Suggestions to #281 (#508)

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Dec 23, 2020 · e15b673 · e15b673
1 parent e5a6992
commit e15b673
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Showing 8 changed files with 154 additions and 56 deletions.
diff --git a/include/ignition/gazebo/config.hh.in b/include/ignition/gazebo/config.hh.in
@@ -15,7 +15,7 @@
 
 #define IGNITION_GAZEBO_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/gui"
 #define IGNITION_GAZEBO_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/systems"
-#define IGNITION_GAZEBO_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/"
+#define IGNITION_GAZEBO_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}"
 #define IGN_GAZEBO_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
 #define IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
 #define IGN_GAZEBO_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/worlds"

diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc
@@ -26,7 +26,7 @@ using namespace ignition;
 using namespace gazebo;
 
 //////////////////////////////////////////////////
-TEST(parsePluginsFromString, valid)
+TEST(ParsePluginsFromString, Valid)
 {
   std::string config = R"(
   <server_config>
@@ -58,14 +58,30 @@ TEST(parsePluginsFromString, valid)
   auto plugins = parsePluginsFromString(config);
   ASSERT_EQ(3u, plugins.size());
 
-  EXPECT_EQ("default", plugins.begin()->EntityName());
-  EXPECT_EQ("world", plugins.begin()->EntityType());
-  EXPECT_EQ("TestWorldSystem", plugins.begin()->Filename());
-  EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugins.begin()->Name());
+  auto plugin = plugins.begin();
+
+  EXPECT_EQ("default", plugin->EntityName());
+  EXPECT_EQ("world", plugin->EntityType());
+  EXPECT_EQ("TestWorldSystem", plugin->Filename());
+  EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugin->Name());
+
+  plugin = std::next(plugin, 1);
+
+  EXPECT_EQ("box", plugin->EntityName());
+  EXPECT_EQ("model", plugin->EntityType());
+  EXPECT_EQ("TestModelSystem", plugin->Filename());
+  EXPECT_EQ("ignition::gazebo::TestModelSystem", plugin->Name());
+
+  plugin = std::next(plugin, 1);
+
+  EXPECT_EQ("default::box::link_1::camera", plugin->EntityName());
+  EXPECT_EQ("sensor", plugin->EntityType());
+  EXPECT_EQ("TestSensorSystem", plugin->Filename());
+  EXPECT_EQ("ignition::gazebo::TestSensorSystem", plugin->Name());
 }
 
 //////////////////////////////////////////////////
-TEST(parsePluginsFromString, invalid)
+TEST(ParsePluginsFromString, Invalid)
 {
   std::string config = R"(
   <server_config>
@@ -86,25 +102,41 @@ TEST(parsePluginsFromString, invalid)
 }
 
 //////////////////////////////////////////////////
-TEST(parsePluginsFromFile, valid)
+TEST(ParsePluginsFromFile, Valid)
 {
   auto config = common::joinPaths(PROJECT_SOURCE_PATH,
-    "/test/worlds/server_valid.config");
+    "test", "worlds", "server_valid.config");
 
   auto plugins = parsePluginsFromFile(config);
   ASSERT_EQ(3u, plugins.size());
 
-  EXPECT_EQ("default", plugins.begin()->EntityName());
-  EXPECT_EQ("world", plugins.begin()->EntityType());
-  EXPECT_EQ("TestWorldSystem", plugins.begin()->Filename());
-  EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugins.begin()->Name());
+  auto plugin = plugins.begin();
+
+  EXPECT_EQ("default", plugin->EntityName());
+  EXPECT_EQ("world", plugin->EntityType());
+  EXPECT_EQ("TestWorldSystem", plugin->Filename());
+  EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugin->Name());
+
+  plugin = std::next(plugin, 1);
+
+  EXPECT_EQ("box", plugin->EntityName());
+  EXPECT_EQ("model", plugin->EntityType());
+  EXPECT_EQ("TestModelSystem", plugin->Filename());
+  EXPECT_EQ("ignition::gazebo::TestModelSystem", plugin->Name());
+
+  plugin = std::next(plugin, 1);
+
+  EXPECT_EQ("default::box::link_1::camera", plugin->EntityName());
+  EXPECT_EQ("sensor", plugin->EntityType());
+  EXPECT_EQ("TestSensorSystem", plugin->Filename());
+  EXPECT_EQ("ignition::gazebo::TestSensorSystem", plugin->Name());
 }
 
 //////////////////////////////////////////////////
-TEST(parsePluginsFromFile, invalid)
+TEST(ParsePluginsFromFile, Invalid)
 {
   auto config = common::joinPaths(PROJECT_SOURCE_PATH,
-    "/test/worlds/server_invalid.config");
+    "test", "worlds", "server_invalid.config");
 
   // Valid file without valid content
   auto plugins = parsePluginsFromFile(config);
@@ -116,35 +148,35 @@ TEST(parsePluginsFromFile, invalid)
 }
 
 //////////////////////////////////////////////////
-TEST(parsePluginsFromFile, defaultConfig)
+TEST(ParsePluginsFromFile, DefaultConfig)
 {
   // Note: This test validates that that the default
   // configuration always parses.
   // If more systems are added, then the number needs
   // to be adjusted below.
   auto config = common::joinPaths(PROJECT_SOURCE_PATH,
-    "/include/ignition/gazebo/server.config");
+    "include", "ignition", "gazebo", "server.config");
 
   auto plugins = parsePluginsFromFile(config);
   ASSERT_EQ(3u, plugins.size());
 }
 
 //////////////////////////////////////////////////
-TEST(parsePluginsFromFile, playbackConfig)
+TEST(ParsePluginsFromFile, PlaybackConfig)
 {
   // Note: This test validates that that the default
   // configuration always parses.
   // If more systems are added, then the number needs
   // to be adjusted below.
   auto config = common::joinPaths(PROJECT_SOURCE_PATH,
-    "/include/ignition/gazebo/playback_server.config");
+    "include", "ignition", "gazebo", "playback_server.config");
 
   auto plugins = parsePluginsFromFile(config);
   ASSERT_EQ(2u, plugins.size());
 }
 
 //////////////////////////////////////////////////
-TEST(loadPluginInfo, fromEmptyEnv)
+TEST(LoadPluginInfo, FromEmptyEnv)
 {
   // Set environment to something that doesn't exist
   ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, "foo"));
@@ -155,26 +187,35 @@ TEST(loadPluginInfo, fromEmptyEnv)
 }
 
 //////////////////////////////////////////////////
-TEST(loadPluginInfo, fromValidEnv)
+TEST(LoadPluginInfo, FromValidEnv)
 {
   auto validPath = common::joinPaths(PROJECT_SOURCE_PATH,
-    "/test/worlds/server_valid2.config");
+    "test", "worlds", "server_valid2.config");
 
   ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, validPath));
 
   auto plugins = loadPluginInfo();
   ASSERT_EQ(2u, plugins.size());
 
-  EXPECT_EQ("*", plugins.begin()->EntityName());
-  EXPECT_EQ("world", plugins.begin()->EntityType());
-  EXPECT_EQ("TestWorldSystem", plugins.begin()->Filename());
-  EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugins.begin()->Name());
+  auto plugin = plugins.begin();
+
+  EXPECT_EQ("*", plugin->EntityName());
+  EXPECT_EQ("world", plugin->EntityType());
+  EXPECT_EQ("TestWorldSystem", plugin->Filename());
+  EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugin->Name());
+
+  plugin = std::next(plugin, 1);
+
+  EXPECT_EQ("box", plugin->EntityName());
+  EXPECT_EQ("model", plugin->EntityType());
+  EXPECT_EQ("TestModelSystem", plugin->Filename());
+  EXPECT_EQ("ignition::gazebo::TestModelSystem", plugin->Name());
 
   EXPECT_TRUE(common::unsetenv(gazebo::kServerConfigPathEnv));
 }
 
 //////////////////////////////////////////////////
-TEST(ServerConfig, generateRecordPlugin)
+TEST(ServerConfig, GenerateRecordPlugin)
 {
   ServerConfig config;
   config.SetUseLogRecord(true);

diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc
@@ -328,6 +328,60 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config)
       pluginElem = pluginElem->GetNextElement();
     }
   }
+
+  // A record plugin is not already specified in SDF. Add one.
+  sdf::ElementPtr recordElem = worldElem->AddElement("plugin");
+  sdf::ParamPtr recordName = recordElem->GetAttribute("name");
+  recordName->SetFromString(LoggingPlugin::RecordPluginName());
+  sdf::ParamPtr recordFileName = recordElem->GetAttribute("filename");
+  recordFileName->SetFromString(LoggingPlugin::LoggingPluginFileName());
+
+  // Add custom record path
+  if (!_config.LogRecordPath().empty())
+  {
+    sdf::ElementPtr pathElem = std::make_shared<sdf::Element>();
+    pathElem->SetName("path");
+    recordElem->AddElementDescription(pathElem);
+    pathElem = recordElem->GetElement("path");
+    pathElem->AddValue("string", "", false, "");
+    pathElem->Set<std::string>(_config.LogRecordPath());
+  }
+
+  // Set whether to record resources
+  sdf::ElementPtr resourceElem = std::make_shared<sdf::Element>();
+  resourceElem->SetName("record_resources");
+  recordElem->AddElementDescription(resourceElem);
+  resourceElem = recordElem->GetElement("record_resources");
+  resourceElem->AddValue("bool", "false", false, "");
+  resourceElem->Set<bool>(_config.LogRecordResources() ? true : false);
+
+  // Set whether to compress
+  sdf::ElementPtr compressElem = std::make_shared<sdf::Element>();
+  compressElem->SetName("compress");
+  recordElem->AddElementDescription(compressElem);
+  compressElem = recordElem->GetElement("compress");
+  compressElem->AddValue("bool", "false", false, "");
+  compressElem->Set<bool>(_config.LogRecordCompressPath().empty() ? false :
+    true);
+
+  // Set compress path
+  sdf::ElementPtr cPathElem = std::make_shared<sdf::Element>();
+  cPathElem->SetName("compress_path");
+  recordElem->AddElementDescription(cPathElem);
+  cPathElem = recordElem->GetElement("compress_path");
+  cPathElem->AddValue("string", "", false, "");
+  cPathElem->Set<std::string>(_config.LogRecordCompressPath());
+
+  // If record topics specified, add in SDF
+  for (const std::string &topic : _config.LogRecordTopics())
+  {
+    sdf::ElementPtr topicElem = std::make_shared<sdf::Element>();
+    topicElem->SetName("record_topic");
+    recordElem->AddElementDescription(topicElem);
+    topicElem = recordElem->AddElement("record_topic");
+    topicElem->AddValue("string", "false", false, "");
+    topicElem->Set<std::string>(topic);
+  }
 }
 
 //////////////////////////////////////////////////

diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc
@@ -59,12 +59,6 @@ class ServerFixture : public ::testing::TestWithParam<int>
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, DefaultServerConfig)
 {
-  // Always override to the default config, in case
-  // a user has customized their installed config
-  auto validPath = common::joinPaths(PROJECT_SOURCE_PATH,
-    "/include/ignition/gazebo/server.config");
-  ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, validPath));
-
   ignition::gazebo::ServerConfig serverConfig;
   EXPECT_TRUE(serverConfig.SdfFile().empty());
   EXPECT_TRUE(serverConfig.SdfString().empty());
@@ -227,8 +221,8 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin)
 {
   // Start server
   ServerConfig serverConfig;
-  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-      "/test/worlds/air_pressure.sdf");
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "air_pressure.sdf"));
 
   sdf::ElementPtr sdf(new sdf::Element);
   sdf->SetName("plugin");