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Support spawning during log playback #346

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merged 4 commits into from
Sep 11, 2020
Merged

Support spawning during log playback #346

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24c054f
Support spawning during log playback
Sep 10, 2020
93e97a8
Merge branch 'ign-gazebo2' into log_playback_spawn
Sep 11, 2020
8a2b44c
Added a test
Sep 11, 2020
d9001c7
Added warning
Sep 11, 2020
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6 changes: 6 additions & 0 deletions include/ignition/gazebo/EntityComponentManager.hh
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Expand Up @@ -696,6 +696,12 @@ namespace ignition
const Entity _entity, const ComponentTypeId _type,
gazebo::ComponentState _c = ComponentState::OneTimeChange);

/// \brief All future entities will have an id that starts at _offset.
/// This can be used to avoid entity id collisions, such as during log
/// playback.
/// \param[in] _offset Offset value.
public: void SetEntityCreateOffset(uint64_t _offset);
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/// \brief Mark all components as not changed.
protected: void SetAllComponentsUnchanged();

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6 changes: 6 additions & 0 deletions src/EntityComponentManager.cc
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Expand Up @@ -1224,3 +1224,9 @@ std::unordered_set<ComponentTypeId> EntityComponentManager::ComponentTypes(

return result;
}

/////////////////////////////////////////////////
void EntityComponentManager::SetEntityCreateOffset(uint64_t _offset)
{
this->dataPtr->entityCount = _offset;
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}
11 changes: 7 additions & 4 deletions src/Server.cc
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Expand Up @@ -68,17 +68,20 @@ struct DefaultWorld
std::string("<plugin filename='libignition-gazebo") +
IGNITION_GAZEBO_MAJOR_VERSION_STR + "-scene-broadcaster-system.so' "
"name='ignition::gazebo::systems::SceneBroadcaster'></plugin>"
}};
},
{
std::string("<plugin filename='libignition-gazebo") +
IGNITION_GAZEBO_MAJOR_VERSION_STR + "-user-commands-system.so' " +
"name='ignition::gazebo::systems::UserCommands'></plugin>"
}
};

// The set of default gazebo plugins.
if (_config.LogPlaybackPath().empty())
{
pluginsV.push_back(std::string("<plugin filename='libignition-gazebo") +
IGNITION_GAZEBO_MAJOR_VERSION_STR + "-physics-system.so' "
"name='ignition::gazebo::systems::Physics'></plugin>");
pluginsV.push_back(std::string("<plugin filename='libignition-gazebo") +
IGNITION_GAZEBO_MAJOR_VERSION_STR + "-user-commands-system.so' " +
"name='ignition::gazebo::systems::UserCommands'></plugin>");
}

// Playback plugin
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4 changes: 4 additions & 0 deletions src/systems/log/LogPlayback.cc
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Expand Up @@ -209,6 +209,10 @@ void LogPlayback::Configure(const Entity &,
// Prepend working directory if path is relative
this->dataPtr->logPath = common::absPath(this->dataPtr->logPath);

// Set the entity offset.
// \todo This number should be included in the log file.
_ecm.SetEntityOffset(90000);
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How about ticketing an issue for keeping track of the max entity count during log record?

Also, maybe a number like std::numeric_limits<int64_t>::max() / 2 could be more generic than the current number.

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@nkoenig nkoenig Sep 11, 2020 •
edited
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The issue is #347.

Changed offset to use half of the max value in 8a2b44c


// If path is a file, assume it is a compressed file
// (Otherwise assume it is a directory containing recorded files.)
if (common::isFile(this->dataPtr->logPath))
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