Add python bindings based on Pyside2

.gitignore

@@ -5,3 +5,4 @@ build
 lib
 *.sublime-workspace
 **/.idea/**
+*.vscode

rviz_common/include/rviz_common/visualization_frame.hpp

@@ -84,6 +84,9 @@ class RVIZ_COMMON_PUBLIC VisualizationFrame : public QMainWindow, public WindowM
 {
   Q_OBJECT
 
+protected:
+  explicit VisualizationFrame(QWidget * parent = nullptr);
+
 public:
   explicit VisualizationFrame(
     ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node, QWidget * parent = nullptr);

rviz_common/src/rviz_common/visualization_frame.cpp

@@ -98,6 +98,30 @@
 namespace rviz_common
 {
 
+VisualizationFrame::VisualizationFrame(QWidget * parent)
+: QMainWindow(parent),
+  app_(nullptr),
+  render_panel_(nullptr),
+  show_help_action_(nullptr),
+  file_menu_(nullptr),
+  recent_configs_menu_(nullptr),
+  toolbar_(nullptr),
+  manager_(nullptr),
+  splash_(nullptr),
+  toolbar_actions_(nullptr),
+  show_choose_new_master_option_(false),
+  panel_factory_(nullptr),
+  add_tool_action_(nullptr),
+  remove_tool_menu_(nullptr),
+  initialized_(false),
+  geom_change_detector_(new WidgetGeometryChangeDetector(this)),
+  loading_(false),
+  post_load_timer_(new QTimer(this)),
+  frame_count_(0),
+  toolbar_visible_(true)
+{
+}
+
 VisualizationFrame::VisualizationFrame(
   ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node, QWidget * parent)
 : QMainWindow(parent),

rviz_python_bindings/CMakeLists.txt

@@ -0,0 +1,169 @@
+cmake_minimum_required(VERSION 3.17)
+project(rviz_python_bindings)
+
+set(shiboken_qt_components
+  QtCore
+  QtGui
+  QtWidgets
+)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(python_qt_binding REQUIRED)
+include(${python_qt_binding_DIR}/shiboken_helper.cmake) #${CMAKE_CURRENT_SOURCE_DIR}/../../python_qt_binding/cmake/shiboken_helper.cmake)#
+find_package(Qt5 REQUIRED COMPONENTS Core Gui Widgets)
+find_package(rviz_common REQUIRED)
+find_package(Python3 COMPONENTS Development)
+
+# name of the library to be generated by shiboken
+set(shiboken_bindings_library "rviz_shiboken")
+# path to the include wrapper used by shiboken for generation
+set(shiboken_include_wrapper "${CMAKE_CURRENT_SOURCE_DIR}/conf/global.hpp")
+# path to the typesystem file used by shiboken for generation
+set(shiboken_typesystem "${CMAKE_CURRENT_SOURCE_DIR}/conf/typesystem.xml")
+# sources generated by shiboken depends on typesystem
+set(shiboken_generated_sources
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_shiboken_module_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_visualizerframepy_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_yamlconfigreader_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_yamlconfigwriter_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_config_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_config_mapiterator_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_visualizationframe_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_visualizationmanager_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_displaygroup_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_display_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_viewmanager_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_paneldockwidget_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_tool_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_toolmanager_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_properties_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_properties_property_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_properties_boolproperty_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_viewcontroller_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_rendering_ogrelogging_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_rendering_wrapper.cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/ogre_wrapper.cpp
+)
+
+ament_get_recursive_properties(deps_include_dirs _ ${rviz_common_TARGETS})
+list(APPEND shiboken_include_dirs
+    ${deps_include_dirs})
+message(STATUS "ROS inlcude dirs: ${deps_include_dirs}")
+message(STATUS "QT5 inlcude dirs: ${Qt5Core_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS}")
+list(APPEND shiboken_include_dirs
+    ${Qt5Core_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS}
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+
+add_library(rviz_python SHARED
+  src/visualizer_frame_py.cpp
+)
+
+target_include_directories(rviz_python PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_options(rviz_python PUBLIC -Wl,--no-undefined)
+ament_target_dependencies(rviz_python
+  rviz_common
+  Qt5
+)
+
+install(TARGETS rviz_python
+  EXPORT export_rviz_python
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+
+shiboken_generator_ext(
+  "rviz_shiboken"                                         # TARGET
+  "${shiboken_include_wrapper}"                             # INCLUDE WRAPPER
+  "${shiboken_typesystem}"                                  # TYPSYSTEM
+  "${CMAKE_CURRENT_BINARY_DIR}"                             # Working Directory
+  "${shiboken_generated_sources}"                           # Generated Sources
+  "${shiboken_include_dirs}"                                # INCLUDE DIRS
+  "${CMAKE_CURRENT_BINARY_DIR}"                           # BUILD DIR
+)
+
+add_library(
+  ${shiboken_bindings_library} MODULE 
+  ${shiboken_generated_sources})
+
+shiboken_include_directories(
+  ${shiboken_bindings_library} 
+  "${shiboken_qt_components}")
+
+target_include_directories(
+  ${shiboken_bindings_library} PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES}
+)
+
+target_link_libraries(
+  ${shiboken_bindings_library} 
+  Qt5::Core
+  Qt5::Gui
+  Qt5::Widgets
+  rviz_python
+)
+ament_target_dependencies(
+  ${shiboken_bindings_library}
+  rviz_common
+)
+shiboken_target_link_libraries(${shiboken_bindings_library} ${shiboken_qt_components})
+
+
+
+set_target_properties(${shiboken_bindings_library} PROPERTIES
+PREFIX "")
+set_property(TARGET ${shiboken_bindings_library} PROPERTY OUTPUT_NAME
+"${shiboken_bindings_library}.${Python3_SOABI}")
+
+if(WIN32)
+    if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
+        set_property(TARGET ${shiboken_bindings_library} PROPERTY SUFFIX "_d.pyd")
+    else()
+        set_property(TARGET ${shiboken_bindings_library} PROPERTY SUFFIX ".pyd")
+    endif()
+    target_link_libraries(
+      ${shiboken_bindings_library}
+      Python3_LIBRARIES
+    )
+endif()
+
+ament_python_install_package(rviz)
+install(TARGETS ${shiboken_bindings_library}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  rviz_python
+)
+ament_export_targets(
+  export_rviz_python
+)
+
+ament_package()

rviz_python_bindings/README.md

@@ -0,0 +1,37 @@
+# RVIZ Pyhon Bindings
+
+## Usage
+To use the python bindings, you need to do the following:
+
+```python
+import os
+os.environ["QT_API"] = "pyside2"
+from rviz import rviz_common
+```
+
+Currently only pyside2 is supported. No stubs are generated, so pylance does not work on namespaces.
+The following classes are wrapped:
+* VisualizationFrame
+* Config
+* VisualizationManager
+* ViewController
+* ViewManager
+* DisplayGroup
+* Display
+* PanelDockWidget
+* Tool
+* ToolManager
+* YamlConfigReader
+* YamlConfigWriter
+* Property
+* BoolProperty
+
+## Windows specifics
+On windows you will need to install the following dependencies manually:
+
+```
+pip install \
+    --index-url=https://download.qt.io/official_releases/QtForPython/ \
+    --trusted-host download.qt.io \
+    shiboken2 pyside2 shiboken2_generator
+```

rviz_python_bindings/conf/global.hpp

@@ -0,0 +1,54 @@
+/*
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef PYTHON_GLOBAL_H
+#define PYTHON_GLOBAL_H
+
+#include <pyside2_global.h>
+#include <QtCore/QtCore>
+#include <QtGui/QtGui>
+#include <QtWidgets/QtWidgets>
+#include <rviz_common/visualization_frame.hpp>
+#include <rviz_common/visualization_manager.hpp>
+#include <rviz_common/display_group.hpp>
+#include <rviz_common/display.hpp>
+#include <rviz_common/view_manager.hpp>
+#include <rviz_common/tool.hpp>
+#include <rviz_common/tool_manager.hpp>
+#include <rviz_common/panel_dock_widget.hpp>
+#include <rviz_common/properties/bool_property.hpp>
+#include <rviz_common/properties/property.hpp>
+#include <rviz_python_bindings/visualizer_frame_py.hpp>
+#include <rviz_common/yaml_config_reader.hpp>
+#include <rviz_common/yaml_config_writer.hpp>
+#include <rviz_common/config.hpp>
+#include <rviz_common/view_controller.hpp>
+#include <rviz_rendering/ogre_logging.hpp>
+
+#endif // PYTHON_GLOBAL_H

rviz_python_bindings/conf/typesystem.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<typesystem package="rviz_shiboken">
+
+  <load-typesystem name="typesystem_core.xml" generate="no"/>
+  <load-typesystem name="typesystem_gui.xml" generate="no"/>
+  <load-typesystem name="typesystem_widgets.xml" generate="no"/>
+  <namespace-type name="Ogre">
+    <primitive-type name="Vector3"/>
+  </namespace-type>
+  <namespace-type name="rviz_common">
+    <object-type name="VisualizationFrame"/>
+    <object-type name="VisualizationManager"/>
+    <object-type name="ViewManager"/>
+    <object-type name="DisplayGroup"/>
+    <object-type name="Display"/>
+    <object-type name="VisualizerFramePy"/>
+    <object-type name="PanelDockWidget"/>
+    <object-type name="Tool"/>
+    <object-type name="ToolManager"/>
+    <object-type name="YamlConfigReader"/>
+    <object-type name="YamlConfigWriter"/>
+    <object-type name="ViewController"/>
+    <object-type name="Config">
+      <enum-type name="Type"/>
+      <object-type name="MapIterator"/>
+    </object-type>
+    <namespace-type name="properties">
+    <object-type name="Property"/>
+    <object-type name="BoolProperty"/>
+    </namespace-type>
+  </namespace-type>
+  <namespace-type name="rviz_rendering">
+    <object-type name="OgreLogging"/>
+  </namespace-type>
+</typesystem>

rviz_python_bindings/include/rviz_python_bindings/visualizer_frame_py.hpp

@@ -0,0 +1,31 @@
+#ifndef VISUALIZER_FRAME_PY_HPP
+#define VISUALIZER_FRAME_PY_HPP
+
+#include "rviz_common/visualization_frame.hpp"
+#include "rviz_common/ros_integration/ros_client_abstraction.hpp"
+#include "rviz_common/ros_integration/ros_node_abstraction.hpp"
+
+namespace rviz_common
+{
+
+class VisualizerFramePy : public VisualizationFrame
+{
+protected:
+  std::unique_ptr<rviz_common::ros_integration::RosClientAbstraction> ros_client_abstraction_;
+
+public:
+  explicit VisualizerFramePy(
+    QWidget * parent = nullptr);
+
+  ~VisualizerFramePy()
+  {
+    ros_client_abstraction_->shutdown();
+  }
+
+  bool node_ok();
+
+  void initialize(const QString & display_config_file = "");
+};
+}
+
+#endif