Automatically load a subset of world plugins

examples/worlds/default.sdf

@@ -17,18 +17,6 @@
       <max_step_size>0.001</max_step_size>
       <real_time_factor>1.0</real_time_factor>
     </physics>
-    <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
-    </plugin>
-    <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
-    </plugin>
-    <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
-    </plugin>
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>

examples/worlds/shapes.sdf

@@ -8,23 +8,6 @@ Try moving a model:
 -->
 <sdf version="1.6">
   <world name="shapes">
-    <physics name="1ms" type="ignored">
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
-    </physics>
-    <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
-    </plugin>
-    <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
-    </plugin>
-    <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
-    </plugin>
-
     <scene>
       <ambient>1.0 1.0 1.0</ambient>
       <background>0.8 0.8 0.8</background>

include/ignition/gazebo/CMakeLists.txt

@@ -1,3 +1,5 @@
 ign_install_all_headers()
 
 add_subdirectory(components)
+
+install (FILES server.config playback_server.config DESTINATION ${IGN_DATA_INSTALL_DIR})

include/ignition/gazebo/ServerConfig.hh

@@ -351,6 +351,24 @@ 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<PluginInfo> &_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.
       /// \return A list of all the plugins specified via
       /// AddPlugin(const PluginInfo &).
@@ -372,6 +390,45 @@ namespace ignition
       /// \brief Private data pointer
       private: std::unique_ptr<ServerConfigPrivate> 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<ServerConfig::PluginInfo>
+    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<ServerConfig::PluginInfo>
+    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_PATH environment
+    ///    variable.
+    ///   * 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
+    ///
+    /// 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. If so, fallback
+    /// to playback_server.config.
+    //
+    /// \return A list of plugins to load, based on above ordering
+    std::list<ServerConfig::PluginInfo>
+    IGNITION_GAZEBO_VISIBLE
+    loadPluginInfo(bool _isPlayback = false);
     }
   }
 }

include/ignition/gazebo/Util.hh

@@ -146,6 +146,9 @@ namespace ignition
     /// `<include>`
     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"};

include/ignition/gazebo/config.hh.in

@@ -15,6 +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 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"

include/ignition/gazebo/playback_server.config

@@ -0,0 +1,14 @@
+<server_config>
+  <plugins>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="ignition-gazebo-user-commands-system"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="ignition-gazebo-scene-broadcaster-system"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+  </plugins>
+</server_config>

include/ignition/gazebo/server.config

@@ -0,0 +1,19 @@
+<server_config>
+  <plugins>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="ignition-gazebo-physics-system"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="ignition-gazebo-user-commands-system"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="ignition-gazebo-scene-broadcaster-system"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+  </plugins>
+</server_config>

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

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<std::string> pluginsV = {
-      {
-        std::string("<plugin filename='ignition-gazebo") +
-        IGNITION_GAZEBO_MAJOR_VERSION_STR + "-scene-broadcaster-system' "
-        "name='ignition::gazebo::systems::SceneBroadcaster'></plugin>"
-      },
-      {
-        std::string("<plugin filename='ignition-gazebo") +
-        IGNITION_GAZEBO_MAJOR_VERSION_STR + "-user-commands-system' " +
-        "name='ignition::gazebo::systems::UserCommands'></plugin>"
-      }
-    };
-
-    // The set of default gazebo plugins.
-    if (_config.LogPlaybackPath().empty())
-    {
-      pluginsV.push_back(std::string("<plugin filename='ignition-gazebo") +
-        IGNITION_GAZEBO_MAJOR_VERSION_STR + "-physics-system' "
-        "name='ignition::gazebo::systems::Physics'></plugin>");
-    }
-
-    // Playback plugin
-    else
-    {
-      pluginsV.push_back(std::string("<plugin filename='ignition-gazebo") +
-        IGNITION_GAZEBO_MAJOR_VERSION_STR + "-log-system' "
-        "name='ignition::gazebo::systems::LogPlayback'><path>" +
-        _config.LogPlaybackPath() + "</path></plugin>");
-    }
-
-    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("<?xml version='1.0'?>"
       "<sdf version='1.6'>"
         "<world name='default'>") +
-          DefaultPlugins(_config) +
         "</world>"
       "</sdf>";
 
@@ -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())