3 to 4 (#933)

Signed-off-by: Ashton Larkin <[email protected]>

Changelog.md

@@ -442,6 +442,124 @@
 
 ### Ignition Gazebo 3.X.X (202X-XX-XX)
 
+
+### Ignition Gazebo 3.9.0 (2021-07-XX)
+
+1. Add a convenience function for getting possibly non-existing components.
+    * [Pull request #629](https://github.com/ignitionrobotics/ign-gazebo/pull/629)
+
+1. Fix topLevelModel method
+    * [Pull request #600](https://github.com/ignitionrobotics/ign-gazebo/pull/600)
+
+1. World exporter
+    * [Pull request #474](https://github.com/ignitionrobotics/ign-gazebo/pull/474)
+
+1. Fix finding PBR materials
+    * [Pull request #575](https://github.com/ignitionrobotics/ign-gazebo/pull/575)
+
+1. Handle multiple logical cameras
+    * [Pull request #539](https://github.com/ignitionrobotics/ign-gazebo/pull/539)
+
+1. Make some tests more robust
+    * [Pull request #314](https://github.com/ignitionrobotics/ign-gazebo/pull/314)
+
+1. Fix codecheck
+    * [Pull request #887](https://github.com/ignitionrobotics/ign-gazebo/pull/887)
+
+1. Hello world plugin added
+    * [Pull request #699](https://github.com/ignitionrobotics/ign-gazebo/pull/699)
+
+1. Model info CLI `ign model`
+    * [Pull request #893](https://github.com/ignitionrobotics/ign-gazebo/pull/893)
+
+1. Don't create components for entities that don't exist
+    * [Pull request #927](https://github.com/ignitionrobotics/ign-gazebo/pull/927)
+
+1. Adds Mesh Tutorial
+    * [Pull request #915](https://github.com/ignitionrobotics/ign-gazebo/pull/915)
+
+1. Fix updating GUI plugin on load
+    * [Pull request #904](https://github.com/ignitionrobotics/ign-gazebo/pull/904)
+
+1. Fix documentation for the Sensor component
+    * [Pull request #898](https://github.com/ignitionrobotics/ign-gazebo/pull/898)
+
+1. Use UINT64_MAX for kComponentTpyeIDInvalid instead of relying on underflow
+    * [Pull request #889](https://github.com/ignitionrobotics/ign-gazebo/pull/889)
+
+1. Fix mouse view control target position
+    * [Pull request #879](https://github.com/ignitionrobotics/ign-gazebo/pull/879)
+
+1. Set GUI camera pose
+    * [Pull request #863](https://github.com/ignitionrobotics/ign-gazebo/pull/863)
+
+1. Enables confirmation dialog when closing Gazebo.
+    * [Pull request #850](https://github.com/ignitionrobotics/ign-gazebo/pull/850)
+
+1. Depend on ign-rendering 3.5
+    * [Pull request #867](https://github.com/ignitionrobotics/ign-gazebo/pull/867)
+
+1. Using math::SpeedLimiter on the diff_drive controller.
+    * [Pull request #833](https://github.com/ignitionrobotics/ign-gazebo/pull/833)
+
+1. New example: get an ECM snapshot from an external program
+    * [Pull request #859](https://github.com/ignitionrobotics/ign-gazebo/pull/859)
+
+1. Fix WindEffects Plugin bug, not configuring new links
+    * [Pull request #844](https://github.com/ignitionrobotics/ign-gazebo/pull/844)
+
+1. Fix potentially flaky integration component test case
+    * [Pull request #848](https://github.com/ignitionrobotics/ign-gazebo/pull/848)
+
+1. Cleanup and alphabetize plugin headers
+    * [Pull request #838](https://github.com/ignitionrobotics/ign-gazebo/pull/838)
+
+1. Removed duplicated code with rendering::sceneFromFirstRenderEngine
+    * [Pull request #819](https://github.com/ignitionrobotics/ign-gazebo/pull/819)
+
+1. Remove unused headers in video_recoder plugin
+    * [Pull request #834](https://github.com/ignitionrobotics/ign-gazebo/pull/834)
+
+1. Use moveToHelper from ign-rendering
+    * [Pull request #825](https://github.com/ignitionrobotics/ign-gazebo/pull/825)
+
+1. Remove tools/code_check and update codecov
+    * [Pull request #814](https://github.com/ignitionrobotics/ign-gazebo/pull/814)
+
+1. Add service and GUI to configure physics parameters
+    * [Pull request #536](https://github.com/ignitionrobotics/ign-gazebo/pull/536)
+    * [Pull request #812](https://github.com/ignitionrobotics/ign-gazebo/pull/812)
+
+1. Fix documentation for EntityComponentManager::EachNew
+    * [Pull request #795](https://github.com/ignitionrobotics/ign-gazebo/pull/795)
+
+1. Fix macOS build: components::Name in benchmark
+    * [Pull request #784](https://github.com/ignitionrobotics/ign-gazebo/pull/784)
+
+1. Don't store duplicate ComponentTypeId in ECM
+    * [Pull request #751](https://github.com/ignitionrobotics/ign-gazebo/pull/751)
+
+1. [TPE] Support setting individual link velocity
+    * [Pull request #427](https://github.com/ignitionrobotics/ign-gazebo/pull/427)
+
+1. 👩‍🌾 Enable Focal CI
+    * [Pull request #646](https://github.com/ignitionrobotics/ign-gazebo/pull/646)
+
+1. Update benchmark comparison instructions
+    * [Pull request #766](https://github.com/ignitionrobotics/ign-gazebo/pull/766)
+
+1. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config
+    * [Pull request #715](https://github.com/ignitionrobotics/ign-gazebo/pull/715)
+
+1. Do not pass -Wno-unused-parameter to MSVC compiler
+    * [Pull request #716](https://github.com/ignitionrobotics/ign-gazebo/pull/716)
+
+1. Scenebroadcaster sensors
+    * [Pull request #698](https://github.com/ignitionrobotics/ign-gazebo/pull/698)
+
+1. Make it so joint state publisher is quieter
+    * [Pull request #696](https://github.com/ignitionrobotics/ign-gazebo/pull/696)
+
 ### Ignition Gazebo 3.8.0 (2021-03-17)
 
 1. Add joint position controller GUI, also enable tests for GUI plugins

src/CMakeLists.txt

@@ -31,7 +31,11 @@ set(gui_sources
   PARENT_SCOPE
 )
 
-ign_add_component(ign SOURCES ign.cc GET_TARGET_NAME ign_lib_target)
+ign_add_component(ign
+  SOURCES
+    ign.cc
+    cmd/ModelCommandAPI.cc
+  GET_TARGET_NAME ign_lib_target)
 target_link_libraries(${ign_lib_target}
   PRIVATE
     ${PROJECT_LIBRARY_TARGET_NAME}
@@ -59,6 +63,7 @@ set (sources
   Util.cc
   View.cc
   World.cc
+  cmd/ModelCommandAPI.cc
   ${PROTO_PRIVATE_SRC}
   ${network_sources}
 )
@@ -74,6 +79,7 @@ set (gtest_sources
   ign_TEST.cc
   Link_TEST.cc
   Model_TEST.cc
+  ModelCommandAPI_TEST.cc
   SdfEntityCreator_TEST.cc
   SdfGenerator_TEST.cc
   Server_TEST.cc
@@ -134,7 +140,14 @@ ign_build_tests(TYPE UNIT
     ignition-gazebo${PROJECT_VERSION_MAJOR}
 )
 
-if(TARGET UNIT_ign_TEST)
+# Command line tests need extra settings
+foreach(CMD_TEST
+  UNIT_ign_TEST
+  UNIT_ModelCommandAPI_TEST)
+
+  if(NOT TARGET ${CMD_TEST})
+    continue()
+  endif()
 
   # Running `ign gazebo` on macOS has problems when run with /usr/bin/ruby
   # due to System Integrity Protection (SIP). Try to find ruby from
@@ -143,26 +156,27 @@ if(TARGET UNIT_ign_TEST)
     find_program(BREW_RUBY ruby HINTS /usr/local/opt/ruby/bin)
   endif()
 
-  add_dependencies(UNIT_ign_TEST
+  add_dependencies(${CMD_TEST}
     ${ign_lib_target}
     TestModelSystem
     TestSensorSystem
     TestWorldSystem
   )
 
-  target_compile_definitions(UNIT_ign_TEST PRIVATE
+  target_compile_definitions(${CMD_TEST} PRIVATE
       "BREW_RUBY=\"${BREW_RUBY} \"")
 
-  target_compile_definitions(UNIT_ign_TEST PRIVATE
+  target_compile_definitions(${CMD_TEST} PRIVATE
       "IGN_PATH=\"${IGNITION-TOOLS_BINARY_DIRS}\"")
 
   set(_env_vars)
   list(APPEND _env_vars "IGN_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf")
   list(APPEND _env_vars "IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$<TARGET_FILE_DIR:TestModelSystem>")
 
-  set_tests_properties(UNIT_ign_TEST PROPERTIES
+  set_tests_properties(${CMD_TEST} PROPERTIES
     ENVIRONMENT "${_env_vars}")
-endif()
+
+endforeach()
 
 if(NOT WIN32)
   add_subdirectory(cmd)

src/EntityComponentManager.cc

@@ -532,6 +532,15 @@ ComponentKey EntityComponentManager::CreateComponentImplementation(
     const Entity _entity, const ComponentTypeId _componentTypeId,
     const components::BaseComponent *_data)
 {
+  // make sure the entity exists
+  if (!this->HasEntity(_entity))
+  {
+    ignerr << "Trying to create a component of type [" << _componentTypeId
+      << "] attached to entity [" << _entity << "], but this entity does not "
+      << "exist. This create component request will be ignored." << std::endl;
+    return ComponentKey();
+  }
+
   // If type hasn't been instantiated yet, create a storage for it
   if (!this->HasComponentType(_componentTypeId))
   {

src/EntityComponentManager_TEST.cc

@@ -437,6 +437,16 @@ TEST_P(EntityComponentManagerFixture, EntitiesAndComponents)
   EXPECT_FALSE(manager.EntityHasComponentType(entity, DoubleComponent::typeId));
   EXPECT_FALSE(manager.EntityHasComponentType(entity2, IntComponent::typeId));
 
+  // Try to add a component to an entity that does not exist
+  EXPECT_FALSE(manager.HasEntity(kNullEntity));
+  EXPECT_FALSE(manager.EntityHasComponentType(kNullEntity,
+        IntComponent::typeId));
+  EXPECT_EQ(ComponentKey(), manager.CreateComponent<IntComponent>(kNullEntity,
+        IntComponent(123)));
+  EXPECT_FALSE(manager.HasEntity(kNullEntity));
+  EXPECT_FALSE(manager.EntityHasComponentType(kNullEntity,
+        IntComponent::typeId));
+
   // Query non-existing component, the default value is default-constructed
   BoolComponent *boolComp = manager.ComponentDefault<BoolComponent>(entity);
   ASSERT_NE(nullptr, boolComp);