Merge branch 'ign-gazebo6' into ports/6_to_7

Signed-off-by: Michael Carroll <michael@openrobotics.org>
gazebosim · Jan 10, 2023 · 0f09b82 · 0f09b82
2 parents f49fb5a + 330eaf2
commit 0f09b82
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -77,7 +77,7 @@ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-transport
-gz_find_package(gz-transport12 REQUIRED COMPONENTS log)
+gz_find_package(gz-transport12 REQUIRED COMPONENTS log parameters)
 set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
 
 #--------------------------------------

diff --git a/Changelog.md b/Changelog.md
@@ -433,6 +433,60 @@
 
 ## Gazebo Sim 6.x
 
+### Gazebo Sim 6.14.0 (2022-12-29)
+
+1. Fix Ackermann plugin zero linVel turningRadius bug
+    * [Pull request #1849](https://github.com/gazebosim/gz-sim/pull/1849)
+
+1. Header guard fix for battery power load component
+    * [Pull request #1846](https://github.com/gazebosim/gz-sim/pull/1846)
+
+1. Add interface to allow systems to declare parameters
+    * [Pull request #1431](https://github.com/gazebosim/gz-sim/pull/1431)
+
+1. Adding battery consumers and extra fixes
+    * [Pull request #1811](https://github.com/gazebosim/gz-sim/pull/1811)
+
+1. Disable tests that require dartsim on windows
+    * [Pull request #1840](https://github.com/gazebosim/gz-sim/pull/1840)
+
+1. Added move camera to model service
+    * [Pull request #1823](https://github.com/gazebosim/gz-sim/pull/1823)
+
+1. Add spin box to View Angle plugin for configuring view control sensitivity
+    * [Pull request #1799](https://github.com/gazebosim/gz-sim/pull/1799)
+
+1. Sync View Angle GUI with view controller
+    * [Pull request #1825](https://github.com/gazebosim/gz-sim/pull/1825)
+
+1. Hydrodynamics flags test strengthening
+    * [Pull request #1819](https://github.com/gazebosim/gz-sim/pull/1819)
+
+1. Fixed Fortress tests related to lights
+    * [Pull request #1827](https://github.com/gazebosim/gz-sim/pull/1827)
+
+1. Allow to move to model from Angle view plugin
+    * [Pull request #1810](https://github.com/gazebosim/gz-sim/pull/1810)
+
+1. Fixed light entity number
+    * [Pull request #1818](https://github.com/gazebosim/gz-sim/pull/1818)
+
+1. Check AddBvnAnimation return value
+    * [Pull request #1750](https://github.com/gazebosim/gz-sim/pull/1750)
+
+1. Add checkbox in view angle plugin for toggling view control reference visual
+    * [Pull request #1788](https://github.com/gazebosim/gz-sim/pull/1788)
+
+1. Adds support for hydrodynamic cross terms
+    * [Pull request #1784](https://github.com/gazebosim/gz-sim/pull/1784)
+
+1. Addresses flakiness in `Hydrodynamics.VelocityTestInOil`.
+    * [Pull request #1787](https://github.com/gazebosim/gz-sim/pull/1787)
+
+1. Fix minor bugs in RFComms plugin
+    * [Pull request #1743](https://github.com/gazebosim/gz-sim/pull/1743)
+
+
 ### Gazebo Sim 6.13.0 (2022-11-04)
 
 1. Fix two tests on Windows

diff --git a/include/gz/sim/System.hh b/include/gz/sim/System.hh
@@ -25,6 +25,8 @@
 #include <gz/sim/Export.hh>
 #include <gz/sim/Types.hh>
 
+#include <gz/transport/parameters/Registry.hh>
+
 #include <sdf/Element.hh>
 
 namespace gz
@@ -100,6 +102,20 @@ namespace gz
                   EventManager &_eventMgr) = 0;
     };
 
+    /// \class ISystemConfigureParameters ISystem.hh ignition/gazebo/System.hh
+    /// \brief Interface for a system that declares parameters.
+    ///
+    /// ISystemConfigureParameters::ConfigureParameters is called after
+    /// ISystemConfigure::Configure.
+    class ISystemConfigureParameters {
+      /// \brief Configure the parameters of the system.
+      /// \param[in] _registry The parameter registry.
+      public: virtual void ConfigureParameters(
+                  gz::transport::parameters::ParametersRegistry &_registry,
+                  EntityComponentManager &_ecm) = 0;
+    };
+
+
     class ISystemReset {
       public: virtual void Reset(const UpdateInfo &_info,
                                  EntityComponentManager &_ecm) = 0;

diff --git a/include/gz/sim/components/BatteryPowerLoad.hh b/include/gz/sim/components/BatteryPowerLoad.hh
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+*/
+#ifndef GZ_SIM_COMPONENTS_BATTERYPOWERLOAD_HH_
+#define GZ_SIM_COMPONENTS_BATTERYPOWERLOAD_HH_
+
+#include <gz/sim/components/Factory.hh>
+#include <gz/sim/components/Component.hh>
+#include <gz/sim/config.hh>
+
+namespace gz::sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief Data structure to hold the consumer power load
+  /// and the name of the battery it uses.
+  struct BatteryPowerLoadInfo
+  {
+    /// \brief Entity of the battery to use.
+    Entity batteryId;
+    /// \brief Battery power load (W) to add to the battery.
+    double batteryPowerLoad;
+  };
+
+  /// \brief A component that indicates the total consumption of a battery.
+  using BatteryPowerLoad =
+    Component<BatteryPowerLoadInfo, class BatteryPowerLoadTag>;
+  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.BatteryPowerLoad",
+                                BatteryPowerLoad)
+}
+}
+}  // namespace gz::sim
+
+#endif  // GZ_SIM_COMPONENTS_BATTERYPOWERLOAD_HH_
diff --git a/include/ignition/gazebo/components/BatteryPowerLoad.hh b/include/ignition/gazebo/components/BatteryPowerLoad.hh
@@ -0,0 +1,19 @@
+/*
+ * Copyright (C) 2022 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 <gz/sim/components/BatteryPowerLoad.hh>
+#include <ignition/gazebo/config.hh>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -168,6 +168,7 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   gz-fuel_tools${GZ_FUEL_TOOLS_VER}::gz-fuel_tools${GZ_FUEL_TOOLS_VER}
   gz-gui${GZ_GUI_VER}::gz-gui${GZ_GUI_VER}
   gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
+  gz-transport${GZ_TRANSPORT_VER}::parameters
   sdformat${SDF_VER}::sdformat${SDF_VER}
   protobuf::libprotobuf
   PRIVATE

diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc
@@ -71,6 +71,10 @@ SimulationRunner::SimulationRunner(const sdf::World *_world,
   // Keep world name
   this->worldName = _world->Name();
 
+  this->parametersRegistry = std::make_unique<
+    gz::transport::parameters::ParametersRegistry>(
+      std::string{"world/"} + this->worldName);
+
   // Get the physics profile
   // TODO(luca): remove duplicated logic in SdfEntityCreator and LevelManager
   auto physics = _world->PhysicsByIndex(0);
@@ -142,8 +146,9 @@ SimulationRunner::SimulationRunner(const sdf::World *_world,
   this->node = std::make_unique<transport::Node>(opts);
 
   // Create the system manager
-  this->systemMgr = std::make_unique<SystemManager>(_systemLoader,
-      &this->entityCompMgr, &this->eventMgr, validNs);
+  this->systemMgr = std::make_unique<SystemManager>(
+      _systemLoader, &this->entityCompMgr, &this->eventMgr, validNs,
+      this->parametersRegistry.get());
 
   this->pauseConn = this->eventMgr.Connect<events::Pause>(
       std::bind(&SimulationRunner::SetPaused, this, std::placeholders::_1));

diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh
@@ -400,6 +400,11 @@ namespace gz
       /// Note: must be before EntityComponentManager
       private: EventManager eventMgr;
 
+      /// \brief Manager all parameters
+      private: std::unique_ptr<
+        gz::transport::parameters::ParametersRegistry
+      > parametersRegistry;
+
       /// \brief Manager of all components.
       private: EntityComponentManager entityCompMgr;
 

diff --git a/src/SystemInternal.hh b/src/SystemInternal.hh
@@ -46,6 +46,8 @@ namespace gz
               : systemPlugin(std::move(_systemPlugin)),
                 system(systemPlugin->QueryInterface<System>()),
                 configure(systemPlugin->QueryInterface<ISystemConfigure>()),
+                configureParameters(
+                  systemPlugin->QueryInterface<ISystemConfigureParameters>()),
                 reset(systemPlugin->QueryInterface<ISystemReset>()),
                 preupdate(systemPlugin->QueryInterface<ISystemPreUpdate>()),
                 update(systemPlugin->QueryInterface<ISystemUpdate>()),
@@ -62,6 +64,8 @@ namespace gz
               : systemShared(_system),
                 system(_system.get()),
                 configure(dynamic_cast<ISystemConfigure *>(_system.get())),
+                configureParameters(
+                  dynamic_cast<ISystemConfigureParameters *>(_system.get())),
                 reset(dynamic_cast<ISystemReset *>(_system.get())),
                 preupdate(dynamic_cast<ISystemPreUpdate *>(_system.get())),
                 update(dynamic_cast<ISystemUpdate *>(_system.get())),
@@ -86,6 +90,11 @@ namespace gz
       /// Will be nullptr if the System doesn't implement this interface.
       public: ISystemConfigure *configure = nullptr;
 
+      /// \brief Access this system via the ISystemConfigureParameters
+      ///   interface.
+      /// Will be nullptr if the System doesn't implement this interface.
+      public: ISystemConfigureParameters *configureParameters = nullptr;
+
       /// \brief Access this system via the ISystemReset interface
       /// Will be nullptr if the System doesn't implement this interface.
       public: ISystemReset *reset = nullptr;

diff --git a/src/SystemManager.cc b/src/SystemManager.cc
@@ -28,13 +28,16 @@ using namespace gz;
 using namespace sim;
 
 //////////////////////////////////////////////////
-SystemManager::SystemManager(const SystemLoaderPtr &_systemLoader,
-                             EntityComponentManager *_entityCompMgr,
-                             EventManager *_eventMgr,
-                             const std::string &_namespace)
+SystemManager::SystemManager(
+  const SystemLoaderPtr &_systemLoader,
+  EntityComponentManager *_entityCompMgr,
+  EventManager *_eventMgr,
+  const std::string &_namespace,
+  gz::transport::parameters::ParametersRegistry *_parametersRegistry)
   : systemLoader(_systemLoader),
     entityCompMgr(_entityCompMgr),
-    eventMgr(_eventMgr)
+    eventMgr(_eventMgr),
+    parametersRegistry(_parametersRegistry)
 {
   transport::NodeOptions opts;
   opts.SetNameSpace(_namespace);
@@ -106,6 +109,9 @@ size_t SystemManager::ActivatePendingSystems()
     if (system.configure)
       this->systemsConfigure.push_back(system.configure);
 
+    if (system.configureParameters)
+      this->systemsConfigureParameters.push_back(system.configureParameters);
+
     if (system.reset)
       this->systemsReset.push_back(system.reset);
 
@@ -255,6 +261,16 @@ void SystemManager::AddSystemImpl(
                                  *this->eventMgr);
   }
 
+  // Configure the system parameters, if necessary
+  if (
+    _system.configureParameters && this->entityCompMgr &&
+    this->parametersRegistry)
+  {
+    _system.configureParameters->ConfigureParameters(
+      *this->parametersRegistry,
+      *this->entityCompMgr);
+  }
+
   // Update callbacks will be handled later, add to queue
   std::lock_guard<std::mutex> lock(this->pendingSystemsMutex);
   this->pendingSystems.push_back(_system);
@@ -266,6 +282,12 @@ const std::vector<ISystemConfigure *>& SystemManager::SystemsConfigure()
   return this->systemsConfigure;
 }
 
+const std::vector<ISystemConfigureParameters *>&
+SystemManager::SystemsConfigureParameters()
+{
+  return this->systemsConfigureParameters;
+}
+
 //////////////////////////////////////////////////
 const std::vector<ISystemReset *> &SystemManager::SystemsReset()
 {

diff --git a/src/SystemManager.hh b/src/SystemManager.hh
@@ -52,10 +52,13 @@ namespace gz
       /// \param[in] _eventMgr Pointer to the event manager to be used when
       ///  configuring new systems
       /// \param[in] _namespace Namespace to use for the transport node
-      public: explicit SystemManager(const SystemLoaderPtr &_systemLoader,
-                            EntityComponentManager *_entityCompMgr = nullptr,
-                            EventManager *_eventMgr = nullptr,
-                            const std::string &_namespace = std::string());
+      public: explicit SystemManager(
+        const SystemLoaderPtr &_systemLoader,
+        EntityComponentManager *_entityCompMgr = nullptr,
+        EventManager *_eventMgr = nullptr,
+        const std::string &_namespace = std::string(),
+        gz::transport::parameters::ParametersRegistry *
+          _parametersRegistry = nullptr);
 
       /// \brief Load system plugin for a given entity.
       /// \param[in] _entity Entity
@@ -113,6 +116,12 @@ namespace gz
       /// \return Vector of systems' configure interfaces.
       public: const std::vector<ISystemConfigure *>& SystemsConfigure();
 
+      /// \brief Get an vector of all active systems implementing
+      ///   "ConfigureParameters"
+      /// \return Vector of systems's configure interfaces.
+      public: const std::vector<ISystemConfigureParameters *>&
+      SystemsConfigureParameters();
+
       /// \brief Get an vector of all active systems implementing "Reset"
       /// \return Vector of systems' reset interfaces.
       public: const std::vector<ISystemReset *>& SystemsReset();
@@ -180,6 +189,10 @@ namespace gz
       /// \brief Systems implementing Configure
       private: std::vector<ISystemConfigure *> systemsConfigure;
 
+      /// \brief Systems implementing ConfigureParameters
+      private: std::vector<ISystemConfigureParameters *>
+        systemsConfigureParameters;
+
       /// \brief Systems implementing Reset
       private: std::vector<ISystemReset *> systemsReset;
 
@@ -212,6 +225,10 @@ namespace gz
 
       /// \brief Node for communication.
       private: std::unique_ptr<transport::Node> node{nullptr};
+
+      /// \brief Pointer to associated parameters registry
+      private: gz::transport::parameters::ParametersRegistry *
+        parametersRegistry;
     };
     }
   }  // namespace sim