4 to 5

Signed-off-by: Louise Poubel <[email protected]>

Changelog.md

@@ -1,5 +1,53 @@
 ## Ignition Gazebo 4.x
 
+### Ignition Gazebo 4.6.0 (2021-03-01)
+
+1. Use a custom data structure to manage entity feature maps.
+    * [Pull Request 586](https://github.com/ignitionrobotics/ign-gazebo/pull/586)
+
+1. Limit scene broadcast publications when paused.
+    * [Pull Request 497](https://github.com/ignitionrobotics/ign-gazebo/pull/497)
+
+1. Report performer count in PerformerDetector plugin.
+    * [Pull Request 652](https://github.com/ignitionrobotics/ign-gazebo/pull/652)
+
+1. Cache top level and static to speed up physics system.
+    * [Pull Request 656](https://github.com/ignitionrobotics/ign-gazebo/pull/656)
+
+1. Support particle emitter modification using partial message.
+    * [Pull Request 651](https://github.com/ignitionrobotics/ign-gazebo/pull/651)
+
+1. Set LD_LIBRARY_PATH on Actions CI.
+    * [Pull Request 650](https://github.com/ignitionrobotics/ign-gazebo/pull/650)
+
+1. Fix flaky SceneBroadcaster test.
+    * [Pull Request 641](https://github.com/ignitionrobotics/ign-gazebo/pull/641)
+
+1. Add a convenience function for getting possibly non-existing components.
+    * [Pull Request 629](https://github.com/ignitionrobotics/ign-gazebo/pull/629)
+
+1. Add msg to show the computed temperature range computed from temperature
+   gradient.
+    * [Pull Request 643](https://github.com/ignitionrobotics/ign-gazebo/pull/643)
+
+1. Add TF/Pose_V pub in DiffDrive.
+    * [Pull Request 548](https://github.com/ignitionrobotics/ign-gazebo/pull/548)
+
+1. Relax flaky performance test.
+    * [Pull Request 640](https://github.com/ignitionrobotics/ign-gazebo/pull/640)
+
+1. Improve velocity control test.
+    * [Pull Request 642](https://github.com/ignitionrobotics/ign-gazebo/pull/642)
+
+1. Validity check for user defined topics in JointPositionController.
+    * [Pull Request 639](https://github.com/ignitionrobotics/ign-gazebo/pull/639)
+
+1. Add laser_retro support.
+    * [Pull Request 603](https://github.com/ignitionrobotics/ign-gazebo/pull/603)
+
+1. Fix pose of plane visual with non-default normal vector.
+    * [Pull Request 574](https://github.com/ignitionrobotics/ign-gazebo/pull/574)
+
 ### Ignition Gazebo 4.5.0 (2020-02-17)
 
 1. Added particle system.

include/ignition/gazebo/gui/GuiRunner.hh

@@ -47,6 +47,9 @@ class IGNITION_GAZEBO_GUI_VISIBLE GuiRunner : public QObject
   public: explicit IGN_DEPRECATED(5.0) GuiRunner(
       const std::string &_worldName);
 
+  /// \brief Destructor
+  public: ~GuiRunner() override;
+
   /// \brief Callback when a plugin has been added.
   /// \param[in] _objectName Plugin's object name.
   public slots: void OnPluginAdded(const QString &_objectName);

src/gui/GuiRunner.cc

@@ -35,6 +35,9 @@ using namespace gazebo;
 /////////////////////////////////////////////////
 class ignition::gazebo::GuiRunner::Implementation
 {
+  /// \brief Update the plugins.
+  public: void UpdatePlugins();
+
   /// \brief Entity-component manager.
   public: gazebo::EntityComponentManager ecm;
 
@@ -46,6 +49,15 @@ class ignition::gazebo::GuiRunner::Implementation
 
   /// \brief Latest update info
   public: UpdateInfo updateInfo;
+
+  /// \brief Flag used to end the updateThread.
+  public: bool running{false};
+
+  /// \brief Mutex to protect the plugin update.
+  public: std::mutex updateMutex;
+
+  /// \brief The plugin update thread..
+  public: std::thread updateThread;
 };
 
 /////////////////////////////////////////////////
@@ -77,6 +89,30 @@ GuiRunner::GuiRunner(const std::string &_worldName)
          << "]..." << std::endl;
 
   this->RequestState();
+
+  // Periodically update the plugins
+  // \todo(anyone) Move the global variables to GuiRunner::Implementation on v5
+  this->dataPtr->running = true;
+  this->dataPtr->updateThread = std::thread([&]()
+  {
+    while (this->dataPtr->running)
+    {
+      {
+        std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
+        this->dataPtr->UpdatePlugins();
+      }
+      // This is roughly a 30Hz update rate.
+      std::this_thread::sleep_for(std::chrono::milliseconds(33));
+    }
+  });
+}
+
+/////////////////////////////////////////////////
+GuiRunner::~GuiRunner()
+{
+  this->dataPtr->running = false;
+  if (this->dataPtr->updateThread.joinable())
+    this->dataPtr->updateThread.join();
 }
 
 /////////////////////////////////////////////////
@@ -153,17 +189,23 @@ void GuiRunner::OnState(const msgs::SerializedStepMap &_msg)
   IGN_PROFILE_THREAD_NAME("GuiRunner::OnState");
   IGN_PROFILE("GuiRunner::Update");
 
+  std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
   this->dataPtr->ecm.SetState(_msg.state());
 
   // Update all plugins
   this->dataPtr->updateInfo = convert<UpdateInfo>(_msg.stats());
+  this->dataPtr->UpdatePlugins();
+  this->dataPtr->ecm.ClearNewlyCreatedEntities();
+  this->dataPtr->ecm.ProcessRemoveEntityRequests();
+}
+
+/////////////////////////////////////////////////
+void GuiRunner::Implementation::UpdatePlugins()
+{
   auto plugins = gui::App()->findChildren<GuiSystem *>();
   for (auto plugin : plugins)
   {
-    plugin->Update(this->dataPtr->updateInfo, this->dataPtr->ecm);
+    plugin->Update(this->updateInfo, this->ecm);
   }
-  this->dataPtr->ecm.ClearNewlyCreatedEntities();
-  this->dataPtr->ecm.ProcessRemoveEntityRequests();
-  this->dataPtr->ecm.ClearRemovedComponents();
+  this->ecm.ClearRemovedComponents();
 }
-

src/rendering/RenderUtil.cc

@@ -185,6 +185,9 @@ class ignition::gazebo::RenderUtilPrivate
   public: std::unordered_map<Entity, msgs::ParticleEmitter>
       newParticleEmittersCmds;
 
+  /// \brief A list of entities with particle emitter cmds to remove
+  public: std::vector<Entity> particleCmdsToRemove;
+
   /// \brief Map of ids of entites to be removed and sim iteration when the
   /// remove request is received
   public: std::unordered_map<Entity, uint64_t> removeEntities;
@@ -348,14 +351,21 @@ void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/,
 {
   std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
 
+  // Remove the commands from the entity
+  // these are commands from the last iteration. We want to make sure all
+  // systems have a chance to process them first before they are removed.
+  for (const auto &entity : this->dataPtr->particleCmdsToRemove)
+    _ecm.RemoveComponent<components::ParticleEmitterCmd>(entity);
+  this->dataPtr->particleCmdsToRemove.clear();
+
   // particle emitters commands
   _ecm.Each<components::ParticleEmitterCmd>(
       [&](const Entity &_entity,
           const components::ParticleEmitterCmd *_emitterCmd) -> bool
       {
         // store emitter properties and update them in rendering thread
         this->dataPtr->newParticleEmittersCmds[_entity] =
-            _emitterCmd->Data();
+        _emitterCmd->Data();
 
         // update pose comp here
         if (_emitterCmd->Data().has_pose())
@@ -364,7 +374,8 @@ void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/,
           if (poseComp)
             poseComp->Data() = msgs::Convert(_emitterCmd->Data().pose());
         }
-        _ecm.RemoveComponent<components::ParticleEmitterCmd>(_entity);
+        // Store the entity ids to clear outside of the `Each` loop.
+        this->dataPtr->particleCmdsToRemove.push_back(_entity);
 
         return true;
       });

src/rendering/SceneManager.cc

@@ -1211,7 +1211,7 @@ rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id,
     }
     default:
     {
-      emitter->SetType(ignition::rendering::EmitterType::EM_POINT);
+      // Do nothing if type is not set.
     }
   }
 
@@ -1220,20 +1220,28 @@ rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id,
     emitter->SetEmitterSize(ignition::msgs::Convert(_emitter.size()));
 
   // Rate.
-  emitter->SetRate(_emitter.rate());
+  if (_emitter.has_rate())
+    emitter->SetRate(_emitter.rate().data());
 
   // Duration.
-  emitter->SetDuration(_emitter.duration());
+  if (_emitter.has_duration())
+    emitter->SetDuration(_emitter.duration().data());
 
   // Emitting.
-  emitter->SetEmitting(_emitter.emitting());
+  if (_emitter.has_emitting()) {
+    emitter->SetEmitting(_emitter.emitting().data());
+  }
 
   // Particle size.
-  emitter->SetParticleSize(
-    ignition::msgs::Convert(_emitter.particle_size()));
+  if (_emitter.has_particle_size())
+  {
+    emitter->SetParticleSize(
+        ignition::msgs::Convert(_emitter.particle_size()));
+  }
 
   // Lifetime.
-  emitter->SetLifetime(_emitter.lifetime());
+  if (_emitter.has_lifetime())
+    emitter->SetLifetime(_emitter.lifetime().data());
 
   // Material.
   if (_emitter.has_material())
@@ -1244,12 +1252,17 @@ rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id,
   }
 
   // Velocity range.
-  emitter->SetVelocityRange(_emitter.min_velocity(), _emitter.max_velocity());
+  if (_emitter.has_min_velocity() && _emitter.has_max_velocity())
+  {
+    emitter->SetVelocityRange(_emitter.min_velocity().data(),
+        _emitter.max_velocity().data());
+  }
 
   // Color range image.
-  if (!_emitter.color_range_image().empty())
+  if (_emitter.has_color_range_image() &&
+      !_emitter.color_range_image().data().empty())
   {
-    emitter->SetColorRangeImage(_emitter.color_range_image());
+    emitter->SetColorRangeImage(_emitter.color_range_image().data());
   }
   // Color range.
   else if (_emitter.has_color_start() && _emitter.has_color_end())
@@ -1260,7 +1273,8 @@ rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id,
   }
 
   // Scale rate.
-  emitter->SetScaleRate(_emitter.scale_rate());
+  if (_emitter.has_scale_rate())
+    emitter->SetScaleRate(_emitter.scale_rate().data());
 
   // pose
   if (_emitter.has_pose())

src/systems/particle_emitter/ParticleEmitter.cc

@@ -188,13 +188,16 @@ void ParticleEmitter::Configure(const Entity &_entity,
   ignition::msgs::Set(this->dataPtr->emitter.mutable_size(), size);
 
   // Rate.
-  this->dataPtr->emitter.set_rate(_sdf->Get<double>("rate", 10).first);
+  this->dataPtr->emitter.mutable_rate()->set_data(
+      _sdf->Get<double>("rate", 10).first);
 
   // Duration.
-  this->dataPtr->emitter.set_duration(_sdf->Get<double>("duration", 0).first);
+  this->dataPtr->emitter.mutable_duration()->set_data(
+      _sdf->Get<double>("duration", 0).first);
 
   // Emitting.
-  this->dataPtr->emitter.set_emitting(_sdf->Get<bool>("emitting", false).first);
+  this->dataPtr->emitter.mutable_emitting()->set_data(
+      _sdf->Get<bool>("emitting", false).first);
 
   // Particle size.
   size = ignition::math::Vector3d::One;
@@ -203,7 +206,8 @@ void ParticleEmitter::Configure(const Entity &_entity,
   ignition::msgs::Set(this->dataPtr->emitter.mutable_particle_size(), size);
 
   // Lifetime.
-  this->dataPtr->emitter.set_lifetime(_sdf->Get<double>("lifetime", 5).first);
+  this->dataPtr->emitter.mutable_lifetime()->set_data(
+      _sdf->Get<double>("lifetime", 5).first);
 
   // Material.
   if (_sdf->HasElement("material"))
@@ -216,11 +220,11 @@ void ParticleEmitter::Configure(const Entity &_entity,
   }
 
   // Min velocity.
-  this->dataPtr->emitter.set_min_velocity(
+  this->dataPtr->emitter.mutable_min_velocity()->set_data(
     _sdf->Get<double>("min_velocity", 1).first);
 
   // Max velocity.
-  this->dataPtr->emitter.set_max_velocity(
+  this->dataPtr->emitter.mutable_max_velocity()->set_data(
     _sdf->Get<double>("max_velocity", 1).first);
 
   // Color start.
@@ -236,7 +240,7 @@ void ParticleEmitter::Configure(const Entity &_entity,
   ignition::msgs::Set(this->dataPtr->emitter.mutable_color_end(), color);
 
   // Scale rate.
-  this->dataPtr->emitter.set_scale_rate(
+  this->dataPtr->emitter.mutable_scale_rate()->set_data(
     _sdf->Get<double>("scale_rate", 1).first);
 
   // Color range image.
@@ -250,7 +254,8 @@ void ParticleEmitter::Configure(const Entity &_entity,
     systemPaths.SetFilePathEnv(kResourcePathEnv);
     auto absolutePath = systemPaths.FindFile(path);
 
-    this->dataPtr->emitter.set_color_range_image(absolutePath);
+    this->dataPtr->emitter.mutable_color_range_image()->set_data(
+        absolutePath);
   }
 
   igndbg << "Loading particle emitter:" << std::endl

src/systems/performer_detector/PerformerDetector.cc

@@ -242,6 +242,11 @@ void PerformerDetector::Publish(
     headerData->set_key("state");
     headerData->add_value(std::to_string(_state));
   }
+  {
+    auto *headerData = msg.mutable_header()->add_data();
+    headerData->set_key("count");
+    headerData->add_value(std::to_string(this->detectedEntities.size()));
+  }
 
   // Include the optional extra header data.
   for (const auto &data : this->extraHeaderData)

src/systems/performer_detector/PerformerDetector.hh

@@ -51,7 +51,9 @@ namespace systems
   /// header will contain the key "frame_id" with a value set to the name of
   /// the model containing the PerformerDetector system and the key "state" with
   /// a value set to "1" if the performer is entering the detector's region and
-  /// "0" if the performer is leaving the region.
+  /// "0" if the performer is leaving the region. The `data` field of the
+  /// header will also contain the key "count" with a value set to the
+  /// number of performers currently in the region.
   ///
   /// The PerformerDetector has to be attached to a <model> and it's region is
   /// centered on the containing model's origin.

src/systems/physics/CMakeLists.txt

@@ -7,3 +7,13 @@ gz_add_system(physics
     ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}
 )
 
+set (gtest_sources
+  EntityFeatureMap_TEST.cc
+)
+
+ign_build_tests(TYPE UNIT
+  SOURCES
+  ${gtest_sources}
+  LIB_DEPS
+  ignition-physics${IGN_PHYSICS_VER}::core
+)