Feature/graph names and widths (#384)

* Graph data structure: default lane widths and a step towards #378 * use same QFont object across all Vertex::draw calls Signed-off-by: Morgan Quigley <[email protected]>
open-rmf · Sep 1, 2021 · f4ccf7e · f4ccf7e
1 parent bdde011
commit f4ccf7e
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Showing 9 changed files with 166 additions and 17 deletions.
diff --git a/rmf_traffic_editor/CMakeLists.txt b/rmf_traffic_editor/CMakeLists.txt
@@ -57,6 +57,7 @@ set(gui_sources
   gui/editor.cpp
   gui/editor_model.cpp
   gui/fiducial.cpp
+  gui/graph.cpp
   gui/layer.cpp
   gui/layer_dialog.cpp
   gui/layer_table.cpp

diff --git a/rmf_traffic_editor/gui/building.cpp b/rmf_traffic_editor/gui/building.cpp
@@ -143,6 +143,17 @@ bool Building::load(const string& _filename)
     }
   }
 
+  if (y["graphs"] && y["graphs"].IsMap())
+  {
+    const YAML::Node& g_map = y["graphs"];
+    for (YAML::const_iterator it = g_map.begin(); it != g_map.end(); ++it)
+    {
+      Graph graph;
+      graph.from_yaml(it->first.as<int>(), it->second);
+      graphs.push_back(graph);
+    }
+  }
+
   calculate_all_transforms();
   return true;
 }
@@ -170,6 +181,10 @@ bool Building::save()
   if (crowd_sim_impl)
     y["crowd_sim"] = crowd_sim_impl->to_yaml();
 
+  y["graphs"] = YAML::Node(YAML::NodeType::Map);
+  for (const auto& graph : graphs)
+    y["graphs"][graph.idx] = graph.to_yaml();
+
   YAML::Emitter emitter;
   yaml_utils::write_node(y, emitter);
   std::ofstream fout(filename);
@@ -694,7 +709,7 @@ void Building::draw(
     return;
   }
 
-  levels[level_idx].draw(scene, editor_models, rendering_options);
+  levels[level_idx].draw(scene, editor_models, rendering_options, graphs);
   draw_lifts(scene, level_idx);
 }
 

diff --git a/rmf_traffic_editor/gui/building.h b/rmf_traffic_editor/gui/building.h
@@ -29,6 +29,7 @@ class QGraphicsScene;
 #include <QGraphicsLineItem>
 #include <QPointF>
 
+#include "graph.h"
 #include "level.h"
 #include "lift.h"
 #include <traffic_editor/crowd_sim/crowd_sim_impl.h>
@@ -44,6 +45,7 @@ class Building
   std::string reference_level_name;
   std::vector<Level> levels;
   std::vector<Lift> lifts;
+  std::vector<Graph> graphs;
 
   mutable crowd_sim::CrowdSimImplPtr crowd_sim_impl;
 

diff --git a/rmf_traffic_editor/gui/graph.cpp b/rmf_traffic_editor/gui/graph.cpp
@@ -0,0 +1,51 @@
+/*
+ * 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.
+ *
+*/
+
+#include "graph.h"
+using std::string;
+
+Graph::Graph()
+{
+}
+
+Graph::~Graph()
+{
+}
+
+bool Graph::from_yaml(const int _idx, const YAML::Node& data)
+{
+  if (!data.IsMap())
+    throw std::runtime_error("Graph::from_yaml() expected a map");
+  idx = _idx;
+  //idx = std::stoi(idx_str);
+
+  if (data["name"])
+    name = data["name"].as<string>();
+
+  if (data["default_lane_width"])
+    default_lane_width = data["default_lane_width"].as<double>();
+
+  return true;
+}
+
+YAML::Node Graph::to_yaml() const
+{
+  YAML::Node data;
+  data["name"] = name;
+  data["default_lane_width"] = default_lane_width;
+  return data;
+}
diff --git a/rmf_traffic_editor/gui/graph.h b/rmf_traffic_editor/gui/graph.h
@@ -0,0 +1,39 @@
+/*
+ * 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.
+ *
+*/
+
+#ifndef TRAFFIC_EDITOR_GRAPH_H
+#define TRAFFIC_EDITOR_GRAPH_H
+
+#include <string>
+
+#include <yaml-cpp/yaml.h>
+
+class Graph
+{
+public:
+  Graph();
+  ~Graph();
+
+  int idx = 0;
+  std::string name;
+  double default_lane_width = 1.0;
+
+  bool from_yaml(const int _idx, const YAML::Node& data);
+  YAML::Node to_yaml() const;
+};
+
+#endif
diff --git a/rmf_traffic_editor/gui/level.cpp b/rmf_traffic_editor/gui/level.cpp
@@ -616,7 +616,8 @@ void Level::calculate_scale()
 void Level::draw_lane(
   QGraphicsScene* scene,
   const Edge& edge,
-  const RenderingOptions& opts) const
+  const RenderingOptions& opts,
+  const vector<Graph>& graphs) const
 {
   const int graph_idx = edge.get_graph_idx();
   if (graph_idx >= 0 &&
@@ -630,8 +631,24 @@ void Level::draw_lane(
   const double dy = v_end.y - v_start.y;
   const double len = std::sqrt(dx*dx + dy*dy);
 
-  double pen_width_in_meters = edge.get_width() > 0 ? edge.get_width() : 1.0;
-  const double lane_pen_width = pen_width_in_meters / drawing_meters_per_pixel;
+  // see if there is a default width for this graph_idx
+  double graph_default_width = -1.0;
+  for (const auto& graph : graphs)
+  {
+    if (graph.idx == graph_idx)
+    {
+      graph_default_width = graph.default_lane_width;
+      break;
+    }
+  }
+
+  double lane_width_meters = 1.0;
+  if (edge.get_width() > 0)
+    lane_width_meters = edge.get_width();
+  else if (graph_default_width > 0)
+    lane_width_meters = graph_default_width;
+
+  const double lane_pen_width = lane_width_meters / drawing_meters_per_pixel;
 
   const QPen arrow_pen(
     QBrush(QColor::fromRgbF(0.0, 0.0, 0.0, 0.5)),
@@ -1073,7 +1090,8 @@ void Level::clear_selection()
 void Level::draw(
   QGraphicsScene* scene,
   vector<EditorModel>& editor_models,
-  const RenderingOptions& rendering_options)
+  const RenderingOptions& rendering_options,
+  const vector<Graph>& graphs)
 {
   if (drawing_filename.size() && _drawing_visible)
   {
@@ -1110,22 +1128,40 @@ void Level::draw(
   {
     switch (edge.type)
     {
-      case Edge::LANE: draw_lane(scene, edge, rendering_options); break;
-      case Edge::WALL: draw_wall(scene, edge); break;
-      case Edge::MEAS: draw_meas(scene, edge); break;
-      case Edge::DOOR: draw_door(scene, edge); break;
-      case Edge::HUMAN_LANE: draw_lane(scene, edge, rendering_options); break;
+      case Edge::LANE:
+        draw_lane(scene, edge, rendering_options, graphs);
+        break;
+      case Edge::WALL:
+        draw_wall(scene, edge);
+        break;
+      case Edge::MEAS:
+        draw_meas(scene, edge);
+        break;
+      case Edge::DOOR:
+        draw_door(scene, edge);
+        break;
+      case Edge::HUMAN_LANE:
+        draw_lane(scene, edge, rendering_options, graphs);
+        break;
       default:
         printf("tried to draw unknown edge type: %d\n",
           static_cast<int>(edge.type));
         break;
     }
   }
 
+  QFont vertex_name_font("Helvetica");
+  double vertex_name_font_size =
+    vertex_radius / drawing_meters_per_pixel * 1.5;
+  if (vertex_name_font_size < 1.0)
+    vertex_name_font_size = 1.0;
+  vertex_name_font.setPointSizeF(vertex_name_font_size);
+
   for (const auto& v : vertices)
     v.draw(
       scene,
-      vertex_radius / drawing_meters_per_pixel);
+      vertex_radius / drawing_meters_per_pixel,
+      vertex_name_font);
 
   for (const auto& f : fiducials)
     f.draw(scene, drawing_meters_per_pixel);

diff --git a/rmf_traffic_editor/gui/level.h b/rmf_traffic_editor/gui/level.h
@@ -26,6 +26,7 @@
 #include "editor_model.h"
 #include "feature.hpp"
 #include "fiducial.h"
+#include "graph.h"
 #include "layer.h"
 #include "model.h"
 #include "polygon.h"
@@ -161,7 +162,8 @@ class Level
   void draw(
     QGraphicsScene* scene,
     std::vector<EditorModel>& editor_models,
-    const RenderingOptions& rendering_options);
+    const RenderingOptions& rendering_options,
+    const std::vector<Graph>& graphs);
 
   void clear_scene();
 
@@ -203,7 +205,8 @@ class Level
   void draw_lane(
     QGraphicsScene* scene,
     const Edge& edge,
-    const RenderingOptions& rendering_options) const;
+    const RenderingOptions& rendering_options,
+    const std::vector<Graph>& graphs) const;
 
   void draw_wall(QGraphicsScene* scene, const Edge& edge) const;
   void draw_meas(QGraphicsScene* scene, const Edge& edge) const;

diff --git a/rmf_traffic_editor/gui/vertex.cpp b/rmf_traffic_editor/gui/vertex.cpp
@@ -102,7 +102,8 @@ YAML::Node Vertex::to_yaml() const
 
 void Vertex::draw(
   QGraphicsScene* scene,
-  const double radius) const
+  const double radius,
+  const QFont& font) const
 {
   QPen vertex_pen(Qt::black);
   vertex_pen.setWidthF(radius / 2.0);
@@ -240,9 +241,9 @@ void Vertex::draw(
   {
     QGraphicsSimpleTextItem* text_item = scene->addSimpleText(
       QString::fromStdString(name),
-      QFont("Helvetica", 6));
+      font);
     text_item->setBrush(selected ? selected_color : vertex_color);
-    text_item->setPos(x, y + radius);
+    text_item->setPos(x, y - 1 + radius);
   }
 }
 

diff --git a/rmf_traffic_editor/gui/vertex.h b/rmf_traffic_editor/gui/vertex.h
@@ -53,7 +53,8 @@ class Vertex
 
   void draw(
     QGraphicsScene* scene,
-    const double radius) const;
+    const double radius,
+    const QFont& font) const;
 
   bool is_parking_point() const;
   bool is_holding_point() const;