Try to fix the ABI breakage

Signed-off-by: Arjo Chakravarty <[email protected]>
gazebosim · Nov 17, 2022 · 61b150e · 61b150e
1 parent 38a887a
commit 61b150e
Show file tree

Hide file tree

Showing 5 changed files with 24 additions and 10 deletions.
diff --git a/include/gz/sim/components/Environment.hh b/include/gz/sim/components/Environment.hh
@@ -59,9 +59,17 @@ namespace components
     /// instantiation that is guaranteed to outlive
     /// them.
     static std::shared_ptr<EnvironmentalData>
-    MakeShared(FrameT _frame, ReferenceT _reference,
-      ReferenceUnits _units = ReferenceUnits::RADIANS,
-      bool _ignoreTimeStep = false);
+      MakeShared(FrameT _frame, ReferenceT _reference);
+
+    /// \brief Instantiate environmental data.
+    ///
+    /// An std::make_shared equivalent that ensures
+    /// dynamically loaded call sites use a template
+    /// instantiation that is guaranteed to outlive
+    /// them.
+    static std::shared_ptr<EnvironmentalData>
+      MakeSharedWithUnits(FrameT _frame, ReferenceT _reference,
+        ReferenceUnits _units, bool _ignoreTimeStep);
 
     /// \brief Environmental data frame.
     FrameT frame;

diff --git a/src/components/Environment.cc b/src/components/Environment.cc
@@ -23,8 +23,15 @@
 using namespace gz::sim::components;
 
 std::shared_ptr<EnvironmentalData>
-EnvironmentalData::MakeShared(FrameT _frame, ReferenceT _reference,
-  ReferenceUnits _units, bool _ignoreTimeStep)
+  EnvironmentalData::MakeShared(FrameT _frame, ReferenceT _reference)
+{
+  return EnvironmentalData::MakeSharedWithUnits(
+    _frame, _reference, ReferenceUnits::RADIANS, false);
+}
+
+std::shared_ptr<EnvironmentalData>
+  EnvironmentalData::MakeSharedWithUnits(FrameT _frame, ReferenceT _reference,
+    ReferenceUnits _units, bool _ignoreTimeStep)
 {
   auto data = std::make_shared<EnvironmentalData>();
   data->frame = std::move(_frame);

diff --git a/src/gui/plugins/environment_loader/EnvironmentLoader.cc b/src/gui/plugins/environment_loader/EnvironmentLoader.cc
@@ -135,7 +135,7 @@ void EnvironmentLoader::Update(const UpdateInfo &,
     try
     {
       using ComponentDataT = components::EnvironmentalData;
-      auto data = ComponentDataT::MakeShared(
+      auto data = ComponentDataT::MakeSharedWithUnits(
           common::IO<ComponentDataT::FrameT>::ReadFrom(
               common::CSVIStreamIterator(dataFile),
               common::CSVIStreamIterator(),
@@ -144,7 +144,8 @@ void EnvironmentLoader::Update(const UpdateInfo &,
                 static_cast<size_t>(this->dataPtr->yIndex),
                 static_cast<size_t>(this->dataPtr->zIndex)}),
           this->dataPtr->referenceMap[this->dataPtr->reference],
-          this->dataPtr->unitMap[this->dataPtr->unit]);
+          this->dataPtr->unitMap[this->dataPtr->unit],
+          false);
 
       using ComponentT = components::Environment;
       _ecm.CreateComponent(worldEntity(_ecm), ComponentT{std::move(data)});

diff --git a/src/systems/environment_preload/EnvironmentPreload.cc b/src/systems/environment_preload/EnvironmentPreload.cc
@@ -164,7 +164,7 @@ void EnvironmentPreload::PreUpdate(
     {
       gzmsg << "Loading Environment Data\n";
       using ComponentDataT = components::EnvironmentalData;
-      auto data = ComponentDataT::MakeShared(
+      auto data = ComponentDataT::MakeSharedWithUnits(
           common::IO<ComponentDataT::FrameT>::ReadFrom(
               common::CSVIStreamIterator(dataFile),
               common::CSVIStreamIterator(),

diff --git a/test/worlds/environmental_data.sdf.in b/test/worlds/environmental_data.sdf.in
@@ -28,7 +28,6 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
-
     <spherical_coordinates>
       <surface_model>EARTH_WGS84</surface_model>
       <world_frame_orientation>ENU</world_frame_orientation>
@@ -38,7 +37,6 @@
       <heading_deg>0</heading_deg>
     </spherical_coordinates>
 
-
     <plugin
       filename="gz-sim-environment-preload-system"
       name="gz::sim::systems::EnvironmentPreload">