A Gazebo GUI application loads a QML engine and provides an API to load plugins and configuration files. The application supports either running a single main window or several plugins as standalone dialogs. More...

#include <Application.hh>

Public Slots
void	OnPluginClose ()
	Callback when user requests to close a plugin.

Signals
void	PluginAdded (const QString &_objectName)
	Notify that a plugin has been added.

Public Member Functions
	Application (int &_argc, char *_argv, const WindowType _type=WindowType::kMainWindow, const char _renderEngineGuiApiBackend=nullptr)
	Constructor.

virtual	~Application ()
	Destructor.

void	AddPluginPath (const std::string &_path)
	Add an path to look for plugins.

bool	CreateMainWindow ()
	Create a main window. Just calls InitializeMainWindow.

std::string	DefaultConfigPath () const
	Get the location of the default configuration file.

QQmlApplicationEngine *	Engine () const
	Get the QML engine.

bool	LoadConfig (const std::string &_path)
	Load a configuration file, which includes window configurations and plugins. This function doesn't instantiate the plugins, it just keeps them in memory and they can be applied later by either instantiating a window or several dialogs.

bool	LoadDefaultConfig ()
	Load the configuration from the default config file.

bool	LoadPlugin (const std::string &_filename, const tinyxml2::XMLElement *_pluginElem=nullptr)
	Load a plugin from a file name. The plugin file must be in the path. If a window has been initialized, the plugin is added to the window. Otherwise, the plugin is stored and can be later added to a window or dialog.

bool	LoadWindowConfig (const tinyxml2::XMLElement &_window)
	Load window configuration from XML element. This is the `<window>` element inside a gui config file.

std::shared_ptr< Plugin >	PluginByName (const std::string &_pluginName) const
	Get a plugin by its unique name.

std::vector< std::pair< std::string, std::vector< std::string > > >	PluginList ()
	Get the list of available plugins, organized by path. The paths are given in the following order:

bool	RemovePlugin (const std::string &_pluginName)
	Remove plugin by name. The plugin is removed from the application and its shared library unloaded if this was its last instance.

std::string	ResolveConfigFile (const std::string &_path) const
	Given an input config path, resolve its absolute path, potentially searching for it in locations specified by `GZ_GUI_RESOURCE_PATH`.

void	SetDefaultConfigPath (const std::string &_path)
	Specifies the location of the default configuration file. This is the file that stores the user settings when pressing "Save configuration".

void	SetPluginPathEnv (const std::string &_env)
	Set the environment variable which defines the paths to look for plugins.

Public Member Functions inherited from QApplication
	QApplication (Display display, int &argc, char *argv, Qt::HANDLE visual, Qt::HANDLE colormap)

	QApplication (Display *display, Qt::HANDLE visual, Qt::HANDLE colormap)

	QApplication (int &argc, char **argv)

	QApplication (int &argc, char **argv, bool GUIenabled)

	QApplication (int &argc, char **argv, Type type)

	QApplication (QApplication::QS60MainApplicationFactory factory, int &argc, char **argv)

virtual	~QApplication ()

void	aboutToReleaseGpuResources ()

void	aboutToUseGpuResources ()

int	autoMaximizeThreshold () const

bool	autoSipEnabled () const

virtual void	commitData (QSessionManager &manager)

void	commitDataRequest (QSessionManager &manager)

void	focusChanged (QWidget old, QWidget now)

void	fontDatabaseChanged ()

QInputContext *	inputContext () const

bool	isSessionRestored () const

void	lastWindowClosed ()

virtual bool	macEventFilter (EventHandlerCallRef caller, EventRef event)

virtual bool	notify (QObject receiver, QEvent e)

virtual bool	qwsEventFilter (QWSEvent *event)

void	qwsSetCustomColors (QRgb *colorTable, int start, int numColors)

virtual void	saveState (QSessionManager &manager)

void	saveStateRequest (QSessionManager &manager)

QString	sessionId () const

QString	sessionKey () const

void	setAutoMaximizeThreshold (const int threshold)

void	setAutoSipEnabled (const bool enabled)

void	setInputContext (QInputContext *inputContext)

void	setStyleSheet (const QString &sheet)

QString	styleSheet () const

virtual bool	symbianEventFilter (const QSymbianEvent *event)

int	symbianProcessEvent (const QSymbianEvent *event)

virtual bool	x11EventFilter (XEvent *event)

int	x11ProcessEvent (XEvent *event)

Public Member Functions inherited from QCoreApplication
	QCoreApplication (int &argc, char **argv)

	~QCoreApplication ()

void	aboutToQuit ()

bool	filterEvent (void message, long result)

void	lock ()

bool	locked ()

EventFilter	setEventFilter (EventFilter filter)

bool	tryLock ()

void	unlock (bool wakeUpGui)

virtual bool	winEventFilter (MSG msg, long result)

Public Member Functions inherited from QObject
	QObject (QObject *parent)

	QObject (QObject parent, const char name)

virtual	~QObject ()

bool	blockSignals (bool block)

QObject *	child (const char objName, const char inheritsClass, bool recursiveSearch) const

const QObjectList &	children () const

const char *	className () const

bool	connect (const QObject sender, const char signal, const char *method, Qt::ConnectionType type) const

void	deleteLater ()

void	destroyed (QObject *obj)

bool	disconnect (const char signal, const QObject receiver, const char *method)

bool	disconnect (const QObject receiver, const char method)

void	dumpObjectInfo ()

void	dumpObjectTree ()

QList< QByteArray >	dynamicPropertyNames () const

virtual bool	eventFilter (QObject watched, QEvent event)

T	findChild (const QString &name) const

QList< T >	findChildren (const QRegExp &regExp) const

QList< T >	findChildren (const QString &name) const

bool	inherits (const char *className) const

void	insertChild (QObject *object)

void	installEventFilter (QObject *filterObj)

bool	isA (const char *className) const

bool	isWidgetType () const

void	killTimer (int id)

virtual const QMetaObject *	metaObject () const

void	moveToThread (QThread *targetThread)

const char *	name () const

const char *	name (const char *defaultName) const

QString	objectName () const

QObject *	parent () const

QVariant	property (const char *name) const

void	removeChild (QObject *object)

void	removeEventFilter (QObject *obj)

void	setName (const char *name)

void	setObjectName (const QString &name)

void	setParent (QObject *parent)

bool	setProperty (const char *name, const QVariant &value)

bool	signalsBlocked () const

int	startTimer (int interval)

QThread *	thread () const

Additional Inherited Members
Static Public Member Functions inherited from QApplication
void	aboutQt ()

QWidget *	activeModalWidget ()

QWidget *	activePopupWidget ()

QWidget *	activeWindow ()

void	alert (QWidget *widget, int msec)

QWidgetList	allWidgets ()

void	beep ()

void	changeOverrideCursor (const QCursor &cursor)

QClipboard *	clipboard ()

void	closeAllWindows ()

ColorMode	colorMode ()

int	colorSpec ()

int	cursorFlashTime ()

QDesktopWidget *	desktop ()

bool	desktopSettingsAware ()

int	doubleClickInterval ()

int	exec ()

void	flushX ()

QWidget *	focusWidget ()

QFont	font ()

QFont	font (const char *className)

QFont	font (const QWidget *widget)

QFontMetrics	fontMetrics ()

QSize	globalStrut ()

bool	hasGlobalMouseTracking ()

Qt::Alignment	horizontalAlignment (QFlags< Qt::AlignmentFlag > align)

bool	isEffectEnabled (Qt::UIEffect effect)

bool	isLeftToRight ()

bool	isRightToLeft ()

Qt::LayoutDirection	keyboardInputDirection ()

int	keyboardInputInterval ()

QLocale	keyboardInputLocale ()

Qt::KeyboardModifiers	keyboardModifiers ()

bool	keypadNavigationEnabled ()

Qt::LayoutDirection	layoutDirection ()

Qt::MacintoshVersion	macVersion ()

QWidget *	mainWidget ()

Qt::MouseButtons	mouseButtons ()

Qt::NavigationMode	navigationMode ()

QCursor *	overrideCursor ()

QPalette	palette ()

QPalette	palette (const char *className)

QPalette	palette (const QWidget *widget)

Qt::KeyboardModifiers	queryKeyboardModifiers ()

bool	quitOnLastWindowClosed ()

QDecoration &	qwsDecoration ()

QDecoration *	qwsSetDecoration (const QString &decoration)

void	qwsSetDecoration (QDecoration *decoration)

void	restoreOverrideCursor ()

bool	reverseLayout ()

void	setActiveWindow (QWidget *active)

void	setColorMode (ColorMode mode)

void	setColorSpec (int spec)

void	setCursorFlashTime (int)

void	setDesktopSettingsAware (bool on)

void	setDoubleClickInterval (int)

void	setEffectEnabled (Qt::UIEffect effect, bool enable)

void	setFont (const QFont &font, bool b, const char *className)

void	setFont (const QFont &font, const char *className)

void	setGlobalMouseTracking (bool dummy)

void	setGlobalStrut (const QSize &)

void	setGraphicsSystem (const QString &system)

void	setKeyboardInputInterval (int)

void	setLayoutDirection (Qt::LayoutDirection direction)

void	setMainWidget (QWidget *mainWidget)

void	setNavigationMode (Qt::NavigationMode mode)

void	setOverrideCursor (const QCursor &cursor)

void	setOverrideCursor (const QCursor &cursor, bool replace)

void	setPalette (const QPalette &pal, bool b, const char *className)

void	setPalette (const QPalette &palette, const char *className)

void	setQuitOnLastWindowClosed (bool quit)

void	setReverseLayout (bool reverse)

void	setStartDragDistance (int l)

void	setStartDragTime (int ms)

QStyle *	setStyle (const QString &style)

void	setStyle (QStyle *style)

void	setWheelScrollLines (int)

void	setWindowIcon (const QIcon &icon)

void	setWinStyleHighlightColor (const QColor &c)

int	startDragDistance ()

int	startDragTime ()

QStyle *	style ()

void	syncX ()

QWidget *	topLevelAt (const QPoint &point)

QWidget *	topLevelAt (int x, int y)

QWidgetList	topLevelWidgets ()

Type	type ()

int	wheelScrollLines ()

QWidget *	widgetAt (const QPoint &point)

QWidget *	widgetAt (const QPoint &point, bool child)

QWidget *	widgetAt (int x, int y)

QWidget *	widgetAt (int x, int y, bool child)

QIcon	windowIcon ()

const QColor &	winStyleHighlightColor ()

Qt::WindowsVersion	winVersion ()

Static Public Member Functions inherited from QCoreApplication
void	addLibraryPath (const QString &path)

QString	applicationDirPath ()

QString	applicationFilePath ()

QString	applicationName ()

qint64	applicationPid ()

QString	applicationVersion ()

int	argc ()

QStringList	arguments ()

char **	argv ()

bool	closingDown ()

int	enter_loop ()

int	exec ()

void	exit (int returnCode)

void	exit_loop ()

void	flush ()

bool	hasPendingEvents ()

void	installTranslator (QTranslator *translationFile)

QCoreApplication *	instance ()

QStringList	libraryPaths ()

int	loopLevel ()

QString	organizationDomain ()

QString	organizationName ()

void	postEvent (QObject receiver, QEvent event)

void	postEvent (QObject receiver, QEvent event, int priority)

void	processEvents (QFlags< QEventLoop::ProcessEventsFlag > flags)

void	processEvents (QFlags< QEventLoop::ProcessEventsFlag > flags, int maxtime)

void	processOneEvent ()

void	quit ()

void	removeLibraryPath (const QString &path)

void	removePostedEvents (QObject *receiver)

void	removePostedEvents (QObject *receiver, int eventType)

void	removeTranslator (QTranslator *translationFile)

bool	sendEvent (QObject receiver, QEvent event)

void	sendPostedEvents ()

void	sendPostedEvents (QObject *receiver, int event_type)

void	setApplicationName (const QString &application)

void	setApplicationVersion (const QString &version)

void	setAttribute (Qt::ApplicationAttribute attribute, bool on)

void	setLibraryPaths (const QStringList &paths)

void	setOrganizationDomain (const QString &orgDomain)

void	setOrganizationName (const QString &orgName)

bool	startingUp ()

bool	testAttribute (Qt::ApplicationAttribute attribute)

QString	translate (const char context, const char sourceText, const char *disambiguation, Encoding encoding)

QString	translate (const char context, const char sourceText, const char *disambiguation, Encoding encoding, int n)

Static Public Member Functions inherited from QObject
bool	connect (const QObject sender, const char signal, const QObject receiver, const char method, Qt::ConnectionType type)

bool	connect (const QObject sender, const QMetaMethod &signal, const QObject receiver, const QMetaMethod &method, Qt::ConnectionType type)

bool	disconnect (const QObject sender, const char signal, const QObject receiver, const char method)

bool	disconnect (const QObject sender, const QMetaMethod &signal, const QObject receiver, const QMetaMethod &method)

QString	tr (const char sourceText, const char disambiguation, int n)

QString	trUtf8 (const char sourceText, const char disambiguation, int n)

Public Attributes inherited from QApplication
typedef	ColorMode

typedef	QS60MainApplicationFactory

Public Attributes inherited from QCoreApplication
typedef	EventFilter

Protected Member Functions inherited from QApplication
virtual bool	event (QEvent *e)

Protected Member Functions inherited from QObject
bool	checkConnectArgs (const char signal, const QObject object, const char *method)

virtual void	childEvent (QChildEvent *event)

virtual void	connectNotify (const char *signal)

virtual void	customEvent (QEvent *event)

virtual void	disconnectNotify (const char *signal)

int	receivers (const char *signal) const

QObject *	sender () const

int	senderSignalIndex () const

virtual void	timerEvent (QTimerEvent *event)

Static Protected Member Functions inherited from QObject
QByteArray	normalizeSignalSlot (const char *signalSlot)

Properties inherited from QApplication
	autoMaximizeThreshold

	autoSipEnabled

	cursorFlashTime

	doubleClickInterval

	globalStrut

	keyboardInputInterval

	layoutDirection

	quitOnLastWindowClosed

	startDragDistance

	startDragTime

	styleSheet

	wheelScrollLines

	windowIcon

Properties inherited from QCoreApplication
	applicationName

	applicationVersion

	organizationDomain

	organizationName

Properties inherited from QObject
	objectName

Detailed Description

A Gazebo GUI application loads a QML engine and provides an API to load plugins and configuration files. The application supports either running a single main window or several plugins as standalone dialogs.

Constructor & Destructor Documentation

◆ Application()

Application	(	int &	_argc,
		char **	_argv,
		const WindowType	_type = `WindowType::kMainWindow`,
		const char *	_renderEngineGuiApiBackend = `nullptr`
	)

Constructor.

Parameters

[in]	_argc	Argument count.
[in]	_argv	Argument values.
[in]	_type	Window type, by default it's a main window.
[in]	_renderEngineGuiApiBackend	–render-engine-gui-api-backend option

◆ ~Application()

virtual ~Application ( )

virtual

Destructor.

Member Function Documentation

◆ AddPluginPath()

void AddPluginPath ( const std::string & _path )

Add an path to look for plugins.

Parameters

[in] _path Full path.

◆ CreateMainWindow()

bool CreateMainWindow ( )

Create a main window. Just calls InitializeMainWindow.

Returns: True if successful

See also: InitializeMainWindow

◆ DefaultConfigPath()

std::string DefaultConfigPath ( ) const

Get the location of the default configuration file.

Returns: The default configuration path.

See also: LoadDefaultConfig; SetDefaultConfigPath

◆ Engine()

QQmlApplicationEngine * Engine ( ) const

Get the QML engine.

Returns: Pointer to QML engine

◆ LoadConfig()

bool LoadConfig ( const std::string & _path )

Load a configuration file, which includes window configurations and plugins. This function doesn't instantiate the plugins, it just keeps them in memory and they can be applied later by either instantiating a window or several dialogs.

Parameters

[in] _path Full path to configuration file.

Returns: True if successful

See also: InitializeMainWindow; InitializeDialogs

◆ LoadDefaultConfig()

bool LoadDefaultConfig ( )

Load the configuration from the default config file.

Returns: True if successful

See also: SetDefaultConfigPath; DefaultConfigPath; LoadConfig

◆ LoadPlugin()

bool LoadPlugin	(	const std::string &	_filename,
		const tinyxml2::XMLElement *	_pluginElem = `nullptr`
	)

Load a plugin from a file name. The plugin file must be in the path. If a window has been initialized, the plugin is added to the window. Otherwise, the plugin is stored and can be later added to a window or dialog.

Parameters

[in]	_filename	Plugin filename.
[in]	_pluginElem	Element containing plugin configuration

Returns: True if successful

See also: LoadConfig; AddPluginsToWindow

◆ LoadWindowConfig()

bool LoadWindowConfig ( const tinyxml2::XMLElement & _window )

Load window configuration from XML element. This is the <window> element inside a gui config file.

Parameters

[in] _window XML element that contains the window configuration

Returns: True if successful

◆ OnPluginClose

void OnPluginClose ( )

slot

Callback when user requests to close a plugin.

◆ PluginAdded

void PluginAdded ( const QString & _objectName )

signal

Notify that a plugin has been added.

Parameters

[in] _objectName Plugin's object name.

◆ PluginByName()

std::shared_ptr< Plugin > PluginByName ( const std::string & _pluginName ) const

Get a plugin by its unique name.

Parameters

[in] _pluginName Plugn instance's unique name. This is the plugin card's object name.

Returns: Pointer to plugin object, null if not found.

◆ PluginList()

std::vector< std::pair< std::string, std::vector< std::string > > > PluginList ( )

Get the list of available plugins, organized by path. The paths are given in the following order:

Paths given by the environment variable
Paths added by calling addPluginPath
Path ~/.gz/gui/plugins
The path where Gazebo GUI plugins are installed

Returns

A vector of pairs, where each pair contains:

A path
A vector of plugins in that path

◆ RemovePlugin()

bool RemovePlugin ( const std::string & _pluginName )

Remove plugin by name. The plugin is removed from the application and its shared library unloaded if this was its last instance.

Parameters

[in] _pluginName Plugn instance's unique name. This is the plugin card's object name.

Returns: True if successful

◆ ResolveConfigFile()

std::string ResolveConfigFile ( const std::string & _path ) const

Given an input config path, resolve its absolute path, potentially searching for it in locations specified by GZ_GUI_RESOURCE_PATH.

Parameters

[in] _path Path to a config file. If the path is absolute

Returns: The resolved path

◆ SetDefaultConfigPath()

void SetDefaultConfigPath ( const std::string & _path )

Specifies the location of the default configuration file. This is the file that stores the user settings when pressing "Save configuration".

Parameters

[in] _path The default configuration full path including filename.

See also: LoadDefaultConfig; defaultConfigPath

◆ SetPluginPathEnv()

void SetPluginPathEnv ( const std::string & _env )

Set the environment variable which defines the paths to look for plugins.

Parameters

[in] _env Name of environment variable.

The documentation for this class was generated from the following file:

Application.hh

Gazebo Gui

API Reference

Public Slots

Signals

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Application()

◆ ~Application()

Member Function Documentation

◆ AddPluginPath()

◆ CreateMainWindow()

◆ DefaultConfigPath()

◆ Engine()

◆ LoadConfig()

◆ LoadDefaultConfig()

◆ LoadPlugin()

◆ LoadWindowConfig()

◆ OnPluginClose

◆ PluginAdded

◆ PluginByName()

◆ PluginList()

◆ RemovePlugin()

◆ ResolveConfigFile()

◆ SetDefaultConfigPath()

◆ SetPluginPathEnv()