Merge pull request #102 from Simple-Robotics/expose-toggle-gui

Expose `Visualizer.toggleGui(value=None)`

Author: ManifoldFR

.pre-commit-config.yaml

@@ -5,7 +5,7 @@ ci:
   submodules: true
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v20.1.8
+    rev: v21.1.8
     hooks:
     - id: clang-format
       types_or: []
@@ -30,12 +30,12 @@ repos:
                 doc/doxygen-awesome.*
             )$
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: 'v0.12.9'
+    rev: 'v0.14.13'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]
       - id: ruff-format
   - repo: https://github.com/BlankSpruce/gersemi
-    rev: 0.22.1
+    rev: 0.25.1
     hooks:
       - id: gersemi

CHANGELOG.md

@@ -7,6 +7,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Added
+
+- Expose `Visualizer.toggleGui(value=None)` (https://github.com/Simple-Robotics/candlewick/pull/102)
+
 ## [0.10.1] - 2026-01-19
 
 ## [0.10.0] - 2025-08-20

bindings/python/candlewick/async_visualizer.py

@@ -49,11 +49,6 @@ def send_models(sock: zmq.Socket, model_str, geom_str):
     return sock.recv()
 
 
-def send_state(sock: zmq.Socket, q: np.ndarray, v: np.ndarray | None = None):
-    payload = _encoder.encode((q, v))
-    sock.send_multipart([b"state_update", payload])
-
-
 def send_cam_pose(sock: zmq.Socket, M: np.ndarray):
     assert sock.socket_type == zmq.REQ
     assert M.shape == (4, 4)
@@ -114,7 +109,8 @@ def display(self, q: np.ndarray, v: Optional[np.ndarray] = None):
         assert q.size == self.model.nq
         if v is not None:
             assert v.size == self.model.nv
-        send_state(self.publisher, q, v)
+        payload = _encoder.encode((q, v))
+        self.sync_sock.send_multipart([b"state_update", payload])
 
     def clean(self):
         """Clean the robot from the renderer. Equivalent to `viz.clean()` on the synchronous `Visualizer` class."""
@@ -127,6 +123,11 @@ def close(self):
         self.publisher.close()
         self.sync_sock.close()
 
+    def toggleGui(self):
+        self.sync_sock.send_multipart([b"toggle_gui", b""])
+        response = self.sync_sock.recv().decode()
+        assert response == "ok"
+
     def displayCollisions(self, visibility):
         raise NotImplementedError()
 

bindings/python/src/expose-visualizer.cpp

@@ -30,6 +30,7 @@ void exposeVisualizer() {
   eigenpy::OptionalConverter<ConstVectorRef, std::optional>::registration();
   eigenpy::OptionalConverter<Vector3, std::optional>::registration();
   eigenpy::OptionalConverter<float, std::optional>::registration();
+  eigenpy::OptionalConverter<bool, std::optional>::registration();
   eigenpy::detail::NoneToPython<std::nullopt_t>::registration();
 
   bp::class_<Visualizer::Config>("VisualizerConfig", bp::no_init)
@@ -50,6 +51,10 @@ void exposeVisualizer() {
       .def_readonly("renderer", &Visualizer::renderer)
       .def_readwrite("worldSceneBounds", &Visualizer::worldSceneBounds)
       .def("resetCamera", &Visualizer::resetCamera, ("self"_a))
+      .def("toggleGui", &Visualizer::toggleGui,
+           ("self"_a, "value"_a = std::nullopt),
+           "Toggle the GUI on and off. Passing no value will toggle. Passing a "
+           "value will override.")
       .DEF_PROP_PROXY(device)
       .def(
           "takeScreenshot",

src/candlewick/multibody/Visualizer.h

@@ -132,6 +132,10 @@ class Visualizer final : public BaseVisualizer {
 
   void processEvents();
 
+  void toggleGui(std::optional<bool> value = std::nullopt) noexcept {
+    m_showGui = value.value_or(!m_showGui);
+  }
+
   [[nodiscard]] bool shouldExit() const noexcept { return m_shouldExit; }
 
   void takeScreenshot(std::string_view filename);

src/candlewick/multibody/visualizer_gui.cpp

@@ -7,8 +7,6 @@
 #include <imgui_impl_sdl3.h>
 #include <magic_enum/magic_enum_flags.hpp>
 
-#include <string>
-
 namespace candlewick::multibody {
 namespace core_gui = ::candlewick::gui;
 using namespace entt::literals;

src/candlewick/runtime/main.cpp

@@ -31,6 +31,7 @@ CANDLEWICK_RUNTIME_DEFINE_COMMAND(reset_camera);
 CANDLEWICK_RUNTIME_DEFINE_COMMAND(start_recording);
 CANDLEWICK_RUNTIME_DEFINE_COMMAND(stop_recording);
 CANDLEWICK_RUNTIME_DEFINE_COMMAND(clean);
+CANDLEWICK_RUNTIME_DEFINE_COMMAND(toggle_gui);
 
 using RowMat4d = Eigen::Matrix<pin::context::Scalar, 4, 4, Eigen::RowMajor>;
 
@@ -95,6 +96,9 @@ void pull_socket_router(Visualizer &viz, std::span<zmq::message_t, 2> msgs,
   } else if (header == CMD_clean) {
     viz.clean();
     sync_sock.send(zmq::str_buffer("ok"));
+  } else if (header == CMD_toggle_gui) {
+    viz.toggleGui();
+    sync_sock.send(zmq::str_buffer("ok"));
   } else if (header == CMD_send_models) {
     sync_sock.send(
         zmq::str_buffer("error: visualizer already has models open."));