Merge pull request #87 from Simple-Robotics/next

initialize boolean in Visualizer.h, rework file dialog GUI, fix screenshot color, sync cmake submodule

Author: ManifoldFR

CHANGELOG.md

@@ -7,6 +7,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Changed
+
+- slightly rework file dialog GUI
+
+### Fixed
+
+- fix screenshot PNG color channel ordering
+
 ## [0.6.0] - 2025-06-19
 
 ### Changed

cmake

@@ -422,7 +422,7 @@ int main(int argc, char **argv) {
         guiAddFileDialog(renderer.window, DialogFileType::IMAGES, scr_filename);
         if (ImGui::Button("Take screenshot")) {
           if (scr_filename.empty())
-            scr_filename = generateMediaFilenameFromTimestamp();
+            generateMediaFilenameFromTimestamp("cdw_screenshot", scr_filename);
           screenshot_filename = scr_filename.c_str();
         }
 

examples/Ur5WithSystems.cpp

@@ -66,18 +66,18 @@ void guiAddFileDialog(SDL_Window *window, DialogFileType dialog_file_type,
   ImGui::Text("%s", out.empty() ? "(none)" : out.c_str());
 }
 
-std::string generateMediaFilenameFromTimestamp(const char *prefix,
-                                               const char *extension,
-                                               DialogFileType file_type) {
+void generateMediaFilenameFromTimestamp(const char *prefix, std::string &out,
+                                        const char *extension,
+                                        DialogFileType file_type) {
   const std::chrono::time_point now = std::chrono::system_clock::now();
   auto time = std::chrono::system_clock::to_time_t(now);
   auto tm = std::localtime(&time);
-  const char *picturesDir =
-      SDL_GetUserFolder(g_dialog_file_type_folder[int(file_type)]);
   std::ostringstream oss;
-  oss << picturesDir << prefix << " " << std::put_time(tm, "%F %H-%M-%S %z")
-      << extension;
-  return oss.str();
+  oss << SDL_GetUserFolder(g_dialog_file_type_folder[int(file_type)]) << prefix
+      << " " << std::put_time(tm, "%F %H-%M-%S %z") << extension;
+  std::string_view view = oss.view();
+  if (!view.empty())
+    out = view;
 }
 
 } // namespace candlewick

src/candlewick/core/FileDialogGui.cpp

@@ -63,8 +63,10 @@ void guiAddFileDialog(SDL_Window *window, DialogFileType dialog_file_type,
                       std::string &filename);
 /// \}
 
-std::string generateMediaFilenameFromTimestamp(
-    const char *prefix = "cdw_screenshot", const char *extension = ".png",
+/// \brief Set input/output string to a generated filename computed from a
+/// timestamp.
+void generateMediaFilenameFromTimestamp(
+    const char *prefix, std::string &out, const char *extension = ".png",
     DialogFileType file_type = DialogFileType::IMAGES);
 
 } // namespace candlewick

src/candlewick/core/GuiSystem.h

@@ -165,9 +165,10 @@ void Visualizer::displayImpl() {
   robotScene.updateTransforms();
   this->render();
 
-  if (!m_currentScreenshotFilename.empty()) {
+  if (m_shouldScreenshot) {
     this->takeScreenshot(m_currentScreenshotFilename);
     m_currentScreenshotFilename.clear();
+    m_shouldScreenshot = false;
   }
 
 #ifdef CANDLEWICK_WITH_FFMPEG_SUPPORT

src/candlewick/multibody/Visualizer.cpp

@@ -56,7 +56,6 @@ class Visualizer final : public BaseVisualizer {
   bool m_showGui = true;
   bool m_shouldExit = false;
   entt::entity m_grid, m_triad;
-  std::string m_currentScreenshotFilename{};
   RobotDebugSystem *robotDebug = nullptr;
   std::vector<entt::entity> m_debug_frame_pos;
   std::vector<entt::entity> m_debug_frame_vel;
@@ -179,8 +178,10 @@ class Visualizer final : public BaseVisualizer {
 
 private:
   media::TransferBufferPool m_transferBuffers;
+  std::string m_currentScreenshotFilename;
+  bool m_shouldScreenshot = false;
 #ifdef CANDLEWICK_WITH_FFMPEG_SUPPORT
-  std::string m_currentVideoFilename{};
+  std::string m_currentVideoFilename;
   media::VideoRecorder m_videoRecorder;
   media::VideoRecorder::Settings m_videoSettings;
 #endif

src/candlewick/multibody/Visualizer.h

@@ -30,19 +30,6 @@ void guiAddCameraParams(CylindricalCamera &controller,
   }
 }
 
-static void screenshot_taker_gui(SDL_Window *window, std::string &filename) {
-  static std::string out;
-  out.reserve(64ul);
-
-  ImGui::BeginChild("screenshot_taker", {0, 0},
-                    ImGuiChildFlags_Borders | ImGuiChildFlags_AutoResizeY);
-  guiAddFileDialog(window, DialogFileType::IMAGES, out);
-  if (ImGui::Button("Take screenshot"))
-    filename = out.empty() ? generateMediaFilenameFromTimestamp() : out;
-
-  ImGui::EndChild();
-}
-
 void Visualizer::defaultGuiCallback() {
 
   // Verify ABI compatibility between caller code and compiled version of Dear
@@ -111,7 +98,19 @@ void Visualizer::defaultGuiCallback() {
           "Screenshots"
 #endif
           )) {
-    screenshot_taker_gui(renderer.window, m_currentScreenshotFilename);
+    ImGui::BeginChild("screenshot_taker", {0, 0},
+                      ImGuiChildFlags_Borders | ImGuiChildFlags_AutoResizeY);
+    guiAddFileDialog(renderer.window, DialogFileType::IMAGES,
+                     m_currentScreenshotFilename);
+    if (ImGui::Button("Take screenshot")) {
+      m_shouldScreenshot = true;
+      if (m_currentScreenshotFilename.empty()) {
+        generateMediaFilenameFromTimestamp("cdw_screenshot",
+                                           m_currentScreenshotFilename);
+      }
+    }
+
+    ImGui::EndChild();
 
 #ifdef CANDLEWICK_WITH_FFMPEG_SUPPORT
     ImGui::BeginChild("video_record", {0, 0},