Several minor fixes (#2027)

Signed-off-by: Shameek Ganguly <shameekarcanesphinx@gmail.com>
gazebosim · Jul 3, 2023 · b8a8a18 · b8a8a18
1 parent 001dd9b
commit b8a8a18
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Showing 18 changed files with 63 additions and 57 deletions.
diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc
@@ -265,7 +265,8 @@ class gz::sim::ServerConfigPrivate
             networkSecondaries(_cfg->networkSecondaries),
             seed(_cfg->seed),
             logRecordTopics(_cfg->logRecordTopics),
-            isHeadlessRendering(_cfg->isHeadlessRendering) { }
+            isHeadlessRendering(_cfg->isHeadlessRendering),
+            source(_cfg->source){ }
 
   // \brief The SDF file that the server should load
   public: std::string sdfFile = "";
@@ -811,6 +812,7 @@ ServerConfig::SourceType ServerConfig::Source() const
 }
 
 /////////////////////////////////////////////////
+namespace {
 void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml)
 {
   _sdf->SetName(_xml->Value());
@@ -917,6 +919,7 @@ parsePluginsFromDoc(const tinyxml2::XMLDocument &_doc)
   }
   return ret;
 }
+}  // namespace
 
 /////////////////////////////////////////////////
 std::list<ServerConfig::PluginInfo>

diff --git a/src/SystemLoader_TEST.cc b/src/SystemLoader_TEST.cc
@@ -97,9 +97,8 @@ TEST(SystemLoader, PluginPaths)
   for (const auto &s : paths)
   {
     // the returned path string may not be exact match due to extra '/'
-    // appended at the end of the string. So use absPath to generate
-    // a path string that matches the format returned by joinPaths
-    if (common::absPath(s) == testBuildPath)
+    // appended at the end of the string. So use absPath to compare paths
+    if (common::absPath(s) == common::absPath(testBuildPath))
     {
       hasPath = true;
       break;

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -1215,7 +1215,7 @@ void ComponentInspector::QuerySystems()
       "/system/info"};
   if (!this->dataPtr->node.Request(service, req, timeout, res, result))
   {
-    ignerr << "Unable to query available systems." << std::endl;
+    gzerr << "Unable to query available systems." << std::endl;
     return;
   }
 
@@ -1225,8 +1225,8 @@ void ComponentInspector::QuerySystems()
   {
     if (plugin.filename().empty())
     {
-      ignerr << "Received empty plugin name. This shouldn't happen."
-             << std::endl;
+      gzerr << "Received empty plugin name. This shouldn't happen."
+            << std::endl;
       continue;
     }
 
@@ -1273,7 +1273,7 @@ void ComponentInspector::OnAddSystem(const QString &_name,
   auto it = this->dataPtr->systemMap.find(filenameStr);
   if (it == this->dataPtr->systemMap.end())
   {
-    ignerr << "Internal error: failed to find [" << filenameStr
+    gzerr << "Internal error: failed to find [" << filenameStr
            << "] in system map." << std::endl;
     return;
   }
@@ -1296,11 +1296,11 @@ void ComponentInspector::OnAddSystem(const QString &_name,
       "/entity/system/add"};
   if (!this->dataPtr->node.Request(service, req, timeout, res, result))
   {
-    ignerr << "Error adding new system to entity: "
-           << this->dataPtr->entity << "\n"
-           << "Name: " << name << "\n"
-           << "Filename: " << filename << "\n"
-           << "Inner XML: " << innerxml << std::endl;
+    gzerr << "Error adding new system to entity: "
+          << this->dataPtr->entity << "\n"
+          << "Name: " << name << "\n"
+          << "Filename: " << filename << "\n"
+          << "Inner XML: " << innerxml << std::endl;
   }
 }
 

diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
@@ -1266,7 +1266,7 @@ void RenderUtil::Update()
       }
       else
       {
-        ignerr << "Failed to create light" << std::endl;
+        gzerr << "Failed to create light" << std::endl;
       }
     }
 

diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
@@ -1191,7 +1191,7 @@ rendering::LightPtr SceneManager::CreateLight(Entity _id,
 
   if (this->HasEntity(_id))
   {
-    ignerr << "Light with Id: [" << _id << "] can not be create there is "
+    gzerr << "Light with Id: [" << _id << "] can not be create there is "
               "another entity with the same entity number" << std::endl;
     return nullptr;
   }
@@ -2376,8 +2376,8 @@ SceneManager::LoadAnimations(const sdf::Actor &_actor)
       {
         if (!meshSkel->AddBvhAnimation(animFilename, animScale))
         {
-          ignerr << "Bvh animation in file " << animFilename
-                 << " failed to load during actor creation" << std::endl;
+          gzerr << "Bvh animation in file " << animFilename
+                << " failed to load during actor creation" << std::endl;
           continue;
         }
       }
@@ -2473,8 +2473,8 @@ SceneManagerPrivate::LoadTrajectories(const sdf::Actor &_actor,
       const sdf::Trajectory *trajSdf = _actor.TrajectoryByIndex(i);
       if (nullptr == trajSdf)
       {
-        ignerr << "Null trajectory SDF for [" << _actor.Name() << "]"
-               << std::endl;
+        gzerr << "Null trajectory SDF for [" << _actor.Name() << "]"
+              << std::endl;
         continue;
       }
       common::TrajectoryInfo trajInfo;
@@ -2517,9 +2517,9 @@ SceneManagerPrivate::LoadTrajectories(const sdf::Actor &_actor,
             }
             else
             {
-              ignwarn << "Animation has no x displacement. "
-                      << "Ignoring <interpolate_x> for the animation in '"
-                      << animation->Filename() << "'." << std::endl;
+              gzwarn << "Animation has no x displacement. "
+                     << "Ignoring <interpolate_x> for the animation in '"
+                     << animation->Filename() << "'." << std::endl;
             }
             animInterpolateCheck.insert(animation->Filename());
           }

diff --git a/src/systems/battery_plugin/LinearBatteryPlugin.cc b/src/systems/battery_plugin/LinearBatteryPlugin.cc
@@ -394,8 +394,8 @@ void LinearBatteryPlugin::Configure(const Entity &_entity,
           std::bind(&LinearBatteryPluginPrivate::OnBatteryStopDrainingMsg,
           this->dataPtr.get(), std::placeholders::_1, std::placeholders::_2,
           std::placeholders::_3));
-      ignmsg << "LinearBatteryPlugin subscribes to stop power draining topic ["
-             << topic << "]." << std::endl;
+      gzmsg << "LinearBatteryPlugin subscribes to stop power draining topic ["
+            << topic << "]." << std::endl;
       sdfElem = sdfElem->GetNextElement("power_draining_topic");
     }
   }
@@ -498,7 +498,7 @@ void LinearBatteryPlugin::PreUpdate(
   bool success = this->dataPtr->battery->SetPowerLoad(
       this->dataPtr->consumerId, total_power_load);
   if (!success)
-      ignerr << "Failed to set consumer power load." << std::endl;
+      gzerr << "Failed to set consumer power load." << std::endl;
 
   // Start draining the battery if the robot has started moving
   if (!this->dataPtr->startDraining)

diff --git a/src/systems/buoyancy/Buoyancy.cc b/src/systems/buoyancy/Buoyancy.cc
@@ -643,7 +643,7 @@ void Buoyancy::PostUpdate(
 bool Buoyancy::IsEnabled(Entity _entity,
     const EntityComponentManager &_ecm) const
 {
-  return this->IsEnabled(_entity, _ecm);
+  return this->dataPtr->IsEnabled(_entity, _ecm);
 }
 
 GZ_ADD_PLUGIN(Buoyancy,

diff --git a/src/systems/environment_preload/EnvironmentPreload.cc b/src/systems/environment_preload/EnvironmentPreload.cc
@@ -134,7 +134,7 @@ void EnvironmentPreload::PreUpdate(
               }
               else if (unitName != "radians")
               {
-                ignerr << "Unrecognized unit " << unitName << "\n";
+                gzerr << "Unrecognized unit " << unitName << "\n";
               }
             }
           }

diff --git a/src/systems/hydrodynamics/Hydrodynamics.cc b/src/systems/hydrodynamics/Hydrodynamics.cc
@@ -295,7 +295,7 @@ void Hydrodynamics::Configure(
 {
   if (_sdf->HasElement("waterDensity"))
   {
-    ignwarn <<
+    gzwarn <<
       "<waterDensity> parameter is deprecated and will be removed Ignition G.\n"
       << "\tPlease update your SDF to use <water_density> instead.";
   }
@@ -342,7 +342,7 @@ void Hydrodynamics::Configure(
 
   if (warnBehaviourChange)
   {
-    ignwarn << "You are using parameters that may cause instabilities "
+    gzwarn << "You are using parameters that may cause instabilities "
       << "in your simulation. If your simulation crashes we recommend "
       << "renaming <xUU> -> <xUabsU> and likewise for other axis "
       << "for more information see:" << std::endl

diff --git a/src/systems/multicopter_control/MulticopterVelocityControl.hh b/src/systems/multicopter_control/MulticopterVelocityControl.hh
@@ -21,6 +21,9 @@
 #include <memory>
 #include <string>
 
+#include <gz/msgs/actuators.pb.h>
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/twist.pb.h>
 #include <gz/transport/Node.hh>
 
 #include <gz/sim/System.hh>

diff --git a/src/systems/performer_detector/PerformerDetector.hh b/src/systems/performer_detector/PerformerDetector.hh
@@ -23,6 +23,7 @@
 #include <string>
 #include <unordered_set>
 
+#include <gz/math/AxisAlignedBox.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sim/Model.hh"

diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
@@ -3763,8 +3763,7 @@ void PhysicsPrivate::UpdateCollisions(EntityComponentManager &_ecm)
   // Note that we are temporarily storing pointers to elements in this
   // ("allContacts") container. Thus, we must make sure it doesn't get destroyed
   // until the end of this function.
-  auto allContacts =
-      std::move(worldCollisionFeature->GetContactsFromLastStep());
+  auto allContacts = worldCollisionFeature->GetContactsFromLastStep();
 
   for (const auto &contactComposite : allContacts)
   {

diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
@@ -621,7 +621,7 @@ void Sensors::Update(const UpdateInfo &_info,
        _ecm.HasComponentType(components::WideAngleCamera::typeId)))
   {
     std::unique_lock<std::mutex> lock(this->dataPtr->renderMutex);
-    igndbg << "Initialization needed" << std::endl;
+    gzdbg << "Initialization needed" << std::endl;
     this->dataPtr->renderUtil.Init();
     this->dataPtr->nextUpdateTime = _info.simTime;
   }

diff --git a/src/systems/thruster/Thruster.cc b/src/systems/thruster/Thruster.cc
@@ -451,7 +451,7 @@ void Thruster::Configure(
   {
     if (!_sdf->HasElement("battery_name"))
     {
-      ignerr << "Specified a <power_load> but missing <battery_name>."
+      gzerr << "Specified a <power_load> but missing <battery_name>."
           "Specify a battery name so the power load can be assigned to it."
           << std::endl;
     }
@@ -586,17 +586,17 @@ void Thruster::PreUpdate(
       });
     if (numBatteriesWithName == 0)
     {
-      ignerr << "Can't assign battery consumption to battery: ["
-             << this->dataPtr->batteryName << "]. No batteries"
-             "were found with the given name." << std::endl;
+      gzerr << "Can't assign battery consumption to battery: ["
+            << this->dataPtr->batteryName << "]. No batteries"
+            "were found with the given name." << std::endl;
       return;
     }
     if (numBatteriesWithName > 1)
     {
-      ignerr << "More than one battery found with name: ["
-             << this->dataPtr->batteryName << "]. Please make"
-             "sure battery names are unique within the system."
-             << std::endl;
+      gzerr << "More than one battery found with name: ["
+            << this->dataPtr->batteryName << "]. Please make"
+            "sure battery names are unique within the system."
+            << std::endl;
       return;
     }
 

diff --git a/src/systems/triggered_publisher/TriggeredPublisher.cc b/src/systems/triggered_publisher/TriggeredPublisher.cc
@@ -605,31 +605,31 @@ void TriggeredPublisher::Configure(const Entity &,
       serviceInfo.srvName = serviceElem->Get<std::string>("name");
       if (serviceInfo.srvName.empty())
       {
-        ignerr << "Service name cannot be empty\n";
+        gzerr << "Service name cannot be empty\n";
         return;
       }
       serviceInfo.reqType = serviceElem->Get<std::string>("reqType");
       if (serviceInfo.reqType.empty())
       {
-        ignerr << "Service request type cannot be empty\n";
+        gzerr << "Service request type cannot be empty\n";
         return;
       }
       serviceInfo.repType = serviceElem->Get<std::string>("repType");
       if (serviceInfo.repType.empty())
       {
-        ignerr << "Service reply type cannot be empty\n";
+        gzerr << "Service reply type cannot be empty\n";
         return;
       }
       serviceInfo.reqMsg = serviceElem->Get<std::string>("reqMsg");
       if (serviceInfo.reqMsg.empty())
       {
-        ignerr << "Service request message cannot be empty\n";
+        gzerr << "Service request message cannot be empty\n";
         return;
       }
       std::string timeoutInfo = serviceElem->Get<std::string>("timeout");
       if (timeoutInfo.empty())
       {
-        ignerr << "Timeout value cannot be empty\n";
+        gzerr << "Timeout value cannot be empty\n";
         return;
       }
 
@@ -639,7 +639,7 @@ void TriggeredPublisher::Configure(const Entity &,
   }
   if (!sdfClone->HasElement("service") && !sdfClone->HasElement("output"))
   {
-    ignerr << "No output and service specified. Make sure to specify at least"
+    gzerr << "No output and service specified. Make sure to specify at least"
       "one of them." << std::endl;
     return;
   }
@@ -715,16 +715,16 @@ void TriggeredPublisher::CallService(std::size_t pendingSrv)
       auto req = msgs::Factory::New(serviceInfo.reqType, serviceInfo.reqMsg);
       if (!req)
       {
-        ignerr << "Unable to create request for type ["
-               << serviceInfo.reqType << "].\n";
+        gzerr << "Unable to create request for type ["
+              << serviceInfo.reqType << "].\n";
         return;
       }
 
       auto rep = msgs::Factory::New(serviceInfo.repType);
       if (!rep)
       {
-        ignerr << "Unable to create response for type ["
-               << serviceInfo.repType << "].\n";
+        gzerr << "Unable to create response for type ["
+              << serviceInfo.repType << "].\n";
         return;
       }
 
@@ -734,16 +734,16 @@ void TriggeredPublisher::CallService(std::size_t pendingSrv)
       {
         if (!result)
         {
-          ignerr << "Service call [" << serviceInfo.srvName << "] failed\n";
+          gzerr << "Service call [" << serviceInfo.srvName << "] failed\n";
         }
         else
         {
-          ignmsg << "Service call [" << serviceInfo.srvName << "] succeeded\n";
+          gzmsg << "Service call [" << serviceInfo.srvName << "] succeeded\n";
         }
       }
       else
       {
-        ignerr << "Service call [" << serviceInfo.srvName  << "] timed out\n";
+        gzerr << "Service call [" << serviceInfo.srvName  << "] timed out\n";
       }
     }
   }

diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc
@@ -1669,7 +1669,7 @@ TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RecordPeriod))
 #ifndef __APPLE__
   // Log from command line
   {
-    // Command line triggers ign.cc, which handles initializing ignLogDirectory
+    // Command line triggers gz.cc, which handles initializing gzlogDirectory
     std::string cmd = kGzCommand + " -r -v 4 --iterations "
       + std::to_string(numIterations) + " "
       + "--record-period 0.002 "

diff --git a/test/test_config.hh.in b/test/test_config.hh.in
@@ -18,6 +18,7 @@
 #define GZ_SIM_TEST_CONFIG_HH_
 
 #include <stdlib.h>
+#include <string>
 #include <gz/sim/config.hh>
 
 #define PROJECT_SOURCE_PATH "${PROJECT_SOURCE_DIR}"

diff --git a/tutorials/battery.md b/tutorials/battery.md
@@ -187,7 +187,7 @@ At the configure step the parameters are read and saved:
   {
     if (!_sdf->HasElement("battery_name"))
     {
-      ignerr << "Specified a <power_load> but missing <battery_name>."
+      gzerr << "Specified a <power_load> but missing <battery_name>."
           "Specify a battery name so the power load can be assigned to it."
           << std::endl;
     }
@@ -246,14 +246,14 @@ are found with the specified name.
 ```
    if (numBatteriesWithName == 0)
     {
-      ignerr << "Can't assign battery consumption to battery: ["
+      gzerr << "Can't assign battery consumption to battery: ["
              << this->dataPtr->batteryName << "]. No batteries"
              "were found with the given name." << std::endl;
       return;
     }
     if (numBatteriesWithName > 1)
     {
-      ignerr << "More than one battery found with name: ["
+      gzerr << "More than one battery found with name: ["
              << this->dataPtr->batteryName << "]. Please make"
              "sure battery names are unique within the system."
              << std::endl;
-Original file line number
+Diff line change
@@ Expand Up / @@ -1266,7 +1266,7 @@ void RenderUtil::Update() @@
           }
           else
           {
-            ignerr << "Failed to create light" << std::endl;
+            gzerr << "Failed to create light" << std::endl;
           }
         }
@@ Expand Down @@