Merge 3afef9a into e647570

examples/worlds/joint_position_controller.sdf

@@ -4,9 +4,9 @@
 
   Try sending joint position commands:
 
-    ign topic -t "/model/joint_position_controller_demo/joint/j1/0/cmd_pos" -m ignition.msgs.Double -p "data: -1.0"
+    ign topic -t "/rotor_cmd" -m ignition.msgs.Double -p "data: -1.0"
 
-    ign topic -t "/model/joint_position_controller_demo/joint/j1/0/cmd_pos" -m ignition.msgs.Double -p "data: 1.0"
+    ign topic -t "/rotor_cmd" -m ignition.msgs.Double -p "data: 1.0"
 -->
 <sdf version="1.6">
   <world name="default">
@@ -45,7 +45,7 @@
           <property type="double" key="height">72</property>
           <property type="double" key="width">121</property>
           <property type="double" key="z">1</property>
-          
+
           <property type="string" key="state">floating</property>
           <anchors target="3D View">
             <line own="left" target="left"/>
@@ -156,6 +156,7 @@
         filename="ignition-gazebo-joint-position-controller-system"
         name="ignition::gazebo::systems::JointPositionController">
         <joint_name>j1</joint_name>
+        <topic>rotor_cmd</topic>
         <p_gain>1</p_gain>
         <i_gain>0.1</i_gain>
         <d_gain>0.01</d_gain>

src/gui/AboutDialogHandler.cc

@@ -0,0 +1,67 @@
+/*
+ * 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 "AboutDialogHandler.hh"
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Profiler.hh>
+#include <ignition/gui/Application.hh>
+
+using namespace ignition;
+using namespace gazebo;
+using namespace gazebo::gui;
+
+/////////////////////////////////////////////////
+AboutDialogHandler::AboutDialogHandler()
+{
+  aboutText += std::string(IGNITION_GAZEBO_VERSION_HEADER);
+  aboutText += "<table class='nostyle'>"
+                 "<tr>"
+                   "<td style='padding-right: 10px;'>Documentation:"
+                   "</td>"
+                   "<td>"
+                     "<a href='https://ignitionrobotics.org/libs/gazebo' "
+                     "style='text-decoration: none; color: #f58113'>"
+                       "https://ignitionrobotics.org/libs/gazebo"
+                     "</a>"
+                   "</td>"
+                 "</tr>"
+                 "<tr>"
+                   "<td style='padding-right: 10px;'>"
+                     "Tutorials:"
+                   "</td>"
+                   "<td>"
+                     "<a href='https://ignitionrobotics.org/docs/' "
+                     "style='text-decoration: none; color: #f58113'>"
+                       "https://ignitionrobotics.org/docs/"
+                     "</a>"
+                   "</td>"
+                 "</tr>"
+               "</table>";
+}
+
+/////////////////////////////////////////////////
+QString AboutDialogHandler::getVersionInformation()
+{
+  return QString::fromStdString(this->aboutText);
+}
+
+/////////////////////////////////////////////////
+void AboutDialogHandler::openURL(QString _url)
+{
+  QDesktopServices::openUrl(QUrl(_url));
+}

src/gui/AboutDialogHandler.hh

@@ -0,0 +1,58 @@
+/*
+ * 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 IGNITION_GAZEBO_GUI_ABOUTDIALOGHANDLER_HH_
+#define IGNITION_GAZEBO_GUI_ABOUTDIALOGHANDLER_HH_
+
+#include <QtCore>
+#include <QDesktopServices>
+#include <string>
+
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/Export.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace gui
+{
+/// \brief Class for handling about dialog
+class IGNITION_GAZEBO_VISIBLE AboutDialogHandler : public QObject
+{
+  Q_OBJECT
+
+  /// \brief Constructor
+  public: AboutDialogHandler();
+
+  /// \brief Get version information
+  /// \return Version information in rich text format
+  Q_INVOKABLE QString getVersionInformation();
+
+  /// \brief Function called from QML when user clicks on a link
+  /// \param[in] _url Url to web page.
+  Q_INVOKABLE void openURL(QString _url);
+
+  /// \brief Version information and links to online resources
+  private: std::string aboutText;
+};
+}
+}
+}
+}
+#endif

src/gui/CMakeLists.txt

@@ -1,4 +1,5 @@
 set (gui_sources
+  AboutDialogHandler.cc
   Gui.cc
   GuiFileHandler.cc
   GuiRunner.cc

src/gui/Gui.cc

@@ -28,6 +28,7 @@
 #include "ignition/gazebo/gui/TmpIface.hh"
 
 #include "ignition/gazebo/gui/Gui.hh"
+#include "AboutDialogHandler.hh"
 #include "GuiFileHandler.hh"
 #include "PathManager.hh"
 
@@ -69,6 +70,9 @@ std::unique_ptr<ignition::gui::Application> createGui(
   auto tmp = new ignition::gazebo::TmpIface();
   tmp->setParent(app->Engine());
 
+  auto aboutDialogHandler = new ignition::gazebo::gui::AboutDialogHandler();
+  aboutDialogHandler->setParent(app->Engine());
+
   auto guiFileHandler = new ignition::gazebo::gui::GuiFileHandler();
   guiFileHandler->setParent(app->Engine());
 
@@ -108,6 +112,7 @@ std::unique_ptr<ignition::gui::Application> createGui(
   // Let QML files use TmpIface' functions and properties
   auto context = new QQmlContext(app->Engine()->rootContext());
   context->setContextProperty("TmpIface", tmp);
+  context->setContextProperty("AboutDialogHandler", aboutDialogHandler);
   context->setContextProperty("GuiFileHandler", guiFileHandler);
 
   // Instantiate GazeboDrawer.qml file into a component

src/gui/resources/GazeboDrawer.qml

@@ -60,6 +60,9 @@ Rectangle {
       case "loadWorld":
         loadWorldDialog.open();
         break
+      case "aboutDialog":
+        aboutDialog.open();
+        break
       // Forward others to default drawer
       default:
         parent.onAction(_action);
@@ -110,6 +113,10 @@ Rectangle {
       title: "Style settings"
       actionElement: "styleSettings"
     }
+    ListElement {
+      title: "About"
+      actionElement: "aboutDialog"
+    }
     ListElement {
       title: "Quit"
       actionElement: "close"
@@ -165,6 +172,34 @@ Rectangle {
     }
   }
 
+  /**
+   * About dialog
+   */
+  Dialog {
+    id: aboutDialog
+    title: "Ignition Gazebo"
+
+    modal: true
+    focus: true
+    parent: ApplicationWindow.overlay
+    width: parent.width / 3 > 500 ? 500 : parent.width / 3
+    x: (parent.width - width) / 2
+    y: (parent.height - height) / 2
+    closePolicy: Popup.CloseOnEscape
+    standardButtons: StandardButton.Ok
+
+    Text {
+      anchors.fill: parent
+      id: aboutMessage
+      wrapMode: Text.Wrap
+      verticalAlignment: Text.AlignVCenter
+      color: Material.theme == Material.Light ? "black" : "white"
+      textFormat: Text.RichText
+      text: AboutDialogHandler.getVersionInformation()
+      onLinkActivated: AboutDialogHandler.openURL(link)
+    }
+  }
+
   /**
    * Dialog with configurations for SDF generation
    */