Refactor GazeboSimulator class

bindings/CMakeLists.txt

@@ -42,7 +42,7 @@ target_link_libraries(${swig_name} PUBLIC
     GazeboEnvironment
     ECMSingleton
     RobotSingleton
-    GazeboWrapper
+    GazeboSimulator
     ScenarioGazebo
     ${PYTHON_LIBRARIES})
 

bindings/gympp_bindings.i

@@ -7,10 +7,10 @@
 #include "gympp/base/Robot.h"
 #include "gympp/base/Space.h"
 #include "gympp/gazebo/GazeboEnvironment.h"
-#include "gympp/gazebo/GazeboWrapper.h"
 #include "gympp/gazebo/GymFactory.h"
 #include "gympp/gazebo/Metadata.h"
 #include "gympp/gazebo/RobotSingleton.h"
+#include "scenario/gazebo/GazeboSimulator.h"
 #include "scenario/gazebo/Joint.h"
 #include "scenario/gazebo/Link.h"
 #include "scenario/gazebo/Model.h"
@@ -67,14 +67,14 @@
 %include "gympp/base/Space.h"
 
 %shared_ptr(gympp::base::Environment)
-%shared_ptr(gympp::gazebo::GazeboWrapper)
+%shared_ptr(scenario::gazebo::GazeboSimulator)
 %shared_ptr(gympp::gazebo::GazeboEnvironment)
 %include "ignition/common/SingletonT.hh"
 %ignore ignition::common::SingletonT<gympp::gazebo::GymFactory>::myself;
 %template(GymFactorySingleton) ignition::common::SingletonT<gympp::gazebo::GymFactory>;
 
 %include "gympp/base/Environment.h"
-%include "gympp/gazebo/GazeboWrapper.h"
+%include "scenario/gazebo/GazeboSimulator.h"
 %include "gympp/gazebo/GazeboEnvironment.h"
 
 %extend gympp::base::Robot {
@@ -101,8 +101,8 @@
         return std::dynamic_pointer_cast<gympp::gazebo::GazeboEnvironment>(env);
     }
 
-    std::shared_ptr<gympp::gazebo::GazeboWrapper> envToGazeboWrapper(gympp::base::EnvironmentPtr env) {
-        return std::dynamic_pointer_cast<gympp::gazebo::GazeboWrapper>(env);
+    std::shared_ptr<scenario::gazebo::GazeboSimulator> envToGazeboWrapper(gympp::base::EnvironmentPtr env) {
+        return std::dynamic_pointer_cast<scenario::gazebo::GazeboSimulator>(env);
     }
 %}
 

cpp/gympp/gazebo/CMakeLists.txt

@@ -60,7 +60,7 @@ add_library(GazeboEnvironment
 target_link_libraries(GazeboEnvironment
     PUBLIC
     gympp
-    GazeboWrapper
+    GazeboSimulator
     PRIVATE
     Task
     TaskSingleton
@@ -88,6 +88,7 @@ add_library(GymFactory
 target_link_libraries(GymFactory
     PUBLIC
     gympp
+    GazeboSimulator
     GazeboEnvironment
     ignition-gazebo3::core)
 

cpp/gympp/gazebo/GazeboEnvironment.cpp

@@ -21,6 +21,7 @@
 #include <ostream>
 
 using namespace gympp::gazebo;
+using namespace scenario::gazebo;
 
 class GazeboEnvironment::Impl
 {
@@ -29,24 +30,20 @@ class GazeboEnvironment::Impl
     gympp::base::Task* task = nullptr;
 
     PluginData pluginData;
-    gympp::gazebo::ModelInitData modelData;
+    ModelInitData modelData;
 };
 
-// ====================
-// IGNITION ENVIRONMENT
-// ====================
-
 bool GazeboEnvironment::initializeSimulation()
 {
     // If the server is already running it means that the simulation has been already initialized
-    if (GazeboWrapper::initialized()) {
+    if (GazeboSimulator::initialized()) {
         return true;
     }
 
     gymppDebug << "Initializing the simulation" << std::endl;
 
     // Initialize gazebo and load the world file
-    if (!GazeboWrapper::initialize()) {
+    if (!GazeboSimulator::initialize()) {
         gymppError << "Failed to either initialize gazebo or gather the server" << std::endl;
         return false;
     }
@@ -74,7 +71,7 @@ bool GazeboEnvironment::initializeSimulation()
     pImpl->modelData.modelName = prefix + "::" + desiredModelNameWithoutPrefix;
 
     // Insert the model in the world
-    if (!insertModel(pImpl->modelData, pImpl->pluginData)) {
+    if (!GazeboSimulator::insertModel(pImpl->modelData, pImpl->pluginData)) {
         gymppError << "Failed to insert the model while resetting the environment" << std::endl;
         return false;
     }
@@ -93,7 +90,7 @@ gympp::base::Task* GazeboEnvironment::getTask()
     return pImpl->task;
 }
 
-void GazeboEnvironment::storeModelData(const gympp::gazebo::ModelInitData& modelData)
+void GazeboEnvironment::storeModelData(const scenario::gazebo::ModelInitData& modelData)
 {
     pImpl->modelData = modelData;
 }
@@ -109,9 +106,9 @@ GazeboEnvironment::GazeboEnvironment(const ActionSpacePtr aSpace,
                                      const double realTimeFactor,
                                      const double physicsUpdateRate)
     : Environment(aSpace, oSpace)
-    , GazeboWrapper(static_cast<unsigned>(physicsUpdateRate / agentUpdateRate),
-                    realTimeFactor,
-                    physicsUpdateRate)
+    , GazeboSimulator(static_cast<unsigned>(physicsUpdateRate / agentUpdateRate),
+                      realTimeFactor,
+                      physicsUpdateRate)
     , pImpl{new GazeboEnvironment::Impl}
 {
     gymppDebug << "Configuring gazebo for an agent running at " << agentUpdateRate << " Hz"
@@ -161,7 +158,7 @@ std::optional<GazeboEnvironment::State> GazeboEnvironment::step(const Action& ac
     }
 
     // TODO rename method
-    if (!GazeboWrapper::run()) {
+    if (!GazeboSimulator::run()) {
         gymppError << "Failed to step gazebo" << std::endl;
         return {};
     }
@@ -215,14 +212,14 @@ std::optional<GazeboEnvironment::Observation> GazeboEnvironment::reset()
 {
     // Check if the gazebo server is running. If reset() is executed as first method,
     // the server is initialized lazily.
-    if (!initializeSimulation()) {
+    if (!this->initializeSimulation()) {
         gymppError << "Failed to initialize the simulation" << std::endl;
         assert(false);
         return {};
     }
 
     // Get the task
-    auto* task = getTask();
+    auto* task = this->getTask();
     if (!task) {
         gymppError << "Failed to get the Task interface from the plugin" << std::endl;
         return {};
@@ -243,14 +240,14 @@ bool GazeboEnvironment::render(RenderMode mode)
 
     // Check if the gazebo server is running. If render() is executed as first method,
     // the server is initialized lazily.
-    if (!initializeSimulation()) {
+    if (!this->initializeSimulation()) {
         gymppError << "Failed to initialize the simulation" << std::endl;
         assert(false);
         return {};
     }
 
     if (mode == RenderMode::HUMAN) {
-        return GazeboWrapper::gui();
+        return GazeboSimulator::gui();
     }
 
     return false;

cpp/gympp/gazebo/GymFactory.cpp

@@ -11,6 +11,7 @@
 #include "gympp/base/Space.h"
 #include "gympp/gazebo/GazeboEnvironment.h"
 #include "gympp/gazebo/Metadata.h"
+#include "scenario/gazebo/GazeboSimulator.h"
 #include "sdf/Root.hh"
 
 #include <cassert>
@@ -100,15 +101,15 @@ gympp::base::EnvironmentPtr GymFactory::make(const std::string& envName)
     }
 
     // Create the model initialization data
-    gazebo::ModelInitData modelData;
+    scenario::gazebo::ModelInitData modelData;
     modelData.sdfString = root.Element()->ToString("");
     // TODO: expose position and orientation?
 
     // Store the model data in the environment
     ignGym->storeModelData(modelData);
 
     // Create the gympp plugin data
-    gympp::gazebo::PluginData pluginData;
+    scenario::gazebo::PluginData pluginData;
     pluginData.libName = md.libraryName;
     pluginData.className = md.className;
 

cpp/gympp/gazebo/include/gympp/gazebo/GazeboEnvironment.h

@@ -10,7 +10,7 @@
 #define GYMPP_GAZEBO_GAZEBOENVIRONMENT
 
 #include "gympp/base/Environment.h"
-#include "gympp/gazebo/GazeboWrapper.h"
+#include "scenario/gazebo/GazeboSimulator.h"
 
 #include <memory>
 #include <optional>
@@ -28,7 +28,7 @@ namespace gympp {
 
 class gympp::gazebo::GazeboEnvironment
     : public gympp::base::Environment
-    , public gympp::gazebo::GazeboWrapper
+    , public scenario::gazebo::GazeboSimulator
     , public std::enable_shared_from_this<gympp::base::Environment>
 {
 private:
@@ -39,8 +39,8 @@ class gympp::gazebo::GazeboEnvironment
     friend class gympp::gazebo::GymFactory;
     bool initializeSimulation();
     void storeSDFModelFile(const std::string& modelSDF);
-    void storeModelData(const gympp::gazebo::ModelInitData& modelData);
-    void storePluginData(const gympp::gazebo::PluginData& pluginData);
+    void storeModelData(const scenario::gazebo::ModelInitData& modelData);
+    void storePluginData(const scenario::gazebo::PluginData& pluginData);
 
 public:
     using Environment = gympp::base::Environment;

cpp/gympp/gazebo/include/gympp/gazebo/Metadata.h

@@ -11,6 +11,7 @@
 
 #include "gympp/base/Log.h"
 #include "gympp/base/Space.h"
+#include "scenario/gazebo/GazeboSimulator.h"
 
 #include <string>
 #include <vector>
@@ -108,7 +109,7 @@ class gympp::gazebo::PluginMetadata
     std::string worldFileName;
 
     double agentRate;
-    gazebo::PhysicsData physicsData;
+    scenario::gazebo::PhysicsData physicsData;
 
     SpaceMetadata actionSpace;
     SpaceMetadata observationSpace;
@@ -120,7 +121,7 @@ class gympp::gazebo::PluginMetadata
     inline std::string getModelFileName() const { return modelFileName; }
     inline std::string getWorldFileName() const { return worldFileName; }
     inline double getAgentRate() const { return agentRate; }
-    inline gazebo::PhysicsData getPhysicsData() const { return physicsData; }
+    inline scenario::gazebo::PhysicsData getPhysicsData() const { return physicsData; }
     inline SpaceMetadata getActionSpaceMetadata() const { return actionSpace; }
     inline SpaceMetadata getObservationSpaceMetadata() const { return observationSpace; }
 
@@ -152,7 +153,7 @@ class gympp::gazebo::PluginMetadata
 
     inline void setAgentRate(const double agentRate) { this->agentRate = agentRate; }
 
-    inline void setPhysicsData(const gazebo::PhysicsData& physicsData)
+    inline void setPhysicsData(const scenario::gazebo::PhysicsData& physicsData)
     {
         this->physicsData = physicsData;
     }

cpp/gympp/plugins/include/gympp/plugins/PluginDatabase.h

@@ -11,9 +11,9 @@
 
 #include "gympp/base/Log.h"
 #include "gympp/base/Space.h"
-#include "gympp/gazebo/GazeboWrapper.h"
 #include "gympp/gazebo/GymFactory.h"
 #include "gympp/gazebo/Metadata.h"
+#include "scenario/gazebo/GazeboSimulator.h"
 
 class GymppPluginRegistrator_CartPole
 {
@@ -48,7 +48,7 @@ class GymppPluginRegistrator_CartPole
         cartPoleMetadata.setActionSpaceMetadata(actionSpaceMetadata);
         cartPoleMetadata.setObservationSpaceMetadata(observationSpaceMetadata);
 
-        gympp::gazebo::PhysicsData physicsData;
+        scenario::gazebo::PhysicsData physicsData;
         physicsData.rtf = 1E9;
         physicsData.maxStepSize = 0.001;
         cartPoleMetadata.setPhysicsData(physicsData);

cpp/scenario/gazebo/CMakeLists.txt

@@ -68,6 +68,7 @@ set(SCENARIO_PUBLIC_HDRS
     include/scenario/gazebo/Link.h
     include/scenario/gazebo/Log.h
     include/scenario/gazebo/utils.h
+    include/scenario/gazebo/signals.h
     include/scenario/gazebo/exceptions.h)
 
 add_library(ScenarioGazebo
@@ -78,6 +79,7 @@ add_library(ScenarioGazebo
     src/Joint.cpp
     src/Link.cpp
     src/utils.cpp
+    src/signals.cpp
     src/helpers.cpp)
 
 target_include_directories(ScenarioGazebo PUBLIC
@@ -92,6 +94,29 @@ target_link_libraries(ScenarioGazebo
 set_target_properties(ScenarioGazebo PROPERTIES
     PUBLIC_HEADER "${SCENARIO_PUBLIC_HDRS}")
 
+# ===============
+# GazeboSimulator
+# ===============
+
+add_library(GazeboSimulator
+    include/scenario/gazebo/GazeboSimulator.h
+    src/GazeboSimulator.cpp)
+
+target_link_libraries(GazeboSimulator
+    PRIVATE
+    ECMSingleton
+    ScenarioGazebo
+    ExtraComponents
+    ignition-gazebo3::core
+    tiny-process-library)
+
+set_target_properties(GazeboSimulator PROPERTIES
+    PUBLIC_HEADER include/scenario/gazebo/GazeboSimulator.h)
+
+target_include_directories(GazeboSimulator PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
 # ===================
 # Install the targets
 # ===================
@@ -107,7 +132,7 @@ if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
         PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/scenario/gazebo/components)
     install(
         TARGETS
-        ScenarioGazebo
+        ScenarioGazebo GazeboSimulator
         EXPORT scenario
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}