Use more sdf::Plugin instead of sdf::ElementPtr (#1352)

Signed-off-by: Nate Koenig <[email protected]>

Co-authored-by: Nate Koenig <[email protected]>
Co-authored-by: Michael Carroll <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Co-authored-by: Ian Chen <[email protected]>

Author: 5 people

include/ignition/gazebo/Conversions.hh

@@ -27,6 +27,8 @@
 #include <ignition/msgs/light.pb.h>
 #include <ignition/msgs/material.pb.h>
 #include <ignition/msgs/particle_emitter.pb.h>
+#include <ignition/msgs/plugin.pb.h>
+#include <ignition/msgs/plugin_v.pb.h>
 #include <ignition/msgs/physics.pb.h>
 #include <ignition/msgs/scene.pb.h>
 #include <ignition/msgs/sensor.pb.h>
@@ -742,6 +744,54 @@ namespace ignition
     /// \return Plugin message.
     template<>
     msgs::Plugin convert(const sdf::Plugin &_in);
+
+    /// \brief Generic conversion from an SDF plugins to another type.
+    /// \param[in] _in SDF plugins.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    template<class Out>
+    Out convert(const sdf::Plugins &/*_in*/)
+    {
+      Out::ConversionNotImplemented;
+    }
+
+    /// \brief Specialized conversion from an SDF plugins to a plugin_v message.
+    /// \param[in] _in SDF plugins.
+    /// \return Plugin_V message.
+    template<>
+    msgs::Plugin_V convert(const sdf::Plugins &_in);
+
+    /// \brief Generic conversion from a msgs::Plugin to another type.
+    /// \param[in] _in msgs::Plugin.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    template<class Out>
+    Out convert(const msgs::Plugin &/*_in*/)
+    {
+      Out::ConversionNotImplemented;
+    }
+
+    /// \brief Specialized conversion from a msgs::Plugin to an sdf::Plugin.
+    /// \param[in] _in msgs::Plugin.
+    /// \return sdf::Plugin.
+    template<>
+    sdf::Plugin convert(const msgs::Plugin &_in);
+
+    /// \brief Generic conversion from a msgs::Plugin_V to another type.
+    /// \param[in] _in msgs::Plugin_V.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    template<class Out>
+    Out convert(const msgs::Plugin_V &/*_in*/)
+    {
+      Out::ConversionNotImplemented;
+    }
+
+    /// \brief Specialized conversion from a msgs::Plugin_V to an sdf::Plugins.
+    /// \param[in] _in msgs::Plugin_V.
+    /// \return sdf::Plugins.
+    template<>
+    sdf::Plugins convert(const msgs::Plugin_V &_in);
     }
   }
 }

include/ignition/gazebo/Events.hh

@@ -18,6 +18,7 @@
 #define IGNITION_GAZEBO_EVENTS_HH_
 
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 
 #include <ignition/common/Event.hh>
 
@@ -53,11 +54,24 @@ namespace ignition
       /// \endcode
       using Stop = ignition::common::EventT<void(void), struct StopTag>;
 
-      /// \brief Event used to load plugins for an entity into simulation.
+      /// \brief Please use the LoadSdfPlugins event. The LoadPlugins event
+      /// will be deprecrated in Gazebo 7 (Garden). Also make sure to
+      /// connect to only LoadSdfPlugins or LoadPlugins, and not both events.
+      ///
+      /// Event used to load plugins for an entity into simulation.
       /// Pass in the entity which will own the plugins, and an SDF element for
       /// the entity, which may contain multiple `<plugin>` tags.
+      /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+      /// sdf::Plugin interface.
       using LoadPlugins = common::EventT<void(Entity, sdf::ElementPtr),
           struct LoadPluginsTag>;
+
+      /// \brief Event used to load plugins for an entity into simulation.
+      /// Pass in the entity which will own the plugins, and an SDF element for
+      /// the entity, which may contain multiple `<plugin>` tags.
+      /// Makre sure that you don't also connect to the LoadPlugins event.
+      using LoadSdfPlugins = common::EventT<void(Entity, sdf::Plugins),
+          struct LoadPluginsTag>;
       }
     }  // namespace events
   }  // namespace gazebo

include/ignition/gazebo/ServerConfig.hh

@@ -24,6 +24,7 @@
 #include <string>
 #include <vector>
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 #include <sdf/Root.hh>
 #include <ignition/gazebo/config.hh>
 #include <ignition/gazebo/Export.hh>
@@ -86,12 +87,26 @@ namespace ignition
         /// \param[in] _name Name of the interface within the plugin library
         /// to load.
         /// \param[in] _sdf Plugin XML elements associated with this plugin.
+        /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+        /// sdf::Plugin interface.
         public: PluginInfo(const std::string &_entityName,
                            const std::string &_entityType,
                            const std::string &_filename,
                            const std::string &_name,
                            const sdf::ElementPtr &_sdf);
 
+        /// \brief Constructor with plugin information specified.
+        /// \param[in] _entityName Name of the entity which should receive
+        /// this plugin. The name is used in conjuction with _entityType to
+        /// uniquely identify an entity.
+        /// \param[in] _entityType Entity type which should receive  this
+        /// plugin. The type is used in conjuction with _entityName to
+        /// uniquely identify an entity.
+        /// \param[in] _plugin SDF Plugin library information.
+        public: PluginInfo(const std::string &_entityName,
+                           const std::string &_entityType,
+                           const sdf::Plugin &_plugin);
+
         /// \brief Copy constructor.
         /// \param[in] _info Plugin to copy.
         public: PluginInfo(const PluginInfo &_info);
@@ -127,32 +142,56 @@ namespace ignition
 
         /// \brief Get the plugin library filename.
         /// \return Plugin library filename.
+        /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+        /// sdf::Plugin interface.
         public: const std::string &Filename() const;
 
         /// \brief Set the type of the entity which should receive this
         /// plugin. The type is used in conjuction with EntityName to
         /// uniquely identify an entity.
         /// \param[in] _filename Entity type string.
+        /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+        /// sdf::Plugin interface.
         public: void SetFilename(const std::string &_filename);
 
         /// \brief Name of the interface within the plugin library
         /// to load.
         /// \return Interface name.
+        /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+        /// sdf::Plugin interface.
         public: const std::string &Name() const;
 
         /// \brief Set the name of the interface within the plugin library
         /// to load.
         /// \param[in] _name Interface name.
+        /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+        /// sdf::Plugin interface.
         public: void SetName(const std::string &_name);
 
         /// \brief Plugin XML elements associated with this plugin.
         /// \return SDF pointer.
+        /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+        /// sdf::Plugin interface.
         public: const sdf::ElementPtr &Sdf() const;
 
         /// \brief Set the plugin XML elements associated with this plugin.
         /// \param[in] _sdf SDF pointer, it will be cloned.
+        /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+        /// sdf::Plugin interface.
         public: void SetSdf(const sdf::ElementPtr &_sdf);
 
+        /// \brief Get the SDF plugin information.
+        /// \return The SDF Plugin object.
+        public: const sdf::Plugin &Plugin() const;
+
+        /// \brief Get a mutable version of the SDF plugin information.
+        /// \return The SDF Plugin object.
+        public: sdf::Plugin &Plugin();
+
+        /// \brief Set the SDF plugin information.
+        /// \param[in] _plugin The SDF Plugin object to use.
+        public: void SetPlugin(const sdf::Plugin &_plugin) const;
+
         /// \brief Private data pointer
         private: std::unique_ptr<ServerConfig::PluginInfoPrivate> dataPtr;
       };

include/ignition/gazebo/SystemLoader.hh

@@ -22,6 +22,7 @@
 #include <string>
 
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 
 #include <ignition/gazebo/Export.hh>
 #include <ignition/gazebo/System.hh>
@@ -53,6 +54,8 @@ namespace ignition
       /// \brief Load and instantiate system plugin from an SDF element.
       /// \param[in] _sdf SDF Element describing plugin instance to be loaded.
       /// \returns Shared pointer to system instance or nullptr.
+      /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+      /// sdf::Plugin interface.
       public: std::optional<SystemPluginPtr> LoadPlugin(
                   const sdf::ElementPtr &_sdf);
 
@@ -61,11 +64,19 @@ namespace ignition
       /// \param[in] _name Class name to be instantiated.
       /// \param[in] _sdf SDF Element describing plugin instance to be loaded.
       /// \returns Shared pointer to system instance or nullptr.
+      /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+      /// sdf::Plugin interface.
       public: std::optional<SystemPluginPtr> LoadPlugin(
                   const std::string &_filename,
                   const std::string &_name,
                   const sdf::ElementPtr &_sdf);
 
+      /// \brief Load and instantiate system plugin from name/filename.
+      /// \param[in] _plugin SDF Plugin to be loaded.
+      /// \returns Shared pointer to system instance or nullptr.
+      public: std::optional<SystemPluginPtr> LoadPlugin(
+                  const sdf::Plugin &_plugin);
+
       /// \brief Makes a printable string with info about systems
       /// \returns A pretty string
       public: std::string PrettyStr() const;

include/ignition/gazebo/gui/GuiEvents.hh

@@ -29,6 +29,7 @@
 #include <ignition/math/Vector3.hh>
 #include <ignition/utils/ImplPtr.hh>
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 
 #include "ignition/gazebo/gui/Export.hh"
 #include "ignition/gazebo/Entity.hh"
@@ -215,6 +216,8 @@ namespace events
   };
 
   /// \brief Event that notifies a visual plugin is to be loaded
+  /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+  /// VisualPlugins class.
   class IGNITION_GAZEBO_GUI_VISIBLE VisualPlugin: public QEvent
   {
     /// \brief Constructor
@@ -235,6 +238,28 @@ namespace events
     /// \brief Private data pointer
     IGN_UTILS_IMPL_PTR(dataPtr)
   };
+
+  /// \brief Event that notifies a visual plugin is to be loaded
+  class IGNITION_GAZEBO_GUI_VISIBLE VisualPlugins: public QEvent
+  {
+    /// \brief Constructor
+    /// \param[in] _entity Visual entity id
+    /// \param[in] _plugins SDF plugin object
+    public: explicit VisualPlugins(ignition::gazebo::Entity _entity,
+                const sdf::Plugins &_plugins);
+
+    /// \brief Get the entity to load the visual plugin for
+    public: ignition::gazebo::Entity Entity() const;
+
+    /// \brief Get the SDF Plugin of the visual plugin
+    public: const sdf::Plugins &Plugins() const;
+
+    static const QEvent::Type kType = QEvent::Type(QEvent::User + 9);
+
+    /// \internal
+    /// \brief Private data pointer
+    IGN_UTILS_IMPL_PTR(dataPtr)
+  };
 }  // namespace events
 }
 }  // namespace gui

src/Conversions.cc

@@ -1792,3 +1792,35 @@ msgs::Plugin ignition::gazebo::convert(const sdf::Plugin &_in)
 
   return result;
 }
+
+//////////////////////////////////////////////////
+template<>
+IGNITION_GAZEBO_VISIBLE
+msgs::Plugin_V ignition::gazebo::convert(const sdf::Plugins &_in)
+{
+  msgs::Plugin_V result;
+  for (const sdf::Plugin &plugin : _in)
+  {
+    result.add_plugins()->CopyFrom(convert<msgs::Plugin>(plugin));
+  }
+  return result;
+}
+
+//////////////////////////////////////////////////
+template<>
+IGNITION_GAZEBO_VISIBLE
+sdf::Plugin ignition::gazebo::convert(const msgs::Plugin &_in)
+{
+  return sdf::Plugin(_in.filename(), _in.name(), _in.innerxml());
+}
+
+//////////////////////////////////////////////////
+template<>
+IGNITION_GAZEBO_VISIBLE
+sdf::Plugins ignition::gazebo::convert(const msgs::Plugin_V &_in)
+{
+  sdf::Plugins result;
+  for (int i = 0; i < _in.plugins_size(); ++i)
+    result.push_back(convert<sdf::Plugin>(_in.plugins(i)));
+  return result;
+}

src/Conversions_TEST.cc

@@ -1109,3 +1109,50 @@ TEST(Conversions, Plugin)
   EXPECT_NE(pluginMsg.innerxml().find("<avocado>0.5</avocado>"),
       std::string::npos) << pluginMsg.innerxml();
 }
+
+/////////////////////////////////////////////////
+TEST(Conversions, MsgsPluginToSdf)
+{
+  std::string innerXml ="<test>another_test</test>\n";
+  std::string innerXml2 ="<peanut>butter</peanut>\n";
+
+  msgs::Plugin msgPlugin;
+  msgPlugin.set_name("foo");
+  msgPlugin.set_filename("bar");
+  msgPlugin.set_innerxml(innerXml);
+
+  // Test conversion of a single msgs::Plugin to sdf::Plugin
+  sdf::Plugin sdfPlugin = convert<sdf::Plugin>(msgPlugin);
+  EXPECT_EQ("foo", sdfPlugin.Name());
+  EXPECT_EQ("bar", sdfPlugin.Filename());
+  ASSERT_EQ(1u, sdfPlugin.Contents().size());
+  EXPECT_EQ(innerXml, sdfPlugin.Contents()[0]->ToString(""));
+
+  // Test conversion of a msgs::Plugin_V with 1 plugin to sdf::Plugins
+  msgs::Plugin_V msgsPlugin;
+  msgsPlugin.add_plugins()->CopyFrom(msgPlugin);
+  sdf::Plugins sdfPlugins = convert<sdf::Plugins>(msgsPlugin);
+  ASSERT_EQ(1u, sdfPlugins.size());
+  EXPECT_EQ("foo", sdfPlugins[0].Name());
+  EXPECT_EQ("bar", sdfPlugins[0].Filename());
+  ASSERT_EQ(1u, sdfPlugins[0].Contents().size());
+  EXPECT_EQ(innerXml, sdfPlugins[0].Contents()[0]->ToString(""));
+
+  // Add another plugin the msgs::Plugin_V
+  msgs::Plugin anotherPlugin;
+  anotherPlugin.set_name("sandwich");
+  anotherPlugin.set_filename("time");
+  anotherPlugin.set_innerxml(innerXml + innerXml2);
+  msgsPlugin.add_plugins()->CopyFrom(anotherPlugin);
+  sdfPlugins = convert<sdf::Plugins>(msgsPlugin);
+  ASSERT_EQ(2u, sdfPlugins.size());
+  EXPECT_EQ("foo", sdfPlugins[0].Name());
+  EXPECT_EQ("bar", sdfPlugins[0].Filename());
+  ASSERT_EQ(1u, sdfPlugins[0].Contents().size());
+  EXPECT_EQ(innerXml, sdfPlugins[0].Contents()[0]->ToString(""));
+  EXPECT_EQ("sandwich", sdfPlugins[1].Name());
+  EXPECT_EQ("time", sdfPlugins[1].Filename());
+  ASSERT_EQ(2u, sdfPlugins[1].Contents().size());
+  EXPECT_EQ(innerXml, sdfPlugins[1].Contents()[0]->ToString(""));
+  EXPECT_EQ(innerXml2, sdfPlugins[1].Contents()[1]->ToString(""));
+}

src/LevelManager.cc

@@ -229,6 +229,9 @@ void LevelManager::ReadLevelPerformerInfo()
   this->ConfigureDefaultLevel();
 
   // Load world plugins.
+  this->runner->EventMgr().Emit<events::LoadSdfPlugins>(this->worldEntity,
+      this->runner->sdfWorld->Plugins());
+  // Deprecate this in Garden
   this->runner->EventMgr().Emit<events::LoadPlugins>(this->worldEntity,
       this->runner->sdfWorld->Element());