "ms" << std::endl;
-    timer.start(kTimerPeriodInMs, this);
-    return;
+  // Set timer to get the scene.
+  timer.start(kTimerPeriodInMs, this);
+}
+
+bool OriginDisplay::eventFilter(QObject* _obj, QEvent* _event) {
+  // Hooking to the Render event to safely make rendering calls.
+  // See https://github.com/ignitionrobotics/ign-gui/blob/ign-gui3/include/ignition/gui/GuiEvents.hh#L36-L37
+  if (_event->type() == ignition::gui::events::Render::kType) {
+    if (scene != nullptr) {
+      if (!areAxesDrawn) {
+        this->DrawAxes(scene);
+        areAxesDrawn = true;
+      }
+      if (isDirty) {
+        ChangeAxesVisibility();
+        isDirty = false;
+      }
+    }
   }
-  DrawAxes(scene);
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
 }
 
 void OriginDisplay::timerEvent(QTimerEvent* _event) {
@@ -56,14 +66,19 @@ void OriginDisplay::timerEvent(QTimerEvent* _event) {
   // Get the render engine.
   // Note: we don't support other engines than Ogre.
   auto engine = ignition::rendering::engine(kEngineName);
-  auto scene = engine->SceneByName(sceneName);
+  scene = engine->SceneByName(sceneName);
   if (!scene) {
     ignwarn << "Scene \"" << sceneName << "\" not found yet. Trying again in "
             << " Trying again in " << kTimerPeriodInMs << "ms" << std::endl;
     return;
   }
   timer.stop();
-  DrawAxes(scene);
+}
+
+void OriginDisplay::SetIsVisible(bool _isVisible) {
+  isVisible = _isVisible;
+  IsVisibleChanged();
+  isDirty = true;
 }
 
 void OriginDisplay::DrawAxes(ignition::rendering::ScenePtr scene) {

delphyne_gui/visualizer/display_plugins/origin_display.hh

@@ -2,6 +2,7 @@
 #pragma once
 
 #include <array>
+#include <atomic>
 #include <string>
 
 #include <ignition/gui/Plugin.hh>
@@ -39,21 +40,21 @@ class OriginDisplay : public ignition::gui::Plugin {
   /// @{ isVisible accessors.
   Q_INVOKABLE bool IsVisible() const { return isVisible; }
 
-  Q_INVOKABLE void SetIsVisible(bool _isVisible) {
-    isVisible = _isVisible;
-    IsVisibleChanged();
-    ChangeAxesVisibility();
-  }
+  Q_INVOKABLE void SetIsVisible(bool _isVisible);
   /// @}
 
  signals:
   void IsVisibleChanged();
 
  protected:
-  /// @brief Timer event callback which handles the logic to draw the axes when
-  ///        the scene is not ready yet.
+  /// @brief Timer event callback which handles the logic to get the scene.
   void timerEvent(QTimerEvent* _event) override;
 
+  /// \brief Filters ignition::gui::events::Render events to update the visualization of the axis if needed.
+  /// \details To make this method be called by Qt Event System, install the event filter in target object.
+  ///          \see QObject::installEventFilter() method.
+  bool eventFilter(QObject* _obj, QEvent* _event) override;
+
  private:
   /// @brief The period in milliseconds of the timer to try to draw the axes.
   static constexpr int kTimerPeriodInMs{500};
@@ -68,7 +69,7 @@ class OriginDisplay : public ignition::gui::Plugin {
   /// @brief Toggles the visibility of the axes.
   void ChangeAxesVisibility();
 
-  /// @brief Triggers an event every `kTimerPeriodInMs` to try to draw the axes.
+  /// @brief Triggers an event every `kTimerPeriodInMs` to try to get the scene.
   QBasicTimer timer;
 
   /// @brief The scene name.
@@ -79,6 +80,15 @@ class OriginDisplay : public ignition::gui::Plugin {
 
   /// @brief Pointers to the visual axes
   std::array<ignition::rendering::VisualPtr, 3> axes{nullptr, nullptr, nullptr};
+
+  /// @brief Indicates whether the axes are drawn.
+  std::atomic<bool> areAxesDrawn{false};
+
+  /// @brief Indicates whether the axes visibility should be updated.
+  std::atomic<bool> isDirty{true};
+
+  /// @brief Holds a pointer to the scene.
+  ignition::rendering::ScenePtr scene{nullptr};
 };
 
 }  // namespace gui

delphyne_gui/visualizer/maliput_viewer_plugin/maliput_viewer_plugin.cc

@@ -464,51 +464,27 @@ void MaliputViewerPlugin::LoadConfig(const tinyxml2::XMLElement* _pluginElem) {
     return;
   }
 
-  // Initialization process based on Grid3D plugin implementation.
-  // See https://github.com/ignitionrobotics/ign-gui/blob/ign-gui3/src/plugins/grid_3d/Grid3D.cc#L187.
-  this->connect(this->PluginItem(), &QQuickItem::windowChanged, [this](QQuickWindow* _window) {
-    if (!_window) {
-      igndbg << "Changed to null window" << std::endl;
-      return;
-    }
-
-    this->quickWindow = _window;
+  // Install event filter.
+  ignition::gui::App()->findChild<ignition::gui::MainWindow*>()->installEventFilter(this);
 
-    // Initialize after Scene3D plugins
-    this->connect(this->quickWindow, &QQuickWindow::beforeRendering, this, &MaliputViewerPlugin::Initialize,
-                  Qt::DirectConnection);
-  });
+  // Set timer to get the scene.
+  timer.start(kTimerPeriodInMs, this);
 }
 
-void MaliputViewerPlugin::Initialize() {
-  // Get engine.
-  auto loadedEngNames = ignition::rendering::loadedEngines();
-  if (loadedEngNames.empty()) {
-    // Keep trying until an engine is loaded
+void MaliputViewerPlugin::timerEvent(QTimerEvent* _event) {
+  if (_event->timerId() != timer.timerId()) {
     return;
   }
-  if (this->engine == nullptr) this->engine = ignition::rendering::engine(this->kEngineName);
-
-  if (this->engine == nullptr) {
-    ignerr << "Failed to get engine [" + std::string(this->kEngineName) + "]" << std::endl;
-
-    this->disconnect(this->quickWindow, &QQuickWindow::beforeRendering, this, &MaliputViewerPlugin::Initialize);
 
-    return;
-  }
-  if (this->engine->SceneCount() == 0) {
-    // Scene may not be loaded yet, keep trying
-    return;
-  }
-  // Get the scene.
+  // Get the render engine.
+  // Note: we don't support other engines than Ogre.
+  auto engine = ignition::rendering::engine(kEngineName);
   scene = engine->SceneByName(kSceneName);
   if (!scene) {
-    ignwarn << "Scene \"" << kSceneName << "\" not found, meshes won't be loaded until the scene is created."
-            << std::endl;
-    // Scene may not be loaded yet, keep trying
+    ignwarn << "Scene \"" << kSceneName << "\" not found yet. Trying again in "
+            << " Trying again in " << kTimerPeriodInMs << "ms" << std::endl;
     return;
   }
-
   // Get root visual.
   rootVisual = scene->RootVisual();
   if (!rootVisual) {
@@ -525,15 +501,9 @@ void MaliputViewerPlugin::Initialize() {
     ignwarn << "Failed to find the camera, trying again" << std::endl;
     return;
   }
-
-  // Install event filter.
-  ignition::gui::App()->findChild<ignition::gui::MainWindow*>()->installEventFilter(this);
-
-  // Disconnect method.
-  this->disconnect(this->quickWindow, &QQuickWindow::beforeRendering, this, &MaliputViewerPlugin::Initialize);
-
   setUpScene = true;
   ignmsg << "MaliputViewerPlugin has been initialized." << std::endl;
+  timer.stop();
 }
 
 ignition::gui::Plugin* MaliputViewerPlugin::FilterPluginsByTitle(const std::string& _pluginTitle) {
@@ -574,7 +544,7 @@ void MaliputViewerPlugin::SetUpScene() {
 }
 
 bool MaliputViewerPlugin::eventFilter(QObject* _obj, QEvent* _event) {
-  if (isRoadNetworkLoaded) {
+  if (this->scene != nullptr && isRoadNetworkLoaded) {
     if (_event->type() == ignition::gui::events::LeftClickToScene::kType) {
       auto leftClickToScene = static_cast<ignition::gui::events::LeftClickToScene*>(_event);
       // TODO(https://github.com/ignitionrobotics/ign-gui/issues/209): use distance to camera once

delphyne_gui/visualizer/maliput_viewer_plugin/maliput_viewer_plugin.hh

@@ -146,13 +146,16 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   void tableLaneIdSelection(int _index);
 
  protected:
-  /// \brief Filters QMouseEvents from a Scene3D plugin whose title matches with `<main_scene_plugin_title>`.
+  /// \brief Filters ignition::gui::events::LeftClickToScene to get the clicks events.
   ///        Filters ignition::gui::events::Render events to update the meshes and labels of the roads and the animation
   ///        of the arrow mesh.
   /// \details To make this method be called by Qt Event System, install the event filter in target object.
   ///          \see QObject::installEventFilter() method.
   bool eventFilter(QObject* _obj, QEvent* _event) override;
 
+  /// @brief Timer event callback which handles the logic to get the scene.
+  void timerEvent(QTimerEvent* _event) override;
+
  protected slots:
   /// \brief Clears the visualizer, loads a RoadNetwork and update the GUI with meshes and labels.
   /// \param[in] _mapFile The path to the map file to load and visualize.
@@ -184,12 +187,12 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   /// @brief The scene name.
   static constexpr char const* kSceneName = "scene";
 
-  /// @brief The Scene3D instance holding the main scene.
-  static constexpr char const* kMainScene3dPlugin = "Main3DScene";
-
   /// @brief The rendering engine name.
   static constexpr char const* kEngineName = "ogre";
 
+  /// @brief The period in milliseconds of the timer to try to get the scene.
+  static constexpr int kTimerPeriodInMs{500};
+
   /// \brief Holds a maliput::api::RoadPositionResult which results from the
   ///        mapped scene click position into the Inertial frame and the
   ///        distance to the camera.
@@ -269,9 +272,6 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   /// \brief Clears all the references to text labels, meshes and the scene.
   void Clear();
 
-  /// \brief Get properties from the scene and install event filter for filtering QMouseEvents.
-  void Initialize();
-
   /// \brief Set up the scene modifying the light and instantiating the ArrowMesh, Selector and TrafficLightManager.
   void SetUpScene();
 
@@ -284,12 +284,6 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   /// \brief Handles the left click mouse event and populates roadPositionResultValue.
   void UpdateLaneSelectionOnLeftClick();
 
-  /// \brief Performs a raycast on the screen.
-  /// \param[in] screenX X screen's coordinate.
-  /// \param[in] screenY Y screen's coordinate.
-  /// \return A ignition::rendering::RayQueryResult.
-  ignition::rendering::RayQueryResult ScreenToScene(int _screenX, int _screenY) const;
-
   /// \brief Filters by title all the children of the parent plugin.
   /// \param _pluginTitle Title of the ignition::gui::plugin.
   /// \return A pointer to the plugin if found, nullptr otherwise.
@@ -368,6 +362,9 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   /// \brief Holds the info about the clicked surface that is displayed in the UI.
   QString laneInfo{};
 
+  /// @brief Triggers an event every `kTimerPeriodInMs` to try to get the scene.
+  QBasicTimer timer;
+
   /// \brief Holds the model of the tree view table where the phases are listed.
   PhaseTreeModel phaseTreeModel{this};
 
@@ -386,18 +383,9 @@ class MaliputViewerPlugin : public ignition::gui::Plugin {
   /// \brief A map that contains the default of the checkbox for meshes and labels.
   std::unordered_map<std::string, bool> objectVisualDefaults;
 
-  /// \brief Pointer to the render engine.
-  ignition::rendering::RenderEngine* engine{nullptr};
-
-  /// \brief Pointer to the QuickWindow instance.
-  QQuickWindow* quickWindow{nullptr};
-
   /// \brief Holds a pointer to the scene.
   ignition::rendering::ScenePtr scene{nullptr};
 
-  /// \brief Holds a pointer to a ray query.
-  ignition::rendering::RayQueryPtr rayQuery{nullptr};
-
   /// \brief Holds a pointer to the camera.
   ignition::rendering::CameraPtr camera{};