Add system to an entity through Component Inspector

src/ServerConfig.cc

@@ -91,6 +91,7 @@ class ignition::gazebo::ServerConfig::PluginInfoPrivate
 
   /// \brief XML elements associated with this plugin
   public: sdf::ElementPtr sdf = nullptr;
+
 };
 
 //////////////////////////////////////////////////

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -896,7 +896,6 @@ void ComponentInspector::Update(const UpdateInfo &,
       auto comp = _ecm.Component<components::Material>(this->dataPtr->entity);
       if (comp)
       {
-        this->SetType("material");
         setData(item, comp->Data());
       }
     }
@@ -1268,6 +1267,36 @@ transport::Node &ComponentInspector::TransportNode()
   return this->dataPtr->node;
 }
 
+/////////////////////////////////////////////////
+void ComponentInspector::OnAddSystem(const QString &_name,
+    const QString &_filename, const QString &_innerxml)
+{
+  msgs::EntityPlugin_V req;
+  auto ent = req.mutable_entity();
+  ent->set_id(this->dataPtr->entity);
+  auto plugin = req.add_plugins();
+  std::string name = _name.toStdString();
+  std::string filename = _filename.toStdString();
+  std::string innerxml = _innerxml.toStdString();
+  plugin->set_name(name);
+  plugin->set_filename(filename);
+  plugin->set_innerxml(innerxml);
+
+  msgs::Boolean res;
+  bool result;
+  unsigned int timeout = 5000;
+  std::string service{"/world/" + this->dataPtr->worldName +
+      "/entity/system/add"};
+  if (!this->dataPtr->node.Request(service, req, timeout, res, result))
+  {
+    ignerr << "Error adding new system to entity: "
+           << this->dataPtr->entity << "\n"
+           << "Name: " << name << "\n"
+           << "Filename: " << filename << "\n"
+           << "Inner XML: " << innerxml << std::endl;
+  }
+}
+
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gazebo::ComponentInspector,
                     ignition::gui::Plugin)

src/gui/plugins/component_inspector/ComponentInspector.hh

@@ -372,6 +372,13 @@ namespace gazebo
     /// \return Transport node
     public: transport::Node &TransportNode();
 
+    /// \brief Callback when a new system is to be added to an entity
+    /// \param[in] _name Name of system
+    /// \param[in] _filename Filename of system
+    /// \param[in] _innerxml Inner XML content of the system
+    public: Q_INVOKABLE void OnAddSystem(const QString &_name,
+        const QString &_filename, const QString &_innerxml);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<ComponentInspectorPrivate> dataPtr;

src/gui/plugins/component_inspector/ComponentInspector.qml

@@ -15,9 +15,9 @@
  *
 */
 import QtQuick 2.9
-import QtQuick.Controls 1.4
 import QtQuick.Controls 2.2
 import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.1
 import QtQuick.Layouts 1.3
 import QtQuick.Controls.Styles 1.4
 import IgnGazebo 1.0 as IgnGazebo
@@ -216,6 +216,27 @@ Rectangle {
         }
       }
 
+      ToolButton {
+        id: addSystemButton
+        checkable: false
+        text: "\u002B"
+        contentItem: Text {
+          text: addSystemButton.text
+          color: "#b5b5b5"
+          horizontalAlignment: Text.AlignHCenter
+          verticalAlignment: Text.AlignVCenter
+        }
+        visible: (entityType == "model" || entityType == "visual" ||
+                  entityType == "sensor" || entityType == "world")
+        ToolTip.text: "Add a system to this entity"
+        ToolTip.visible: hovered
+        ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+        onClicked: {
+          addSystemDialog.open()
+        }
+      }
+
+
       Label {
         id: entityLabel
         text: 'Entity ' + ComponentInspector.entity
@@ -227,6 +248,100 @@ Rectangle {
     }
   }
 
+  Dialog {
+    id: addSystemDialog
+    modal: false
+    focus: true
+    title: "Add System"
+    closePolicy: Popup.CloseOnEscape
+
+    ColumnLayout {
+      GridLayout {
+        columns: 2
+        columnSpacing: 30
+        Text {
+          text: "Name"
+          Layout.row: 0
+          Layout.column: 0
+        }
+
+        TextField {
+          id: nameField
+          selectByMouse: true
+          Layout.row: 0
+          Layout.column: 1
+          Layout.minimumWidth: 250
+          onTextEdited: {
+            addSystemDialog.updateButtonState();
+          }
+        }
+
+        Text {
+          text: "Filename"
+          Layout.row: 1
+          Layout.column: 0
+        }
+
+        TextField {
+          id: filenameField
+          selectByMouse: true
+          Layout.row: 1
+          Layout.column: 1
+          Layout.minimumWidth: 250
+          onTextEdited: {
+            addSystemDialog.updateButtonState();
+          }
+        }
+      }
+
+      Text {
+        id: innerxmlLabel
+        text: "Inner XML"
+      }
+
+      Flickable {
+        id: innerxmlFlickable
+        Layout.minimumHeight: 300
+        Layout.fillWidth: true
+        Layout.fillHeight: true
+
+        flickableDirection: Flickable.VerticalFlick
+        TextArea.flickable: TextArea {
+          id: innerxmlField
+          wrapMode: Text.WordWrap
+          selectByMouse: true
+          textFormat: TextEdit.PlainText
+          font.pointSize: 10
+        }
+        ScrollBar.vertical: ScrollBar {
+          policy: ScrollBar.AlwaysOn
+        }
+      }
+    }
+
+    footer: DialogButtonBox {
+      id: buttons
+      standardButtons: Dialog.Ok | Dialog.Cancel
+    }
+
+    onOpened: {
+      addSystemDialog.updateButtonState();
+    }
+
+    onAccepted: {
+      ComponentInspector.OnAddSystem(nameField.text.trim(),
+          filenameField.text.trim(), innerxmlField.text.trim())
+    }
+
+    function updateButtonState() {
+      buttons.standardButton(Dialog.Ok).enabled =
+          (nameField.text.trim() != '' &&
+          filenameField.text.trim() != '')
+    }
+  }
+
+
+
   ListView {
     anchors.top: header.bottom
     anchors.bottom: parent.bottom

test/worlds/diff_drive_no_plugin.sdf

@@ -10,6 +10,10 @@
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
     </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>