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ServerConfig accepts an sdf::Root DOM object (gazebosim#1333)
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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]>
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@nkoenig @mjcarroll @ahcorde
4 people authored Apr 1, 2022
1 parent 32bc612 commit 39a0ce3
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Showing 8 changed files with 318 additions and 83 deletions.
33 changes: 33 additions & 0 deletions include/ignition/gazebo/ServerConfig.hh
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Expand Up @@ -24,6 +24,7 @@
#include <string>
#include <vector>
#include <sdf/Element.hh>
#include <sdf/Root.hh>
#include <ignition/gazebo/config.hh>
#include <ignition/gazebo/Export.hh>

Expand All @@ -42,6 +43,23 @@ namespace ignition
/// configuration.
class IGNITION_GAZEBO_VISIBLE ServerConfig
{
/// \brief Type of SDF source.
public: enum class SourceType
{
// No source specified.
kNone,

// The source is an SDF Root object.
kSdfRoot,

// The source is an SDF file.
kSdfFile,

// The source is an SDF string.
kSdfString,
};


class PluginInfoPrivate;
/// \brief Information about a plugin that should be loaded by the
/// server.
Expand Down Expand Up @@ -175,6 +193,17 @@ namespace ignition
/// \return The full contents of the SDF string, or empty string.
public: std::string SdfString() const;

/// \brief Set the SDF Root DOM object. The sdf::Root object will take
/// precendence over ServerConfig::SdfString() and
/// ServerConfig::SdfFile().
/// \param[in] _root SDF Root object to use.
public: void SetSdfRoot(const sdf::Root &_root) const;

/// \brief Get the SDF Root DOM object.
/// \return SDF Root object to use, or std::nullopt if the sdf::Root
/// has not been set via ServerConfig::SetSdfRoot().
public: std::optional<sdf::Root> &SdfRoot() const;

/// \brief Set the update rate in Hertz. Value <=0 are ignored.
/// \param[in] _hz The desired update rate of the server in Hertz.
public: void SetUpdateRate(const double &_hz);
Expand Down Expand Up @@ -383,6 +412,10 @@ namespace ignition
public: const std::chrono::time_point<std::chrono::system_clock> &
Timestamp() const;

/// \brief Get the type of source
/// \return The source type.
public: SourceType Source() const;

/// \brief Private data pointer
private: std::unique_ptr<ServerConfigPrivate> dataPtr;
};
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19 changes: 19 additions & 0 deletions include/ignition/gazebo/Util.hh
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Expand Up @@ -210,6 +210,25 @@ namespace ignition
const EntityComponentManager &_ecm,
bool _excludeWorld = true);

/// \brief Convert an SDF world filename string, such as "shapes.sdf", to
/// full system file path.
/// The provided SDF filename may be a Fuel URI, relative path, name
/// of an installed Gazebo world filename, or an absolute path.
/// \param[in] _sdfFile An SDF world filename such as:
/// 1. "shapes.sdf" - This is referencing an installed world file.
/// 2. "../shapes.sdf" - This is referencing a relative world file.
/// 3. "/home/user/shapes.sdf" - This is reference an absolute world
/// file.
/// 4. "https://fuel.ignitionrobotics.org/1.0/openrobotics/worlds/shapes.sdf"
/// This is referencing a Fuel URI. This will download the world file.
/// \param[in] _fuelResourceCache Path to a Fuel resource cache, if
/// known.
/// \return Full path to the SDF world file. An empty string is returned
/// if the file could not be found.
std::string IGNITION_GAZEBO_VISIBLE resolveSdfWorldFile(
const std::string &_sdfFilename,
const std::string &_fuelResourceCache = "");

/// \brief Helper function to "enable" a component (i.e. create it if it
/// doesn't exist) or "disable" a component (i.e. remove it if it exists).
/// \param[in] _ecm Mutable reference to the ECM
Expand Down
120 changes: 38 additions & 82 deletions src/Server.cc
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Expand Up @@ -33,31 +33,6 @@
using namespace ignition;
using namespace gazebo;

//////////////////////////////////////////////////
// Getting the first .sdf file in the path
std::string findFuelResourceSdf(const std::string &_path)
{
if (!common::exists(_path))
return "";

for (common::DirIter file(_path); file != common::DirIter(); ++file)
{
std::string current(*file);
if (!common::isFile(current))
continue;

auto fileName = common::basename(current);
auto fileExtensionIndex = fileName.rfind(".");
auto fileExtension = fileName.substr(fileExtensionIndex + 1);

if (fileExtension == "sdf")
{
return current;
}
}
return "";
}

/// \brief This struct provides access to the default world.
struct DefaultWorld
{
Expand Down Expand Up @@ -98,83 +73,64 @@ Server::Server(const ServerConfig &_config)

sdf::Errors errors;

// Load a world if specified. Check SDF string first, then SDF file
if (!_config.SdfString().empty())
switch (_config.Source())
{
std::string msg = "Loading SDF string. ";
if (_config.SdfFile().empty())
// Load a world if specified. Check SDF string first, then SDF file
case ServerConfig::SourceType::kSdfRoot:
{
msg += "File path not available.\n";
this->dataPtr->sdfRoot = _config.SdfRoot()->Clone();
ignmsg << "Loading SDF world from SDF DOM.\n";
break;
}
else
{
msg += "File path [" + _config.SdfFile() + "].\n";
}
ignmsg << msg;
errors = this->dataPtr->sdfRoot.LoadSdfString(_config.SdfString());
}
else if (!_config.SdfFile().empty())
{
std::string filePath;

// Check Fuel if it's a URL
auto sdfUri = common::URI(_config.SdfFile());
if (sdfUri.Scheme() == "http" || sdfUri.Scheme() == "https")
case ServerConfig::SourceType::kSdfString:
{
std::string fuelCachePath;
if (this->dataPtr->fuelClient->CachedWorld(common::URI(_config.SdfFile()),
fuelCachePath))
std::string msg = "Loading SDF string. ";
if (_config.SdfFile().empty())
{
filePath = findFuelResourceSdf(fuelCachePath);
}
else if (auto result = this->dataPtr->fuelClient->DownloadWorld(
common::URI(_config.SdfFile()), fuelCachePath))
{
filePath = findFuelResourceSdf(fuelCachePath);
msg += "File path not available.\n";
}
else
{
ignwarn << "Fuel couldn't download URL [" << _config.SdfFile()
<< "], error: [" << result.ReadableResult() << "]"
<< std::endl;
msg += "File path [" + _config.SdfFile() + "].\n";
}
ignmsg << msg;
errors = this->dataPtr->sdfRoot.LoadSdfString(_config.SdfString());
break;
}

if (filePath.empty())
case ServerConfig::SourceType::kSdfFile:
{
common::SystemPaths systemPaths;
std::string filePath = resolveSdfWorldFile(_config.SdfFile(),
_config.ResourceCache());

// Worlds from environment variable
systemPaths.SetFilePathEnv(kResourcePathEnv);
if (filePath.empty())
{
ignerr << "Failed to find world [" << _config.SdfFile() << "]"
<< std::endl;
return;
}

// Worlds installed with ign-gazebo
systemPaths.AddFilePaths(IGN_GAZEBO_WORLD_INSTALL_DIR);
ignmsg << "Loading SDF world file[" << filePath << "].\n";

filePath = systemPaths.FindFile(_config.SdfFile());
// \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);
break;
}

if (filePath.empty())
case ServerConfig::SourceType::kNone:
default:
{
ignerr << "Failed to find world [" << _config.SdfFile() << "]"
<< std::endl;
return;
ignmsg << "Loading default world.\n";
// Load an empty world.
/// \todo(nkoenig) Add a "AddWorld" function to sdf::Root.
errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World());
break;
}

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

// \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);
}
else
{
ignmsg << "Loading default world.\n";
// Load an empty world.
/// \todo(nkoenig) Add a "AddWorld" function to sdf::Root.
errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World());
}

if (!errors.empty())
Expand Down
39 changes: 39 additions & 0 deletions src/ServerConfig.cc
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Expand Up @@ -301,6 +301,12 @@ class ignition::gazebo::ServerConfigPrivate

/// \brief is the headless mode active.
public: bool isHeadlessRendering{false};

/// \brief Optional SDF root object.
public: std::optional<sdf::Root> sdfRoot;

/// \brief Type of source used.
public: ServerConfig::SourceType source{ServerConfig::SourceType::kNone};
};

//////////////////////////////////////////////////
Expand All @@ -321,8 +327,10 @@ ServerConfig::~ServerConfig() = default;
//////////////////////////////////////////////////
bool ServerConfig::SetSdfFile(const std::string &_file)
{
this->dataPtr->source = ServerConfig::SourceType::kSdfFile;
this->dataPtr->sdfFile = _file;
this->dataPtr->sdfString = "";
this->dataPtr->sdfRoot = std::nullopt;
return true;
}

Expand All @@ -335,8 +343,10 @@ std::string ServerConfig::SdfFile() const
//////////////////////////////////////////////////
bool ServerConfig::SetSdfString(const std::string &_sdfString)
{
this->dataPtr->source = ServerConfig::SourceType::kSdfString;
this->dataPtr->sdfFile = "";
this->dataPtr->sdfString = _sdfString;
this->dataPtr->sdfRoot = std::nullopt;
return true;
}

Expand Down Expand Up @@ -697,6 +707,35 @@ const std::vector<std::string> &ServerConfig::LogRecordTopics() const
return this->dataPtr->logRecordTopics;
}

/////////////////////////////////////////////////
void ServerConfig::SetSdfRoot(const sdf::Root &_root) const
{
this->dataPtr->source = ServerConfig::SourceType::kSdfRoot;
this->dataPtr->sdfRoot.emplace();

for (uint64_t i = 0; i < _root.WorldCount(); ++i)
{
const sdf::World *world = _root.WorldByIndex(i);
if (world)
this->dataPtr->sdfRoot->AddWorld(*world);
}

this->dataPtr->sdfFile = "";
this->dataPtr->sdfString = "";
}

/////////////////////////////////////////////////
std::optional<sdf::Root> &ServerConfig::SdfRoot() const
{
return this->dataPtr->sdfRoot;
}

/////////////////////////////////////////////////
ServerConfig::SourceType ServerConfig::Source() const
{
return this->dataPtr->source;
}

/////////////////////////////////////////////////
void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml)
{
Expand Down
28 changes: 28 additions & 0 deletions src/ServerConfig_TEST.cc
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Expand Up @@ -228,3 +228,31 @@ TEST(ServerConfig, GenerateRecordPlugin)
EXPECT_EQ(plugin.Name(), "ignition::gazebo::systems::LogRecord");
}

//////////////////////////////////////////////////
TEST(ServerConfig, SdfRoot)
{
ServerConfig config;
EXPECT_FALSE(config.SdfRoot());
EXPECT_TRUE(config.SdfFile().empty());
EXPECT_TRUE(config.SdfString().empty());
EXPECT_EQ(ServerConfig::SourceType::kNone, config.Source());

config.SetSdfString("string");
EXPECT_FALSE(config.SdfRoot());
EXPECT_TRUE(config.SdfFile().empty());
EXPECT_FALSE(config.SdfString().empty());
EXPECT_EQ(ServerConfig::SourceType::kSdfString, config.Source());

config.SetSdfFile("file");
EXPECT_FALSE(config.SdfRoot());
EXPECT_FALSE(config.SdfFile().empty());
EXPECT_TRUE(config.SdfString().empty());
EXPECT_EQ(ServerConfig::SourceType::kSdfFile, config.Source());

sdf::Root root;
config.SetSdfRoot(root);
EXPECT_TRUE(config.SdfRoot());
EXPECT_TRUE(config.SdfFile().empty());
EXPECT_TRUE(config.SdfString().empty());
EXPECT_EQ(ServerConfig::SourceType::kSdfRoot, config.Source());
}
43 changes: 43 additions & 0 deletions src/Server_TEST.cc
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Expand Up @@ -295,6 +295,49 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfServerConfig))
EXPECT_FALSE(server.HasEntity("bad", 1));
}

/////////////////////////////////////////////////
TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfRootServerConfig))
{
ignition::gazebo::ServerConfig serverConfig;

serverConfig.SetSdfString(TestWorldSansPhysics::World());
EXPECT_TRUE(serverConfig.SdfFile().empty());
EXPECT_FALSE(serverConfig.SdfString().empty());

serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
"test", "worlds", "air_pressure.sdf"));
EXPECT_FALSE(serverConfig.SdfFile().empty());
EXPECT_TRUE(serverConfig.SdfString().empty());

sdf::Root root;
root.Load(common::joinPaths(PROJECT_SOURCE_PATH,
"test", "worlds", "shapes.sdf"));

// Setting the SDF Root should override the string and file.
serverConfig.SetSdfRoot(root);

EXPECT_TRUE(serverConfig.SdfRoot());
EXPECT_TRUE(serverConfig.SdfFile().empty());
EXPECT_TRUE(serverConfig.SdfString().empty());

gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
EXPECT_TRUE(*server.Paused());
EXPECT_EQ(0u, *server.IterationCount());
EXPECT_EQ(24u, *server.EntityCount());
EXPECT_EQ(3u, *server.SystemCount());

EXPECT_TRUE(server.HasEntity("box"));
EXPECT_FALSE(server.HasEntity("box", 1));
EXPECT_TRUE(server.HasEntity("sphere"));
EXPECT_TRUE(server.HasEntity("cylinder"));
EXPECT_TRUE(server.HasEntity("capsule"));
EXPECT_TRUE(server.HasEntity("ellipsoid"));
EXPECT_FALSE(server.HasEntity("bad", 0));
EXPECT_FALSE(server.HasEntity("bad", 1));
}

/////////////////////////////////////////////////
TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecord))
{
Expand Down
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