Adds a "Attach Plugin" context menu

src/gui/plugins/entity_context_menu/EntityContextMenuPlugin.cc

@@ -17,8 +17,10 @@
 
 #include "EntityContextMenuPlugin.hh"
 
+#include <cstdint>
 #include <memory>
 #include <utility>
+#include <variant>
 
 #include <QtQml>
 
@@ -159,9 +161,10 @@ void EntityContextMenuItem::SetEntityContextMenuHandler(
 }
 
 ///////////////////////////////////////////////////
-void EntityContextMenuItem::OnContextMenuRequested(QString _entity)
+void EntityContextMenuItem::OnContextMenuRequested(
+  QString _entity, uint64_t _eid)
 {
-  emit openContextMenu(std::move(_entity));
+  emit openContextMenu(std::move(_entity), _eid);
 }
 
 /////////////////////////////////////////////////
@@ -197,7 +200,13 @@ void EntityContextMenuHandler::HandleMouseContextMenu(
       visual = std::dynamic_pointer_cast<rendering::Visual>(visual->Parent());
     }
 
-    emit ContextMenuRequested(visual->Name().c_str());
+    uint64_t entityId = kNullEntity;
+    if (std::holds_alternative<uint64_t>(visual->UserData("gazebo-entity")))
+    {
+      entityId = std::get<uint64_t>(visual->UserData("gazebo-entity"));
+    }
+
+    emit ContextMenuRequested(visual->Name().c_str(), entityId);
   }
 }
 

src/gui/plugins/entity_context_menu/EntityContextMenuPlugin.hh

@@ -26,6 +26,8 @@
 
 #include <gz/rendering/Camera.hh>
 
+#include <gz/sim/Entity.hh>
+
 namespace gz
 {
 namespace sim
@@ -70,7 +72,7 @@ namespace sim
 
     /// \brief Signal fired when context menu event is triggered
     /// \param[in] _entity Scoped name of entity.
-    signals: void ContextMenuRequested(QString _entity);
+    signals: void ContextMenuRequested(QString _entity, uint64_t _entityId);
   };
 
   /// \brief A QQUickItem that manages the render window
@@ -91,11 +93,12 @@ namespace sim
     /// Note that the function name needs to start with lowercase in order for
     /// the connection to work on the QML side
     /// \param[in] _entity Scoped name of entity.
-    signals: void openContextMenu(QString _entity); // NOLINT
+    signals: void openContextMenu(QString _entity, uint64_t _entiyI); // NOLINT
 
     /// \brief Qt callback when context menu request is received
     /// \param[in] _entity Scoped name of entity.
-    public slots: void OnContextMenuRequested(QString _entity);
+    public slots: void OnContextMenuRequested(QString _entity,
+      uint64_t _entityId);
   };
 }
 }

src/gui/plugins/entity_context_menu/EntityContextMenuPlugin.qml

@@ -55,9 +55,9 @@ ColumnLayout {
 
     Connections {
       target: renderWindowOverlay
-      function onOpenContextMenu(_entity)
+      function onOpenContextMenu(_entity, _eid)
       {
-        entityContextMenu.open(_entity, "model");
+        entityContextMenu.open(_entity, "model", _eid);
       }
     }
   }

src/gui/plugins/modules/EntityContextMenu.cc

@@ -21,8 +21,10 @@
 #include <gz/msgs/boolean.pb.h>
 #include <gz/msgs/cameratrack.pb.h>
 #include <gz/msgs/entity.pb.h>
+#include <gz/msgs/entity_plugin_v.pb.h>
 #include <gz/msgs/stringmsg.pb.h>
 
+#include <functional>
 #include <iostream>
 #include <mutex>
 #include <string>
@@ -89,6 +91,9 @@ namespace gz::sim
     /// \brief Storing last follow target for look at.
     public: std::string followTargetLookAt;
 
+    /// \brief Add plugin service
+    public: std::string addPluginService;
+
     /// \brief Flag used to disable look at when not following target.
     public: bool followingTarget{false};
 
@@ -325,7 +330,7 @@ void EntityContextMenu::OnRequest(const QString &_request, const QString &_data)
   }
   else if (request == "view_frames")
   {
-    gz::msgs::StringMsg req;
+    msgs::StringMsg req;
     req.set_data(_data.toStdString());
     this->dataPtr->node.Request(this->dataPtr->viewFramesService, req, cb);
   }
@@ -345,3 +350,52 @@ void EntityContextMenu::OnRequest(const QString &_request, const QString &_data)
     gzwarn << "Unknown request [" << request << "]" << std::endl;
   }
 }
+
+/////////////////////////////////////////////////
+void EntityContextMenu::OnAddPlugin(const QString &_name,
+        const QString &_filename, const QString &_innerXml,
+        const uint64_t _entity) {
+
+  if (this->dataPtr->worldName.empty())
+  {
+    auto runners = gui::App()->findChildren<GuiRunner *>();
+    if (runners.empty() || runners[0] == nullptr)
+    {
+      gzerr << "Internal error: no GuiRunner found." << std::endl;
+      return;
+    }
+
+    this->dataPtr->worldName = "default";
+    auto worldNameVariant = runners[0]->property("worldName");
+    if (!worldNameVariant.isValid())
+    {
+      gzwarn << "GuiRunner's worldName not set, using["
+              << this->dataPtr->worldName << "]" << std::endl;
+    }
+    else
+    {
+      this->dataPtr->worldName = worldNameVariant.toString().toStdString();
+    }
+    this->dataPtr->removeService =
+      "/world/" + this->dataPtr->worldName + "/remove";
+  }
+  this->dataPtr->addPluginService =
+      "/world/" + this->dataPtr->worldName + "/entity/system/add";
+  std::function<void(const msgs::Boolean &, const bool)> cb =
+      [](const msgs::Boolean &/*_rep*/, const bool _result)
+  {
+    if (!_result)
+      gzerr << "Error creating new plugin" << std::endl;
+  };
+
+  msgs::EntityPlugin_V entity_plugin_message;
+  msgs::Entity* entity = entity_plugin_message.mutable_entity();
+  entity->set_id(_entity);
+  msgs::Plugin* new_plugin = entity_plugin_message.add_plugins();
+  new_plugin->set_name(_name.toStdString());
+  new_plugin->set_filename(_filename.toStdString());
+  new_plugin->set_innerxml(_innerXml.toStdString());
+
+  this->dataPtr->node.Request(
+    this->dataPtr->addPluginService, entity_plugin_message, cb);
+}

src/gui/plugins/modules/EntityContextMenu.hh

@@ -88,6 +88,15 @@ namespace sim
     public: Q_INVOKABLE void OnRequest(const QString &_request,
         const QString &_data);
 
+    /// \brief Callback when a new plugin window finishes configuring
+    /// \param[in] _name Plugin name
+    /// \param[in] _filename Plugin filename
+    /// \param[in] _innerXml Inner XML of the plugin
+    /// \param[in] _entity Entity to attach plugin to
+    public: Q_INVOKABLE void OnAddPlugin(const QString &_name,
+        const QString &_filename, const QString &_innerXml,
+        const uint64_t _entity);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<EntityContextMenuPrivate> dataPtr;

src/gui/plugins/modules/EntityContextMenu.qml

@@ -14,8 +14,12 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.0
-import QtQuick.Controls 2.0
+import QtCore
+import QtQuick 2.9
+import QtQuick.Controls
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs
+import QtQuick.Layouts 1.3
 import GzSim 1.0 as GzSim
 
 Item {
@@ -80,6 +84,14 @@ Item {
         onEntered: thirdMenu.open()
       }
     }
+    MenuItem {
+      id: attachPlugin
+      text: "Attach Plugin"
+      onTriggered: {
+        menu.close()
+        pluginDialog.open()
+      }
+    }
   }
   Menu {
     id: secondMenu
@@ -172,9 +184,10 @@ Item {
     }
   }
 
-  function open(_entity, _type) {
+  function open(_entity, _type, _eid) {
     context.entity = _entity
     context.type = _type
+    context.eid = _eid
     moveToMenu.enabled = false
     followMenu.enabled = false
     followFreeLookMenu.enabled = false
@@ -233,9 +246,91 @@ Item {
     menu.popup()
   }
 
+  Dialog {
+    id: pluginDialog
+    title: "Add Plugin Dialog"
+    modal: true
+    standardButtons: Dialog.Ok | Dialog.Cancel // Adds standard buttons
+    parent: Overlay.overlay
+    //parent: customPlugin.Window.window ? customPlugin.Window.window.contentItem : customPlugin
+    x: (parent.width - width) / 2
+    y: (parent.height - height) / 2
+    width: parent.width * 0.3
+    height: parent.height * 0.6
+
+    contentItem: Item {
+      // Your dialog content goes here
+      width: parent.width
+      height: parent.height
+      Column {
+        anchors.centerIn: parent
+        spacing: 10
+        width: parent.width * 0.8 // Make inputs a bit narrower than parent
+        height: parent.height
+
+        Text {
+          id: pluginNameLbl
+          text: "Plugin Name:"
+        }
+
+        TextInput {
+          id: pluginNames
+          width: parent.width
+          height: 20
+
+        }
+
+        Text {
+          id: pluginFilesLbl
+          text: "Plugin Filename:"
+        }
+
+        TextInput {
+          id: pluginFilename
+          width: parent.width
+          height: 20
+        }
+
+        Text {
+          id: pluginSdfLbl
+          text: "Enter the inner-xml of your plugin"
+        }
+
+        TextArea {
+            id: pluginParams
+            width: parent.width
+            height: parent.y + parent.height - (pluginSdfLbl.y + pluginFilesLbl.height)  // Set a reasonable height
+
+            font.family: "Monospace"
+            background: Rectangle {
+                 color: "transparent" // No fill
+                 border.width: 2     // No border
+                 border.color: "lightblue"
+            }
+            leftPadding: 5
+            topPadding: 5
+            rightPadding: 5
+            bottomPadding: 5
+        }
+      }
+    }
+
+    onAccepted: {
+        console.log("Dialog Accepted!");
+        context.OnAddPlugin(pluginNames.text, pluginFilename.text, pluginParams.text, context.eid)
+        // Perform actions when OK is clicked
+    }
+
+    onRejected: {
+        console.log("Dialog Rejected!");
+        // Perform actions when Cancel is clicked or dialog is closed
+    }
+  }
+
   GzSim.EntityContextMenuItem {
     id: context
     property string entity
     property string type
+    property int eid
   }
 }