3 ➡️ 4

include/ignition/gazebo/Util.hh

@@ -250,7 +250,6 @@ namespace ignition
     /// \brief Environment variable holding paths to custom rendering engine
     /// plugins.
     const std::string kRenderPluginPathEnv{"IGN_GAZEBO_RENDER_ENGINE_PATH"};
-
     }
   }
 }

include/ignition/gazebo/rendering/RenderUtil.hh

@@ -92,11 +92,13 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \return Name of the rendering scene.
     public: std::string SceneName() const;
 
-    /// \brief Set background color of render window
+    /// \brief Set background color of render window. This will override
+    /// other sources, such as from SDF.
     /// \param[in] _color Color of render window background
     public: void SetBackgroundColor(const math::Color &_color);
 
-    /// \brief Set ambient light of render window
+    /// \brief Set ambient light of render window. This will override
+    /// other sources, such as from SDF.
     /// \param[in] _ambient Color of ambient light
     public: void SetAmbientLight(const math::Color &_ambient);
 

src/EntityComponentManager.cc

@@ -17,6 +17,8 @@
 
 #include <map>
 #include <set>
+#include <sstream>
+#include <string>
 #include <unordered_map>
 #include <unordered_set>
 #include <vector>
@@ -1313,53 +1315,36 @@ void EntityComponentManager::SetState(
         continue;
       }
 
-      // Create component
-      auto newComp = components::Factory::Instance()->New(compMsg.type());
-
-      if (nullptr == newComp)
-      {
-        ignerr << "Failed to deserialize component of type [" << compMsg.type()
-               << "]" << std::endl;
-        continue;
-      }
-
-      std::istringstream istr(compMsg.component());
-      newComp->Deserialize(istr);
-
-      // Get type id
-      auto typeId = newComp->TypeId();
-
-      // TODO(louise) Move into if, see TODO below
-      this->RemoveComponent(entity, typeId);
-
       // Remove component
       if (compMsg.remove())
       {
+        this->RemoveComponent(entity, type);
         continue;
       }
 
       // Get Component
-      auto comp = this->ComponentImplementation(entity, typeId);
+      auto comp = this->ComponentImplementation(entity, type);
+
+      std::istringstream istr(compMsg.component());
 
       // Create if new
       if (nullptr == comp)
       {
-        this->CreateComponentImplementation(entity, typeId, newComp.get());
+        auto newComp = components::Factory::Instance()->New(type);
+        if (nullptr == newComp)
+        {
+          ignerr << "Failed to create component type ["
+            << compMsg.type() << "]" << std::endl;
+          continue;
+        }
+        newComp->Deserialize(istr);
+        this->CreateComponentImplementation(entity, type, newComp.get());
       }
       // Update component value
       else
       {
-        ignerr << "Internal error" << std::endl;
-        // TODO(louise) We're shortcutting above and always  removing the
-        // component so that we don't get here, gotta figure out why this
-        // doesn't update the component. The following line prints the correct
-        // values.
-        // igndbg << *comp << "  " << *newComp.get() << std::endl;
-        // *comp = *newComp.get();
-
-        // When above TODO is addressed, uncomment AddModifiedComponent below
-        // unless calling SetChanged (which already calls AddModifiedComponent)
-        // this->dataPtr->AddModifiedComponent(entity);
+        comp->Deserialize(istr);
+        this->dataPtr->AddModifiedComponent(entity);
       }
     }
   }

src/EntityComponentManager_TEST.cc

@@ -2629,6 +2629,102 @@ TEST_P(EntityComponentManagerFixture, PinnedEntity)
   EXPECT_EQ(0u, manager.EntityCount());
 }
 
+//////////////////////////////////////////////////
+/// \brief Test using msgs::SerializedStateMap and msgs::SerializedState
+/// to update existing component data between multiple ECMs
+TEST_P(EntityComponentManagerFixture, StateMsgUpdateComponent)
+{
+  // create 2 ECMs: one will be modified directly, and the other should be
+  // updated to match the first via msgs::SerializedStateMap
+  EntityComponentManager originalECMStateMap;
+  EntityComponentManager otherECMStateMap;
+
+  // create an entity and component
+  auto entity = originalECMStateMap.CreateEntity();
+  originalECMStateMap.CreateComponent(entity, components::IntComponent(1));
+
+  int foundEntities = 0;
+  otherECMStateMap.Each<components::IntComponent>(
+      [&](const Entity &, const components::IntComponent *)
+      {
+        foundEntities++;
+        return true;
+      });
+  EXPECT_EQ(0, foundEntities);
+
+  // update the other ECM to have the new entity and component
+  msgs::SerializedStateMap stateMapMsg;
+  originalECMStateMap.State(stateMapMsg);
+  otherECMStateMap.SetState(stateMapMsg);
+  foundEntities = 0;
+  otherECMStateMap.Each<components::IntComponent>(
+      [&](const Entity &, const components::IntComponent *_intComp)
+      {
+        foundEntities++;
+        EXPECT_EQ(1, _intComp->Data());
+        return true;
+      });
+  EXPECT_EQ(1, foundEntities);
+
+  // modify a component and then share the update with the other ECM
+  stateMapMsg.Clear();
+  originalECMStateMap.SetComponentData<components::IntComponent>(entity, 2);
+  originalECMStateMap.State(stateMapMsg);
+  otherECMStateMap.SetState(stateMapMsg);
+  foundEntities = 0;
+  otherECMStateMap.Each<components::IntComponent>(
+      [&](const Entity &, const components::IntComponent *_intComp)
+      {
+        foundEntities++;
+        EXPECT_EQ(2, _intComp->Data());
+        return true;
+      });
+  EXPECT_EQ(1, foundEntities);
+
+  // Run the same test as above, but this time, use a msgs::SerializedState
+  // instead of a msgs::SerializedStateMap
+  EntityComponentManager originalECMState;
+  EntityComponentManager otherECMState;
+
+  foundEntities = 0;
+  otherECMState.Each<components::IntComponent>(
+      [&](const Entity &, const components::IntComponent *)
+      {
+        foundEntities++;
+        return true;
+      });
+  EXPECT_EQ(0, foundEntities);
+
+  entity = originalECMState.CreateEntity();
+  originalECMState.CreateComponent(entity, components::IntComponent(1));
+
+  auto stateMsg = originalECMState.State();
+  otherECMState.SetState(stateMsg);
+  foundEntities = 0;
+  otherECMState.Each<components::IntComponent>(
+      [&](const Entity &, const components::IntComponent *_intComp)
+      {
+        foundEntities++;
+        EXPECT_EQ(1, _intComp->Data());
+        return true;
+      });
+  EXPECT_EQ(1, foundEntities);
+
+  stateMsg.Clear();
+  originalECMState.SetComponentData<components::IntComponent>(entity, 2);
+  stateMsg = originalECMState.State();
+  otherECMState.SetState(stateMsg);
+  foundEntities = 0;
+  otherECMState.Each<components::IntComponent>(
+      [&](const Entity &, const components::IntComponent *_intComp)
+      {
+        foundEntities++;
+        EXPECT_EQ(2, _intComp->Data());
+        return true;
+      });
+  EXPECT_EQ(1, foundEntities);
+}
+
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
 INSTANTIATE_TEST_SUITE_P(EntityComponentManagerRepeat,

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -28,12 +28,15 @@
 #include "ignition/gazebo/components/Actor.hh"
 #include "ignition/gazebo/components/AngularAcceleration.hh"
 #include "ignition/gazebo/components/AngularVelocity.hh"
+#include "ignition/gazebo/components/BatterySoC.hh"
 #include "ignition/gazebo/components/CastShadows.hh"
+#include "ignition/gazebo/components/CenterOfVolume.hh"
 #include "ignition/gazebo/components/ChildLinkName.hh"
 #include "ignition/gazebo/components/Collision.hh"
 #include "ignition/gazebo/components/Factory.hh"
 #include "ignition/gazebo/components/Gravity.hh"
 #include "ignition/gazebo/components/Joint.hh"
+#include "ignition/gazebo/components/LaserRetro.hh"
 #include "ignition/gazebo/components/Level.hh"
 #include "ignition/gazebo/components/Light.hh"
 #include "ignition/gazebo/components/LightCmd.hh"
@@ -56,7 +59,10 @@
 #include "ignition/gazebo/components/Sensor.hh"
 #include "ignition/gazebo/components/SourceFilePath.hh"
 #include "ignition/gazebo/components/Static.hh"
+#include "ignition/gazebo/components/ThreadPitch.hh"
+#include "ignition/gazebo/components/Transparency.hh"
 #include "ignition/gazebo/components/Visual.hh"
+#include "ignition/gazebo/components/Volume.hh"
 #include "ignition/gazebo/components/WindMode.hh"
 #include "ignition/gazebo/components/World.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
@@ -234,6 +240,13 @@ void ignition::gazebo::setData(QStandardItem *_item, const int &_data)
   _item->setData(_data, ComponentsModel::RoleNames().key("data"));
 }
 
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const Entity &_data)
+{
+  setData(_item, static_cast<int>(_data));
+}
+
 //////////////////////////////////////////////////
 template<>
 void ignition::gazebo::setData(QStandardItem *_item, const double &_data)
@@ -393,6 +406,7 @@ ComponentInspector::ComponentInspector()
   : GuiSystem(), dataPtr(std::make_unique<ComponentInspectorPrivate>())
 {
   qRegisterMetaType<ignition::gazebo::ComponentTypeId>();
+  qRegisterMetaType<Entity>("Entity");
 }
 
 /////////////////////////////////////////////////
@@ -550,13 +564,30 @@ void ComponentInspector::Update(const UpdateInfo &,
       if (comp)
         setData(item, comp->Data());
     }
+    else if (typeId == components::BatterySoC::typeId)
+    {
+      auto comp = _ecm.Component<components::BatterySoC>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
     else if (typeId == components::CastShadows::typeId)
     {
       auto comp = _ecm.Component<components::CastShadows>(
           this->dataPtr->entity);
       if (comp)
         setData(item, comp->Data());
     }
+    else if (typeId == components::CenterOfVolume::typeId)
+    {
+      auto comp = _ecm.Component<components::CenterOfVolume>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m");
+      }
+    }
     else if (typeId == components::ChildLinkName::typeId)
     {
       auto comp = _ecm.Component<components::ChildLinkName>(
@@ -573,6 +604,12 @@ void ComponentInspector::Update(const UpdateInfo &,
         setUnit(item, "m/s\u00B2");
       }
     }
+    else if (typeId == components::LaserRetro::typeId)
+    {
+      auto comp = _ecm.Component<components::LaserRetro>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
     else if (typeId == components::LinearAcceleration::typeId)
     {
       auto comp = _ecm.Component<components::LinearAcceleration>(
@@ -683,6 +720,33 @@ void ComponentInspector::Update(const UpdateInfo &,
       if (comp)
         setData(item, comp->Data());
     }
+    else if (typeId == components::ThreadPitch::typeId)
+    {
+      auto comp = _ecm.Component<components::ThreadPitch>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m");
+      }
+    }
+    else if (typeId == components::Transparency::typeId)
+    {
+      auto comp = _ecm.Component<components::Transparency>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::Volume::typeId)
+    {
+      auto comp = _ecm.Component<components::Volume>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m\u00B3");
+      }
+    }
     else if (typeId == components::WindMode::typeId)
     {
       auto comp = _ecm.Component<components::WindMode>(this->dataPtr->entity);
@@ -699,6 +763,16 @@ void ComponentInspector::Update(const UpdateInfo &,
         setUnit(item, "rad/s\u00B2");
       }
     }
+    else if (typeId == components::WorldAngularVelocity::typeId)
+    {
+      auto comp = _ecm.Component<components::WorldAngularVelocity>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "rad/s");
+      }
+    }
     else if (typeId == components::WorldLinearVelocity::typeId)
     {
       auto comp = _ecm.Component<components::WorldLinearVelocity>(
@@ -787,13 +861,13 @@ bool ComponentInspector::eventFilter(QObject *_obj, QEvent *_event)
 }
 
 /////////////////////////////////////////////////
-int ComponentInspector::Entity() const
+Entity ComponentInspector::GetEntity() const
 {
   return this->dataPtr->entity;
 }
 
 /////////////////////////////////////////////////
-void ComponentInspector::SetEntity(const int &_entity)
+void ComponentInspector::SetEntity(const Entity &_entity)
 {
   // If nothing is selected, display world properties
   if (_entity == kNullEntity)

src/gui/plugins/component_inspector/ComponentInspector.hh

@@ -171,8 +171,8 @@ namespace gazebo
 
     /// \brief Entity
     Q_PROPERTY(
-      int entity
-      READ Entity
+      Entity entity
+      READ GetEntity
       WRITE SetEntity
       NOTIFY EntityChanged
     )
@@ -307,11 +307,11 @@ namespace gazebo
 
     /// \brief Get the entity currently inspected.
     /// \return Entity ID.
-    public: Q_INVOKABLE int Entity() const;
+    public: Q_INVOKABLE Entity GetEntity() const;
 
     /// \brief Set the entity currently inspected.
     /// \param[in] _entity Entity ID.
-    public: Q_INVOKABLE void SetEntity(const int &_entity);
+    public: Q_INVOKABLE void SetEntity(const Entity &_entity);
 
     /// \brief Notify that entity has changed.
     signals: void EntityChanged();

src/gui/plugins/component_inspector/ComponentInspector.qrc

@@ -2,6 +2,8 @@
 <qresource prefix="ComponentInspector/">
   <file>Boolean.qml</file>
   <file>ComponentInspector.qml</file>
+  <file>Float.qml</file>
+  <file>Integer.qml</file>
   <file>Light.qml</file>
   <file>NoData.qml</file>
   <file>Material.qml</file>