Add service to change camera follow pgain.

Example: gz service -s /gui/follow/pgain --reqtype gz.msgs.Double --reptype gz.msgs.Boolean --timeout 2000 --req 'data: 1.0'

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>

examples/standalone/scene_provider/README.md

@@ -63,3 +63,15 @@ Update follow offset:
 ```
 gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
 ```
+
+Set next follow pgain:
+
+```
+gz service -s /gui/follow/pgain --reqtype gz.msgs.Double --reptype gz.msgs.Boolean --timeout 2000 --req 'data: 1.0'
+```
+
+Update follow offset with new pgain:
+
+```
+gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 1, y: 1, z: 5'
+```

src/plugins/camera_tracking/CameraTracking.cc

@@ -75,6 +75,13 @@ class gz::gui::plugins::CameraTrackingPrivate
   public: bool OnFollowOffset(const msgs::Vector3d &_msg,
                msgs::Boolean &_res);
 
+  /// \brief Callback for a follow pgain request
+  /// \param[in] _msg Request message to set the camera's follow pgain.
+  /// \param[in] _res Response data
+  /// \return True if the request is received
+  public: bool OnFollowPGain(const msgs::Double &_msg,
+               msgs::Boolean &_res);
+
   /// \brief Callback when a move to animation is complete
   private: void OnMoveToComplete();
 
@@ -140,6 +147,9 @@ class gz::gui::plugins::CameraTrackingPrivate
   /// \brief Follow offset service
   public: std::string followOffsetService;
 
+  /// \brief Follow offset pgain service
+  public: std::string followPGainService;
+
   /// \brief Camera pose topic
   public: std::string cameraPoseTopic;
 
@@ -208,12 +218,19 @@ void CameraTrackingPrivate::Initialize()
   gzmsg << "Camera pose topic advertised on ["
          << this->cameraPoseTopic << "]" << std::endl;
 
-   // follow offset
-   this->followOffsetService = "/gui/follow/offset";
-   this->node.Advertise(this->followOffsetService,
-       &CameraTrackingPrivate::OnFollowOffset, this);
-   gzmsg << "Follow offset service on ["
-          << this->followOffsetService << "]" << std::endl;
+  // follow offset
+  this->followOffsetService = "/gui/follow/offset";
+  this->node.Advertise(this->followOffsetService,
+      &CameraTrackingPrivate::OnFollowOffset, this);
+  gzmsg << "Follow offset service on ["
+         << this->followOffsetService << "]" << std::endl;
+
+  // follow pgain
+  this->followPGainService = "/gui/follow/pgain";
+  this->node.Advertise(this->followPGainService,
+      &CameraTrackingPrivate::OnFollowPGain, this);
+  gzmsg << "Follow P gain service on ["
+         << this->followPGainService << "]" << std::endl;
 }
 
 /////////////////////////////////////////////////
@@ -267,6 +284,17 @@ bool CameraTrackingPrivate::OnFollowOffset(const msgs::Vector3d &_msg,
   return true;
 }
 
+/////////////////////////////////////////////////
+bool CameraTrackingPrivate::OnFollowPGain(const msgs::Double &_msg,
+  msgs::Boolean &_res)
+{
+  std::lock_guard<std::mutex> lock(this->mutex);
+  this->followPGain = msgs::Convert(_msg);
+
+  _res.set_data(true);
+  return true;
+}
+
 /////////////////////////////////////////////////
 bool CameraTrackingPrivate::OnMoveToPose(const msgs::GUICamera &_msg,
   msgs::Boolean &_res)

src/plugins/camera_tracking/CameraTracking.hh

@@ -39,6 +39,7 @@ namespace plugins
   /// * `/gui/move_to/pose`: Move the user camera to a given pose.
   /// * `/gui/follow`: Set the user camera to follow a given target,
   ///                   identified by name.
+  /// * `/gui/follow/pgain`: Set the pgain for following.
   /// * `/gui/follow/offset`: Set the offset for following.
   ///
   /// Topics:

src/plugins/camera_tracking/CameraTracking.qml

@@ -29,6 +29,7 @@ ColumnLayout {
       '<li>/gui/move_to</li>' +
       '<li>/gui/move_to/pose</li>' +
       '<li>/gui/follow</li>' +
+      '<li>/gui/follow/pgain</li>' +
       '<li>/gui/follow/offset</li></ul><br>Topics provided:<br><ul>' +
       '<li>/gui/camera/pose</li></ul>'
 

test/integration/camera_tracking.cc

@@ -186,6 +186,14 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   EXPECT_TRUE(result);
   EXPECT_TRUE(rep.data());
 
+  msgs::Double reqPGain;
+  reqPGain.set_data(1.0);
+  executed = node.Request("/gui/follow/pgain", reqPGain, timeout, rep,
+      result);
+  EXPECT_TRUE(executed);
+  EXPECT_TRUE(result);
+  EXPECT_TRUE(rep.data());
+
   // Many update loops to process many events
   maxSleep = 300;
   for (auto it : {150.0, 200.0})