Merge branch 'ign-gazebo4' into gonzodepedro/world_exporter

Migration.md

@@ -24,6 +24,9 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
           std::string(const gazebo::Entity &,
           const sdf::Sensor &, const std::string &)>)`
 
+* Log playback using `<path>` SDF parameter is removed. Use --playback command
+  line argument instead.
+
 ## Ignition Gazebo 2.x to 3.x
 
 * Use ign-rendering3, ign-sensors3 and ign-gui3.

src/ServerConfig.cc

@@ -572,9 +572,9 @@ ServerConfig::LogPlaybackPlugin() const
   if (!this->LogPlaybackPath().empty())
   {
     sdf::ElementPtr pathElem = std::make_shared<sdf::Element>();
-    pathElem->SetName("path");
+    pathElem->SetName("playback_path");
     playbackElem->AddElementDescription(pathElem);
-    pathElem = playbackElem->GetElement("path");
+    pathElem = playbackElem->GetElement("playback_path");
     pathElem->AddValue("string", "", false, "");
     pathElem->Set<std::string>(this->LogPlaybackPath());
   }

src/systems/log/LogPlayback.cc

@@ -183,7 +183,7 @@ void LogPlayback::Configure(const Entity &,
     EntityComponentManager &_ecm, EventManager &_eventMgr)
 {
   // Get directory paths from SDF
-  this->dataPtr->logPath = _sdf->Get<std::string>("path");
+  this->dataPtr->logPath = _sdf->Get<std::string>("playback_path");
 
   this->dataPtr->eventManager = &_eventMgr;
 

test/integration/log_system.cc

@@ -165,7 +165,6 @@ class LogSystemTest : public ::testing::Test
       common::removeAll(this->logsDir);
     }
     common::createDirectories(this->logsDir);
-    common::createDirectories(this->logPlaybackDir);
   }
 
   // Append extension to the end of a path, removing the separator at
@@ -266,10 +265,6 @@ class LogSystemTest : public ::testing::Test
   /// \brief Path to recorded log file
   public: std::string logDir = common::joinPaths(logsDir,
       "test_logs_record");
-
-  /// \brief Path to log file for playback
-  public: std::string logPlaybackDir =
-      common::joinPaths(this->logsDir, "test_logs_playback");
 };
 
 /////////////////////////////////////////////////
@@ -341,16 +336,16 @@ TEST_F(LogSystemTest, LogDefaults)
   EXPECT_EQ(setenv(IGN_HOMEDIR, homeFake.c_str(), 1), 0);
 
   // Test case 1:
-  // No path specified, on both command line and SDF. This does not go through
+  // No path specified on command line. This does not go through
   // ign.cc, so ignLogDirectory() is not initialized (empty string). Recording
   // should not take place.
   {
-    // Change log path in SDF to empty
+    // Load SDF
     sdf::Root recordSdfRoot;
-    this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord",
-        " ");
+    EXPECT_EQ(recordSdfRoot.Load(recordSdfPath).size(), 0lu);
+    EXPECT_GT(recordSdfRoot.WorldCount(), 0lu);
 
-    // Pass changed SDF to server
+    // Pass SDF to server
     ServerConfig recordServerConfig;
     recordServerConfig.SetSdfString(recordSdfRoot.Element()->ToString(""));
 
@@ -743,25 +738,17 @@ TEST_F(LogSystemTest, RecordAndPlayback)
   auto logFile = common::joinPaths(this->logDir, "state.tlog");
   EXPECT_TRUE(common::exists(logFile));
 
-  // move the log file to the playback directory
-  auto logPlaybackFile = common::joinPaths(this->logPlaybackDir, "state.tlog");
+  // Path to log file for playback
+  std::string logPlaybackDir =
+      common::joinPaths(this->logsDir, "test_logs_playback");
+  common::createDirectories(logPlaybackDir);
+
+  // Move the log file to the playback directory
+  auto logPlaybackFile = common::joinPaths(logPlaybackDir, "state.tlog");
   common::moveFile(logFile, logPlaybackFile);
   EXPECT_TRUE(common::exists(logPlaybackFile));
 
-  // World file to load
-  const auto playSdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH),
-    "test", "worlds", "log_playback.sdf");
-
-  // Change log path in world SDF to build directory
-  sdf::Root playSdfRoot;
-  this->ChangeLogPath(playSdfRoot, playSdfPath, "LogPlayback",
-      this->logPlaybackDir);
-  ASSERT_EQ(1u, playSdfRoot.WorldCount());
-
-  const auto sdfWorld = playSdfRoot.WorldByIndex(0);
-  EXPECT_EQ("default", sdfWorld->Name());
-
-  // Load log file recorded above
+  // Load log file recorded above for validation
   transport::log::Log log;
   log.Open(logPlaybackFile);
 
@@ -794,10 +781,6 @@ TEST_F(LogSystemTest, RecordAndPlayback)
   EXPECT_EQ(32, stateMsg.entities_size());
   EXPECT_EQ(batch.end(), ++recordedIter);
 
-  // Pass changed SDF to server
-  ServerConfig playServerConfig;
-  playServerConfig.SetSdfString(playSdfRoot.Element()->ToString(""));
-
   // Keep track of total number of pose comparisons
   int nTotal{0};
 
@@ -818,6 +801,10 @@ TEST_F(LogSystemTest, RecordAndPlayback)
   EXPECT_EQ(0, recordedMsg.header().stamp().sec());
   EXPECT_EQ(1000000, recordedMsg.header().stamp().nsec());
 
+  // Playback config
+  ServerConfig playServerConfig;
+  playServerConfig.SetLogPlaybackPath(logPlaybackDir);
+
   // Start server
   Server playServer(playServerConfig);
 
@@ -1026,7 +1013,7 @@ TEST_F(LogSystemTest, LogOverwrite)
   // Create temp directory to store log
   this->CreateLogsDir();
 #ifndef __APPLE__
-  EXPECT_EQ(1, entryCount(this->logsDir));
+  EXPECT_EQ(0, entryCount(this->logsDir));
   EXPECT_EQ(0, entryCount(this->logDir));
 #endif
 
@@ -1062,7 +1049,7 @@ TEST_F(LogSystemTest, LogOverwrite)
 
 #ifndef __APPLE__
   // Log files were created
-  EXPECT_EQ(2, entryCount(this->logsDir));
+  EXPECT_EQ(1, entryCount(this->logsDir));
   EXPECT_EQ(2, entryCount(this->logDir));
   std::filesystem::path tlogStdPath = tlogPath;
   auto tlogPrevTime = std::filesystem::last_write_time(tlogStdPath);
@@ -1088,7 +1075,7 @@ TEST_F(LogSystemTest, LogOverwrite)
 
 #ifndef __APPLE__
   // No new files were created
-  EXPECT_EQ(2, entryCount(this->logsDir));
+  EXPECT_EQ(1, entryCount(this->logsDir));
   EXPECT_EQ(2, entryCount(this->logDir));
 
   // Test timestamp is newer
@@ -1116,7 +1103,7 @@ TEST_F(LogSystemTest, LogOverwrite)
   EXPECT_TRUE(common::exists(clogPath));
 
   // No new files were created
-  EXPECT_EQ(2, entryCount(this->logsDir));
+  EXPECT_EQ(1, entryCount(this->logsDir));
   EXPECT_EQ(2, entryCount(this->logDir));
 
   // Test timestamp is newer
@@ -1158,7 +1145,7 @@ TEST_F(LogSystemTest, LogOverwrite)
       "server_console.log")));
 
   // New files were created
-  EXPECT_EQ(3, entryCount(this->logsDir));
+  EXPECT_EQ(2, entryCount(this->logsDir));
   EXPECT_EQ(2, entryCount(this->logDir));
   EXPECT_EQ(2, entryCount(this->logDir + "(1)"));
 
@@ -1175,16 +1162,8 @@ TEST_F(LogSystemTest, LogControlLevels)
   auto logPath = common::joinPaths(PROJECT_SOURCE_PATH, "test", "media",
       "levels_log");
 
-  const auto playSdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH),
-    "test", "worlds", "log_playback.sdf");
-
-  // Change log path in world SDF to build directory
-  sdf::Root playSdfRoot;
-  this->ChangeLogPath(playSdfRoot, playSdfPath, "LogPlayback",
-      logPath);
-
   ServerConfig config;
-  config.SetSdfString(playSdfRoot.Element()->ToString(""));
+  config.SetLogPlaybackPath(logPath);
 
   Server server(config);
 
@@ -1390,29 +1369,25 @@ TEST_F(LogSystemTest, LogCompress)
   // Test compressed file exists
   EXPECT_TRUE(common::exists(customCmpPath));
 
+  // Path to log file for playback
+  std::string logPlaybackDir =
+      common::joinPaths(this->logsDir, "test_logs_playback");
+  common::createDirectories(logPlaybackDir);
+
   // Move recorded file to playback directory
   // Prefix the zip by the name of the original recorded folder. Playback will
   // extract and assume subdirectory to take on the name of the zip file
   // without extension.
-  auto newCmpPath = common::joinPaths(this->logPlaybackDir,
+  auto newCmpPath = common::joinPaths(logPlaybackDir,
     common::basename(defaultCmpPath));
   common::moveFile(customCmpPath, newCmpPath);
   EXPECT_TRUE(common::exists(newCmpPath));
 
   // Play back compressed file
   {
-    // World with playback plugin
-    const auto playSdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH),
-        "test", "worlds", "log_playback.sdf");
-
-    // Change log path in world SDF to build directory
-    sdf::Root playSdfRoot;
-    this->ChangeLogPath(playSdfRoot, playSdfPath, "LogPlayback",
-        newCmpPath);
-
     // Pass changed SDF to server
     ServerConfig playServerConfig;
-    playServerConfig.SetSdfString(playSdfRoot.Element()->ToString(""));
+    playServerConfig.SetLogPlaybackPath(newCmpPath);
 
     // Run server
     Server playServer(playServerConfig);

test/worlds/log_playback.sdf

@@ -7,8 +7,6 @@
     <plugin
       filename='ignition-gazebo-log-system'
       name='ignition::gazebo::systems::LogPlayback'>
-      <!-- Will be automatically changed in integration test. -->
-      <path>/tmp/log</path>
     </plugin>
   </world>
 </sdf>

tutorials/log.md

@@ -96,6 +96,11 @@ directory specified to record:
 
 `ign gazebo -r -v 4 --playback <path>`
 
+### From plugin in SDF
+
+Playing back via the SDF tag `<path>` has been removed.
+Please use the command line argument.
+
 ## Known issues
 
 * When using command-line playback there is currently a small caveat.