Fix configuration sequence

Signed-off-by: Michael Carroll <[email protected]>
gazebosim · Feb 15, 2022 · 53063fb · 53063fb
1 parent cb111a2
commit 53063fb
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Showing 4 changed files with 53 additions and 42 deletions.
diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc
@@ -461,6 +461,7 @@ void SimulationRunner::AddSystem(const SystemPluginPtr &_system,
   auto sdf = _sdf.has_value() ? _sdf.value() : this->sdfWorld->Element();
 
   this->systemMgr->AddSystem(_system, entity, sdf);
+  this->systemMgr->ConfigurePendingSystems(this->entityCompMgr, this->eventMgr);
 }
 
 //////////////////////////////////////////////////
@@ -474,56 +475,55 @@ void SimulationRunner::AddSystem(
   auto sdf = _sdf.has_value() ? _sdf.value() : this->sdfWorld->Element();
 
   this->systemMgr->AddSystem(_system, entity, sdf);
+  this->systemMgr->ConfigurePendingSystems(this->entityCompMgr, this->eventMgr);
 }
 
 /////////////////////////////////////////////////
 void SimulationRunner::ProcessSystemQueue()
 {
   auto pending = this->systemMgr->PendingCount();
 
-  if (pending > 0)
-  {
-    // If additional systems are to be added, stop the existing threads.
-    this->StopWorkerThreads();
+  if (0 == pending)
+    return;
 
-    this->systemMgr->ConfigurePendingSystems(
-        this->entityCompMgr, this->eventMgr);
-    this->systemMgr->ActivatePendingSystems();
+  // If additional systems are to be added, stop the existing threads.
+  this->StopWorkerThreads();
 
-    auto threadCount = this->systemMgr->SystemsPostUpdate().size() + 1u;
+  this->systemMgr->ActivatePendingSystems();
 
-    igndbg << "Creating PostUpdate worker threads: "
-      << threadCount << std::endl;
+  auto threadCount = this->systemMgr->SystemsPostUpdate().size() + 1u;
 
-    this->postUpdateStartBarrier = std::make_unique<Barrier>(threadCount);
-    this->postUpdateStopBarrier = std::make_unique<Barrier>(threadCount);
+  igndbg << "Creating PostUpdate worker threads: "
+    << threadCount << std::endl;
 
-    this->postUpdateThreadsRunning = true;
-    int id = 0;
+  this->postUpdateStartBarrier = std::make_unique<Barrier>(threadCount);
+  this->postUpdateStopBarrier = std::make_unique<Barrier>(threadCount);
 
-    for (auto &system : this->systemMgr->SystemsPostUpdate())
-    {
-      igndbg << "Creating postupdate worker thread (" << id << ")" << std::endl;
+  this->postUpdateThreadsRunning = true;
+  int id = 0;
 
-      this->postUpdateThreads.push_back(std::thread([&, id]()
+  for (auto &system : this->systemMgr->SystemsPostUpdate())
+  {
+    igndbg << "Creating postupdate worker thread (" << id << ")" << std::endl;
+
+    this->postUpdateThreads.push_back(std::thread([&, id]()
+    {
+      std::stringstream ss;
+      ss << "PostUpdateThread: " << id;
+      IGN_PROFILE_THREAD_NAME(ss.str().c_str());
+      while (this->postUpdateThreadsRunning)
       {
-        std::stringstream ss;
-        ss << "PostUpdateThread: " << id;
-        IGN_PROFILE_THREAD_NAME(ss.str().c_str());
-        while (this->postUpdateThreadsRunning)
+        this->postUpdateStartBarrier->Wait();
+        if (this->postUpdateThreadsRunning)
         {
-          this->postUpdateStartBarrier->Wait();
-          if (this->postUpdateThreadsRunning)
-          {
-            system->PostUpdate(this->currentInfo, this->entityCompMgr);
-          }
-          this->postUpdateStopBarrier->Wait();
+          system->PostUpdate(this->currentInfo, this->entityCompMgr);
         }
-        igndbg << "Exiting postupdate worker thread ("
-          << id << ")" << std::endl;
-      }));
-      id++;
-    }
+        this->postUpdateStopBarrier->Wait();
+      }
+      igndbg << "Exiting postupdate worker thread ("
+        << id << ")" << std::endl;
+    }));
+    id++;
   }
 }
 
@@ -866,6 +866,8 @@ void SimulationRunner::LoadPlugin(const Entity _entity,
                                   const sdf::ElementPtr &_sdf)
 {
   this->systemMgr->LoadPlugin(_entity, _fname, _name, _sdf);
+  this->systemMgr->ConfigurePendingSystems(
+      this->entityCompMgr, this->eventMgr);
 }
 
 //////////////////////////////////////////////////

diff --git a/src/SystemManager.cc b/src/SystemManager.cc
@@ -73,17 +73,19 @@ void SystemManager::ConfigurePendingSystems(EntityComponentManager &_ecm,
                                             EventManager &_eventMgr)
 {
   std::lock_guard<std::mutex> lock(this->systemsMutex);
-  for (const auto& system : this->pendingSystems)
+  for (size_t ii = 0; ii < this->pendingSystems.size(); ++ii)
   {
+    if (this->pendingSystemsConfigured[ii])
+      continue;
+
+    const auto& system = this->pendingSystems[ii];
+
     if (system.configure)
     {
-      if (system.configureEntity != kNullEntity &&
-          system.configureSdf != nullptr)
-      {
-        system.configure->Configure(system.configureEntity,
-                                    system.configureSdf,
-                                    _ecm, _eventMgr);
-      }
+      system.configure->Configure(system.configureEntity,
+                                  system.configureSdf,
+                                  _ecm, _eventMgr);
+      this->pendingSystemsConfigured[ii] = true;
     }
   }
 }
@@ -113,6 +115,7 @@ size_t SystemManager::ActivatePendingSystems()
   }
 
   this->pendingSystems.clear();
+  this->pendingSystemsConfigured.clear();
   return count;
 }
 
@@ -145,6 +148,7 @@ void SystemManager::AddSystemImpl(
   // Update callbacks will be handled later, add to queue
   std::lock_guard<std::mutex> lock(this->systemsMutex);
   this->pendingSystems.push_back(_system);
+  this->pendingSystemsConfigured.push_back(false);
 }
 
 //////////////////////////////////////////////////

diff --git a/src/SystemManager.hh b/src/SystemManager.hh
@@ -120,6 +120,9 @@ namespace ignition
       /// \brief Pending systems to be added to systems.
       private: std::vector<SystemInternal> pendingSystems;
 
+      /// \brief Mark if a pending system has been configured
+      private: std::vector<bool> pendingSystemsConfigured;
+
       /// \brief Mutex to protect pendingSystems
       private: mutable std::mutex systemsMutex;
 

diff --git a/src/SystemManager_TEST.cc b/src/SystemManager_TEST.cc
@@ -37,7 +37,9 @@ class System_WithConfigure:
                 const Entity &,
                 const std::shared_ptr<const sdf::Element> &,
                 EntityComponentManager &,
-                EventManager &) override {};
+                EventManager &) override { configured++; };
+
+  public: int configured = 0;
 };
 
 /////////////////////////////////////////////////