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Merged
merged 16 commits into from
Nov 9, 2022
Merged

Allow loading a model SDF file in the Server class #1775

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d2cd203
Handle loading a model SDF file in the Server class.
JoanAguilar Oct 31, 2022
cdac879
Add unit test loading a model SDF file.
JoanAguilar Oct 31, 2022
21d4161
Add unit test that loads a model SDF file with relative URIs.
JoanAguilar Nov 1, 2022
ebb1f4a
Move Server unit tests that require rendering to a separate file.
JoanAguilar Nov 2, 2022
4500f7c
Address review comments.
JoanAguilar Nov 2, 2022
73e0ff9
Use gtest macros in FindScene.
JoanAguilar Nov 2, 2022
acd016a
Merge remote-tracking branch 'origin/gz-sim7' into load-model-sdf-3
JoanAguilar Nov 3, 2022
9890bb8
Merge remote-tracking branch 'origin' into load-model-sdf-3
JoanAguilar Nov 4, 2022
ca5acab
Add Server_Rendering_TEST.cc to tests_needing_display.
JoanAguilar Nov 4, 2022
bf30236
Move LoadSdfModel to Server_Rendering_TEST.cc.
JoanAguilar Nov 4, 2022
f322809
Disable LoadSdfModelRelativeUri on macOS.
JoanAguilar Nov 4, 2022
90f96ad
Run tests in Server_Rendering_TEST.cc only once.
JoanAguilar Nov 4, 2022
8724f79
Remove Server_Rendering_TEST.cc from the initial gtest_sources.
JoanAguilar Nov 4, 2022
311ba69
Merge remote-tracking branch 'origin/gz-sim7' into load-model-sdf-3
JoanAguilar Nov 7, 2022
0bfe6cf
Merge remote-tracking branch 'origin/gz-sim7' into load-model-sdf-3
JoanAguilar Nov 8, 2022
2131fc7
Return early if unable to load the default world.
JoanAguilar Nov 8, 2022
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7 changes: 7 additions & 0 deletions src/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,13 @@ gz_build_tests(TYPE UNIT
gz-sim${PROJECT_VERSION_MAJOR}
)

# Server unit tests require rendering.
if (TARGET UNIT_Server_TEST)
target_link_libraries(UNIT_Server_TEST
gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
)
endif()

# Command line tests need extra settings
foreach(CMD_TEST
UNIT_gz_TEST
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21 changes: 20 additions & 1 deletion src/Server.cc
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Expand Up @@ -113,12 +113,31 @@ Server::Server(const ServerConfig &_config)

gzmsg << "Loading SDF world file[" << filePath << "].\n";

sdf::Root sdfRoot = sdf::Root();
// \todo(nkoenig) Async resource download.
// This call can block for a long period of time while
// resources are downloaded. Blocking here causes the GUI to block with
// a black screen (search for "Async resource download" in
// 'src/gui_main.cc'.
errors = this->dataPtr->sdfRoot.Load(filePath);
errors = sdfRoot.Load(filePath);
if (errors.empty()) {
if (sdfRoot.Model() == nullptr) {
this->dataPtr->sdfRoot = std::move(sdfRoot);
}
else
{
// If the specified file only contains a model, load the default
// world and add the model to it.
const sdf::Model model = *(sdfRoot.Model());
errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World());
assert(this->dataPtr->sdfRoot.WorldCount() == 1);
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I don't think we use assert in our code base very much, so this seems out of place, but I'm not opposed to using it.

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Yeah, I was worndering about that. The other options that come to mind would be to catch this via if statement, or leave this uncaught. I have no strong preference, I'll go with whatever you-all think is best.

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I think it would be sufficient to add an if statement and returning early if world is nullptr.

sdf::World *world = this->dataPtr->sdfRoot.WorldByIndex(0);
assert(world->AddModel(model));
if (errors.empty()) {
errors = this->dataPtr->sdfRoot.UpdateGraphs();
}
}
}
break;
}

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169 changes: 169 additions & 0 deletions src/Server_TEST.cc
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Expand Up @@ -21,6 +21,10 @@
#include <gz/common/StringUtils.hh>
#include <gz/common/Util.hh>
#include <gz/math/Rand.hh>
#include <gz/rendering/RenderEngine.hh>
#include <gz/rendering/RenderingIface.hh>
#include <gz/rendering/Scene.hh>
#include <gz/sim/rendering/Events.hh>
#include <gz/transport/Node.hh>
#include <gz/utils/ExtraTestMacros.hh>
#include <sdf/Mesh.hh>
Expand Down Expand Up @@ -519,6 +523,171 @@ TEST_P(ServerFixture, SdfStringServerConfig)
EXPECT_EQ(2u, *server.SystemCount());
}

/////////////////////////////////////////////////
TEST_P(ServerFixture, LoadSdfModel)
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Can this be removed or be added to the other file? We need to reduce the number of tests in Server_TEST.cc.

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@JoanAguilar JoanAguilar Nov 4, 2022 •
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Fine with me. This test will then be in Server_Rendering_TEST.cc and not require rendering, but I understand we are OK with that. (Or I guess I could just remove it.)

{
gz::sim::ServerConfig serverConfig;

serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
"test", "worlds", "models", "sphere", "model.sdf"));

sim::Server server = Server(serverConfig);
EXPECT_TRUE(server.HasEntity("sphere"));
}

/////////////////////////////////////////////////
TEST_P(ServerFixture, LoadSdfModelRelativeUri)
{

class CheckMeshPlugin:
public System,
public gz::sim::ISystemConfigure,
public gz::sim::ISystemPreUpdate
{
private: common::ConnectionPtr connection{nullptr};

private: rendering::ScenePtr scene{nullptr};

private: EventManager *eventMgr{nullptr};

bool FindScene()
{
auto loadedEngNames = gz::rendering::loadedEngines();
if (loadedEngNames.empty())
{
gzdbg << "No rendering engine is loaded yet" << std::endl;
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This works, but I think the recommended way to return a failure with a reason is for the function to return an AssertionResult (http://google.github.io/googletest/advanced.html#using-a-function-that-returns-an-assertionresult)

return false;
}

// assume there is only one engine loaded
auto engineName = loadedEngNames[0];
if (loadedEngNames.size() > 1)
{
gzdbg << "More than one engine is available. "
<< "Using engine [" << engineName << "]" << std::endl;
return false;
}
auto engine = gz::rendering::engine(engineName);
if (!engine)
{
gzerr << "Internal error: failed to load engine [" << engineName
<< "]. Grid plugin won't work." << std::endl;
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Is the grid plugin relevant here?

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No. FWIW, I took this from RenderingGuiPlugin::FindScene. I'll update this.

return false;
}

if (engine->SceneCount() == 0)
{
gzdbg << "No scene has been created yet" << std::endl;
return false;
}

// Get first scene
auto scenePtr = engine->SceneByIndex(0);
if (nullptr == scenePtr)
{
gzerr << "Internal error: scene is null." << std::endl;
return false;
}

if (engine->SceneCount() > 1)
{
gzdbg << "More than one scene is available. "
<< "Using scene [" << scene->Name() << "]" << std::endl;
}

if (!scenePtr->IsInitialized() || nullptr == scenePtr->RootVisual())
{
return false;
}

this->scene = scenePtr;
return true;
};

private: void CheckMeshes(){
if (this->scene == nullptr){
ASSERT_TRUE(this->FindScene());
}
ASSERT_TRUE(this->scene != nullptr);
ASSERT_TRUE(this->scene->IsInitialized());

std::shared_ptr<rendering::Visual> v1 = this->scene->VisualByName(
"relative_resource_uri::L1::V1"
);
// There's only one geometry under this visual, which has to be the mesh.
EXPECT_EQ(v1->GeometryCount(), 1);
std::shared_ptr<rendering::Geometry> v1Geom = v1->GeometryByIndex(0);
// Attempt to cast the geometry into a mesh, in order to determine that
// the mesh has been properly loaded.
std::shared_ptr<rendering::Mesh> v1Mesh =
std::dynamic_pointer_cast<rendering::Mesh>(v1Geom);
EXPECT_NE(v1Mesh, nullptr);

std::shared_ptr<rendering::Visual> v2 = this->scene->VisualByName(
"relative_resource_uri::L1::V2"
);
// There should be no geometries under this visual, as the mesh file
// refers to a non-existent file, and the mesh should not be loaded.
EXPECT_EQ(v2->GeometryCount(), 0);
}

public: void Configure(
const Entity &,
const std::shared_ptr<const sdf::Element> &,
EntityComponentManager &,
EventManager &_eventMgr
)
{
// Register CheckMeshes with the PreRender event.
this->connection =
_eventMgr.Connect<events::PreRender>(
std::bind(&CheckMeshPlugin::CheckMeshes, this)
);
this->eventMgr = &_eventMgr;
};

public: void PreUpdate(const UpdateInfo &, EntityComponentManager &)
{
// Emit a ForceRender event so the PreRender event is triggered.
this->eventMgr->Emit<events::ForceRender>();
};
};

gz::sim::ServerConfig serverConfig;

serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
"test", "worlds", "models", "relative_resource_uri", "model2.sdf"));

// Add the Sensors plugin so rendering is available.
sdf::Plugin sdfSensorsPlugin = sdf::Plugin(
"gz-sim-sensors-system",
"gz::sim::systems::Sensors",
"<render_engine>ogre2</render_engine>"
);
ServerConfig::PluginInfo sensorsPluginInfo = ServerConfig::PluginInfo(
"default",
"world",
sdfSensorsPlugin
);
serverConfig.AddPlugin(sensorsPluginInfo);

sim::Server server = Server(serverConfig);
EXPECT_TRUE(server.HasEntity("relative_resource_uri"));
EXPECT_TRUE(server.HasEntity("L1"));
EXPECT_TRUE(server.HasEntity("V1"));
EXPECT_TRUE(server.HasEntity("V2"));

std::shared_ptr<CheckMeshPlugin> meshChecker =
std::make_shared<CheckMeshPlugin>();
std::optional<bool> meshCheckerAddSuccess = server.AddSystem(meshChecker);
ASSERT_TRUE(meshCheckerAddSuccess);
if (meshCheckerAddSuccess) {
ASSERT_TRUE(meshCheckerAddSuccess.value());
}
ASSERT_TRUE(server.RunOnce());
ASSERT_TRUE(server.RunOnce(false));
}

/////////////////////////////////////////////////
TEST_P(ServerFixture, RunBlocking)
{
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108 changes: 108 additions & 0 deletions test/worlds/models/relative_resource_uri/meshes/box.dae
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@@ -0,0 +1,108 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
</contributor>
<created>2015-05-26T11:01:50</created>
<modified>2015-05-26T11:01:50</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_effects>
<effect id="Material-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0.2 0.2 0.2 1</color>
</emission>
<ambient>
<color sid="ambient">0.9 0.9 0.9 1</color>
</ambient>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Material-material" name="Material">
<instance_effect url="#Material-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.08616e-7 -1.19209e-7 2.08616e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map">
<float_array id="Cube-mesh-map-array" count="72">0.004854381 0.6715211 0.3284789 0.671521 0.3284789 0.9951456 0.9951456 0.6618123 0.6715211 0.6618123 0.6715211 0.3381878 0.00485444 0.6618123 0.004854321 0.3381878 0.3284789 0.3381878 0.004854321 0.00485444 0.3284789 0.004854321 0.3284789 0.3284789 0.9951457 0.3284789 0.6715211 0.3284789 0.6715211 0.00485444 0.6618123 0.004854381 0.6618123 0.3284788 0.3381878 0.3284789 0.004854321 0.9951456 0.004854381 0.6715211 0.3284789 0.9951456 0.9951456 0.3381877 0.9951456 0.6618123 0.6715211 0.3381878 0.3284791 0.6618123 0.00485444 0.6618123 0.3284789 0.3381878 0.004854381 0.328479 0.004854321 0.00485444 0.3284789 0.3284789 0.9951457 0.004854321 0.9951457 0.3284789 0.6715211 0.00485444 0.3381877 0.004854321 0.6618123 0.004854381 0.3381878 0.3284789</float_array>
<technique_common>
<accessor source="#Cube-mesh-map-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<polylist material="Material-material" count="12">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map" offset="2" set="0"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">0.3999998 0 0 0 0 0.4 0 0 0 0 0.4 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Material-material" target="#Material-material">
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
27 changes: 27 additions & 0 deletions test/worlds/models/relative_resource_uri/model2.sdf
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<?xml version='1.0'?>

<!-- Note that some of the meshes don't exist. -->

<sdf version='1.6'>
<model name='relative_resource_uri'>
<pose>0 0 1 0 0 0</pose>
<link name='L1'>
<visual name='V1'>
<geometry>
<mesh>
<uri>meshes/box.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='V2'>
<pose>1 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>meshes/nonexistent.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>