From e5d87c5e7f94a2d155ebf35723d3b2b3ee71e9c3 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 21 Feb 2020 15:17:46 -0600 Subject: [PATCH 01/32] Separate plugin loading and test loading plugins from the ServerConfig Signed-off-by: Michael Carroll --- src/SimulationRunner.cc | 98 ++++++++-------- src/SimulationRunner.hh | 13 +++ src/SimulationRunner_TEST.cc | 204 ++++++++++++++++++++++++++++++++++ test/worlds/plugins_empty.sdf | 13 +++ 4 files changed, 278 insertions(+), 50 deletions(-) create mode 100644 test/worlds/plugins_empty.sdf diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 1984408f12..578c3a7dce 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -66,6 +66,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, physics = _world->PhysicsDefault(); } + // Step size auto dur = std::chrono::duration(physics->MaxStepSize()); @@ -155,6 +156,8 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, // Load the active levels this->levelMgr->UpdateLevelsState(); + this->LoadServerPlugins(); + // World control transport::NodeOptions opts; if (this->networkMgr) @@ -732,43 +735,36 @@ void SimulationRunner::Step(const UpdateInfo &_info) } ////////////////////////////////////////////////// -void SimulationRunner::LoadPlugins(const Entity _entity, - const sdf::ElementPtr &_sdf) +void SimulationRunner::LoadPlugin(const Entity _entity, + const std::string &_fname, + const std::string &_name, + const sdf::ElementPtr &_sdf) { - sdf::ElementPtr pluginElem = _sdf->GetElement("plugin"); - while (pluginElem) + std::optional system; { - // No error message for the 'else' case of the following 'if' statement - // because SDF create a default element even if it's not - // specified. An error message would result in spamming - // the console. \todo(nkoenig) Fix SDF should so that elements are not - // automatically added. - if (pluginElem->Get("filename") != "__default__" && - pluginElem->Get("name") != "__default__") + std::lock_guard lock(this->systemLoaderMutex); + system = this->systemLoader->LoadPlugin(_fname, _name, _sdf); + } + + // System correctly loaded from library, try to configure + if (system) + { + auto systemConfig = system.value()->QueryInterface(); + if (systemConfig != nullptr) { - std::optional system; - { - std::lock_guard lock(this->systemLoaderMutex); - system = this->systemLoader->LoadPlugin(pluginElem); - } - if (system) - { - auto systemConfig = system.value()->QueryInterface(); - if (systemConfig != nullptr) - { - systemConfig->Configure(_entity, pluginElem, - this->entityCompMgr, - this->eventMgr); - } - this->AddSystem(system.value()); - igndbg << "Loaded system [" << pluginElem->Get("name") - << "] for entity [" << _entity << "]" << std::endl; - } + systemConfig->Configure(_entity, _sdf, + this->entityCompMgr, + this->eventMgr); } - - pluginElem = pluginElem->GetNextElement("plugin"); + this->AddSystem(system.value()); + igndbg << "Loaded system [" << _name + << "] for entity [" << _entity << "]" << std::endl; } +} +////////////////////////////////////////////////// +void SimulationRunner::LoadServerPlugins() +{ // \todo(nkoenig) Remove plugins from the server config after they have // been added. We might not want to do this if we want to support adding // the same plugin to multiple entities, for example via a regex @@ -800,6 +796,7 @@ void SimulationRunner::LoadPlugins(const Entity _entity, for (auto sensor : sensors) { + igndbg << scopedName(sensor, this->entityCompMgr, "::", false) << std::endl; if (scopedName(sensor, this->entityCompMgr, "::", false) == plugin.EntityName()) { @@ -830,29 +827,30 @@ void SimulationRunner::LoadPlugins(const Entity _entity, << plugin.EntityType() << "]" << std::endl; } - // Skip plugins that do not match the provided entity - if (entity != _entity) - continue; + this->LoadPlugin(entity, plugin.Filename(), plugin.Name(), plugin.Sdf()); + } +} - std::optional system; +////////////////////////////////////////////////// +void SimulationRunner::LoadPlugins(const Entity _entity, + const sdf::ElementPtr &_sdf) +{ + sdf::ElementPtr pluginElem = _sdf->GetElement("plugin"); + while (pluginElem) + { + auto filename = pluginElem->Get("filename"); + auto name = pluginElem->Get("name"); + // No error message for the 'else' case of the following 'if' statement + // because SDF create a default element even if it's not + // specified. An error message would result in spamming + // the console. \todo(nkoenig) Fix SDF should so that elements are not + // automatically added. + if (filename != "__default__" && name != "__default__") { - std::lock_guard lock(this->systemLoaderMutex); - system = this->systemLoader->LoadPlugin(plugin.Filename(), plugin.Name(), - nullptr); + this->LoadPlugin(_entity, filename, name, pluginElem); } - if (system) - { - auto systemConfig = system.value()->QueryInterface(); - if (systemConfig != nullptr) - { - systemConfig->Configure(_entity, plugin.Sdf(), this->entityCompMgr, - this->eventMgr); - } - this->AddSystem(system.value()); - igndbg << "Loaded system [" << plugin.Name() - << "] for entity [" << _entity << "]" << std::endl; - } + pluginElem = pluginElem->GetNextElement("plugin"); } } diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index 775487f4fa..9fb51728d5 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -170,12 +170,25 @@ namespace ignition /// \brief Publish current world statistics. public: void PublishStats(); + /// \brief Load system plugin for a given entity. + /// \param[in] _entity Entity + /// \param[in] _fname Filename of the plugin library + /// \param[in] _name Name of the plugin + /// \param[in] _sdf SDF element (content of plugin tag) + public: void LoadPlugin(const Entity _entity, + const std::string &_fname, + const std::string &_name, + const sdf::ElementPtr &_sdf); + /// \brief Load system plugins for a given entity. /// \param[in] _entity Entity /// \param[in] _sdf SDF element public: void LoadPlugins(const Entity _entity, const sdf::ElementPtr &_sdf); + /// \brief Load server plugins for a given entity. + public: void LoadServerPlugins(); + /// \brief Get whether this is running. When running is true, /// then simulation is stepping forward. /// \return True if the server is running. diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 52795298b0..867f70175c 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -16,6 +16,8 @@ */ #include +#include + #include #include #include @@ -26,6 +28,7 @@ #include #include + #include "ignition/gazebo/test_config.hh" #include "ignition/gazebo/components/CanonicalLink.hh" #include "ignition/gazebo/components/ChildLinkName.hh" @@ -1135,6 +1138,207 @@ TEST_P(SimulationRunnerTest, LoadPlugins) #endif } +///////////////////////////////////////////////// +void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml) +{ + _sdf->SetName(_xml->Value()); + if (_xml->GetText() != nullptr) + _sdf->AddValue("string", _xml->GetText(), "1"); + + for (const tinyxml2::XMLAttribute *attribute = _xml->FirstAttribute(); + attribute; attribute = attribute->Next()) + { + _sdf->AddAttribute(attribute->Name(), "string", "", 1, ""); + _sdf->GetAttribute(attribute->Name())->SetFromString( + attribute->Value()); + } + + // Iterate over all the child elements + const tinyxml2::XMLElement *elemXml = nullptr; + for (elemXml = _xml->FirstChildElement(); elemXml; + elemXml = elemXml->NextSiblingElement()) + { + sdf::ElementPtr element(new sdf::Element); + element->SetParent(_sdf); + + copyElement(element, elemXml); + _sdf->InsertElement(element); + } +} + +///////////////////////////////////////////////// +TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) +{ + sdf::Root rootWithout; + rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/plugins_empty.sdf"); + ASSERT_EQ(1u, rootWithout.WorldCount()); + + std::string plugins = R"( + + + 0.123 + + + 987 + + + 456 + + )"; + + tinyxml2::XMLDocument doc; + doc.Parse(plugins.c_str()); + auto _elem = doc.RootElement(); + const tinyxml2::XMLElement *elem; + + // Create a server configuration with plugins + ServerConfig serverConfig; + + // Note, this was taken from ign-launch, where this type of parsing happens. + // Process all the plugins. + for (elem = _elem->FirstChildElement("plugin"); elem; + elem = elem->NextSiblingElement("plugin")) + { + // Get the plugin's name + const char *nameStr = elem->Attribute("name"); + std::string name = nameStr == nullptr ? "" : nameStr; + if (name.empty()) + { + ignerr << "A GazeboServer plugin is missing the name attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Get the plugin's filename + const char *fileStr = elem->Attribute("filename"); + std::string file = fileStr == nullptr ? "" : fileStr; + if (file.empty()) + { + ignerr << "A GazeboServer plugin with name[" << name << "] is " + << "missing the filename attribute. Skipping this plugin.\n"; + continue; + } + + // Get the plugin's entity name attachment information. + const char *entityNameStr = elem->Attribute("entity_name"); + std::string entityName = entityNameStr == nullptr ? "" : entityNameStr; + if (entityName.empty()) + { + ignerr << "A GazeboServer plugin with name[" << name << "] and " + << "filename[" << file << "] is missing the entity_name attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Get the plugin's entity type attachment information. + const char *entityTypeStr = elem->Attribute("entity_type"); + std::string entityType = entityTypeStr == nullptr ? "" : entityTypeStr; + if (entityType.empty()) + { + ignerr << "A GazeboServer plugin with name[" << name << "] and " + << "filename[" << file << "] is missing the entity_type attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Create an SDF element of the plugin + sdf::ElementPtr sdf(new sdf::Element); + copyElement(sdf, elem); + + // Add the plugin to the server config + serverConfig.AddPlugin({entityName, entityType, file, name, sdf}); + } + + // Create simulation runner + auto systemLoader = std::make_shared(); + SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader, serverConfig); + + // Get world entity + Entity worldId{kNullEntity}; + runner.EntityCompMgr().Each([&]( + const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::World *_world)->bool + { + EXPECT_NE(nullptr, _world); + worldId = _entity; + return true; + }); + EXPECT_NE(kNullEntity, worldId); + + // Get model entity + Entity modelId{kNullEntity}; + runner.EntityCompMgr().Each([&]( + const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::Model *_model)->bool + { + EXPECT_NE(nullptr, _model); + modelId = _entity; + return true; + }); + EXPECT_NE(kNullEntity, modelId); + + // Get sensor entity + Entity sensorId{kNullEntity}; + runner.EntityCompMgr().Each([&]( + const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::Sensor *_sensor)->bool + { + EXPECT_NE(nullptr, _sensor); + sensorId = _entity; + return true; + }); + EXPECT_NE(kNullEntity, sensorId); + + // Check component registered by world plugin + std::string worldComponentName{"WorldPluginComponent"}; + auto worldComponentId = ignition::common::hash64(worldComponentName); + + EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(worldComponentId)); + EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(worldId, + worldComponentId)); + + // Check component registered by model plugin + std::string modelComponentName{"ModelPluginComponent"}; + auto modelComponentId = ignition::common::hash64(modelComponentName); + + EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(modelComponentId)); + EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(modelId, + modelComponentId)); + + // Check component registered by sensor plugin + std::string sensorComponentName{"SensorPluginComponent"}; + auto sensorComponentId = ignition::common::hash64(sensorComponentName); + + EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(sensorComponentId)); + EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(sensorId, + sensorComponentId)); + + // Clang re-registers components between tests. If we don't unregister them + // beforehand, the new plugin tries to create a storage type from a previous + // plugin, causing a crash. + // Is this only a problem with GTest, or also during simulation? How to + // reproduce? Maybe we need to test unloading plugins, but we have no API for + // it yet. + #if defined (__clang__) + components::Factory::Instance()->Unregister(worldComponentId); + components::Factory::Instance()->Unregister(modelComponentId); + components::Factory::Instance()->Unregister(sensorComponentId); + #endif +} + ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, LoadPluginsEvent) { diff --git a/test/worlds/plugins_empty.sdf b/test/worlds/plugins_empty.sdf new file mode 100644 index 0000000000..ac6128380c --- /dev/null +++ b/test/worlds/plugins_empty.sdf @@ -0,0 +1,13 @@ + + + + + + + + + + + + + From 501e2a9b18fbe235b057f868b5d11761d4053e6f Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 21 Feb 2020 16:36:30 -0600 Subject: [PATCH 02/32] Add ability to parse plugin info from string/file and load defaults Signed-off-by: Michael Carroll --- include/ignition/gazebo/CMakeLists.txt | 1 + include/ignition/gazebo/ServerConfig.hh | 6 + .../ignition/gazebo/systems/CMakeLists.txt | 1 + .../ignition/gazebo/systems/systems.config | 17 +++ src/ServerConfig.cc | 113 ++++++++++++++++++ src/SimulationRunner.cc | 71 +++++++++-- src/SimulationRunner.hh | 2 +- src/SimulationRunner_TEST.cc | 105 +++------------- 8 files changed, 220 insertions(+), 96 deletions(-) create mode 100644 include/ignition/gazebo/systems/CMakeLists.txt create mode 100644 include/ignition/gazebo/systems/systems.config diff --git a/include/ignition/gazebo/CMakeLists.txt b/include/ignition/gazebo/CMakeLists.txt index f6a29455ec..c1ebaa0dfe 100644 --- a/include/ignition/gazebo/CMakeLists.txt +++ b/include/ignition/gazebo/CMakeLists.txt @@ -1,3 +1,4 @@ ign_install_all_headers() add_subdirectory(components) +add_subdirectory(systems) diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 6a1de2c4dd..4fdbe4f008 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -372,6 +372,12 @@ namespace ignition /// \brief Private data pointer private: std::unique_ptr dataPtr; }; + + std::list + ParsePluginsFromFile(const std::string &_fname); + + std::list + ParsePluginsFromString(const std::string &_str); } } } diff --git a/include/ignition/gazebo/systems/CMakeLists.txt b/include/ignition/gazebo/systems/CMakeLists.txt new file mode 100644 index 0000000000..f0348cc446 --- /dev/null +++ b/include/ignition/gazebo/systems/CMakeLists.txt @@ -0,0 +1 @@ +install (FILES systems.config DESTINATION ${IGN_DATA_INSTALL_DIR}/systems) diff --git a/include/ignition/gazebo/systems/systems.config b/include/ignition/gazebo/systems/systems.config new file mode 100644 index 0000000000..d47347c9e9 --- /dev/null +++ b/include/ignition/gazebo/systems/systems.config @@ -0,0 +1,17 @@ + + + + + + + + diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index fbb61135ca..7b218c1c67 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -22,6 +22,9 @@ #include #include "ignition/gazebo/ServerConfig.hh" +#include + + using namespace ignition; using namespace gazebo; @@ -587,3 +590,113 @@ const std::vector &ServerConfig::LogRecordTopics() const { return this->dataPtr->logRecordTopics; } + +///////////////////////////////////////////////// +void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml) +{ + _sdf->SetName(_xml->Value()); + if (_xml->GetText() != nullptr) + _sdf->AddValue("string", _xml->GetText(), "1"); + + for (const tinyxml2::XMLAttribute *attribute = _xml->FirstAttribute(); + attribute; attribute = attribute->Next()) + { + _sdf->AddAttribute(attribute->Name(), "string", "", 1, ""); + _sdf->GetAttribute(attribute->Name())->SetFromString( + attribute->Value()); + } + + // Iterate over all the child elements + const tinyxml2::XMLElement *elemXml = nullptr; + for (elemXml = _xml->FirstChildElement(); elemXml; + elemXml = elemXml->NextSiblingElement()) + { + sdf::ElementPtr element(new sdf::Element); + element->SetParent(_sdf); + + copyElement(element, elemXml); + _sdf->InsertElement(element); + } +} + +///////////////////////////////////////////////// +std::list Parse(tinyxml2::XMLDocument &_doc) +{ + auto ret = std::list(); + auto _elem = _doc.RootElement(); + const tinyxml2::XMLElement *elem; + + // Note, this was taken from ign-launch, where this type of parsing happens. + // Process all the plugins. + for (elem = _elem->FirstChildElement("plugin"); elem; + elem = elem->NextSiblingElement("plugin")) + { + // Get the plugin's name + const char *nameStr = elem->Attribute("name"); + std::string name = nameStr == nullptr ? "" : nameStr; + if (name.empty()) + { + ignerr << "GazeboServer plugin is missing the name attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Get the plugin's filename + const char *fileStr = elem->Attribute("filename"); + std::string file = fileStr == nullptr ? "" : fileStr; + if (file.empty()) + { + ignerr << "A GazeboServer plugin with name[" << name << "] is " + << "missing the filename attribute. Skipping this plugin.\n"; + continue; + } + + // Get the plugin's entity name attachment information. + const char *entityNameStr = elem->Attribute("entity_name"); + std::string entityName = entityNameStr == nullptr ? "" : entityNameStr; + if (entityName.empty()) + { + ignerr << "A GazeboServer plugin with name[" << name << "] and " + << "filename[" << file << "] is missing the entity_name attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Get the plugin's entity type attachment information. + const char *entityTypeStr = elem->Attribute("entity_type"); + std::string entityType = entityTypeStr == nullptr ? "" : entityTypeStr; + if (entityType.empty()) + { + ignerr << "A GazeboServer plugin with name[" << name << "] and " + << "filename[" << file << "] is missing the entity_type attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Create an SDF element of the plugin + sdf::ElementPtr sdf(new sdf::Element); + copyElement(sdf, elem); + + // Add the plugin to the server config + ret.push_back({entityName, entityType, file, name, sdf}); + } + return ret; +} + +///////////////////////////////////////////////// +std::list +ignition::gazebo::ParsePluginsFromFile(const std::string &_fname) +{ + tinyxml2::XMLDocument doc; + doc.LoadFile(_fname.c_str()); + return Parse(doc); +} + +///////////////////////////////////////////////// +std::list +ignition::gazebo::ParsePluginsFromString(const std::string &_str) +{ + tinyxml2::XMLDocument doc; + doc.Parse(_str.c_str()); + return Parse(doc); +} diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 578c3a7dce..5edd63c9c4 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -19,8 +19,9 @@ #include -#include "ignition/common/Profiler.hh" +#include +#include "ignition/common/Profiler.hh" #include "ignition/gazebo/components/Model.hh" #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/Sensor.hh" @@ -66,7 +67,6 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, physics = _world->PhysicsDefault(); } - // Step size auto dur = std::chrono::duration(physics->MaxStepSize()); @@ -156,7 +156,55 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, // Load the active levels this->levelMgr->UpdateLevelsState(); - this->LoadServerPlugins(); + // Load any additional plugins from the Server Configuration + this->LoadServerPlugins(this->serverConfig); + + // If we have reached this point and no systems have been loaded, then load + // a default set of systems. + // Order: + // 1. File at IGN_GAZEBO_DEFAULT_SYSTEMS + // 2. File at ${IGN_HOMEDIR}/.ignition/gazebo/systems.config + // 3. File at ${IGN_DATA_INSTALL_DIR}/systems/systems.config + + if (this->systems.empty() && this->pendingSystems.empty()) + { + ignmsg << "No systems loaded, loading defaults" << std::endl; + + std::string envConfig; + ignition::common::env("IGN_GAZEBO_DEFAULT_SYSTEMS", envConfig); + + std::string defaultConfig; + ignition::common::env(IGN_HOMEDIR, defaultConfig); + defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition", + "gazebo", "systems.config"); + + auto installedConfig = ignition::common::joinPaths( + IGNITION_GAZEBO_SYSTEM_CONFIG_PATH, "systems.config"); + + std::string configPath; + if (envConfig.size() && ignition::common::exists(envConfig)) + { + configPath = envConfig; + } + else if (ignition::common::exists(defaultConfig)) + { + configPath = defaultConfig; + } + else + { + configPath = installedConfig; + } + + igndbg << "Loading default plugins from: " << configPath << std::endl; + + ServerConfig tmpConfig; + auto plugins = ignition::gazebo::ParsePluginsFromFile(configPath); + for (auto plugin : plugins) + { + tmpConfig.AddPlugin(plugin); + } + this->LoadServerPlugins(tmpConfig); + } // World control transport::NodeOptions opts; @@ -763,7 +811,7 @@ void SimulationRunner::LoadPlugin(const Entity _entity, } ////////////////////////////////////////////////// -void SimulationRunner::LoadServerPlugins() +void SimulationRunner::LoadServerPlugins(const ServerConfig &_config) { // \todo(nkoenig) Remove plugins from the server config after they have // been added. We might not want to do this if we want to support adding @@ -771,7 +819,7 @@ void SimulationRunner::LoadServerPlugins() // expression. // // Check plugins from the ServerConfig for matching entities. - for (const ServerConfig::PluginInfo &plugin : this->serverConfig.Plugins()) + for (const ServerConfig::PluginInfo &plugin : _config.Plugins()) { // \todo(anyone) Type + name is not enough to uniquely identify an entity // \todo(louise) The runner shouldn't care about specific components, this @@ -785,8 +833,16 @@ void SimulationRunner::LoadServerPlugins() } else if ("world" == plugin.EntityType()) { - entity = this->entityCompMgr.EntityByComponents( - components::Name(plugin.EntityName()), components::World()); + // Allow wildcard for world name + if (plugin.EntityName() == "*") + { + entity = this->entityCompMgr.EntityByComponents(components::World()); + } + else + { + entity = this->entityCompMgr.EntityByComponents( + components::Name(plugin.EntityName()), components::World()); + } } else if ("sensor" == plugin.EntityType()) { @@ -796,7 +852,6 @@ void SimulationRunner::LoadServerPlugins() for (auto sensor : sensors) { - igndbg << scopedName(sensor, this->entityCompMgr, "::", false) << std::endl; if (scopedName(sensor, this->entityCompMgr, "::", false) == plugin.EntityName()) { diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index 9fb51728d5..b1b69daae8 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -187,7 +187,7 @@ namespace ignition const sdf::ElementPtr &_sdf); /// \brief Load server plugins for a given entity. - public: void LoadServerPlugins(); + public: void LoadServerPlugins(const ServerConfig &_config); /// \brief Get whether this is running. When running is true, /// then simulation is stepping forward. diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 867f70175c..8fbd451874 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -1138,34 +1138,6 @@ TEST_P(SimulationRunnerTest, LoadPlugins) #endif } -///////////////////////////////////////////////// -void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml) -{ - _sdf->SetName(_xml->Value()); - if (_xml->GetText() != nullptr) - _sdf->AddValue("string", _xml->GetText(), "1"); - - for (const tinyxml2::XMLAttribute *attribute = _xml->FirstAttribute(); - attribute; attribute = attribute->Next()) - { - _sdf->AddAttribute(attribute->Name(), "string", "", 1, ""); - _sdf->GetAttribute(attribute->Name())->SetFromString( - attribute->Value()); - } - - // Iterate over all the child elements - const tinyxml2::XMLElement *elemXml = nullptr; - for (elemXml = _xml->FirstChildElement(); elemXml; - elemXml = elemXml->NextSiblingElement()) - { - sdf::ElementPtr element(new sdf::Element); - element->SetParent(_sdf); - - copyElement(element, elemXml); - _sdf->InsertElement(element); - } -} - ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) { @@ -1199,72 +1171,17 @@ TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) )"; - tinyxml2::XMLDocument doc; - doc.Parse(plugins.c_str()); - auto _elem = doc.RootElement(); - const tinyxml2::XMLElement *elem; - // Create a server configuration with plugins ServerConfig serverConfig; - - // Note, this was taken from ign-launch, where this type of parsing happens. - // Process all the plugins. - for (elem = _elem->FirstChildElement("plugin"); elem; - elem = elem->NextSiblingElement("plugin")) + for (auto plugin : ParsePluginsFromString(plugins)) { - // Get the plugin's name - const char *nameStr = elem->Attribute("name"); - std::string name = nameStr == nullptr ? "" : nameStr; - if (name.empty()) - { - ignerr << "A GazeboServer plugin is missing the name attribute. " - << "Skipping this plugin.\n"; - continue; - } - - // Get the plugin's filename - const char *fileStr = elem->Attribute("filename"); - std::string file = fileStr == nullptr ? "" : fileStr; - if (file.empty()) - { - ignerr << "A GazeboServer plugin with name[" << name << "] is " - << "missing the filename attribute. Skipping this plugin.\n"; - continue; - } - - // Get the plugin's entity name attachment information. - const char *entityNameStr = elem->Attribute("entity_name"); - std::string entityName = entityNameStr == nullptr ? "" : entityNameStr; - if (entityName.empty()) - { - ignerr << "A GazeboServer plugin with name[" << name << "] and " - << "filename[" << file << "] is missing the entity_name attribute. " - << "Skipping this plugin.\n"; - continue; - } - - // Get the plugin's entity type attachment information. - const char *entityTypeStr = elem->Attribute("entity_type"); - std::string entityType = entityTypeStr == nullptr ? "" : entityTypeStr; - if (entityType.empty()) - { - ignerr << "A GazeboServer plugin with name[" << name << "] and " - << "filename[" << file << "] is missing the entity_type attribute. " - << "Skipping this plugin.\n"; - continue; - } - - // Create an SDF element of the plugin - sdf::ElementPtr sdf(new sdf::Element); - copyElement(sdf, elem); - - // Add the plugin to the server config - serverConfig.AddPlugin({entityName, entityType, file, name, sdf}); + serverConfig.AddPlugin(plugin); } // Create simulation runner auto systemLoader = std::make_shared(); - SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader, serverConfig); + SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader, + serverConfig); // Get world entity Entity worldId{kNullEntity}; @@ -1339,6 +1256,20 @@ TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) #endif } +///////////////////////////////////////////////// +TEST_P(SimulationRunnerTest, LoadPluginsDefault) +{ + sdf::Root rootWithout; + rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/plugins_empty.sdf"); + ASSERT_EQ(1u, rootWithout.WorldCount()); + + // Create simulation runner + auto systemLoader = std::make_shared(); + SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader); + ASSERT_EQ(3u, runner.SystemCount()); +} + ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, LoadPluginsEvent) { From 5dc0e2a92b17a29dfa6ecf1d967777402e1c2cc4 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 21 Feb 2020 16:45:00 -0600 Subject: [PATCH 03/32] Remove default plugins from default.sdf Signed-off-by: Michael Carroll --- examples/worlds/default.sdf | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/examples/worlds/default.sdf b/examples/worlds/default.sdf index 934f985c81..f359666e1f 100644 --- a/examples/worlds/default.sdf +++ b/examples/worlds/default.sdf @@ -17,18 +17,6 @@ 0.001 1.0 - - - - - - true From 1cc4176919eae3e76f8c749b531cc4e13d5bc6f1 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Mon, 16 Mar 2020 10:44:09 -0500 Subject: [PATCH 04/32] Document new functions Signed-off-by: Michael Carroll --- include/ignition/gazebo/ServerConfig.hh | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 4fdbe4f008..5024cdd191 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -373,9 +373,15 @@ namespace ignition private: std::unique_ptr dataPtr; }; + /// \brief Parse plugins from XML configuration file. + /// \param[in] _fname Absolute path to the configuration file to parse. + /// \return A list of all of the plugins found in the configuration file std::list ParsePluginsFromFile(const std::string &_fname); + /// \brief Parse plugins from XML configuration string. + /// \param[in] _str XML configuration content to parse + /// \return A list of all of the plugins found in the configuration string. std::list ParsePluginsFromString(const std::string &_str); } From ce20b1eed6942f6611646e1b50edb1b0e4b7d9cc Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Mon, 16 Mar 2020 10:46:01 -0500 Subject: [PATCH 05/32] Remove references to GazeboServer Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 7b218c1c67..12968b987a 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -636,7 +636,7 @@ std::list Parse(tinyxml2::XMLDocument &_doc) std::string name = nameStr == nullptr ? "" : nameStr; if (name.empty()) { - ignerr << "GazeboServer plugin is missing the name attribute. " + ignerr << "Plugin is missing the name attribute. " << "Skipping this plugin.\n"; continue; } @@ -646,7 +646,7 @@ std::list Parse(tinyxml2::XMLDocument &_doc) std::string file = fileStr == nullptr ? "" : fileStr; if (file.empty()) { - ignerr << "A GazeboServer plugin with name[" << name << "] is " + ignerr << "A Plugin with name[" << name << "] is " << "missing the filename attribute. Skipping this plugin.\n"; continue; } @@ -656,7 +656,7 @@ std::list Parse(tinyxml2::XMLDocument &_doc) std::string entityName = entityNameStr == nullptr ? "" : entityNameStr; if (entityName.empty()) { - ignerr << "A GazeboServer plugin with name[" << name << "] and " + ignerr << "A Plugin with name[" << name << "] and " << "filename[" << file << "] is missing the entity_name attribute. " << "Skipping this plugin.\n"; continue; @@ -667,7 +667,7 @@ std::list Parse(tinyxml2::XMLDocument &_doc) std::string entityType = entityTypeStr == nullptr ? "" : entityTypeStr; if (entityType.empty()) { - ignerr << "A GazeboServer plugin with name[" << name << "] and " + ignerr << "A Plugin with name[" << name << "] and " << "filename[" << file << "] is missing the entity_type attribute. " << "Skipping this plugin.\n"; continue; From 85a5be4b0c16f057d6c7d6bf1eb87b156569343f Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Mon, 16 Mar 2020 11:16:48 -0500 Subject: [PATCH 06/32] Move systems.config to server.config This is in preparation to potentially load entire server configurations from file in a future pull request. This prevents us from having to do a deprecation cycle on the systems.config file. Signed-off-by: Michael Carroll --- include/ignition/gazebo/CMakeLists.txt | 3 ++- .../ignition/gazebo/{systems/systems.config => server.config} | 4 ++-- include/ignition/gazebo/systems/CMakeLists.txt | 1 - src/SimulationRunner_TEST.cc | 4 ++-- 4 files changed, 6 insertions(+), 6 deletions(-) rename include/ignition/gazebo/{systems/systems.config => server.config} (94%) delete mode 100644 include/ignition/gazebo/systems/CMakeLists.txt diff --git a/include/ignition/gazebo/CMakeLists.txt b/include/ignition/gazebo/CMakeLists.txt index c1ebaa0dfe..c3c3ccad0c 100644 --- a/include/ignition/gazebo/CMakeLists.txt +++ b/include/ignition/gazebo/CMakeLists.txt @@ -1,4 +1,5 @@ ign_install_all_headers() add_subdirectory(components) -add_subdirectory(systems) + +install (FILES server.config DESTINATION ${IGN_DATA_INSTALL_DIR}) diff --git a/include/ignition/gazebo/systems/systems.config b/include/ignition/gazebo/server.config similarity index 94% rename from include/ignition/gazebo/systems/systems.config rename to include/ignition/gazebo/server.config index d47347c9e9..ff2dd707b9 100644 --- a/include/ignition/gazebo/systems/systems.config +++ b/include/ignition/gazebo/server.config @@ -1,4 +1,4 @@ - + - + diff --git a/include/ignition/gazebo/systems/CMakeLists.txt b/include/ignition/gazebo/systems/CMakeLists.txt deleted file mode 100644 index f0348cc446..0000000000 --- a/include/ignition/gazebo/systems/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -install (FILES systems.config DESTINATION ${IGN_DATA_INSTALL_DIR}/systems) diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 8fbd451874..bded51bac0 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -1147,7 +1147,7 @@ TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) ASSERT_EQ(1u, rootWithout.WorldCount()); std::string plugins = R"( - + 456 - )"; + )"; // Create a server configuration with plugins ServerConfig serverConfig; From f0626f2bda2cc8e58c75c825361465ebd803a82c Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Mon, 16 Mar 2020 11:16:57 -0500 Subject: [PATCH 07/32] Address reviewer feedback Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 2 +- src/SimulationRunner.cc | 10 +++++++++- src/SimulationRunner.hh | 1 + 3 files changed, 11 insertions(+), 2 deletions(-) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 12968b987a..4721fe1f69 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -620,7 +620,7 @@ void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml) } ///////////////////////////////////////////////// -std::list Parse(tinyxml2::XMLDocument &_doc) +std::list Parse(const tinyxml2::XMLDocument &_doc) { auto ret = std::list(); auto _elem = _doc.RootElement(); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 5edd63c9c4..bd0abfc0c9 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -882,7 +882,15 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config) << plugin.EntityType() << "]" << std::endl; } - this->LoadPlugin(entity, plugin.Filename(), plugin.Name(), plugin.Sdf()); + if (kNullEntity != entity) + { + this->LoadPlugin(entity, plugin.Filename(), plugin.Name(), plugin.Sdf()); + } + else + { + ignwarn << "Attempting to attach plugin [" << plugin.Name() << + " to an unknown entity. Plugin won't be loaded" << std::endl; + } } } diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index b1b69daae8..aa4ad70993 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -187,6 +187,7 @@ namespace ignition const sdf::ElementPtr &_sdf); /// \brief Load server plugins for a given entity. + /// \param[in] _config Configuration to load plugins from. public: void LoadServerPlugins(const ServerConfig &_config); /// \brief Get whether this is running. When running is true, From 2c384d7c91b7115db5e1539498960fc26f30253b Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 9 Sep 2020 14:00:59 -0500 Subject: [PATCH 08/32] Code check Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 4721fe1f69..3d5e8dc8ce 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -14,15 +14,17 @@ * limitations under the License. * */ +#include "ignition/gazebo/ServerConfig.hh" + +#include + #include #include #include #include #include #include -#include "ignition/gazebo/ServerConfig.hh" -#include using namespace ignition; From 01371ea8071a5833a852cfb8cc8d5f1cbd261e24 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 9 Sep 2020 14:11:19 -0500 Subject: [PATCH 09/32] Update references to systems to server Signed-off-by: Michael Carroll --- include/ignition/gazebo/config.hh.in | 2 +- src/SimulationRunner.cc | 13 ++++++------- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/include/ignition/gazebo/config.hh.in b/include/ignition/gazebo/config.hh.in index fb16fddef7..7f54bbb467 100644 --- a/include/ignition/gazebo/config.hh.in +++ b/include/ignition/gazebo/config.hh.in @@ -14,7 +14,7 @@ #define IGNITION_GAZEBO_VERSION_HEADER "Ignition Gazebo, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n" #define IGNITION_GAZEBO_GUI_CONFIG_PATH "${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}/${IGN_DATA_INSTALL_DIR}/server.config" #define IGN_GAZEBO_PLUGIN_INSTALL_DIR "${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/SimulationRunner.cc b/src/SimulationRunner.cc index bd0abfc0c9..e85b1a7b8e 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -162,24 +162,23 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, // If we have reached this point and no systems have been loaded, then load // a default set of systems. // Order: - // 1. File at IGN_GAZEBO_DEFAULT_SYSTEMS - // 2. File at ${IGN_HOMEDIR}/.ignition/gazebo/systems.config - // 3. File at ${IGN_DATA_INSTALL_DIR}/systems/systems.config + // 1. File at IGN_GAZEBO_SERVER_CONFIG + // 2. File at ${IGN_HOMEDIR}/.ignition/gazebo/server.config + // 3. File at ${IGN_DATA_INSTALL_DIR}/server.config if (this->systems.empty() && this->pendingSystems.empty()) { ignmsg << "No systems loaded, loading defaults" << std::endl; std::string envConfig; - ignition::common::env("IGN_GAZEBO_DEFAULT_SYSTEMS", envConfig); + ignition::common::env("IGN_GAZEBO_SERVER_CONFIG", envConfig); std::string defaultConfig; ignition::common::env(IGN_HOMEDIR, defaultConfig); defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition", - "gazebo", "systems.config"); + "gazebo", "server.config"); - auto installedConfig = ignition::common::joinPaths( - IGNITION_GAZEBO_SYSTEM_CONFIG_PATH, "systems.config"); + auto installedConfig = IGNITION_GAZEBO_SERVER_CONFIG_PATH; std::string configPath; if (envConfig.size() && ignition::common::exists(envConfig)) From 69125c515905c1fe077876853277cb871b79ba8d Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 18 Sep 2020 15:47:15 -0500 Subject: [PATCH 10/32] Add test configurations. Signed-off-by: Michael Carroll --- test/worlds/server_invalid.config | 13 +++++++++++++ test/worlds/server_valid.config | 28 ++++++++++++++++++++++++++++ test/worlds/server_valid2.config | 21 +++++++++++++++++++++ 3 files changed, 62 insertions(+) create mode 100644 test/worlds/server_invalid.config create mode 100644 test/worlds/server_valid.config create mode 100644 test/worlds/server_valid2.config diff --git a/test/worlds/server_invalid.config b/test/worlds/server_invalid.config new file mode 100644 index 0000000000..d0371fc23f --- /dev/null +++ b/test/worlds/server_invalid.config @@ -0,0 +1,13 @@ + + + + 0.123 + + + diff --git a/test/worlds/server_valid.config b/test/worlds/server_valid.config new file mode 100644 index 0000000000..7c55928937 --- /dev/null +++ b/test/worlds/server_valid.config @@ -0,0 +1,28 @@ + + + + + 0.123 + + + 987 + + + 456 + + + diff --git a/test/worlds/server_valid2.config b/test/worlds/server_valid2.config new file mode 100644 index 0000000000..65ce05e5a8 --- /dev/null +++ b/test/worlds/server_valid2.config @@ -0,0 +1,21 @@ + + + + + 0.123 + + + 987 + + + From 87be264214686f7e7af5ae8239bfcc89ed14c218 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 18 Sep 2020 15:48:35 -0500 Subject: [PATCH 11/32] Address reviewer feedback Signed-off-by: Michael Carroll --- include/ignition/gazebo/ServerConfig.hh | 27 +++- include/ignition/gazebo/config.hh.in | 1 + include/ignition/gazebo/server.config | 32 ++--- src/CMakeLists.txt | 1 + src/ServerConfig.cc | 112 ++++++++++++++-- src/ServerConfig_TEST.cc | 163 ++++++++++++++++++++++++ src/SimulationRunner.cc | 37 +----- src/SimulationRunner_TEST.cc | 63 +++++---- 8 files changed, 351 insertions(+), 85 deletions(-) create mode 100644 src/ServerConfig_TEST.cc diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 5024cdd191..d12ed0a1c9 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -377,13 +377,36 @@ namespace ignition /// \param[in] _fname Absolute path to the configuration file to parse. /// \return A list of all of the plugins found in the configuration file std::list - ParsePluginsFromFile(const std::string &_fname); + IGNITION_GAZEBO_VISIBLE + parsePluginsFromFile(const std::string &_fname); /// \brief Parse plugins from XML configuration string. /// \param[in] _str XML configuration content to parse /// \return A list of all of the plugins found in the configuration string. std::list - ParsePluginsFromString(const std::string &_str); + IGNITION_GAZEBO_VISIBLE + parsePluginsFromString(const std::string &_str); + + /// \brief Load plugin information, following ordering. + /// + /// This method is used when no plugins are found in an SDF + /// file to load either a default or custom set of plugins. + /// + /// The following order is used to resolve: + /// 1. Config file located at IGN_GAZEBO_SERVER_CONFIG environment + /// variable. + /// * If IGN_GAZEBO_SERVER_CONFIG is set but empty, no plugins + /// are loaded. + /// 2. File at ${IGN_HOMEDIR}/.ignition/gazebo/server.config + /// 3. File at ${IGN_DATA_INSTALL_DIR}/server.config + /// + /// If any of the above files exist but are empty, resolution + /// stops and the plugin list will be empty. + /// + /// \return A list of plugins to load, based on above ordering + std::list + IGNITION_GAZEBO_VISIBLE + loadPluginInfo(); } } } diff --git a/include/ignition/gazebo/config.hh.in b/include/ignition/gazebo/config.hh.in index 7f54bbb467..1233b6d517 100644 --- a/include/ignition/gazebo/config.hh.in +++ b/include/ignition/gazebo/config.hh.in @@ -14,6 +14,7 @@ #define IGNITION_GAZEBO_VERSION_HEADER "Ignition Gazebo, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n" #define IGNITION_GAZEBO_GUI_CONFIG_PATH "${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}/${IGN_DATA_INSTALL_DIR}/server.config" #define IGN_GAZEBO_PLUGIN_INSTALL_DIR "${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" diff --git a/include/ignition/gazebo/server.config b/include/ignition/gazebo/server.config index ff2dd707b9..5de18a66fc 100644 --- a/include/ignition/gazebo/server.config +++ b/include/ignition/gazebo/server.config @@ -1,17 +1,19 @@ - - - - - - + + + + + + + + diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 1c029e2900..078c1b4bcf 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -75,6 +75,7 @@ set (gtest_sources SdfEntityCreator_TEST.cc SdfGenerator_TEST.cc Server_TEST.cc + ServerConfig_TEST.cc SimulationRunner_TEST.cc System_TEST.cc SystemLoader_TEST.cc diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 3d5e8dc8ce..90316226ed 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -622,15 +622,29 @@ void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml) } ///////////////////////////////////////////////// -std::list Parse(const tinyxml2::XMLDocument &_doc) +std::list +parsePluginsFromDoc(const tinyxml2::XMLDocument &_doc) { auto ret = std::list(); - auto _elem = _doc.RootElement(); - const tinyxml2::XMLElement *elem; + auto root = _doc.RootElement(); + if (root == nullptr) + { + ignerr << "No element found when parsing plugins\n"; + return ret; + } + + auto plugins = root->FirstChildElement("plugins"); + if (plugins == nullptr) + { + ignerr << "No element found when parsing plugins\n"; + return ret; + } + + const tinyxml2::XMLElement *elem{nullptr}; // Note, this was taken from ign-launch, where this type of parsing happens. // Process all the plugins. - for (elem = _elem->FirstChildElement("plugin"); elem; + for (elem = plugins->FirstChildElement("plugin"); elem; elem = elem->NextSiblingElement("plugin")) { // Get the plugin's name @@ -687,18 +701,100 @@ std::list Parse(const tinyxml2::XMLDocument &_doc) ///////////////////////////////////////////////// std::list -ignition::gazebo::ParsePluginsFromFile(const std::string &_fname) +ignition::gazebo::parsePluginsFromFile(const std::string &_fname) { tinyxml2::XMLDocument doc; doc.LoadFile(_fname.c_str()); - return Parse(doc); + return parsePluginsFromDoc(doc); } ///////////////////////////////////////////////// std::list -ignition::gazebo::ParsePluginsFromString(const std::string &_str) +ignition::gazebo::parsePluginsFromString(const std::string &_str) { tinyxml2::XMLDocument doc; doc.Parse(_str.c_str()); - return Parse(doc); + return parsePluginsFromDoc(doc); } + +///////////////////////////////////////////////// +std::list +ignition::gazebo::loadPluginInfo() +{ + std::list ret; + bool resolved = false; + + // 1. Check contents of environment variable + std::string envConfig; + bool configSet = ignition::common::env("IGN_GAZEBO_SERVER_CONFIG", + envConfig); + + if (configSet) + { + if (ignition::common::exists(envConfig)) { + // Parse configuration stored in environment variable + ret = ignition::gazebo::parsePluginsFromFile(envConfig); + if (ret.empty()) + { + // This may be desired behavior, but warn just in case. + // Some users may want to defer all loading until later + // during runtime. + ignwarn << "IGN_GAZEBO_SERVER_CONFIG set but no plugins found\n"; + } + resolved = true; + } + else + { + // This may be desired behavior, but warn just in case. + // Some users may want to defer all loading until late + // during runtime. + ignwarn << "IGN_GAZEBO_SERVER_CONFIG set but no file found," + << " no plugins loaded\n"; + resolved = true; + } + } + + if (!resolved) + { + std::string defaultConfig; + ignition::common::env(IGN_HOMEDIR, defaultConfig); + defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition", + "gazebo", "server.config"); + + if (!ignition::common::exists(defaultConfig)) + { + auto installedConfig = IGNITION_GAZEBO_SERVER_CONFIG_PATH; + + if (!ignition::common::exists(installedConfig)) + { + ignerr << "Failed to copy installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << std::endl; + return ret; + } + else if (!ignition::common::copyFile(installedConfig, defaultConfig)) + { + ignerr << "Failed to copy installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << std::endl; + return ret; + } + else + { + ignmsg << "Copied installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << std::endl; + } + } + + ret = ignition::gazebo::parsePluginsFromFile(defaultConfig); + if (ret.empty()) + { + // This may be desired behavior, but warn just in case. + ignwarn << "Loaded IGN_HOME config, but no plugins found\n"; + } + } + + return ret; +} + diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc new file mode 100644 index 0000000000..6aedee40c9 --- /dev/null +++ b/src/ServerConfig_TEST.cc @@ -0,0 +1,163 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include + +#include +#include +#include + +using namespace ignition; +using namespace gazebo; + +////////////////////////////////////////////////// +TEST(parsePluginsFromString, valid) +{ + std::string config = R"( + + + + 0.123 + + + 987 + + + 456 + + + )"; + + 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()); +} + +////////////////////////////////////////////////// +TEST(parsePluginsFromString, invalid) +{ + std::string config = R"( + + + 0.123 + + )"; + + auto plugins = parsePluginsFromString(config); + ASSERT_EQ(0u, plugins.size()); + + auto plugins2 = parsePluginsFromString(""); + ASSERT_EQ(0u, plugins2.size()); +} + +////////////////////////////////////////////////// +TEST(parsePluginsFromFile, valid) +{ + auto config = std::string(PROJECT_SOURCE_PATH) + + "/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()); +} + +////////////////////////////////////////////////// +TEST(parsePluginsFromFile, invalid) +{ + auto config = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/server_invalid.config"; + + // Valid file without valid content + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(0u, plugins.size()); + + // Invalid file + auto plugins2 = parsePluginsFromFile("/foo/bar/baz"); + ASSERT_EQ(0u, plugins2.size()); +} + +////////////////////////////////////////////////// +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 = std::string(PROJECT_SOURCE_PATH) + + "/include/ignition/gazebo/server.config"; + + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(3u, plugins.size()); +} + +////////////////////////////////////////////////// +TEST(loadPluginInfo, from_empty_env) +{ + // ignition::common::env doesn't respect zero-length + // See ignitionrobotics/ign-common#97 + ASSERT_EQ(0, setenv("IGN_GAZEBO_SERVER_CONFIG", "0", true)); + auto plugins = loadPluginInfo(); + + EXPECT_EQ(0u, plugins.size()); + + unsetenv("IGN_GAZEBO_SERVER_CONFIG"); +} + +////////////////////////////////////////////////// +TEST(loadPluginInfo, from_valid_env) +{ + auto valid_path = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/server_valid2.config"; + + ASSERT_EQ(0, setenv("IGN_GAZEBO_SERVER_CONFIG", valid_path.c_str(), true)); + + auto plugins = loadPluginInfo(); + ASSERT_EQ(2u, plugins.size()); + + EXPECT_EQ("default2", plugins.begin()->EntityName()); + EXPECT_EQ("world", plugins.begin()->EntityType()); + EXPECT_EQ("TestWorldSystem", plugins.begin()->Filename()); + EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugins.begin()->Name()); + + unsetenv("IGN_GAZEBO_SERVER_CONFIG"); +} + + diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index e85b1a7b8e..4982e45ae8 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -161,44 +161,13 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, // If we have reached this point and no systems have been loaded, then load // a default set of systems. - // Order: - // 1. File at IGN_GAZEBO_SERVER_CONFIG - // 2. File at ${IGN_HOMEDIR}/.ignition/gazebo/server.config - // 3. File at ${IGN_DATA_INSTALL_DIR}/server.config - if (this->systems.empty() && this->pendingSystems.empty()) { - ignmsg << "No systems loaded, loading defaults" << std::endl; - - std::string envConfig; - ignition::common::env("IGN_GAZEBO_SERVER_CONFIG", envConfig); - - std::string defaultConfig; - ignition::common::env(IGN_HOMEDIR, defaultConfig); - defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition", - "gazebo", "server.config"); - - auto installedConfig = IGNITION_GAZEBO_SERVER_CONFIG_PATH; - - std::string configPath; - if (envConfig.size() && ignition::common::exists(envConfig)) - { - configPath = envConfig; - } - else if (ignition::common::exists(defaultConfig)) - { - configPath = defaultConfig; - } - else - { - configPath = installedConfig; - } - - igndbg << "Loading default plugins from: " << configPath << std::endl; + ignmsg << "No SDF systems loaded, loading defaults" << std::endl; ServerConfig tmpConfig; - auto plugins = ignition::gazebo::ParsePluginsFromFile(configPath); - for (auto plugin : plugins) + auto plugins = ignition::gazebo::loadPluginInfo(); + for (const auto &plugin : plugins) { tmpConfig.AddPlugin(plugin); } diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index bded51bac0..b7c94502cc 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -1139,41 +1139,46 @@ TEST_P(SimulationRunnerTest, LoadPlugins) } ///////////////////////////////////////////////// -TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) +TEST_P(SimulationRunnerTest, LoadServer_NoPlugins) { sdf::Root rootWithout; rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/plugins_empty.sdf"); ASSERT_EQ(1u, rootWithout.WorldCount()); - std::string plugins = R"( - - - 0.123 - - - 987 - - - 456 - - )"; + // ServerConfig will fall back to environment variable + auto config = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/server_valid2.config"; + ASSERT_EQ(0, setenv("IGN_GAZEBO_SERVER_CONFIG", + config.c_str(), true)); + ServerConfig serverConfig; + + // Create simulation runner + auto systemLoader = std::make_shared(); + SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader, + serverConfig); + + ASSERT_EQ(2u, runner.SystemCount()); +} + +///////////////////////////////////////////////// +TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) +{ + sdf::Root rootWithout; + rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/plugins_empty.sdf"); + ASSERT_EQ(1u, rootWithout.WorldCount()); // Create a server configuration with plugins + // No fallback expected + auto config = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/server_valid.config"; + + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(3u, plugins.size()); + ServerConfig serverConfig; - for (auto plugin : ParsePluginsFromString(plugins)) + for (auto plugin : plugins) { serverConfig.AddPlugin(plugin); } @@ -1264,10 +1269,16 @@ TEST_P(SimulationRunnerTest, LoadPluginsDefault) "/test/worlds/plugins_empty.sdf"); ASSERT_EQ(1u, rootWithout.WorldCount()); + auto config = std::string(PROJECT_SOURCE_PATH) + + "/inclue/ignition/gazebo/server.config"; + ASSERT_EQ(0, setenv("IGN_GAZEBO_SERVER_CONFIG", + config.c_str(), true)); + // Create simulation runner auto systemLoader = std::make_shared(); SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader); ASSERT_EQ(3u, runner.SystemCount()); + unsetenv("IGN_GAZEBO_SERVER_CONFIG"); } ///////////////////////////////////////////////// From a35b04f63b7d999f54eac057372e172c078fc584 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 9 Oct 2020 16:38:43 -0500 Subject: [PATCH 12/32] Address reviewer feedback and add playback config Signed-off-by: Michael Carroll --- include/ignition/gazebo/ServerConfig.hh | 5 ++++- include/ignition/gazebo/config.hh.in | 2 +- .../ignition/gazebo/server_playback.config | 19 +++++++++++++++++++ src/ServerConfig.cc | 19 ++++++++++++++++--- src/SimulationRunner.cc | 10 ++++------ 5 files changed, 44 insertions(+), 11 deletions(-) create mode 100644 include/ignition/gazebo/server_playback.config diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index d12ed0a1c9..8c1bcb36ec 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -403,10 +403,13 @@ namespace ignition /// If any of the above files exist but are empty, resolution /// stops and the plugin list will be empty. /// + // + /// \param[in] _isPlayback Is the server in playback mode + // /// \return A list of plugins to load, based on above ordering std::list IGNITION_GAZEBO_VISIBLE - loadPluginInfo(); + loadPluginInfo(bool _isPlayback); } } } diff --git a/include/ignition/gazebo/config.hh.in b/include/ignition/gazebo/config.hh.in index 1233b6d517..eacad933bf 100644 --- 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}/${IGN_DATA_INSTALL_DIR}/server.config" +#define IGNITION_GAZEBO_SERVER_CONFIG_PATH "${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/include/ignition/gazebo/server_playback.config b/include/ignition/gazebo/server_playback.config new file mode 100644 index 0000000000..e54987ae75 --- /dev/null +++ b/include/ignition/gazebo/server_playback.config @@ -0,0 +1,19 @@ + + + + + + + + + + diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 90316226ed..c968df918e 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -717,9 +717,10 @@ ignition::gazebo::parsePluginsFromString(const std::string &_str) return parsePluginsFromDoc(doc); } + ///////////////////////////////////////////////// std::list -ignition::gazebo::loadPluginInfo() +ignition::gazebo::loadPluginInfo(bool _isPlayback) { std::list ret; bool resolved = false; @@ -756,14 +757,26 @@ ignition::gazebo::loadPluginInfo() if (!resolved) { + std::string configFilename; + if (_isPlayback) + { + configFilename = "server_playback.config"; + } + else + { + configFilename = "server.config"; + } + std::string defaultConfig; ignition::common::env(IGN_HOMEDIR, defaultConfig); defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition", - "gazebo", "server.config"); + "gazebo", configFilename); if (!ignition::common::exists(defaultConfig)) { - auto installedConfig = IGNITION_GAZEBO_SERVER_CONFIG_PATH; + auto installedConfig = ignition::common::joinPaths( + IGNITION_GAZEBO_SERVER_CONFIG_PATH, + configFilename); if (!ignition::common::exists(installedConfig)) { diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 4982e45ae8..904e180de6 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -166,7 +166,9 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, ignmsg << "No SDF systems loaded, loading defaults" << std::endl; ServerConfig tmpConfig; - auto plugins = ignition::gazebo::loadPluginInfo(); + bool isPlayback = !this->serverConfig.LogPlaybackPath.empty(); + auto plugins = ignition::gazebo::loadPluginInfo(isPlayback); + for (const auto &plugin : plugins) { tmpConfig.AddPlugin(plugin); @@ -850,15 +852,11 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config) << plugin.EntityType() << "]" << std::endl; } + if (kNullEntity != entity) { this->LoadPlugin(entity, plugin.Filename(), plugin.Name(), plugin.Sdf()); } - else - { - ignwarn << "Attempting to attach plugin [" << plugin.Name() << - " to an unknown entity. Plugin won't be loaded" << std::endl; - } } } From 8e89c7f20bbab6173736792efc200774745161be Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 13 Oct 2020 15:10:27 -0700 Subject: [PATCH 13/32] Fix compilation, remove plugins from an example Signed-off-by: Louise Poubel Signed-off-by: Michael Carroll --- examples/worlds/shapes.sdf | 17 ----------------- include/ignition/gazebo/ServerConfig.hh | 5 +++-- src/SimulationRunner.cc | 2 +- 3 files changed, 4 insertions(+), 20 deletions(-) diff --git a/examples/worlds/shapes.sdf b/examples/worlds/shapes.sdf index 4715d18c7d..5dec565b81 100644 --- a/examples/worlds/shapes.sdf +++ b/examples/worlds/shapes.sdf @@ -8,23 +8,6 @@ Try moving a model: --> - - 0.001 - 1.0 - - - - - - - - 1.0 1.0 1.0 0.8 0.8 0.8 diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 8c1bcb36ec..d3520a1079 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -404,12 +404,13 @@ namespace ignition /// stops and the plugin list will be empty. /// // - /// \param[in] _isPlayback Is the server in playback mode + /// \param[in] _isPlayback Is the server in playback mode. If so, fallback + /// to server_playback.config. // /// \return A list of plugins to load, based on above ordering std::list IGNITION_GAZEBO_VISIBLE - loadPluginInfo(bool _isPlayback); + loadPluginInfo(bool _isPlayback = false); } } } diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 904e180de6..c512f6bbbc 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -166,7 +166,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, ignmsg << "No SDF systems loaded, loading defaults" << std::endl; ServerConfig tmpConfig; - bool isPlayback = !this->serverConfig.LogPlaybackPath.empty(); + bool isPlayback = !this->serverConfig.LogPlaybackPath().empty(); auto plugins = ignition::gazebo::loadPluginInfo(isPlayback); for (const auto &plugin : plugins) From 63934523fbefaf576c0a98b7f9d6c0e7db102ef7 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 14 Oct 2020 06:43:49 -0700 Subject: [PATCH 14/32] Tutorial and tweaks for server config (#405) Signed-off-by: Louise Poubel Signed-off-by: Michael Carroll --- src/Server.cc | 45 +-- tutorials.md.in | 1 + tutorials/files/server_config/camera_env.gif | Bin 0 -> 267416 bytes .../files/server_config/camera_no_env.gif | Bin 0 -> 214013 bytes .../files/server_config/default_server.gif | Bin 0 -> 134365 bytes tutorials/files/server_config/from_sdf.png | Bin 0 -> 50007 bytes .../server_config/from_sdf_no_plugins.gif | Bin 0 -> 78768 bytes .../server_config/modified_default_config.gif | Bin 0 -> 145290 bytes tutorials/server_config.md | 265 ++++++++++++++++++ 9 files changed, 269 insertions(+), 42 deletions(-) create mode 100644 tutorials/files/server_config/camera_env.gif create mode 100644 tutorials/files/server_config/camera_no_env.gif create mode 100644 tutorials/files/server_config/default_server.gif create mode 100644 tutorials/files/server_config/from_sdf.png create mode 100644 tutorials/files/server_config/from_sdf_no_plugins.gif create mode 100644 tutorials/files/server_config/modified_default_config.gif create mode 100644 tutorials/server_config.md diff --git a/src/Server.cc b/src/Server.cc index 9fb9492de8..bb188ef993 100644 --- a/src/Server.cc +++ b/src/Server.cc @@ -59,53 +59,14 @@ std::string findFuelResourceSdf(const std::string &_path) /// \brief This struct provides access to the default world. struct DefaultWorld { - /// \brief Get the default plugins as a string. - /// \return An SDF string that contains the default plugins. - public: static std::string &DefaultPlugins(const ServerConfig &_config) - { - std::vector pluginsV = { - { - std::string("" - }, - { - std::string("" - } - }; - - // The set of default gazebo plugins. - if (_config.LogPlaybackPath().empty()) - { - pluginsV.push_back(std::string(""); - } - - // Playback plugin - else - { - pluginsV.push_back(std::string("" + - _config.LogPlaybackPath() + ""); - } - - static std::string plugins = std::accumulate(pluginsV.begin(), - pluginsV.end(), std::string("")); - return plugins; - } - /// \brief Get the default world as a string. + /// Plugins will be loaded from the server.config file. /// \return An SDF string that contains the default world. - public: static std::string &World(const ServerConfig &_config) + public: static std::string &World() { static std::string world = std::string("" "" "") + - DefaultPlugins(_config) + "" ""; @@ -211,7 +172,7 @@ Server::Server(const ServerConfig &_config) ignmsg << "Loading default world.\n"; // Load an empty world. /// \todo(nkoenig) Add a "AddWorld" function to sdf::Root. - errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World(_config)); + errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World()); } if (!errors.empty()) diff --git a/tutorials.md.in b/tutorials.md.in index a7f1c5be81..6930c6c746 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -16,6 +16,7 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage physics "Physics engines": Loading different physics engines. * \subpage battery "Battery": Keep track of battery charge on robot models. * \subpage gui_config "GUI configuration": Customizing your layout. +* \subpage server_config "Server configuration": Customizing what system plugins are loaded. * \subpage debugging "Debugging": Information about debugging Gazebo. * \subpage pointcloud "Converting a Point Cloud to a 3D Model": Turn point cloud data into 3D models for use in simulations. * \subpage meshtofuel "Importing a Mesh to Fuel": Build a model directory around a mesh so it can be added to the Ignition Fuel app. diff --git a/tutorials/files/server_config/camera_env.gif b/tutorials/files/server_config/camera_env.gif new file mode 100644 index 0000000000000000000000000000000000000000..409b0c2b5c422661cb1c17d3de945e8ea347afaa GIT binary patch literal 267416 zcmV)3K+C^JNk%w1VZ8$b0`~$j0F~DOsPh2-00E@z0;uu@r|$}(<`90b5di=klEoaN z;3EwMB|=sx9vdhuGAk7aE11$ODJv{8J}oOQF&GIkE-f)JF)@FkGL^wIg{U_!EH^nt 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z?>hc&z%$MH#9E!>ij}Up=qJf?1WeGsoH60Hml6Me#(?+#qTjzJ`u)o-&(|~sp#5|+ za6tDHy98NZG+cmc@%2lHD2Lgx+af4@blbc|1sug=Is(Ky9;lH1iT$wcG#CQZi>53z z%_Fmn{&FE06)XT9W%G2oYqF@dMv}8C5+>aPIeg{e)?Qiri^nNKsjYAmAdU!<+$GDN z5+>*+jBdz*$i=qyyXfUGriO*c8Y#np037xM?hFh|h)6x;5K3BwQ88KG@VRPkdeZ`i zYaA0CC`C{1{r@Lf` elements inside an SDF file. +2. File path defined by the `IGN_GAZEBO_SERVER_CONFIG` environment variable. +3. The default configuration file at `$HOME/.ignition/gazebo/server.config` \* + +Each of the items above takes precedence over the ones below it. For example, +if a the SDF file has any `` elements, then the +`IGN_GAZEBO_SERVER_CONFIG` variable is ignored. And the default configuration +file is only loaded if no plugins are passed through the SDF file or the +environment variable. + +> \* For log-playback, the default file is +> `$HOME/.ignition/gazebo/playback_gui.config` + +## Try it out + +### Default configuration + +Let's try this in practice. First, let's open Ignition Gazebo without passing +any arguments: + +`ign gazebo` + +You should see an empty world with several systems loaded by default, such as +physics, the scene broadcaster (which keeps the GUI updated), and the system that +handles user commands like translating models. Try for example inserting a simple +shape into simulation and pressing "play": + +* the shape is inserted correctly because the user commands system is loaded; +* the shape falls due to gravity because the physics system is loaded; +* and you can see the shape falling through the GUI because the scene +broadcaster is loaded. + +@image html files/server_config/default_server.gif + +By default, you're loading this file: + +`$HOME/.ignition/gazebo/server.config` + +That file is created the first time you load Ignition Gazebo. Once it is +created, Ignition will never write to it again unless you delete it. This +means that you can customize it with your preferences and they will be applied +every time Ignition is started! + +Let's try customizing it: + +1. Open this file with your favorite editor: + + `$HOME/.ignition/gazebo/server.config` + +2. Remove the `` block for the physics system + +3. Reload Gazebo: + + `ign gazebo` + +Now insert a shape and press play: it shouldn't fall because physics wasn't +loaded. + +@image html files/server_config/modified_default_config.gif + +You'll often want to restore default settings or to use the latest default +provided by Ignition (when you update to a newer version for example). In +that case, just delete that file, and the next time Gazebo is started a new file +will be created with default values: + +`rm $HOME/.ignition/gazebo/server.config` + +### SDF + +Let's try overriding the default configuration from an SDF file. Open your +favorite editor and save this file as `fuel_preview.sdf`: + +``` + + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 1.0 1.0 1.0 + 0.4 0.6 1.0 + 8.3 7 7.8 0 0.5 -2.4 + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone + + + + +``` + +Now let's load this world: + +`ign gazebo -r /fuel_preview.sdf` + +Notice how the application has only one system plugin loaded, the scene +broadcaster, as defined on the SDF file above. Physics is not loaded, so even +though the simulation is running (started with `-r`), the cone doesn't fall +with gravity. + +@image html files/server_config/from_sdf.png + +If you delete the `` element from the file above and reload it, you'll +see the same model loaded with the default plugins, so it will fall. + +@image html files/server_config/from_sdf_no_plugins.gif + +### Environment variable + +It's often inconvenient to embed your plugins directly into every SDF file. +But you also don't want to be editing the default config file every time you +want to start with a different set of plugins. That's why Gazebo also supports +loading configuration files from an environment variable. + +Let's start by saving this simple world with a camera sensor as +`simple_camera.sdf`: + +``` + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 1.0 1.0 1.0 + 0.4 0.6 1.0 + 8.3 7 7.8 0 0.5 -2.4 + + + + + floating + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + + + + 0 0 1 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo + + + + true + 20 0 1.0 0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + 1.047 + + 320 + 240 + + + 30 + + + + + + +``` + +Then load the `simple_camera.sdf` world: + +`ign gazebo -r /simple_camera.sdf` + +You'll see a world with a camera and a cone. If you refresh the image display +plugin, it won't show any image topics. That's because the default server +configuration doesn't include the sensors system, which is necessary for +rendering-based sensors to generate data. + +@image html files/server_config/camera_no_env.gif + +Now let's create a custom configuration file in +`$HOME/.ignition/gazebo/rendering_sensors_server.config` that has the sensors +system: + +``` + + + + + + ogre + + + +``` + +And point the environment variable to that file: + +`export IGN_GAZEBO_SERVER_CONFIG=$HOME/.ignition/gazebo/rendering_sensors_server.config` + +Now when we launch the simulation again, refreshing the image display will +show the camera topic, and we can see the camera data. +One interesting thing to notice is that on the camera view, there's no grid and +the background color is the default grey, instead of the blue color set on the +GUI `GzScene` plugin. + +@image html files/server_config/camera_env.gif + From ae64edbc58c0612938a980a26d5f0b8dd0d1a140 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 21 Oct 2020 11:27:17 -0500 Subject: [PATCH 15/32] Update enviornment variable and place in utils * Changes IGN_GAZEBO_SERVER_CONFIG -> IGN_GAZEBO_SERVER_CONFIG_PATH * Creates kServerConfigPathEnv and replaces accordingly. Signed-off-by: Michael Carroll --- include/ignition/gazebo/ServerConfig.hh | 4 ++-- include/ignition/gazebo/Util.hh | 3 +++ src/ServerConfig.cc | 11 +++++++---- src/ServerConfig_TEST.cc | 8 ++++---- src/SimulationRunner_TEST.cc | 6 +++--- src/cmd/cmdgazebo.rb.in | 2 ++ tutorials/server_config.md | 6 +++--- 7 files changed, 24 insertions(+), 16 deletions(-) diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index d3520a1079..94af6cb7b8 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -393,9 +393,9 @@ namespace ignition /// file to load either a default or custom set of plugins. /// /// The following order is used to resolve: - /// 1. Config file located at IGN_GAZEBO_SERVER_CONFIG environment + /// 1. Config file located at IGN_GAZEBO_SERVER_CONFIG_PATH environment /// variable. - /// * If IGN_GAZEBO_SERVER_CONFIG is set but empty, no plugins + /// * If IGN_GAZEBO_SERVER_CONFIG_PATH is set but empty, no plugins /// are loaded. /// 2. File at ${IGN_HOMEDIR}/.ignition/gazebo/server.config /// 3. File at ${IGN_DATA_INSTALL_DIR}/server.config diff --git a/include/ignition/gazebo/Util.hh b/include/ignition/gazebo/Util.hh index 39d790f7f9..ca058f3a08 100644 --- a/include/ignition/gazebo/Util.hh +++ b/include/ignition/gazebo/Util.hh @@ -146,6 +146,9 @@ namespace ignition /// `` const std::string kSdfPathEnv{"SDF_PATH"}; + /// \breif Environment variable holding server config paths. + const std::string kServerConfigPathEnv{"IGN_GAZEBO_SERVER_CONFIG_PATH"}; + /// \brief Environment variable holding paths to custom rendering engine /// plugins. const std::string kRenderPluginPathEnv{"IGN_GAZEBO_RENDER_ENGINE_PATH"}; diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index c968df918e..81cc8fdcb5 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -727,12 +727,13 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) // 1. Check contents of environment variable std::string envConfig; - bool configSet = ignition::common::env("IGN_GAZEBO_SERVER_CONFIG", + bool configSet = ignition::common::env(gazebo::kServerConfigPathEnv, envConfig); if (configSet) { - if (ignition::common::exists(envConfig)) { + if (ignition::common::exists(envConfig)) + { // Parse configuration stored in environment variable ret = ignition::gazebo::parsePluginsFromFile(envConfig); if (ret.empty()) @@ -740,7 +741,8 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) // This may be desired behavior, but warn just in case. // Some users may want to defer all loading until later // during runtime. - ignwarn << "IGN_GAZEBO_SERVER_CONFIG set but no plugins found\n"; + ignwarn << gazebo:kServerConfigPathEnv + << " set but no plugins found\n"; } resolved = true; } @@ -749,7 +751,8 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) // This may be desired behavior, but warn just in case. // Some users may want to defer all loading until late // during runtime. - ignwarn << "IGN_GAZEBO_SERVER_CONFIG set but no file found," + ignwarn << gazebo::kServerConfigPathEnv + << " set but no file found," << " no plugins loaded\n"; resolved = true; } diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc index 6aedee40c9..e0ae972218 100644 --- a/src/ServerConfig_TEST.cc +++ b/src/ServerConfig_TEST.cc @@ -133,12 +133,12 @@ TEST(loadPluginInfo, from_empty_env) { // ignition::common::env doesn't respect zero-length // See ignitionrobotics/ign-common#97 - ASSERT_EQ(0, setenv("IGN_GAZEBO_SERVER_CONFIG", "0", true)); + ASSERT_EQ(0, setenv(gazebo::kServerConfigPathEnv, "0", true)); auto plugins = loadPluginInfo(); EXPECT_EQ(0u, plugins.size()); - unsetenv("IGN_GAZEBO_SERVER_CONFIG"); + unsetenv(gazebo::kServerConfigPathEnv); } ////////////////////////////////////////////////// @@ -147,7 +147,7 @@ TEST(loadPluginInfo, from_valid_env) auto valid_path = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/server_valid2.config"; - ASSERT_EQ(0, setenv("IGN_GAZEBO_SERVER_CONFIG", valid_path.c_str(), true)); + ASSERT_EQ(0, setenv(gazeob::kServerConfigPathEnv, valid_path.c_str(), true)); auto plugins = loadPluginInfo(); ASSERT_EQ(2u, plugins.size()); @@ -157,7 +157,7 @@ TEST(loadPluginInfo, from_valid_env) EXPECT_EQ("TestWorldSystem", plugins.begin()->Filename()); EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugins.begin()->Name()); - unsetenv("IGN_GAZEBO_SERVER_CONFIG"); + unsetenv(gazebo::kServerConfigPathEnv); } diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index b7c94502cc..07b6a59718 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -1149,7 +1149,7 @@ TEST_P(SimulationRunnerTest, LoadServer_NoPlugins) // ServerConfig will fall back to environment variable auto config = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/server_valid2.config"; - ASSERT_EQ(0, setenv("IGN_GAZEBO_SERVER_CONFIG", + ASSERT_EQ(0, setenv(gazebo::kServerConfigPathEnv, config.c_str(), true)); ServerConfig serverConfig; @@ -1271,14 +1271,14 @@ TEST_P(SimulationRunnerTest, LoadPluginsDefault) auto config = std::string(PROJECT_SOURCE_PATH) + "/inclue/ignition/gazebo/server.config"; - ASSERT_EQ(0, setenv("IGN_GAZEBO_SERVER_CONFIG", + ASSERT_EQ(0, setenv(gazebo::kServerConfigPathEnv, config.c_str(), true)); // Create simulation runner auto systemLoader = std::make_shared(); SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader); ASSERT_EQ(3u, runner.SystemCount()); - unsetenv("IGN_GAZEBO_SERVER_CONFIG"); + unsetenv(gazebo::kServerConfigPathEnv); } ///////////////////////////////////////////////// diff --git a/src/cmd/cmdgazebo.rb.in b/src/cmd/cmdgazebo.rb.in index 594e360763..37c9c24ddd 100755 --- a/src/cmd/cmdgazebo.rb.in +++ b/src/cmd/cmdgazebo.rb.in @@ -156,6 +156,8 @@ COMMANDS = { 'gazebo' => " resources such as worlds and models. \n\n"\ " IGN_GAZEBO_SYSTEM_PLUGIN_PATH Colon separated paths used to \n"\ " locate system plugins. \n\n"\ + " IGN_GAZEBO_SERVER_CONFIG_PATH Colon separated paths used to \n"\ + " locate server configurations. \n\n"\ " IGN_GUI_PLUGIN_PATH Colon separated paths used to locate GUI \n"\ " plugins. \n\n"\ " IGN_GAZEBO_NETWORK_ROLE Participant role used in a distributed \n"\ diff --git a/tutorials/server_config.md b/tutorials/server_config.md index c539d0c42d..4f89c9b337 100644 --- a/tutorials/server_config.md +++ b/tutorials/server_config.md @@ -13,12 +13,12 @@ a simulation. There are a few places where the plugins can be defined: 1. `` elements inside an SDF file. -2. File path defined by the `IGN_GAZEBO_SERVER_CONFIG` environment variable. +2. File path defined by the `IGN_GAZEBO_SERVER_CONFIG_PATH` environment variable. 3. The default configuration file at `$HOME/.ignition/gazebo/server.config` \* Each of the items above takes precedence over the ones below it. For example, if a the SDF file has any `` elements, then the -`IGN_GAZEBO_SERVER_CONFIG` variable is ignored. And the default configuration +`IGN_GAZEBO_SERVER_CONFIG_PATH` variable is ignored. And the default configuration file is only loaded if no plugins are passed through the SDF file or the environment variable. @@ -253,7 +253,7 @@ system: And point the environment variable to that file: -`export IGN_GAZEBO_SERVER_CONFIG=$HOME/.ignition/gazebo/rendering_sensors_server.config` +`export IGN_GAZEBO_SERVER_CONFIG_PATH=$HOME/.ignition/gazebo/rendering_sensors_server.config` Now when we launch the simulation again, refreshing the image display will show the camera topic, and we can see the camera data. From 3aec60448dd1aad8b5a2ac4dbf6847df78763b5c Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 21 Oct 2020 11:38:12 -0500 Subject: [PATCH 16/32] Apply suggestions from code review Co-authored-by: Louise Poubel Signed-off-by: Michael Carroll --- src/ServerConfig_TEST.cc | 3 +-- src/SimulationRunner.cc | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc index e0ae972218..7f0954545c 100644 --- a/src/ServerConfig_TEST.cc +++ b/src/ServerConfig_TEST.cc @@ -144,7 +144,7 @@ TEST(loadPluginInfo, from_empty_env) ////////////////////////////////////////////////// TEST(loadPluginInfo, from_valid_env) { - auto valid_path = std::string(PROJECT_SOURCE_PATH) + + auto validPath = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/server_valid2.config"; ASSERT_EQ(0, setenv(gazeob::kServerConfigPathEnv, valid_path.c_str(), true)); @@ -160,4 +160,3 @@ TEST(loadPluginInfo, from_valid_env) unsetenv(gazebo::kServerConfigPathEnv); } - diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index c512f6bbbc..0c85126ba2 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -163,7 +163,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, // a default set of systems. if (this->systems.empty() && this->pendingSystems.empty()) { - ignmsg << "No SDF systems loaded, loading defaults" << std::endl; + ignmsg << "No systems loaded from SDF, loading defaults" << std::endl; ServerConfig tmpConfig; bool isPlayback = !this->serverConfig.LogPlaybackPath().empty(); From d3fa176e6cf634fe6c772020f9d9cc9015502eec Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 21 Oct 2020 11:45:25 -0500 Subject: [PATCH 17/32] server_playback -> playback_server Signed-off-by: Michael Carroll --- include/ignition/gazebo/CMakeLists.txt | 2 +- include/ignition/gazebo/ServerConfig.hh | 2 +- .../gazebo/{server_playback.config => playback_server.config} | 0 src/ServerConfig.cc | 2 +- 4 files changed, 3 insertions(+), 3 deletions(-) rename include/ignition/gazebo/{server_playback.config => playback_server.config} (100%) diff --git a/include/ignition/gazebo/CMakeLists.txt b/include/ignition/gazebo/CMakeLists.txt index c3c3ccad0c..65544b91eb 100644 --- a/include/ignition/gazebo/CMakeLists.txt +++ b/include/ignition/gazebo/CMakeLists.txt @@ -2,4 +2,4 @@ ign_install_all_headers() add_subdirectory(components) -install (FILES server.config DESTINATION ${IGN_DATA_INSTALL_DIR}) +install (FILES server.config playback_server.config DESTINATION ${IGN_DATA_INSTALL_DIR}) diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 94af6cb7b8..57b494cc1b 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -405,7 +405,7 @@ namespace ignition /// // /// \param[in] _isPlayback Is the server in playback mode. If so, fallback - /// to server_playback.config. + /// to playback_server.config. // /// \return A list of plugins to load, based on above ordering std::list diff --git a/include/ignition/gazebo/server_playback.config b/include/ignition/gazebo/playback_server.config similarity index 100% rename from include/ignition/gazebo/server_playback.config rename to include/ignition/gazebo/playback_server.config diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 81cc8fdcb5..5130797bbb 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -763,7 +763,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) std::string configFilename; if (_isPlayback) { - configFilename = "server_playback.config"; + configFilename = "playback_server.config"; } else { From a0b1af41212d793dc1d564fa63da4fc6198b8d33 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 21 Oct 2020 11:46:53 -0500 Subject: [PATCH 18/32] Remove "resolved" variable Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 76 +++++++++++++++++++++------------------------ 1 file changed, 36 insertions(+), 40 deletions(-) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 5130797bbb..02c900df51 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -723,7 +723,6 @@ std::list ignition::gazebo::loadPluginInfo(bool _isPlayback) { std::list ret; - bool resolved = false; // 1. Check contents of environment variable std::string envConfig; @@ -744,7 +743,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) ignwarn << gazebo:kServerConfigPathEnv << " set but no plugins found\n"; } - resolved = true; + return true; } else { @@ -754,53 +753,50 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) ignwarn << gazebo::kServerConfigPathEnv << " set but no file found," << " no plugins loaded\n"; - resolved = true; + return true; } } - if (!resolved) + std::string configFilename; + if (_isPlayback) { - std::string configFilename; - if (_isPlayback) + configFilename = "playback_server.config"; + } + else + { + configFilename = "server.config"; + } + + std::string defaultConfig; + ignition::common::env(IGN_HOMEDIR, defaultConfig); + defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition", + "gazebo", configFilename); + + if (!ignition::common::exists(defaultConfig)) + { + auto installedConfig = ignition::common::joinPaths( + IGNITION_GAZEBO_SERVER_CONFIG_PATH, + configFilename); + + if (!ignition::common::exists(installedConfig)) { - configFilename = "playback_server.config"; + ignerr << "Failed to copy installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << std::endl; + return ret; } - else + else if (!ignition::common::copyFile(installedConfig, defaultConfig)) { - configFilename = "server.config"; + ignerr << "Failed to copy installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << std::endl; + return ret; } - - std::string defaultConfig; - ignition::common::env(IGN_HOMEDIR, defaultConfig); - defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition", - "gazebo", configFilename); - - if (!ignition::common::exists(defaultConfig)) + else { - auto installedConfig = ignition::common::joinPaths( - IGNITION_GAZEBO_SERVER_CONFIG_PATH, - configFilename); - - if (!ignition::common::exists(installedConfig)) - { - ignerr << "Failed to copy installed config [" << installedConfig - << "] to default config [" << defaultConfig << "]." - << std::endl; - return ret; - } - else if (!ignition::common::copyFile(installedConfig, defaultConfig)) - { - ignerr << "Failed to copy installed config [" << installedConfig - << "] to default config [" << defaultConfig << "]." - << std::endl; - return ret; - } - else - { - ignmsg << "Copied installed config [" << installedConfig - << "] to default config [" << defaultConfig << "]." - << std::endl; - } + ignmsg << "Copied installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << std::endl; } ret = ignition::gazebo::parsePluginsFromFile(defaultConfig); From af0a710bca2c44c318e063be898fcf440c008e46 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 21 Oct 2020 11:47:35 -0500 Subject: [PATCH 19/32] Update error message Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 02c900df51..832b02d87a 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -782,6 +782,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) { ignerr << "Failed to copy installed config [" << installedConfig << "] to default config [" << defaultConfig << "]." + << "(file " << installedConfig << " doesn't exist)" << std::endl; return ret; } From 0a4e2d84e068c2c6581351bd31d6740af61c2546 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 21 Oct 2020 12:13:19 -0500 Subject: [PATCH 20/32] Fixup things using Util include Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 8 ++++---- src/ServerConfig_TEST.cc | 1 + src/SimulationRunner_TEST.cc | 1 + 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 832b02d87a..e3f564ceaa 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -25,7 +25,7 @@ #include #include - +#include "ignition/gazebo/Util.hh" using namespace ignition; using namespace gazebo; @@ -740,10 +740,10 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) // This may be desired behavior, but warn just in case. // Some users may want to defer all loading until later // during runtime. - ignwarn << gazebo:kServerConfigPathEnv + ignwarn << gazebo::kServerConfigPathEnv << " set but no plugins found\n"; } - return true; + return ret; } else { @@ -753,7 +753,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) ignwarn << gazebo::kServerConfigPathEnv << " set but no file found," << " no plugins loaded\n"; - return true; + return ret; } } diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc index 7f0954545c..eaa7bf6bc9 100644 --- a/src/ServerConfig_TEST.cc +++ b/src/ServerConfig_TEST.cc @@ -19,6 +19,7 @@ #include #include +#include #include using namespace ignition; diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 07b6a59718..3f4cfdb72a 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -51,6 +51,7 @@ #include "ignition/gazebo/components/Wind.hh" #include "ignition/gazebo/components/World.hh" #include "ignition/gazebo/Events.hh" +#include "ignition/gazebo/Util.hh" #include "ignition/gazebo/config.hh" #include "SimulationRunner.hh" From 21b8245394b57299585c167789d5b617225df476 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 21 Oct 2020 12:13:37 -0500 Subject: [PATCH 21/32] Use common facilities * joinPaths rather than string concatenation * (env, setenv, unsetenv) where possible Signed-off-by: Michael Carroll --- src/ServerConfig_TEST.cc | 29 +++++++------- src/SimulationRunner_TEST.cc | 74 ++++++++++++++++++------------------ 2 files changed, 50 insertions(+), 53 deletions(-) diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc index eaa7bf6bc9..92594134e5 100644 --- a/src/ServerConfig_TEST.cc +++ b/src/ServerConfig_TEST.cc @@ -88,8 +88,8 @@ TEST(parsePluginsFromString, invalid) ////////////////////////////////////////////////// TEST(parsePluginsFromFile, valid) { - auto config = std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/server_valid.config"; + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/server_valid.config"); auto plugins = parsePluginsFromFile(config); ASSERT_EQ(3u, plugins.size()); @@ -103,8 +103,8 @@ TEST(parsePluginsFromFile, valid) ////////////////////////////////////////////////// TEST(parsePluginsFromFile, invalid) { - auto config = std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/server_invalid.config"; + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/server_invalid.config"); // Valid file without valid content auto plugins = parsePluginsFromFile(config); @@ -122,33 +122,32 @@ TEST(parsePluginsFromFile, defaultConfig) // configuration always parses. // If more systems are added, then the number needs // to be adjusted below. - auto config = std::string(PROJECT_SOURCE_PATH) + - "/include/ignition/gazebo/server.config"; + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "/include/ignition/gazebo/server.config"); auto plugins = parsePluginsFromFile(config); ASSERT_EQ(3u, plugins.size()); } ////////////////////////////////////////////////// -TEST(loadPluginInfo, from_empty_env) +TEST(loadPluginInfo, fromEmptyEnv) { // ignition::common::env doesn't respect zero-length // See ignitionrobotics/ign-common#97 - ASSERT_EQ(0, setenv(gazebo::kServerConfigPathEnv, "0", true)); + ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, "")); auto plugins = loadPluginInfo(); EXPECT_EQ(0u, plugins.size()); - - unsetenv(gazebo::kServerConfigPathEnv); + EXPECT_TRUE(common::unsetenv(gazebo::kServerConfigPathEnv)); } ////////////////////////////////////////////////// -TEST(loadPluginInfo, from_valid_env) +TEST(loadPluginInfo, fromValidEnv) { - auto validPath = std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/server_valid2.config"; + auto validPath = common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/server_valid2.config"); - ASSERT_EQ(0, setenv(gazeob::kServerConfigPathEnv, valid_path.c_str(), true)); + ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, validPath)); auto plugins = loadPluginInfo(); ASSERT_EQ(2u, plugins.size()); @@ -158,6 +157,6 @@ TEST(loadPluginInfo, from_valid_env) EXPECT_EQ("TestWorldSystem", plugins.begin()->Filename()); EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugins.begin()->Name()); - unsetenv(gazebo::kServerConfigPathEnv); + EXPECT_TRUE(common::unsetenv(gazebo::kServerConfigPathEnv)); } diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 3f4cfdb72a..5d3255364a 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -85,8 +85,8 @@ class SimulationRunnerTest : public ::testing::TestWithParam { common::Console::SetVerbosity(4); - setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", - (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + common::joinPaths(PROJECT_BINARY_PATH, "/lib")); } }; @@ -111,8 +111,8 @@ TEST_P(SimulationRunnerTest, CreateEntities) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -524,8 +524,8 @@ TEST_P(SimulationRunnerTest, CreateLights) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/lights.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/lights.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -794,8 +794,8 @@ TEST_P(SimulationRunnerTest, CreateJointEntities) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/demo_joint_types.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/demo_joint_types.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -935,8 +935,8 @@ TEST_P(SimulationRunnerTest, Time) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1057,8 +1057,8 @@ TEST_P(SimulationRunnerTest, LoadPlugins) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/plugins.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/plugins.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1140,18 +1140,17 @@ TEST_P(SimulationRunnerTest, LoadPlugins) } ///////////////////////////////////////////////// -TEST_P(SimulationRunnerTest, LoadServer_NoPlugins) +TEST_P(SimulationRunnerTest, LoadServerNoPlugins) { sdf::Root rootWithout; - rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/plugins_empty.sdf"); + rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/plugins_empty.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); // ServerConfig will fall back to environment variable - auto config = std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/server_valid2.config"; - ASSERT_EQ(0, setenv(gazebo::kServerConfigPathEnv, - config.c_str(), true)); + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/server_valid2.config"); + ASSERT_EQ(0, common::setenv(gazebo::kServerConfigPathEnv, config)); ServerConfig serverConfig; // Create simulation runner @@ -1166,14 +1165,14 @@ TEST_P(SimulationRunnerTest, LoadServer_NoPlugins) TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) { sdf::Root rootWithout; - rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/plugins_empty.sdf"); + rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/plugins_empty.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); // Create a server configuration with plugins // No fallback expected - auto config = std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/server_valid.config"; + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/server_valid.config"); auto plugins = parsePluginsFromFile(config); ASSERT_EQ(3u, plugins.size()); @@ -1266,20 +1265,19 @@ TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) TEST_P(SimulationRunnerTest, LoadPluginsDefault) { sdf::Root rootWithout; - rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/plugins_empty.sdf"); + rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/plugins_empty.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); - auto config = std::string(PROJECT_SOURCE_PATH) + - "/inclue/ignition/gazebo/server.config"; - ASSERT_EQ(0, setenv(gazebo::kServerConfigPathEnv, - config.c_str(), true)); + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "/inclue/ignition/gazebo/server.config"); + ASSERT_EQ(0, common::setenv(gazebo::kServerConfigPathEnv, config)); // Create simulation runner auto systemLoader = std::make_shared(); SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader); ASSERT_EQ(3u, runner.SystemCount()); - unsetenv(gazebo::kServerConfigPathEnv); + common::unsetenv(gazebo::kServerConfigPathEnv); } ///////////////////////////////////////////////// @@ -1287,8 +1285,8 @@ TEST_P(SimulationRunnerTest, LoadPluginsEvent) { // Load SDF file without plugins sdf::Root rootWithout; - rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/shapes.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); // Create simulation runner @@ -1322,8 +1320,8 @@ TEST_P(SimulationRunnerTest, LoadPluginsEvent) // Load SDF file with plugins sdf::Root rootWith; - rootWith.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/plugins.sdf"); + rootWith.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/plugins.sdf")); ASSERT_EQ(1u, rootWith.WorldCount()); // Emit plugin loading event @@ -1380,8 +1378,8 @@ TEST_P(SimulationRunnerTest, GuiInfo) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1417,8 +1415,8 @@ TEST_P(SimulationRunnerTest, GenerateWorldSdf) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "/test/worlds/shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); From e16830d334dcc59a9747ed3015bdbcb64ed3a48e Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Mon, 9 Nov 2020 11:48:29 -0600 Subject: [PATCH 22/32] Reviewer feedback. Signed-off-by: Michael Carroll --- src/ServerConfig_TEST.cc | 16 ++++++++++++++-- src/Server_TEST.cc | 7 +++++-- src/SimulationRunner.cc | 4 ++++ test/worlds/server_valid2.config | 2 +- 4 files changed, 24 insertions(+), 5 deletions(-) diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc index 92594134e5..6316199846 100644 --- a/src/ServerConfig_TEST.cc +++ b/src/ServerConfig_TEST.cc @@ -129,11 +129,23 @@ TEST(parsePluginsFromFile, defaultConfig) ASSERT_EQ(3u, plugins.size()); } +////////////////////////////////////////////////// +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"); + + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(3u, plugins.size()); +} + ////////////////////////////////////////////////// TEST(loadPluginInfo, fromEmptyEnv) { - // ignition::common::env doesn't respect zero-length - // See ignitionrobotics/ign-common#97 ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, "")); auto plugins = loadPluginInfo(); diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index b057678e28..f12089c994 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -89,7 +89,9 @@ TEST_P(ServerFixture, DefaultServerConfig) EXPECT_EQ(3u, *server.EntityCount()); EXPECT_TRUE(server.HasEntity("default")); - EXPECT_EQ(3u, *server.SystemCount()); + // Default server configuration has zero plugins, + // + EXPECT_EQ(0u, *server.SystemCount()); } ///////////////////////////////////////////////// @@ -229,7 +231,7 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin) "ignition::gazebo::TestSensorSystem", true); sdf->AddAttribute("filename", "string", "libTestSensorSystem.so", true); - serverConfig.AddPlugin({"air_pressure_model::link::air_pressure_sensor", + serverConfig.AddPlugin({"air_pressure_sensor::air_pressure_model::link::air_pressure_sensor", "sensor", "libTestSensorSystem.so", "ignition::gazebo::TestSensorSystem", sdf}); @@ -238,6 +240,7 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin) // The simulation runner should not be running. EXPECT_FALSE(*server.Running(0)); + EXPECT_EQ(2u, *server.SystemCount()); // Run the server igndbg << "Run server" << std::endl; diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 0c85126ba2..999b57b78f 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -789,11 +789,14 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config) // expression. // // Check plugins from the ServerConfig for matching entities. + igndbg << "LOADSERVERPLUGINS" << std::endl; for (const ServerConfig::PluginInfo &plugin : _config.Plugins()) { // \todo(anyone) Type + name is not enough to uniquely identify an entity // \todo(louise) The runner shouldn't care about specific components, this // logic should be moved somewhere else. + igndbg << "plugin: " << plugin.EntityName() << " " << plugin.EntityType() << std::endl; + Entity entity{kNullEntity}; if ("model" == plugin.EntityType()) @@ -822,6 +825,7 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config) for (auto sensor : sensors) { + igndbg << "scopedName: " << scopedName(sensor, this->entityCompMgr, "::", false) << std::endl; if (scopedName(sensor, this->entityCompMgr, "::", false) == plugin.EntityName()) { diff --git a/test/worlds/server_valid2.config b/test/worlds/server_valid2.config index 65ce05e5a8..7f74907ec0 100644 --- a/test/worlds/server_valid2.config +++ b/test/worlds/server_valid2.config @@ -4,7 +4,7 @@ Example server configuration that is valid From ef6a1152ed10c825ffa7a89b047adebe356e69ac Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Mon, 16 Nov 2020 11:30:01 -0600 Subject: [PATCH 23/32] Fix 2 tests Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 16 ++++++++++------ src/ServerConfig_TEST.cc | 3 ++- src/Server_TEST.cc | 11 ++++++++--- src/SimulationRunner_TEST.cc | 2 +- 4 files changed, 21 insertions(+), 11 deletions(-) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index e3f564ceaa..4e16f16ab2 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -799,15 +799,19 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) << "] to default config [" << defaultConfig << "]." << std::endl; } + } - ret = ignition::gazebo::parsePluginsFromFile(defaultConfig); - if (ret.empty()) - { - // This may be desired behavior, but warn just in case. - ignwarn << "Loaded IGN_HOME config, but no plugins found\n"; - } + ret = ignition::gazebo::parsePluginsFromFile(defaultConfig); + + if (ret.empty()) + { + // This may be desired behavior, but warn just in case. + ignwarn << "Loaded IGN_HOME config, but no plugins found\n"; } + igndbg << "Loaded (" << ret.size() << ") plugins from file " << + "[" << defaultConfig << "]\n"; + return ret; } diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc index 6316199846..9490b8a314 100644 --- a/src/ServerConfig_TEST.cc +++ b/src/ServerConfig_TEST.cc @@ -146,7 +146,8 @@ TEST(parsePluginsFromFile, playbackConfig) ////////////////////////////////////////////////// TEST(loadPluginInfo, fromEmptyEnv) { - ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, "")); + // Set environment to something that doesn't exist + ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, "foo")); auto plugins = loadPluginInfo(); EXPECT_EQ(0u, plugins.size()); diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index f12089c994..adcb7dfaf8 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -34,6 +34,7 @@ #include "ignition/gazebo/SystemLoader.hh" #include "ignition/gazebo/Server.hh" #include "ignition/gazebo/Types.hh" +#include "ignition/gazebo/Util.hh" #include "ignition/gazebo/test_config.hh" #include "plugins/MockSystem.hh" @@ -58,6 +59,12 @@ class ServerFixture : public ::testing::TestWithParam ///////////////////////////////////////////////// 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()); @@ -89,9 +96,7 @@ TEST_P(ServerFixture, DefaultServerConfig) EXPECT_EQ(3u, *server.EntityCount()); EXPECT_TRUE(server.HasEntity("default")); - // Default server configuration has zero plugins, - // - EXPECT_EQ(0u, *server.SystemCount()); + EXPECT_EQ(3u, *server.SystemCount()); } ///////////////////////////////////////////////// diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 5d3255364a..7cc64036ac 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -1150,7 +1150,7 @@ TEST_P(SimulationRunnerTest, LoadServerNoPlugins) // ServerConfig will fall back to environment variable auto config = common::joinPaths(PROJECT_SOURCE_PATH, "/test/worlds/server_valid2.config"); - ASSERT_EQ(0, common::setenv(gazebo::kServerConfigPathEnv, config)); + ASSERT_EQ(true, common::setenv(gazebo::kServerConfigPathEnv, config)); ServerConfig serverConfig; // Create simulation runner From c974174db5d0cffb2ff4bc0442e722dc10ef0428 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 18 Dec 2020 11:52:12 -0600 Subject: [PATCH 24/32] Fixup log recording/playback interactions Signed-off-by: Michael Carroll --- include/ignition/gazebo/ServerConfig.hh | 8 ++ .../ignition/gazebo/playback_server.config | 5 - src/ServerConfig.cc | 102 ++++++++++++++++++ src/ServerConfig_TEST.cc | 18 +++- src/ServerPrivate.cc | 54 ---------- src/Server_TEST.cc | 1 + src/SimulationRunner.cc | 48 +++++++-- src/SimulationRunner.hh | 3 +- src/SimulationRunner_TEST.cc | 4 +- src/systems/log/LogRecord.cc | 48 +++++---- test/worlds/server_valid2.config | 2 +- test/worlds/shapes.sdf | 12 --- 12 files changed, 199 insertions(+), 106 deletions(-) diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 57b494cc1b..698acd2fbe 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -351,6 +351,14 @@ namespace ignition /// \param[in] _info Information about the plugin to load. public: void AddPlugin(const PluginInfo &_info); + /// \brief Add multiple plugins to the simulation + /// \param[in] _info List of Information about the plugin to load. + public: void AddPlugins(const std::list &_plugins); + + public: PluginInfo LogRecordPlugin() const; + + public: PluginInfo LogPlaybackPlugin() const; + /// \brief Get all the plugins that should be loaded. /// \return A list of all the plugins specified via /// AddPlugin(const PluginInfo &). diff --git a/include/ignition/gazebo/playback_server.config b/include/ignition/gazebo/playback_server.config index e54987ae75..2551fda3ea 100644 --- a/include/ignition/gazebo/playback_server.config +++ b/include/ignition/gazebo/playback_server.config @@ -1,10 +1,5 @@ - - dataPtr->plugins.push_back(_info); } +///////////////////////////////////////////////// +ServerConfig::PluginInfo +ServerConfig::LogPlaybackPlugin() const +{ + auto entityName = "*"; + auto entityType = "world"; + auto pluginName = "ignition::gazebo::systems::LogPlayback"; + auto pluginFilename= std::string("ignition-gazebo") + + IGNITION_GAZEBO_MAJOR_VERSION_STR + "-log-system"; + + sdf::ElementPtr playbackElem; + playbackElem = std::make_shared(); + playbackElem->SetName("plugin"); + + if (!this->LogPlaybackPath().empty()) + { + sdf::ElementPtr pathElem = std::make_shared(); + pathElem->SetName("path"); + playbackElem->AddElementDescription(pathElem); + pathElem = playbackElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(this->LogPlaybackPath()); + } + + return ServerConfig::PluginInfo(entityName, + entityType, + pluginFilename, + pluginName, + playbackElem); +} + +///////////////////////////////////////////////// +ServerConfig::PluginInfo +ServerConfig::LogRecordPlugin() const +{ + auto entityName = "*"; + auto entityType = "world"; + auto pluginName = "ignition::gazebo::systems::LogRecord"; + auto pluginFilename= std::string("ignition-gazebo") + + IGNITION_GAZEBO_MAJOR_VERSION_STR + "-log-system"; + + sdf::ElementPtr recordElem; + + recordElem = std::make_shared(); + recordElem->SetName("plugin"); + + if (!this->LogRecordPath().empty()) + { + sdf::ElementPtr pathElem = std::make_shared(); + pathElem->SetName("path"); + recordElem->AddElementDescription(pathElem); + pathElem = recordElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(this->LogRecordPath()); + } + + // Set whether to record resources + sdf::ElementPtr resourceElem = std::make_shared(); + resourceElem->SetName("record_resources"); + recordElem->AddElementDescription(resourceElem); + resourceElem = recordElem->GetElement("record_resources"); + resourceElem->AddValue("bool", "false", false, ""); + resourceElem->Set(this->LogRecordResources() ? true : false); + + // Set whether to compress + sdf::ElementPtr compressElem = std::make_shared(); + compressElem->SetName("compress"); + recordElem->AddElementDescription(compressElem); + compressElem = recordElem->GetElement("compress"); + compressElem->AddValue("bool", "false", false, ""); + compressElem->Set(this->LogRecordCompressPath().empty() ? false : + true); + + // Set compress path + sdf::ElementPtr cPathElem = std::make_shared(); + cPathElem->SetName("compress_path"); + recordElem->AddElementDescription(cPathElem); + cPathElem = recordElem->GetElement("compress_path"); + cPathElem->AddValue("string", "", false, ""); + cPathElem->Set(this->LogRecordCompressPath()); + + // If record topics specified, add in SDF + for (const std::string &topic : this->LogRecordTopics()) + { + sdf::ElementPtr topicElem = std::make_shared(); + topicElem->SetName("record_topic"); + recordElem->AddElementDescription(topicElem); + topicElem = recordElem->AddElement("record_topic"); + topicElem->AddValue("string", "false", false, ""); + topicElem->Set(topic); + } + + return ServerConfig::PluginInfo(entityName, + entityType, + pluginFilename, + pluginName, + recordElem); +} + ///////////////////////////////////////////////// const std::list &ServerConfig::Plugins() const { @@ -743,6 +842,9 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) ignwarn << gazebo::kServerConfigPathEnv << " set but no plugins found\n"; } + igndbg << "Loaded (" << ret.size() << ") plugins from file " << + "[" << envConfig << "]\n"; + return ret; } else diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc index 9490b8a314..78fa99b8eb 100644 --- a/src/ServerConfig_TEST.cc +++ b/src/ServerConfig_TEST.cc @@ -140,7 +140,7 @@ TEST(parsePluginsFromFile, playbackConfig) "/include/ignition/gazebo/playback_server.config"); auto plugins = parsePluginsFromFile(config); - ASSERT_EQ(3u, plugins.size()); + ASSERT_EQ(2u, plugins.size()); } ////////////////////////////////////////////////// @@ -165,7 +165,7 @@ TEST(loadPluginInfo, fromValidEnv) auto plugins = loadPluginInfo(); ASSERT_EQ(2u, plugins.size()); - EXPECT_EQ("default2", plugins.begin()->EntityName()); + 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()); @@ -173,3 +173,17 @@ TEST(loadPluginInfo, fromValidEnv) EXPECT_TRUE(common::unsetenv(gazebo::kServerConfigPathEnv)); } +////////////////////////////////////////////////// +TEST(ServerConfig, generateRecordPlugin) +{ + ServerConfig config; + config.SetUseLogRecord(true); + config.SetLogRecordPath("foo/bar"); + config.SetLogRecordResources(true); + + auto plugin = config.LogRecordPlugin(); + EXPECT_EQ(plugin.EntityName(), "*"); + EXPECT_EQ(plugin.EntityType(), "world"); + EXPECT_EQ(plugin.Name(), "ignition::gazebo::systems::LogRecord"); +} + diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 4b15c260fa..9c75c8a463 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -328,60 +328,6 @@ 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(); - pathElem->SetName("path"); - recordElem->AddElementDescription(pathElem); - pathElem = recordElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(_config.LogRecordPath()); - } - - // Set whether to record resources - sdf::ElementPtr resourceElem = std::make_shared(); - resourceElem->SetName("record_resources"); - recordElem->AddElementDescription(resourceElem); - resourceElem = recordElem->GetElement("record_resources"); - resourceElem->AddValue("bool", "false", false, ""); - resourceElem->Set(_config.LogRecordResources() ? true : false); - - // Set whether to compress - sdf::ElementPtr compressElem = std::make_shared(); - compressElem->SetName("compress"); - recordElem->AddElementDescription(compressElem); - compressElem = recordElem->GetElement("compress"); - compressElem->AddValue("bool", "false", false, ""); - compressElem->Set(_config.LogRecordCompressPath().empty() ? false : - true); - - // Set compress path - sdf::ElementPtr cPathElem = std::make_shared(); - cPathElem->SetName("compress_path"); - recordElem->AddElementDescription(cPathElem); - cPathElem = recordElem->GetElement("compress_path"); - cPathElem->AddValue("string", "", false, ""); - cPathElem->Set(_config.LogRecordCompressPath()); - - // If record topics specified, add in SDF - for (const std::string &topic : _config.LogRecordTopics()) - { - sdf::ElementPtr topicElem = std::make_shared(); - topicElem->SetName("record_topic"); - recordElem->AddElementDescription(topicElem); - topicElem = recordElem->AddElement("record_topic"); - topicElem->AddValue("string", "false", false, ""); - topicElem->Set(topic); - } } ////////////////////////////////////////////////// diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index adcb7dfaf8..d54820a488 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -324,6 +324,7 @@ TEST_P(ServerFixture, ServerConfigLogRecord) serverConfig.SetLogRecordPath(logPath); gazebo::Server server(serverConfig); + EXPECT_EQ(0u, *server.IterationCount()); EXPECT_EQ(3u, *server.EntityCount()); EXPECT_EQ(4u, *server.SystemCount()); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 999b57b78f..71d733e601 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -30,6 +30,9 @@ #include "ignition/gazebo/Events.hh" #include "ignition/gazebo/SdfEntityCreator.hh" #include "ignition/gazebo/Util.hh" + +#include "systems/log/LogRecord.hh" + #include "network/NetworkManagerPrimary.hh" #include "SdfGenerator.hh" @@ -157,7 +160,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, this->levelMgr->UpdateLevelsState(); // Load any additional plugins from the Server Configuration - this->LoadServerPlugins(this->serverConfig); + this->LoadServerPlugins(this->serverConfig, false); // If we have reached this point and no systems have been loaded, then load // a default set of systems. @@ -165,7 +168,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, { ignmsg << "No systems loaded from SDF, loading defaults" << std::endl; - ServerConfig tmpConfig; + ServerConfig tmpConfig {this->serverConfig}; bool isPlayback = !this->serverConfig.LogPlaybackPath().empty(); auto plugins = ignition::gazebo::loadPluginInfo(isPlayback); @@ -173,7 +176,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, { tmpConfig.AddPlugin(plugin); } - this->LoadServerPlugins(tmpConfig); + this->LoadServerPlugins(tmpConfig, true); } // World control @@ -774,6 +777,7 @@ void SimulationRunner::LoadPlugin(const Entity _entity, this->entityCompMgr, this->eventMgr); } + this->AddSystem(system.value()); igndbg << "Loaded system [" << _name << "] for entity [" << _entity << "]" << std::endl; @@ -781,7 +785,8 @@ void SimulationRunner::LoadPlugin(const Entity _entity, } ////////////////////////////////////////////////// -void SimulationRunner::LoadServerPlugins(const ServerConfig &_config) +void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, + bool _injectLogPlugins) { // \todo(nkoenig) Remove plugins from the server config after they have // been added. We might not want to do this if we want to support adding @@ -789,13 +794,42 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config) // expression. // // Check plugins from the ServerConfig for matching entities. - igndbg << "LOADSERVERPLUGINS" << std::endl; - for (const ServerConfig::PluginInfo &plugin : _config.Plugins()) + igndbg << "LOADSERVERPLUGINS: " << _config.Plugins().size() << std::endl; + + std::list plugins(_config.Plugins()); + + igndbg << "LogRecord: " << _injectLogPlugins << " " << _config.UseLogRecord() << std::endl; + if (_injectLogPlugins) + { + if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) + { + ignerr << "Both recording and playback are specified, defaulting to playback\n"; + } + + if(!_config.LogPlaybackPath().empty()) + { + igndbg << "LogPlayback: injecting plugin" << std::endl; + auto playbackPlugin = _config.LogPlaybackPlugin(); + plugins.push_back(playbackPlugin); + } + else if(_config.UseLogRecord()) + { + igndbg << "LogRecord: injecting plugin" << std::endl; + auto recordPlugin = _config.LogRecordPlugin(); + plugins.push_back(recordPlugin); + } + } + + for (const ServerConfig::PluginInfo &plugin : plugins) { // \todo(anyone) Type + name is not enough to uniquely identify an entity // \todo(louise) The runner shouldn't care about specific components, this // logic should be moved somewhere else. - igndbg << "plugin: " << plugin.EntityName() << " " << plugin.EntityType() << std::endl; + igndbg << "plugin: " << + plugin.Name() << " " << + plugin.EntityName() << " " << + plugin.EntityType() << " " << + plugin.Sdf()->ToString("") << std::endl; Entity entity{kNullEntity}; diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index aa4ad70993..60d524158f 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -188,7 +188,8 @@ namespace ignition /// \brief Load server plugins for a given entity. /// \param[in] _config Configuration to load plugins from. - public: void LoadServerPlugins(const ServerConfig &_config); + public: void LoadServerPlugins(const ServerConfig &_config, + bool _injectLogPlugins=false); /// \brief Get whether this is running. When running is true, /// then simulation is stepping forward. diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 7cc64036ac..49d58d14bc 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -1270,8 +1270,8 @@ TEST_P(SimulationRunnerTest, LoadPluginsDefault) ASSERT_EQ(1u, rootWithout.WorldCount()); auto config = common::joinPaths(PROJECT_SOURCE_PATH, - "/inclue/ignition/gazebo/server.config"); - ASSERT_EQ(0, common::setenv(gazebo::kServerConfigPathEnv, config)); + "/include/ignition/gazebo/server.config"); + ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, config)); // Create simulation runner auto systemLoader = std::make_shared(); diff --git a/src/systems/log/LogRecord.cc b/src/systems/log/LogRecord.cc index ccdcf7b8ce..ea4167a59f 100644 --- a/src/systems/log/LogRecord.cc +++ b/src/systems/log/LogRecord.cc @@ -38,15 +38,7 @@ #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include #include "ignition/gazebo/components/Geometry.hh" #include "ignition/gazebo/components/Light.hh" @@ -57,6 +49,8 @@ #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/SourceFilePath.hh" #include "ignition/gazebo/components/Visual.hh" +#include "ignition/gazebo/components/World.hh" + #include "ignition/gazebo/Util.hh" using namespace ignition; @@ -279,16 +273,6 @@ bool LogRecordPrivate::Start(const std::string &_logPath, common::createDirectories(this->logPath); } - // Go up to root of SDF, to record entire SDF file - sdf::ElementPtr sdfRoot = this->sdf->GetParent(); - while (sdfRoot->GetParent() != nullptr) - { - sdfRoot = sdfRoot->GetParent(); - } - - // Construct message with SDF string - this->sdfMsg.set_data(sdfRoot->ToString("")); - // Use directory basename as topic name, to be able to retrieve at playback std::string sdfTopic = "/" + common::basename(this->logPath) + "/sdf"; this->sdfPub = this->node.Advertise(sdfTopic, this->sdfMsg.GetTypeName()); @@ -307,7 +291,7 @@ bool LogRecordPrivate::Start(const std::string &_logPath, ignmsg << "Recording to log file [" << dbPath << "]" << std::endl; // Use ign-transport directly - sdf::ElementPtr sdfWorld = sdfRoot->GetElement("world"); + //sdf::ElementPtr sdfWorld = sdfRoot->GetElement("world"); // Add default topics if no topics were specified. std::string dynPoseTopic = "/world/" + this->worldName + @@ -665,8 +649,28 @@ void LogRecord::PostUpdate(const UpdateInfo &_info, // Publish only once if (!this->dataPtr->sdfPublished) { - this->dataPtr->sdfPub.Publish(this->dataPtr->sdfMsg); - this->dataPtr->sdfPublished = true; + // Construct message with SDF string + auto worldEntity = _ecm.EntityByComponents(components::World()); + if (worldEntity == kNullEntity) + { + ignerr << "Could not find the world entity\n"; + } + else + { + auto worldSdfComp = _ecm.Component(worldEntity); + if (worldSdfComp == nullptr) + { + ignerr << "Could not load world SDF data\n"; + } + else + { + this->dataPtr->sdfMsg.set_data( + worldSdfComp->Data().Element()->ToString("")); + + this->dataPtr->sdfPub.Publish(this->dataPtr->sdfMsg); + this->dataPtr->sdfPublished = true; + } + } } // TODO(louise) Use the SceneBroadcaster's topic once that publishes diff --git a/test/worlds/server_valid2.config b/test/worlds/server_valid2.config index 7f74907ec0..e52be4382b 100644 --- a/test/worlds/server_valid2.config +++ b/test/worlds/server_valid2.config @@ -4,7 +4,7 @@ Example server configuration that is valid diff --git a/test/worlds/shapes.sdf b/test/worlds/shapes.sdf index 7c4ebffeb3..ac254fa80b 100644 --- a/test/worlds/shapes.sdf +++ b/test/worlds/shapes.sdf @@ -5,18 +5,6 @@ 0.001 1.0 - - - - - - From 1af9321709ef8793f05812be63c4e37c6a589731 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 18 Dec 2020 12:06:13 -0600 Subject: [PATCH 25/32] Linting, documentation, remove debug output Signed-off-by: Michael Carroll --- include/ignition/gazebo/ServerConfig.hh | 10 ++++++++++ src/ServerConfig.cc | 4 ++-- src/Server_TEST.cc | 3 ++- src/SimulationRunner.cc | 15 ++------------- 4 files changed, 16 insertions(+), 16 deletions(-) diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 698acd2fbe..abb0283cde 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -355,8 +355,18 @@ namespace ignition /// \param[in] _info List of Information about the plugin to load. public: void AddPlugins(const std::list &_plugins); + /// \brief Generate PluginInfo for Log recording based on the + /// internal state of this ServerConfig object: + /// \sa UseLogRecord + /// \sa LogRecordPath + /// \sa LogRecordResources + /// \sa LogRecordCompressPath + /// \sa LogRecordTopics public: PluginInfo LogRecordPlugin() const; + /// \brief Generate PluginInfo for Log playback based on the + /// internal state of this ServerConfig object: + /// \sa LogPlaybackPath public: PluginInfo LogPlaybackPlugin() const; /// \brief Get all the plugins that should be loaded. diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 3f955eb2e8..52a5ec8ae5 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -562,7 +562,7 @@ ServerConfig::LogPlaybackPlugin() const auto entityName = "*"; auto entityType = "world"; auto pluginName = "ignition::gazebo::systems::LogPlayback"; - auto pluginFilename= std::string("ignition-gazebo") + + auto pluginFilename = std::string("ignition-gazebo") + IGNITION_GAZEBO_MAJOR_VERSION_STR + "-log-system"; sdf::ElementPtr playbackElem; @@ -593,7 +593,7 @@ ServerConfig::LogRecordPlugin() const auto entityName = "*"; auto entityType = "world"; auto pluginName = "ignition::gazebo::systems::LogRecord"; - auto pluginFilename= std::string("ignition-gazebo") + + auto pluginFilename = std::string("ignition-gazebo") + IGNITION_GAZEBO_MAJOR_VERSION_STR + "-log-system"; sdf::ElementPtr recordElem; diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index d54820a488..c19e43a346 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -236,7 +236,8 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin) "ignition::gazebo::TestSensorSystem", true); sdf->AddAttribute("filename", "string", "libTestSensorSystem.so", true); - serverConfig.AddPlugin({"air_pressure_sensor::air_pressure_model::link::air_pressure_sensor", + serverConfig.AddPlugin({ + "air_pressure_sensor::air_pressure_model::link::air_pressure_sensor", "sensor", "libTestSensorSystem.so", "ignition::gazebo::TestSensorSystem", sdf}); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 71d733e601..7d5da79316 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -794,27 +794,23 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, // expression. // // Check plugins from the ServerConfig for matching entities. - igndbg << "LOADSERVERPLUGINS: " << _config.Plugins().size() << std::endl; - std::list plugins(_config.Plugins()); - igndbg << "LogRecord: " << _injectLogPlugins << " " << _config.UseLogRecord() << std::endl; if (_injectLogPlugins) { if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) { - ignerr << "Both recording and playback are specified, defaulting to playback\n"; + ignwarn << + "Both recording and playback are specified, defaulting to playback\n"; } if(!_config.LogPlaybackPath().empty()) { - igndbg << "LogPlayback: injecting plugin" << std::endl; auto playbackPlugin = _config.LogPlaybackPlugin(); plugins.push_back(playbackPlugin); } else if(_config.UseLogRecord()) { - igndbg << "LogRecord: injecting plugin" << std::endl; auto recordPlugin = _config.LogRecordPlugin(); plugins.push_back(recordPlugin); } @@ -825,12 +821,6 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, // \todo(anyone) Type + name is not enough to uniquely identify an entity // \todo(louise) The runner shouldn't care about specific components, this // logic should be moved somewhere else. - igndbg << "plugin: " << - plugin.Name() << " " << - plugin.EntityName() << " " << - plugin.EntityType() << " " << - plugin.Sdf()->ToString("") << std::endl; - Entity entity{kNullEntity}; if ("model" == plugin.EntityType()) @@ -859,7 +849,6 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, for (auto sensor : sensors) { - igndbg << "scopedName: " << scopedName(sensor, this->entityCompMgr, "::", false) << std::endl; if (scopedName(sensor, this->entityCompMgr, "::", false) == plugin.EntityName()) { From f939b42d8c05ef33a3132b9ba007a888dad94405 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 18 Dec 2020 12:14:10 -0600 Subject: [PATCH 26/32] Lint and remove dead code Signed-off-by: Michael Carroll --- src/SimulationRunner.hh | 4 +++- src/systems/log/LogRecord.cc | 3 --- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index 60d524158f..744253548a 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -188,8 +188,10 @@ namespace ignition /// \brief Load server plugins for a given entity. /// \param[in] _config Configuration to load plugins from. + /// \param[in] _injectLogPlugins Inject log playback or record + /// plugins based on the _config contents public: void LoadServerPlugins(const ServerConfig &_config, - bool _injectLogPlugins=false); + bool _injectLogPlugins = false); /// \brief Get whether this is running. When running is true, /// then simulation is stepping forward. diff --git a/src/systems/log/LogRecord.cc b/src/systems/log/LogRecord.cc index ea4167a59f..2e0e366513 100644 --- a/src/systems/log/LogRecord.cc +++ b/src/systems/log/LogRecord.cc @@ -290,9 +290,6 @@ bool LogRecordPrivate::Start(const std::string &_logPath, } ignmsg << "Recording to log file [" << dbPath << "]" << std::endl; - // Use ign-transport directly - //sdf::ElementPtr sdfWorld = sdfRoot->GetElement("world"); - // Add default topics if no topics were specified. std::string dynPoseTopic = "/world/" + this->worldName + "/dynamic_pose/info"; From 79d3a2d6b0701a210dd7d6a78ad84f97f354aed4 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 23 Dec 2020 09:27:31 -0800 Subject: [PATCH 27/32] Suggestions to #281 (#508) Signed-off-by: Louise Poubel Signed-off-by: Michael Carroll --- include/ignition/gazebo/config.hh.in | 2 +- src/ServerConfig_TEST.cc | 93 ++++++++++++++++++++-------- src/ServerPrivate.cc | 54 ++++++++++++++++ src/Server_TEST.cc | 10 +-- src/SimulationRunner_TEST.cc | 34 +++++----- src/cmd/cmdgazebo.rb.in | 3 +- src/systems/log/LogRecord.cc | 12 +++- tutorials/server_config.md | 2 +- 8 files changed, 154 insertions(+), 56 deletions(-) diff --git a/include/ignition/gazebo/config.hh.in b/include/ignition/gazebo/config.hh.in index eacad933bf..050a0304a4 100644 --- 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 index 78fa99b8eb..733a55ef37 100644 --- 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"( @@ -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"( @@ -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 index 9c75c8a463..4b15c260fa 100644 --- 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(); + pathElem->SetName("path"); + recordElem->AddElementDescription(pathElem); + pathElem = recordElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(_config.LogRecordPath()); + } + + // Set whether to record resources + sdf::ElementPtr resourceElem = std::make_shared(); + resourceElem->SetName("record_resources"); + recordElem->AddElementDescription(resourceElem); + resourceElem = recordElem->GetElement("record_resources"); + resourceElem->AddValue("bool", "false", false, ""); + resourceElem->Set(_config.LogRecordResources() ? true : false); + + // Set whether to compress + sdf::ElementPtr compressElem = std::make_shared(); + compressElem->SetName("compress"); + recordElem->AddElementDescription(compressElem); + compressElem = recordElem->GetElement("compress"); + compressElem->AddValue("bool", "false", false, ""); + compressElem->Set(_config.LogRecordCompressPath().empty() ? false : + true); + + // Set compress path + sdf::ElementPtr cPathElem = std::make_shared(); + cPathElem->SetName("compress_path"); + recordElem->AddElementDescription(cPathElem); + cPathElem = recordElem->GetElement("compress_path"); + cPathElem->AddValue("string", "", false, ""); + cPathElem->Set(_config.LogRecordCompressPath()); + + // If record topics specified, add in SDF + for (const std::string &topic : _config.LogRecordTopics()) + { + sdf::ElementPtr topicElem = std::make_shared(); + topicElem->SetName("record_topic"); + recordElem->AddElementDescription(topicElem); + topicElem = recordElem->AddElement("record_topic"); + topicElem->AddValue("string", "false", false, ""); + topicElem->Set(topic); + } } ////////////////////////////////////////////////// diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index c19e43a346..d5d9c37f45 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -59,12 +59,6 @@ class ServerFixture : public ::testing::TestWithParam ///////////////////////////////////////////////// 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"); diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 49d58d14bc..64b75f6c1f 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -86,7 +86,7 @@ class SimulationRunnerTest : public ::testing::TestWithParam common::Console::SetVerbosity(4); common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", - common::joinPaths(PROJECT_BINARY_PATH, "/lib")); + common::joinPaths(PROJECT_BINARY_PATH, "lib")); } }; @@ -112,7 +112,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) // Load SDF file sdf::Root root; root.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/shapes.sdf")); + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -525,7 +525,7 @@ TEST_P(SimulationRunnerTest, CreateLights) // Load SDF file sdf::Root root; root.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/lights.sdf")); + "test", "worlds", "lights.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -795,7 +795,7 @@ TEST_P(SimulationRunnerTest, CreateJointEntities) // Load SDF file sdf::Root root; root.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/demo_joint_types.sdf")); + "test", "worlds", "demo_joint_types.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -936,7 +936,7 @@ TEST_P(SimulationRunnerTest, Time) // Load SDF file sdf::Root root; root.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/shapes.sdf")); + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1058,7 +1058,7 @@ TEST_P(SimulationRunnerTest, LoadPlugins) // Load SDF file sdf::Root root; root.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/plugins.sdf")); + "test", "worlds", "plugins.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1144,12 +1144,12 @@ TEST_P(SimulationRunnerTest, LoadServerNoPlugins) { sdf::Root rootWithout; rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/plugins_empty.sdf")); + "test", "worlds", "plugins_empty.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); // ServerConfig will fall back to environment variable auto config = common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/server_valid2.config"); + "test", "worlds", "server_valid2.config"); ASSERT_EQ(true, common::setenv(gazebo::kServerConfigPathEnv, config)); ServerConfig serverConfig; @@ -1166,13 +1166,13 @@ TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) { sdf::Root rootWithout; rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/plugins_empty.sdf")); + "test", "worlds", "plugins_empty.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); // Create a server configuration with plugins // No fallback expected 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()); @@ -1266,11 +1266,13 @@ TEST_P(SimulationRunnerTest, LoadPluginsDefault) { sdf::Root rootWithout; rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/plugins_empty.sdf")); + "test", "worlds", "plugins_empty.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); + // Load the default config, but not through the default code path. + // The user may have modified their local config. auto config = common::joinPaths(PROJECT_SOURCE_PATH, - "/include/ignition/gazebo/server.config"); + "include", "ignition", "gazebo", "server.config"); ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, config)); // Create simulation runner @@ -1286,7 +1288,7 @@ TEST_P(SimulationRunnerTest, LoadPluginsEvent) // Load SDF file without plugins sdf::Root rootWithout; rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/shapes.sdf")); + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); // Create simulation runner @@ -1321,7 +1323,7 @@ TEST_P(SimulationRunnerTest, LoadPluginsEvent) // Load SDF file with plugins sdf::Root rootWith; rootWith.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/plugins.sdf")); + "test", "worlds", "plugins.sdf")); ASSERT_EQ(1u, rootWith.WorldCount()); // Emit plugin loading event @@ -1379,7 +1381,7 @@ TEST_P(SimulationRunnerTest, GuiInfo) // Load SDF file sdf::Root root; root.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/shapes.sdf")); + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1416,7 +1418,7 @@ TEST_P(SimulationRunnerTest, GenerateWorldSdf) // Load SDF file sdf::Root root; root.Load(common::joinPaths(PROJECT_SOURCE_PATH, - "/test/worlds/shapes.sdf")); + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); diff --git a/src/cmd/cmdgazebo.rb.in b/src/cmd/cmdgazebo.rb.in index 37c9c24ddd..0baa713665 100755 --- a/src/cmd/cmdgazebo.rb.in +++ b/src/cmd/cmdgazebo.rb.in @@ -156,8 +156,7 @@ COMMANDS = { 'gazebo' => " resources such as worlds and models. \n\n"\ " IGN_GAZEBO_SYSTEM_PLUGIN_PATH Colon separated paths used to \n"\ " locate system plugins. \n\n"\ - " IGN_GAZEBO_SERVER_CONFIG_PATH Colon separated paths used to \n"\ - " locate server configurations. \n\n"\ + " IGN_GAZEBO_SERVER_CONFIG_PATH Path to server configuration file. \n\n"\ " IGN_GUI_PLUGIN_PATH Colon separated paths used to locate GUI \n"\ " plugins. \n\n"\ " IGN_GAZEBO_NETWORK_ROLE Participant role used in a distributed \n"\ diff --git a/src/systems/log/LogRecord.cc b/src/systems/log/LogRecord.cc index 2e0e366513..9cc417088f 100644 --- a/src/systems/log/LogRecord.cc +++ b/src/systems/log/LogRecord.cc @@ -38,7 +38,15 @@ #include #include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include "ignition/gazebo/components/Geometry.hh" #include "ignition/gazebo/components/Light.hh" @@ -655,7 +663,7 @@ void LogRecord::PostUpdate(const UpdateInfo &_info, else { auto worldSdfComp = _ecm.Component(worldEntity); - if (worldSdfComp == nullptr) + if (worldSdfComp == nullptr || worldSdfComp->Data().Element() == nullptr) { ignerr << "Could not load world SDF data\n"; } diff --git a/tutorials/server_config.md b/tutorials/server_config.md index 4f89c9b337..42fdec843d 100644 --- a/tutorials/server_config.md +++ b/tutorials/server_config.md @@ -2,7 +2,7 @@ Most functionality on Ignition Gazebo is provided by plugins, which means that users can choose exactly what functionality is available to their simulations. -Even running the physics engine is optional. This giver users great control +Even running the physics engine is optional. This gives users great control and makes sure only what's crucial for a given simulation is loaded. This tutorial will go over how to specify what system plugins to be loaded for From 6e76e7cb947f0f28af347a2ebe1b2a017ef118cb Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 23 Dec 2020 15:31:30 -0600 Subject: [PATCH 28/32] Fix logging interaction with loading Signed-off-by: Michael Carroll --- src/Server.cc | 6 -- src/ServerPrivate.cc | 202 ---------------------------------------- src/ServerPrivate.hh | 4 - src/SimulationRunner.cc | 66 ++++++------- src/SimulationRunner.hh | 10 +- 5 files changed, 39 insertions(+), 249 deletions(-) diff --git a/src/Server.cc b/src/Server.cc index bb188ef993..d24f9cf22e 100644 --- a/src/Server.cc +++ b/src/Server.cc @@ -182,12 +182,6 @@ Server::Server(const ServerConfig &_config) return; } - // Add record plugin - if (_config.UseLogRecord()) - { - this->dataPtr->AddRecordPlugin(_config); - } - this->dataPtr->CreateEntities(); // Set the desired update period, this will override the desired RTF given in diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 4b15c260fa..c61e0f755b 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -182,208 +182,6 @@ bool ServerPrivate::Run(const uint64_t _iterations, return result; } -////////////////////////////////////////////////// -void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) -{ - const sdf::World *sdfWorld = this->sdfRoot.WorldByIndex(0); - sdf::ElementPtr worldElem = sdfWorld->Element(); - - // Check if there is already a record plugin specified - if (worldElem->HasElement("plugin")) - { - sdf::ElementPtr pluginElem = worldElem->GetElement("plugin"); - while (pluginElem != nullptr) - { - sdf::ParamPtr pluginName = pluginElem->GetAttribute("name"); - sdf::ParamPtr pluginFileName = pluginElem->GetAttribute("filename"); - - if (pluginName != nullptr && pluginFileName != nullptr) - { - // Found a logging plugin - if (pluginFileName->GetAsString().find( - LoggingPlugin::LoggingPluginSuffix()) != std::string::npos) - { - // If record plugin already specified in SDF, and record flags are - // specified on command line, replace SDF parameters with those on - // command line. (If none specified on command line, use those in - // SDF.) - if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) - { - std::string recordPath = _config.LogRecordPath(); - std::string cmpPath = _config.LogRecordCompressPath(); - - // Set record path - if (!_config.LogRecordPath().empty()) - { - bool overwriteSdf = false; - // If is specified in SDF, check whether to replace it - if (pluginElem->HasElement("path") && - !pluginElem->Get("path").empty()) - { - // If record path came from command line, overwrite SDF - if (_config.LogIgnoreSdfPath()) - { - overwriteSdf = true; - } - // TODO(anyone) In Ignition-D, remove this. will be - // permanently ignored in favor of common::ignLogDirectory(). - // Always overwrite SDF. - // Otherwise, record path is same as the default timestamp log - // path. Take the path in SDF . - // Deprecated. - else - { - ignwarn << "--record-path is not specified on command line. " - << " is specified in SDF. Will record to . " - << "Console will be logged to [" << ignLogDirectory() - << "]. Note: In Ignition-D, will be ignored, and " - << "all recordings will be written to default console log " - << "path if no path is specified on command line.\n"; - overwriteSdf = false; - - // Take in SDF - recordPath = pluginElem->Get("path"); - - // Update path for compressed file to match record path - cmpPath = std::string(recordPath); - if (!std::string(1, cmpPath.back()).compare( - ignition::common::separator(""))) - { - // Remove the separator at end of path - cmpPath = cmpPath.substr(0, cmpPath.length() - 1); - } - cmpPath += ".zip"; - } - } - else - { - overwriteSdf = true; - } - - if (overwriteSdf) - { - sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); - pluginElem->AddElementDescription(pathElem); - pathElem = pluginElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(recordPath); - } - } - - // If resource flag specified on command line, replace in SDF - if (_config.LogRecordResources()) - { - sdf::ElementPtr resourceElem = std::make_shared(); - resourceElem->SetName("record_resources"); - pluginElem->AddElementDescription(resourceElem); - resourceElem = pluginElem->GetElement("record_resources"); - resourceElem->AddValue("bool", "false", false, ""); - resourceElem->Set(_config.LogRecordResources() - ? true : false); - } - - // If compress flag specified on command line, replace in SDF - if (!_config.LogRecordCompressPath().empty()) - { - sdf::ElementPtr compressElem = std::make_shared(); - compressElem->SetName("compress"); - pluginElem->AddElementDescription(compressElem); - compressElem = pluginElem->GetElement("compress"); - compressElem->AddValue("bool", "false", false, ""); - compressElem->Set(true); - - sdf::ElementPtr cPathElem = std::make_shared(); - cPathElem->SetName("compress_path"); - pluginElem->AddElementDescription(cPathElem); - cPathElem = pluginElem->GetElement("compress_path"); - cPathElem->AddValue("string", "", false, ""); - cPathElem->Set(cmpPath); - } - - // If record topics specified, add in SDF - for (const std::string &topic : _config.LogRecordTopics()) - { - sdf::ElementPtr topicElem = std::make_shared(); - topicElem->SetName("record_topic"); - pluginElem->AddElementDescription(topicElem); - topicElem = pluginElem->AddElement("record_topic"); - topicElem->AddValue("string", "false", false, ""); - topicElem->Set(topic); - } - - return; - } - - // If playback plugin also specified, do not add a record plugin - if (pluginName->GetAsString() == LoggingPlugin::PlaybackPluginName()) - { - ignwarn << "Both record and playback are specified. " - << "Ignoring record.\n"; - return; - } - } - } - - 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(); - pathElem->SetName("path"); - recordElem->AddElementDescription(pathElem); - pathElem = recordElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(_config.LogRecordPath()); - } - - // Set whether to record resources - sdf::ElementPtr resourceElem = std::make_shared(); - resourceElem->SetName("record_resources"); - recordElem->AddElementDescription(resourceElem); - resourceElem = recordElem->GetElement("record_resources"); - resourceElem->AddValue("bool", "false", false, ""); - resourceElem->Set(_config.LogRecordResources() ? true : false); - - // Set whether to compress - sdf::ElementPtr compressElem = std::make_shared(); - compressElem->SetName("compress"); - recordElem->AddElementDescription(compressElem); - compressElem = recordElem->GetElement("compress"); - compressElem->AddValue("bool", "false", false, ""); - compressElem->Set(_config.LogRecordCompressPath().empty() ? false : - true); - - // Set compress path - sdf::ElementPtr cPathElem = std::make_shared(); - cPathElem->SetName("compress_path"); - recordElem->AddElementDescription(cPathElem); - cPathElem = recordElem->GetElement("compress_path"); - cPathElem->AddValue("string", "", false, ""); - cPathElem->Set(_config.LogRecordCompressPath()); - - // If record topics specified, add in SDF - for (const std::string &topic : _config.LogRecordTopics()) - { - sdf::ElementPtr topicElem = std::make_shared(); - topicElem->SetName("record_topic"); - recordElem->AddElementDescription(topicElem); - topicElem = recordElem->AddElement("record_topic"); - topicElem->AddValue("string", "false", false, ""); - topicElem->Set(topic); - } -} - ////////////////////////////////////////////////// void ServerPrivate::CreateEntities() { diff --git a/src/ServerPrivate.hh b/src/ServerPrivate.hh index c8980291c4..d430f55acd 100644 --- a/src/ServerPrivate.hh +++ b/src/ServerPrivate.hh @@ -70,10 +70,6 @@ namespace ignition public: bool Run(const uint64_t _iterations, std::optional _cond = std::nullopt); - /// \brief Add logging record plugin. - /// \param[in] _config Server configuration parameters. - public: void AddRecordPlugin(const ServerConfig &_config); - /// \brief Create all entities that exist in the sdf::Root object. public: void CreateEntities(); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 7d5da79316..fc30996232 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -160,25 +160,20 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, this->levelMgr->UpdateLevelsState(); // Load any additional plugins from the Server Configuration - this->LoadServerPlugins(this->serverConfig, false); + this->LoadServerPlugins(this->serverConfig.Plugins()); // If we have reached this point and no systems have been loaded, then load // a default set of systems. if (this->systems.empty() && this->pendingSystems.empty()) { ignmsg << "No systems loaded from SDF, loading defaults" << std::endl; - - ServerConfig tmpConfig {this->serverConfig}; bool isPlayback = !this->serverConfig.LogPlaybackPath().empty(); auto plugins = ignition::gazebo::loadPluginInfo(isPlayback); - - for (const auto &plugin : plugins) - { - tmpConfig.AddPlugin(plugin); - } - this->LoadServerPlugins(tmpConfig, true); + this->LoadServerPlugins(plugins); } + this->LoadLoggingPlugins(this->serverConfig); + // World control transport::NodeOptions opts; if (this->networkMgr) @@ -785,8 +780,8 @@ void SimulationRunner::LoadPlugin(const Entity _entity, } ////////////////////////////////////////////////// -void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, - bool _injectLogPlugins) +void SimulationRunner::LoadServerPlugins( + const std::list &_plugins) { // \todo(nkoenig) Remove plugins from the server config after they have // been added. We might not want to do this if we want to support adding @@ -794,29 +789,9 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, // expression. // // Check plugins from the ServerConfig for matching entities. - std::list plugins(_config.Plugins()); - - if (_injectLogPlugins) - { - if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) - { - ignwarn << - "Both recording and playback are specified, defaulting to playback\n"; - } - - if(!_config.LogPlaybackPath().empty()) - { - auto playbackPlugin = _config.LogPlaybackPlugin(); - plugins.push_back(playbackPlugin); - } - else if(_config.UseLogRecord()) - { - auto recordPlugin = _config.LogRecordPlugin(); - plugins.push_back(recordPlugin); - } - } + igndbg << "Loading (" << _plugins.size() << ") from server config\n"; - for (const ServerConfig::PluginInfo &plugin : plugins) + for (const ServerConfig::PluginInfo &plugin : _plugins) { // \todo(anyone) Type + name is not enough to uniquely identify an entity // \todo(louise) The runner shouldn't care about specific components, this @@ -887,6 +862,31 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, } } +////////////////////////////////////////////////// +void SimulationRunner::LoadLoggingPlugins(const ServerConfig &_config) +{ + std::list plugins; + + if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) + { + ignwarn << + "Both recording and playback are specified, defaulting to playback\n"; + } + + if(!_config.LogPlaybackPath().empty()) + { + auto playbackPlugin = _config.LogPlaybackPlugin(); + plugins.push_back(playbackPlugin); + } + else if(_config.UseLogRecord()) + { + auto recordPlugin = _config.LogRecordPlugin(); + plugins.push_back(recordPlugin); + } + + this->LoadServerPlugins(plugins); +} + ////////////////////////////////////////////////// void SimulationRunner::LoadPlugins(const Entity _entity, const sdf::ElementPtr &_sdf) diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index 744253548a..f6e0a8468a 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -188,10 +188,12 @@ namespace ignition /// \brief Load server plugins for a given entity. /// \param[in] _config Configuration to load plugins from. - /// \param[in] _injectLogPlugins Inject log playback or record - /// plugins based on the _config contents - public: void LoadServerPlugins(const ServerConfig &_config, - bool _injectLogPlugins = false); + public: void LoadServerPlugins( + const std::list &_plugins); + + /// \brief Load logging/playback plugins + /// \param[in] _config Configuration to load plugins from. + public: void LoadLoggingPlugins(const ServerConfig &_config); /// \brief Get whether this is running. When running is true, /// then simulation is stepping forward. From b1597aca1c617b43a4e216a21679476ea032d3a0 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Mon, 4 Jan 2021 11:25:08 -0600 Subject: [PATCH 29/32] Revert "Fix logging interaction with loading" This reverts commit fe4eda93f92ae7c5078f227a73e13ce62a88b534. Signed-off-by: Michael Carroll --- src/Server.cc | 6 ++ src/ServerPrivate.cc | 202 ++++++++++++++++++++++++++++++++++++++++ src/ServerPrivate.hh | 4 + src/SimulationRunner.cc | 66 ++++++------- src/SimulationRunner.hh | 10 +- 5 files changed, 249 insertions(+), 39 deletions(-) diff --git a/src/Server.cc b/src/Server.cc index d24f9cf22e..bb188ef993 100644 --- a/src/Server.cc +++ b/src/Server.cc @@ -182,6 +182,12 @@ Server::Server(const ServerConfig &_config) return; } + // Add record plugin + if (_config.UseLogRecord()) + { + this->dataPtr->AddRecordPlugin(_config); + } + this->dataPtr->CreateEntities(); // Set the desired update period, this will override the desired RTF given in diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index c61e0f755b..4b15c260fa 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -182,6 +182,208 @@ bool ServerPrivate::Run(const uint64_t _iterations, return result; } +////////////////////////////////////////////////// +void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) +{ + const sdf::World *sdfWorld = this->sdfRoot.WorldByIndex(0); + sdf::ElementPtr worldElem = sdfWorld->Element(); + + // Check if there is already a record plugin specified + if (worldElem->HasElement("plugin")) + { + sdf::ElementPtr pluginElem = worldElem->GetElement("plugin"); + while (pluginElem != nullptr) + { + sdf::ParamPtr pluginName = pluginElem->GetAttribute("name"); + sdf::ParamPtr pluginFileName = pluginElem->GetAttribute("filename"); + + if (pluginName != nullptr && pluginFileName != nullptr) + { + // Found a logging plugin + if (pluginFileName->GetAsString().find( + LoggingPlugin::LoggingPluginSuffix()) != std::string::npos) + { + // If record plugin already specified in SDF, and record flags are + // specified on command line, replace SDF parameters with those on + // command line. (If none specified on command line, use those in + // SDF.) + if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) + { + std::string recordPath = _config.LogRecordPath(); + std::string cmpPath = _config.LogRecordCompressPath(); + + // Set record path + if (!_config.LogRecordPath().empty()) + { + bool overwriteSdf = false; + // If is specified in SDF, check whether to replace it + if (pluginElem->HasElement("path") && + !pluginElem->Get("path").empty()) + { + // If record path came from command line, overwrite SDF + if (_config.LogIgnoreSdfPath()) + { + overwriteSdf = true; + } + // TODO(anyone) In Ignition-D, remove this. will be + // permanently ignored in favor of common::ignLogDirectory(). + // Always overwrite SDF. + // Otherwise, record path is same as the default timestamp log + // path. Take the path in SDF . + // Deprecated. + else + { + ignwarn << "--record-path is not specified on command line. " + << " is specified in SDF. Will record to . " + << "Console will be logged to [" << ignLogDirectory() + << "]. Note: In Ignition-D, will be ignored, and " + << "all recordings will be written to default console log " + << "path if no path is specified on command line.\n"; + overwriteSdf = false; + + // Take in SDF + recordPath = pluginElem->Get("path"); + + // Update path for compressed file to match record path + cmpPath = std::string(recordPath); + if (!std::string(1, cmpPath.back()).compare( + ignition::common::separator(""))) + { + // Remove the separator at end of path + cmpPath = cmpPath.substr(0, cmpPath.length() - 1); + } + cmpPath += ".zip"; + } + } + else + { + overwriteSdf = true; + } + + if (overwriteSdf) + { + sdf::ElementPtr pathElem = std::make_shared(); + pathElem->SetName("path"); + pluginElem->AddElementDescription(pathElem); + pathElem = pluginElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(recordPath); + } + } + + // If resource flag specified on command line, replace in SDF + if (_config.LogRecordResources()) + { + sdf::ElementPtr resourceElem = std::make_shared(); + resourceElem->SetName("record_resources"); + pluginElem->AddElementDescription(resourceElem); + resourceElem = pluginElem->GetElement("record_resources"); + resourceElem->AddValue("bool", "false", false, ""); + resourceElem->Set(_config.LogRecordResources() + ? true : false); + } + + // If compress flag specified on command line, replace in SDF + if (!_config.LogRecordCompressPath().empty()) + { + sdf::ElementPtr compressElem = std::make_shared(); + compressElem->SetName("compress"); + pluginElem->AddElementDescription(compressElem); + compressElem = pluginElem->GetElement("compress"); + compressElem->AddValue("bool", "false", false, ""); + compressElem->Set(true); + + sdf::ElementPtr cPathElem = std::make_shared(); + cPathElem->SetName("compress_path"); + pluginElem->AddElementDescription(cPathElem); + cPathElem = pluginElem->GetElement("compress_path"); + cPathElem->AddValue("string", "", false, ""); + cPathElem->Set(cmpPath); + } + + // If record topics specified, add in SDF + for (const std::string &topic : _config.LogRecordTopics()) + { + sdf::ElementPtr topicElem = std::make_shared(); + topicElem->SetName("record_topic"); + pluginElem->AddElementDescription(topicElem); + topicElem = pluginElem->AddElement("record_topic"); + topicElem->AddValue("string", "false", false, ""); + topicElem->Set(topic); + } + + return; + } + + // If playback plugin also specified, do not add a record plugin + if (pluginName->GetAsString() == LoggingPlugin::PlaybackPluginName()) + { + ignwarn << "Both record and playback are specified. " + << "Ignoring record.\n"; + return; + } + } + } + + 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(); + pathElem->SetName("path"); + recordElem->AddElementDescription(pathElem); + pathElem = recordElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(_config.LogRecordPath()); + } + + // Set whether to record resources + sdf::ElementPtr resourceElem = std::make_shared(); + resourceElem->SetName("record_resources"); + recordElem->AddElementDescription(resourceElem); + resourceElem = recordElem->GetElement("record_resources"); + resourceElem->AddValue("bool", "false", false, ""); + resourceElem->Set(_config.LogRecordResources() ? true : false); + + // Set whether to compress + sdf::ElementPtr compressElem = std::make_shared(); + compressElem->SetName("compress"); + recordElem->AddElementDescription(compressElem); + compressElem = recordElem->GetElement("compress"); + compressElem->AddValue("bool", "false", false, ""); + compressElem->Set(_config.LogRecordCompressPath().empty() ? false : + true); + + // Set compress path + sdf::ElementPtr cPathElem = std::make_shared(); + cPathElem->SetName("compress_path"); + recordElem->AddElementDescription(cPathElem); + cPathElem = recordElem->GetElement("compress_path"); + cPathElem->AddValue("string", "", false, ""); + cPathElem->Set(_config.LogRecordCompressPath()); + + // If record topics specified, add in SDF + for (const std::string &topic : _config.LogRecordTopics()) + { + sdf::ElementPtr topicElem = std::make_shared(); + topicElem->SetName("record_topic"); + recordElem->AddElementDescription(topicElem); + topicElem = recordElem->AddElement("record_topic"); + topicElem->AddValue("string", "false", false, ""); + topicElem->Set(topic); + } +} + ////////////////////////////////////////////////// void ServerPrivate::CreateEntities() { diff --git a/src/ServerPrivate.hh b/src/ServerPrivate.hh index d430f55acd..c8980291c4 100644 --- a/src/ServerPrivate.hh +++ b/src/ServerPrivate.hh @@ -70,6 +70,10 @@ namespace ignition public: bool Run(const uint64_t _iterations, std::optional _cond = std::nullopt); + /// \brief Add logging record plugin. + /// \param[in] _config Server configuration parameters. + public: void AddRecordPlugin(const ServerConfig &_config); + /// \brief Create all entities that exist in the sdf::Root object. public: void CreateEntities(); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index fc30996232..7d5da79316 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -160,19 +160,24 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, this->levelMgr->UpdateLevelsState(); // Load any additional plugins from the Server Configuration - this->LoadServerPlugins(this->serverConfig.Plugins()); + this->LoadServerPlugins(this->serverConfig, false); // If we have reached this point and no systems have been loaded, then load // a default set of systems. if (this->systems.empty() && this->pendingSystems.empty()) { ignmsg << "No systems loaded from SDF, loading defaults" << std::endl; + + ServerConfig tmpConfig {this->serverConfig}; bool isPlayback = !this->serverConfig.LogPlaybackPath().empty(); auto plugins = ignition::gazebo::loadPluginInfo(isPlayback); - this->LoadServerPlugins(plugins); - } - this->LoadLoggingPlugins(this->serverConfig); + for (const auto &plugin : plugins) + { + tmpConfig.AddPlugin(plugin); + } + this->LoadServerPlugins(tmpConfig, true); + } // World control transport::NodeOptions opts; @@ -780,8 +785,8 @@ void SimulationRunner::LoadPlugin(const Entity _entity, } ////////////////////////////////////////////////// -void SimulationRunner::LoadServerPlugins( - const std::list &_plugins) +void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, + bool _injectLogPlugins) { // \todo(nkoenig) Remove plugins from the server config after they have // been added. We might not want to do this if we want to support adding @@ -789,9 +794,29 @@ void SimulationRunner::LoadServerPlugins( // expression. // // Check plugins from the ServerConfig for matching entities. - igndbg << "Loading (" << _plugins.size() << ") from server config\n"; + std::list plugins(_config.Plugins()); + + if (_injectLogPlugins) + { + if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) + { + ignwarn << + "Both recording and playback are specified, defaulting to playback\n"; + } + + if(!_config.LogPlaybackPath().empty()) + { + auto playbackPlugin = _config.LogPlaybackPlugin(); + plugins.push_back(playbackPlugin); + } + else if(_config.UseLogRecord()) + { + auto recordPlugin = _config.LogRecordPlugin(); + plugins.push_back(recordPlugin); + } + } - for (const ServerConfig::PluginInfo &plugin : _plugins) + for (const ServerConfig::PluginInfo &plugin : plugins) { // \todo(anyone) Type + name is not enough to uniquely identify an entity // \todo(louise) The runner shouldn't care about specific components, this @@ -862,31 +887,6 @@ void SimulationRunner::LoadServerPlugins( } } -////////////////////////////////////////////////// -void SimulationRunner::LoadLoggingPlugins(const ServerConfig &_config) -{ - std::list plugins; - - if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) - { - ignwarn << - "Both recording and playback are specified, defaulting to playback\n"; - } - - if(!_config.LogPlaybackPath().empty()) - { - auto playbackPlugin = _config.LogPlaybackPlugin(); - plugins.push_back(playbackPlugin); - } - else if(_config.UseLogRecord()) - { - auto recordPlugin = _config.LogRecordPlugin(); - plugins.push_back(recordPlugin); - } - - this->LoadServerPlugins(plugins); -} - ////////////////////////////////////////////////// void SimulationRunner::LoadPlugins(const Entity _entity, const sdf::ElementPtr &_sdf) diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index f6e0a8468a..744253548a 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -188,12 +188,10 @@ namespace ignition /// \brief Load server plugins for a given entity. /// \param[in] _config Configuration to load plugins from. - public: void LoadServerPlugins( - const std::list &_plugins); - - /// \brief Load logging/playback plugins - /// \param[in] _config Configuration to load plugins from. - public: void LoadLoggingPlugins(const ServerConfig &_config); + /// \param[in] _injectLogPlugins Inject log playback or record + /// plugins based on the _config contents + public: void LoadServerPlugins(const ServerConfig &_config, + bool _injectLogPlugins = false); /// \brief Get whether this is running. When running is true, /// then simulation is stepping forward. From 1961be0b5ad09fc1e9343ec4f6b2f094a771c1be Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Tue, 5 Jan 2021 15:29:03 -0600 Subject: [PATCH 30/32] Fix log interactions with default plugin loading Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 3 +- src/ServerPrivate.cc | 310 ++++++++++++++++++---------------------- src/SimulationRunner.cc | 65 +++++---- src/SimulationRunner.hh | 8 +- 4 files changed, 176 insertions(+), 210 deletions(-) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index 52a5ec8ae5..c3afb3e5f6 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -235,7 +235,8 @@ class ignition::gazebo::ServerConfigPrivate plugins(_cfg->plugins), networkRole(_cfg->networkRole), networkSecondaries(_cfg->networkSecondaries), - seed(_cfg->seed) { } + seed(_cfg->seed), + logRecordTopics(_cfg->logRecordTopics) { } // \brief The SDF file that the server should load public: std::string sdfFile = ""; diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 4b15c260fa..3a84202c24 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -183,204 +183,168 @@ bool ServerPrivate::Run(const uint64_t _iterations, } ////////////////////////////////////////////////// -void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) +sdf::ElementPtr GetRecordPluginElem(sdf::Root &_sdfRoot) { - const sdf::World *sdfWorld = this->sdfRoot.WorldByIndex(0); - sdf::ElementPtr worldElem = sdfWorld->Element(); + sdf::ElementPtr rootElem = _sdfRoot.Element(); - // Check if there is already a record plugin specified - if (worldElem->HasElement("plugin")) + if (rootElem->HasElement("world")) { - sdf::ElementPtr pluginElem = worldElem->GetElement("plugin"); - while (pluginElem != nullptr) + sdf::ElementPtr worldElem = rootElem->GetElement("world"); + + if (worldElem->HasElement("plugin")) { - sdf::ParamPtr pluginName = pluginElem->GetAttribute("name"); - sdf::ParamPtr pluginFileName = pluginElem->GetAttribute("filename"); + sdf::ElementPtr pluginElem = worldElem->GetElement("plugin"); - if (pluginName != nullptr && pluginFileName != nullptr) + while (pluginElem != nullptr) { - // Found a logging plugin - if (pluginFileName->GetAsString().find( - LoggingPlugin::LoggingPluginSuffix()) != std::string::npos) + sdf::ParamPtr pluginName = pluginElem->GetAttribute("name"); + sdf::ParamPtr pluginFileName = pluginElem->GetAttribute("filename"); + + if (pluginName != nullptr && pluginFileName != nullptr) { - // If record plugin already specified in SDF, and record flags are - // specified on command line, replace SDF parameters with those on - // command line. (If none specified on command line, use those in - // SDF.) - if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) + // Found a logging plugin + if (pluginFileName->GetAsString().find( + LoggingPlugin::LoggingPluginSuffix()) != std::string::npos) { - std::string recordPath = _config.LogRecordPath(); - std::string cmpPath = _config.LogRecordCompressPath(); - - // Set record path - if (!_config.LogRecordPath().empty()) + if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) { - bool overwriteSdf = false; - // If is specified in SDF, check whether to replace it - if (pluginElem->HasElement("path") && - !pluginElem->Get("path").empty()) - { - // If record path came from command line, overwrite SDF - if (_config.LogIgnoreSdfPath()) - { - overwriteSdf = true; - } - // TODO(anyone) In Ignition-D, remove this. will be - // permanently ignored in favor of common::ignLogDirectory(). - // Always overwrite SDF. - // Otherwise, record path is same as the default timestamp log - // path. Take the path in SDF . - // Deprecated. - else - { - ignwarn << "--record-path is not specified on command line. " - << " is specified in SDF. Will record to . " - << "Console will be logged to [" << ignLogDirectory() - << "]. Note: In Ignition-D, will be ignored, and " - << "all recordings will be written to default console log " - << "path if no path is specified on command line.\n"; - overwriteSdf = false; - - // Take in SDF - recordPath = pluginElem->Get("path"); - - // Update path for compressed file to match record path - cmpPath = std::string(recordPath); - if (!std::string(1, cmpPath.back()).compare( - ignition::common::separator(""))) - { - // Remove the separator at end of path - cmpPath = cmpPath.substr(0, cmpPath.length() - 1); - } - cmpPath += ".zip"; - } - } - else - { - overwriteSdf = true; - } - - if (overwriteSdf) - { - sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); - pluginElem->AddElementDescription(pathElem); - pathElem = pluginElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(recordPath); - } + return pluginElem; } + } + } - // If resource flag specified on command line, replace in SDF - if (_config.LogRecordResources()) - { - sdf::ElementPtr resourceElem = std::make_shared(); - resourceElem->SetName("record_resources"); - pluginElem->AddElementDescription(resourceElem); - resourceElem = pluginElem->GetElement("record_resources"); - resourceElem->AddValue("bool", "false", false, ""); - resourceElem->Set(_config.LogRecordResources() - ? true : false); - } + pluginElem = pluginElem->GetNextElement(); + } + } + } + return nullptr; +} - // If compress flag specified on command line, replace in SDF - if (!_config.LogRecordCompressPath().empty()) - { - sdf::ElementPtr compressElem = std::make_shared(); - compressElem->SetName("compress"); - pluginElem->AddElementDescription(compressElem); - compressElem = pluginElem->GetElement("compress"); - compressElem->AddValue("bool", "false", false, ""); - compressElem->Set(true); - - sdf::ElementPtr cPathElem = std::make_shared(); - cPathElem->SetName("compress_path"); - pluginElem->AddElementDescription(cPathElem); - cPathElem = pluginElem->GetElement("compress_path"); - cPathElem->AddValue("string", "", false, ""); - cPathElem->Set(cmpPath); - } +////////////////////////////////////////////////// +void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) +{ + auto recordPluginElem = GetRecordPluginElem(this->sdfRoot); + bool sdfUseLogRecord = (recordPluginElem != nullptr); + + bool hasRecordPath {false}; + bool hasCompressPath {false}; + bool hasRecordResources {false}; + bool hasCompress {false}; + bool hasRecordTopics {false}; + + std::string sdfRecordPath; + std::string sdfCompressPath; + bool sdfRecordResources; + bool sdfCompress; + std::vector sdfRecordTopics; + + if (sdfUseLogRecord) + { + std::tie(sdfRecordPath, hasRecordPath) = + recordPluginElem->Get("path", ""); + std::tie(sdfCompressPath, hasCompressPath) = + recordPluginElem->Get("compress_path", ""); + std::tie(sdfRecordResources, hasRecordResources) = + recordPluginElem->Get("record_resources", false); + std::tie(sdfCompress, hasCompress) = + recordPluginElem->Get("compress", false); + + hasRecordTopics = recordPluginElem->HasElement("record_topic"); + if (hasRecordTopics) + { + sdf::ElementPtr recordTopicElem = + recordPluginElem->GetElement("record_topic"); + while(recordTopicElem) + { + auto topic = recordTopicElem->Get(); + sdfRecordTopics.push_back(topic); + } - // If record topics specified, add in SDF - for (const std::string &topic : _config.LogRecordTopics()) - { - sdf::ElementPtr topicElem = std::make_shared(); - topicElem->SetName("record_topic"); - pluginElem->AddElementDescription(topicElem); - topicElem = pluginElem->AddElement("record_topic"); - topicElem->AddValue("string", "false", false, ""); - topicElem->Set(topic); - } + recordTopicElem = recordTopicElem->GetNextElement(); + } - return; - } + // Remove from SDF + recordPluginElem->RemoveFromParent(); + recordPluginElem->Reset(); + } - // If playback plugin also specified, do not add a record plugin - if (pluginName->GetAsString() == LoggingPlugin::PlaybackPluginName()) + // Set the config based on what is in the SDF: + if (hasRecordPath) + this->config.SetLogRecordPath(sdfRecordPath); + if (hasCompressPath) + this->config.SetLogRecordCompressPath(sdfCompressPath); + if (hasRecordResources) + this->config.SetLogRecordResources(sdfRecordResources); + + if (hasRecordTopics) + { + this->config.ClearLogRecordTopics(); + for (auto topic: sdfRecordTopics) + { + this->config.AddLogRecordTopic(topic); + } + } + + if (!_config.LogRecordPath().empty() && hasRecordPath) + { + if (hasRecordPath) + { + // If record path came from command line, overwrite SDF + if (_config.LogIgnoreSdfPath()) + { + this->config.SetLogRecordPath(_config.LogRecordPath()); + } + // TODO(anyone) In Ignition-D, remove this. will be + // permanently ignored in favor of common::ignLogDirectory(). + // Always overwrite SDF. + // Otherwise, record path is same as the default timestamp log + // path. Take the path in SDF . + // Deprecated. + else + { + ignwarn << "--record-path is not specified on command line. " + << " is specified in SDF. Will record to . " + << "Console will be logged to [" << ignLogDirectory() + << "]. Note: In Ignition-D, will be ignored, and " + << "all recordings will be written to default console log " + << "path if no path is specified on command line.\n"; + + // In the case that the --compress flag is set, then + // this field will be populated with just the file extension + if(_config.LogRecordCompressPath() == ".zip") + { + sdfCompressPath = std::string(sdfRecordPath); + if (!std::string(1, sdfCompressPath.back()).compare( + ignition::common::separator(""))) { - ignwarn << "Both record and playback are specified. " - << "Ignoring record.\n"; - return; + // Remove the separator at end of path + sdfCompressPath = sdfCompressPath.substr(0, + sdfCompressPath.length() - 1); } + sdfCompressPath += ".zip"; + this->config.SetLogRecordCompressPath(sdfCompressPath); } } - - pluginElem = pluginElem->GetNextElement(); + } + else + { + this->config.SetLogRecordPath(_config.LogRecordPath()); } } - // 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()); + if (_config.LogRecordResources()) + this->config.SetLogRecordResources(true); - // Add custom record path - if (!_config.LogRecordPath().empty()) - { - sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); - recordElem->AddElementDescription(pathElem); - pathElem = recordElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(_config.LogRecordPath()); - } + if (_config.LogRecordCompressPath() != ".zip") + this->config.SetLogRecordCompressPath(_config.LogRecordCompressPath()); - // Set whether to record resources - sdf::ElementPtr resourceElem = std::make_shared(); - resourceElem->SetName("record_resources"); - recordElem->AddElementDescription(resourceElem); - resourceElem = recordElem->GetElement("record_resources"); - resourceElem->AddValue("bool", "false", false, ""); - resourceElem->Set(_config.LogRecordResources() ? true : false); - - // Set whether to compress - sdf::ElementPtr compressElem = std::make_shared(); - compressElem->SetName("compress"); - recordElem->AddElementDescription(compressElem); - compressElem = recordElem->GetElement("compress"); - compressElem->AddValue("bool", "false", false, ""); - compressElem->Set(_config.LogRecordCompressPath().empty() ? false : - true); - - // Set compress path - sdf::ElementPtr cPathElem = std::make_shared(); - cPathElem->SetName("compress_path"); - recordElem->AddElementDescription(cPathElem); - cPathElem = recordElem->GetElement("compress_path"); - cPathElem->AddValue("string", "", false, ""); - cPathElem->Set(_config.LogRecordCompressPath()); - - // If record topics specified, add in SDF - for (const std::string &topic : _config.LogRecordTopics()) + if (_config.LogRecordTopics().size()) { - sdf::ElementPtr topicElem = std::make_shared(); - topicElem->SetName("record_topic"); - recordElem->AddElementDescription(topicElem); - topicElem = recordElem->AddElement("record_topic"); - topicElem->AddValue("string", "false", false, ""); - topicElem->Set(topic); + this->config.ClearLogRecordTopics(); + for (auto topic: _config.LogRecordTopics()) + { + this->config.AddLogRecordTopic(topic); + } } } diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 7d5da79316..69251d34e2 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -160,25 +160,20 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, this->levelMgr->UpdateLevelsState(); // Load any additional plugins from the Server Configuration - this->LoadServerPlugins(this->serverConfig, false); + this->LoadServerPlugins(this->serverConfig.Plugins()); // If we have reached this point and no systems have been loaded, then load // a default set of systems. if (this->systems.empty() && this->pendingSystems.empty()) { ignmsg << "No systems loaded from SDF, loading defaults" << std::endl; - - ServerConfig tmpConfig {this->serverConfig}; bool isPlayback = !this->serverConfig.LogPlaybackPath().empty(); auto plugins = ignition::gazebo::loadPluginInfo(isPlayback); - - for (const auto &plugin : plugins) - { - tmpConfig.AddPlugin(plugin); - } - this->LoadServerPlugins(tmpConfig, true); + this->LoadServerPlugins(plugins); } + this->LoadLoggingPlugins(this->serverConfig); + // World control transport::NodeOptions opts; if (this->networkMgr) @@ -785,8 +780,8 @@ void SimulationRunner::LoadPlugin(const Entity _entity, } ////////////////////////////////////////////////// -void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, - bool _injectLogPlugins) +void SimulationRunner::LoadServerPlugins( + const std::list &_plugins) { // \todo(nkoenig) Remove plugins from the server config after they have // been added. We might not want to do this if we want to support adding @@ -794,29 +789,8 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, // expression. // // Check plugins from the ServerConfig for matching entities. - std::list plugins(_config.Plugins()); - - if (_injectLogPlugins) - { - if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) - { - ignwarn << - "Both recording and playback are specified, defaulting to playback\n"; - } - - if(!_config.LogPlaybackPath().empty()) - { - auto playbackPlugin = _config.LogPlaybackPlugin(); - plugins.push_back(playbackPlugin); - } - else if(_config.UseLogRecord()) - { - auto recordPlugin = _config.LogRecordPlugin(); - plugins.push_back(recordPlugin); - } - } - for (const ServerConfig::PluginInfo &plugin : plugins) + for (const ServerConfig::PluginInfo &plugin : _plugins) { // \todo(anyone) Type + name is not enough to uniquely identify an entity // \todo(louise) The runner shouldn't care about specific components, this @@ -887,6 +861,31 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config, } } +////////////////////////////////////////////////// +void SimulationRunner::LoadLoggingPlugins(const ServerConfig &_config) +{ + std::list plugins; + + if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) + { + ignwarn << + "Both recording and playback are specified, defaulting to playback\n"; + } + + if(!_config.LogPlaybackPath().empty()) + { + auto playbackPlugin = _config.LogPlaybackPlugin(); + plugins.push_back(playbackPlugin); + } + else if(_config.UseLogRecord()) + { + auto recordPlugin = _config.LogRecordPlugin(); + plugins.push_back(recordPlugin); + } + + this->LoadServerPlugins(plugins); +} + ////////////////////////////////////////////////// void SimulationRunner::LoadPlugins(const Entity _entity, const sdf::ElementPtr &_sdf) diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index 744253548a..b974320914 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -188,10 +188,12 @@ namespace ignition /// \brief Load server plugins for a given entity. /// \param[in] _config Configuration to load plugins from. - /// \param[in] _injectLogPlugins Inject log playback or record /// plugins based on the _config contents - public: void LoadServerPlugins(const ServerConfig &_config, - bool _injectLogPlugins = false); + public: void LoadServerPlugins(const std::list &_plugins); + + /// \brief Load logging/playback plugins + /// \param[in] _config Configuration to load plugins from. + public: void LoadLoggingPlugins(const ServerConfig &_config); /// \brief Get whether this is running. When running is true, /// then simulation is stepping forward. From b36e4035a9c8409b7ebf41d7ba05d7f5f694ed4e Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Tue, 5 Jan 2021 15:49:05 -0600 Subject: [PATCH 31/32] Fix codecheck/lint Signed-off-by: Michael Carroll --- src/ServerPrivate.cc | 4 ++-- src/SimulationRunner.hh | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 3a84202c24..69cc6d5207 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -279,7 +279,7 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) if (hasRecordTopics) { this->config.ClearLogRecordTopics(); - for (auto topic: sdfRecordTopics) + for (auto topic : sdfRecordTopics) { this->config.AddLogRecordTopic(topic); } @@ -341,7 +341,7 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) if (_config.LogRecordTopics().size()) { this->config.ClearLogRecordTopics(); - for (auto topic: _config.LogRecordTopics()) + for (auto topic : _config.LogRecordTopics()) { this->config.AddLogRecordTopic(topic); } diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index b974320914..faf8e3518b 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -189,7 +189,8 @@ namespace ignition /// \brief Load server plugins for a given entity. /// \param[in] _config Configuration to load plugins from. /// plugins based on the _config contents - public: void LoadServerPlugins(const std::list &_plugins); + public: void LoadServerPlugins( + const std::list &_plugins); /// \brief Load logging/playback plugins /// \param[in] _config Configuration to load plugins from. From 8e40b0724fa63089968c2c2c945d05d188bef490 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 6 Jan 2021 07:32:50 -0600 Subject: [PATCH 32/32] Address reviewer feedback Signed-off-by: Michael Carroll --- src/ServerConfig.cc | 6 +++--- src/ServerPrivate.cc | 2 +- src/SimulationRunner.cc | 2 -- 3 files changed, 4 insertions(+), 6 deletions(-) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index c3afb3e5f6..97b738c4ea 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -563,8 +563,7 @@ ServerConfig::LogPlaybackPlugin() const auto entityName = "*"; auto entityType = "world"; auto pluginName = "ignition::gazebo::systems::LogPlayback"; - auto pluginFilename = std::string("ignition-gazebo") + - IGNITION_GAZEBO_MAJOR_VERSION_STR + "-log-system"; + auto pluginFilename = "ignition-gazebo-log-system"; sdf::ElementPtr playbackElem; playbackElem = std::make_shared(); @@ -909,7 +908,8 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) if (ret.empty()) { // This may be desired behavior, but warn just in case. - ignwarn << "Loaded IGN_HOME config, but no plugins found\n"; + ignwarn << "Loaded config: [" << defaultConfig + << "], but no plugins found\n"; } igndbg << "Loaded (" << ret.size() << ") plugins from file " << diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 69cc6d5207..7792222754 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -254,7 +254,7 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) { sdf::ElementPtr recordTopicElem = recordPluginElem->GetElement("record_topic"); - while(recordTopicElem) + while (recordTopicElem) { auto topic = recordTopicElem->Get(); sdfRecordTopics.push_back(topic); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 69251d34e2..79e4a1f34e 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -31,8 +31,6 @@ #include "ignition/gazebo/SdfEntityCreator.hh" #include "ignition/gazebo/Util.hh" -#include "systems/log/LogRecord.hh" - #include "network/NetworkManagerPrimary.hh" #include "SdfGenerator.hh"