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SimulationRunner.cc
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SimulationRunner.cc
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/*
* Copyright (C) 2018 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 "SimulationRunner.hh"
#include <algorithm>
#include <sdf/Root.hh>
#include "ignition/common/Profiler.hh"
#include "ignition/gazebo/components/Model.hh"
#include "ignition/gazebo/components/Name.hh"
#include "ignition/gazebo/components/Sensor.hh"
#include "ignition/gazebo/components/Visual.hh"
#include "ignition/gazebo/components/World.hh"
#include "ignition/gazebo/components/Physics.hh"
#include "ignition/gazebo/components/PhysicsCmd.hh"
#include "ignition/gazebo/Events.hh"
#include "ignition/gazebo/SdfEntityCreator.hh"
#include "ignition/gazebo/Util.hh"
#include "network/NetworkManagerPrimary.hh"
#include "SdfGenerator.hh"
using namespace ignition;
using namespace gazebo;
using StringSet = std::unordered_set<std::string>;
//////////////////////////////////////////////////
SimulationRunner::SimulationRunner(const sdf::World *_world,
const SystemLoaderPtr &_systemLoader,
const ServerConfig &_config)
// \todo(nkoenig) Either copy the world, or add copy constructor to the
// World and other elements.
: sdfWorld(_world), serverConfig(_config)
{
if (nullptr == _world)
{
ignerr << "Can't start simulation runner with null world." << std::endl;
return;
}
// Keep world name
this->worldName = _world->Name();
// Keep system loader so plugins can be loaded at runtime
this->systemLoader = _systemLoader;
// Get the physics profile
// TODO(luca): remove duplicated logic in SdfEntityCreator and LevelManager
auto physics = _world->PhysicsByIndex(0);
if (!physics)
{
physics = _world->PhysicsDefault();
}
// Step size
auto dur = std::chrono::duration<double>(physics->MaxStepSize());
this->stepSize =
std::chrono::duration_cast<std::chrono::steady_clock::duration>(
dur);
// Desired real time factor
this->desiredRtf = physics->RealTimeFactor();
// The instantaneous real time factor is given as:
//
// RTF = sim_time / real_time
//
// Where the sim time is the step size times the number of sim iterations:
//
// sim_time = sim_it * step_size
//
// And the real time is the period times the number of iterations:
//
// real_time = it * period
//
// So we have:
//
// RTF = sim_it * step_size / it * period
//
// Considering no pause, sim_it equals it, so:
//
// RTF = step_size / period
//
// So to get a given RTF, our desired period is:
//
// period = step_size / RTF
this->updatePeriod = std::chrono::nanoseconds(
static_cast<int>(this->stepSize.count() / this->desiredRtf));
this->pauseConn = this->eventMgr.Connect<events::Pause>(
std::bind(&SimulationRunner::SetPaused, this, std::placeholders::_1));
this->stopConn = this->eventMgr.Connect<events::Stop>(
std::bind(&SimulationRunner::OnStop, this));
this->loadPluginsConn = this->eventMgr.Connect<events::LoadPlugins>(
std::bind(&SimulationRunner::LoadPlugins, this, std::placeholders::_1,
std::placeholders::_2));
// Create the level manager
this->levelMgr = std::make_unique<LevelManager>(this, _config.UseLevels());
// Check if this is going to be a distributed runner
// Attempt to create the manager based on environment variables.
// If the configuration is invalid, then networkMgr will be `nullptr`.
if (_config.UseDistributedSimulation())
{
if (_config.NetworkRole().empty())
{
/// \todo(nkoenig) Remove part of the 'if' statement in ign-gazebo3.
this->networkMgr = NetworkManager::Create(
std::bind(&SimulationRunner::Step, this, std::placeholders::_1),
this->entityCompMgr, &this->eventMgr);
}
else
{
this->networkMgr = NetworkManager::Create(
std::bind(&SimulationRunner::Step, this, std::placeholders::_1),
this->entityCompMgr, &this->eventMgr,
NetworkConfig::FromValues(
_config.NetworkRole(), _config.NetworkSecondaries()));
}
if (this->networkMgr)
{
if (this->networkMgr->IsPrimary())
{
ignmsg << "Network Primary, expects ["
<< this->networkMgr->Config().numSecondariesExpected
<< "] secondaries." << std::endl;
}
else if (this->networkMgr->IsSecondary())
{
ignmsg << "Network Secondary, with namespace ["
<< this->networkMgr->Namespace() << "]." << std::endl;
}
}
}
// Load the active levels
this->levelMgr->UpdateLevelsState();
// Load any additional plugins from the Server Configuration
this->LoadServerPlugins(this->serverConfig.Plugins());
// If we have reached this point and no systems have been loaded, then load
// a default set of systems.
if (this->systems.empty() && this->pendingSystems.empty())
{
ignmsg << "No systems loaded from SDF, loading defaults" << std::endl;
bool isPlayback = !this->serverConfig.LogPlaybackPath().empty();
auto plugins = ignition::gazebo::loadPluginInfo(isPlayback);
this->LoadServerPlugins(plugins);
}
this->LoadLoggingPlugins(this->serverConfig);
// World control
transport::NodeOptions opts;
std::string ns{"/world/" + this->worldName};
if (this->networkMgr)
{
ns = this->networkMgr->Namespace() + ns;
}
auto validNs = transport::TopicUtils::AsValidTopic(ns);
if (validNs.empty())
{
ignerr << "Invalid namespace [" << ns
<< "], not initializing runner transport." << std::endl;
return;
}
opts.SetNameSpace(validNs);
this->node = std::make_unique<transport::Node>(opts);
// TODO(louise) Combine both messages into one.
this->node->Advertise("control", &SimulationRunner::OnWorldControl, this);
this->node->Advertise("playback/control",
&SimulationRunner::OnPlaybackControl, this);
ignmsg << "Serving world controls on [" << opts.NameSpace()
<< "/control] and [" << opts.NameSpace() << "/playback/control]"
<< std::endl;
// Publish empty GUI messages for worlds that have no GUI in the beginning.
// In the future, support modifying GUI from the server at runtime.
if (_world->Gui())
{
this->guiMsg = convert<msgs::GUI>(*_world->Gui());
}
std::string infoService{"gui/info"};
this->node->Advertise(infoService, &SimulationRunner::GuiInfoService, this);
ignmsg << "Serving GUI information on [" << opts.NameSpace() << "/"
<< infoService << "]" << std::endl;
ignmsg << "World [" << _world->Name() << "] initialized with ["
<< physics->Name() << "] physics profile." << std::endl;
std::string genWorldSdfService{"generate_world_sdf"};
this->node->Advertise(
genWorldSdfService, &SimulationRunner::GenerateWorldSdf, this);
ignmsg << "Serving world SDF generation service on [" << opts.NameSpace()
<< "/" << genWorldSdfService << "]" << std::endl;
}
//////////////////////////////////////////////////
SimulationRunner::~SimulationRunner()
{
this->StopWorkerThreads();
}
/////////////////////////////////////////////////
void SimulationRunner::UpdateCurrentInfo()
{
IGN_PROFILE("SimulationRunner::UpdateCurrentInfo");
// Rewind
if (this->requestedRewind)
{
igndbg << "Rewinding simulation back to time zero." << std::endl;
this->realTimes.clear();
this->simTimes.clear();
this->realTimeFactor = 0;
this->currentInfo.dt = -this->currentInfo.simTime;
this->currentInfo.simTime = std::chrono::steady_clock::duration::zero();
this->currentInfo.realTime = std::chrono::steady_clock::duration::zero();
this->currentInfo.iterations = 0;
this->realTimeWatch.Reset();
if (!this->currentInfo.paused)
this->realTimeWatch.Start();
this->requestedRewind = false;
return;
}
// Seek
if (this->requestedSeek >= std::chrono::steady_clock::duration::zero())
{
igndbg << "Seeking to " << std::chrono::duration_cast<std::chrono::seconds>(
this->requestedSeek).count() << "s." << std::endl;
this->realTimes.clear();
this->simTimes.clear();
this->realTimeFactor = 0;
this->currentInfo.dt = this->requestedSeek - this->currentInfo.simTime;
this->currentInfo.simTime = this->requestedSeek;
this->currentInfo.iterations = 0;
this->currentInfo.realTime = this->realTimeWatch.ElapsedRunTime();
this->requestedSeek = std::chrono::steady_clock::duration{-1};
return;
}
// Regular time flow
// Store the real time and sim time only if not paused.
if (this->realTimeWatch.Running())
{
this->realTimes.push_back(this->realTimeWatch.ElapsedRunTime());
this->simTimes.push_back(this->currentInfo.simTime);
}
// Maintain a window size of 20 for realtime and simtime.
if (this->realTimes.size() > 20)
this->realTimes.pop_front();
if (this->simTimes.size() > 20)
this->simTimes.pop_front();
// Compute the average sim and real times.
std::chrono::steady_clock::duration simAvg{0}, realAvg{0};
std::list<std::chrono::steady_clock::duration>::iterator simIter,
realIter;
simIter = ++(this->simTimes.begin());
realIter = ++(this->realTimes.begin());
while (simIter != this->simTimes.end() && realIter != this->realTimes.end())
{
simAvg += ((*simIter) - this->simTimes.front());
realAvg += ((*realIter) - this->realTimes.front());
++simIter;
++realIter;
}
// RTF, only compute this if the realTime count is greater than zero. The
// realtTime count could be zero if simulation was started paused.
if (realAvg.count() > 0)
{
this->realTimeFactor = math::precision(
static_cast<double>(simAvg.count()) / realAvg.count(), 4);
}
// Fill the current update info
this->currentInfo.realTime = this->realTimeWatch.ElapsedRunTime();
this->currentInfo.dt = std::chrono::steady_clock::duration::zero();
// In the case that networking is not running, or this is a primary.
// If this is a network secondary, this data is populated via the network.
if (!this->currentInfo.paused &&
(!this->networkMgr || this->networkMgr->IsPrimary()))
{
this->currentInfo.simTime += this->stepSize;
++this->currentInfo.iterations;
this->currentInfo.dt = this->stepSize;
}
}
/////////////////////////////////////////////////
void SimulationRunner::UpdatePhysicsParams()
{
auto worldEntity =
this->entityCompMgr.EntityByComponents(components::World());
const auto physicsCmdComp =
this->entityCompMgr.Component<components::PhysicsCmd>(worldEntity);
if (!physicsCmdComp)
{
return;
}
auto physicsComp =
this->entityCompMgr.Component<components::Physics>(worldEntity);
const auto& physicsParams = physicsCmdComp->Data();
const auto newStepSize =
std::chrono::duration<double>(physicsParams.max_step_size());
const double newRTF = physicsParams.real_time_factor();
const double eps = 0.00001;
if (newStepSize != this->stepSize ||
std::abs(newRTF - this->desiredRtf) > eps)
{
this->SetStepSize(
std::chrono::duration_cast<std::chrono::steady_clock::duration>(
newStepSize));
this->desiredRtf = newRTF;
this->updatePeriod = std::chrono::nanoseconds(
static_cast<int>(this->stepSize.count() / this->desiredRtf));
this->simTimes.clear();
this->realTimes.clear();
// Update physics components
physicsComp->Data().SetMaxStepSize(physicsParams.max_step_size());
physicsComp->Data().SetRealTimeFactor(newRTF);
this->entityCompMgr.SetChanged(worldEntity, components::Physics::typeId,
ComponentState::OneTimeChange);
}
this->entityCompMgr.RemoveComponent<components::PhysicsCmd>(worldEntity);
}
/////////////////////////////////////////////////
void SimulationRunner::PublishStats()
{
IGN_PROFILE("SimulationRunner::PublishStats");
// Create the world statistics message.
ignition::msgs::WorldStatistics msg;
msg.set_real_time_factor(this->realTimeFactor);
auto realTimeSecNsec =
ignition::math::durationToSecNsec(this->currentInfo.realTime);
auto simTimeSecNsec =
ignition::math::durationToSecNsec(this->currentInfo.simTime);
msg.mutable_real_time()->set_sec(realTimeSecNsec.first);
msg.mutable_real_time()->set_nsec(realTimeSecNsec.second);
msg.mutable_sim_time()->set_sec(simTimeSecNsec.first);
msg.mutable_sim_time()->set_nsec(simTimeSecNsec.second);
msg.set_iterations(this->currentInfo.iterations);
msg.set_paused(this->currentInfo.paused);
// Publish the stats message. The stats message is throttled.
this->statsPub.Publish(msg);
if (this->rootStatsPub.Valid())
this->rootStatsPub.Publish(msg);
// Create and publish the clock message. The clock message is not
// throttled.
ignition::msgs::Clock clockMsg;
clockMsg.mutable_real()->set_sec(realTimeSecNsec.first);
clockMsg.mutable_real()->set_nsec(realTimeSecNsec.second);
clockMsg.mutable_sim()->set_sec(simTimeSecNsec.first);
clockMsg.mutable_sim()->set_nsec(simTimeSecNsec.second);
clockMsg.mutable_system()->set_sec(IGN_SYSTEM_TIME_S());
clockMsg.mutable_system()->set_nsec(
IGN_SYSTEM_TIME_NS() - IGN_SYSTEM_TIME_S() * IGN_SEC_TO_NANO);
this->clockPub.Publish(clockMsg);
// Only publish to root topic if no others are.
if (this->rootClockPub.Valid())
this->rootClockPub.Publish(clockMsg);
}
/////////////////////////////////////////////////
void SimulationRunner::AddSystem(const SystemPluginPtr &_system)
{
std::lock_guard<std::mutex> lock(this->pendingSystemsMutex);
this->pendingSystems.push_back(_system);
}
/////////////////////////////////////////////////
void SimulationRunner::AddSystemToRunner(const SystemPluginPtr &_system)
{
this->systems.push_back(SystemInternal(_system));
const auto &system = this->systems.back();
if (system.preupdate)
this->systemsPreupdate.push_back(system.preupdate);
if (system.update)
this->systemsUpdate.push_back(system.update);
if (system.postupdate)
this->systemsPostupdate.push_back(system.postupdate);
}
/////////////////////////////////////////////////
void SimulationRunner::ProcessSystemQueue()
{
std::lock_guard<std::mutex> lock(this->pendingSystemsMutex);
auto pending = this->pendingSystems.size();
if (pending > 0)
{
// If additional systems are to be added, stop the existing threads.
this->StopWorkerThreads();
}
for (const auto &system : this->pendingSystems)
{
this->AddSystemToRunner(system);
}
this->pendingSystems.clear();
// If additional systems were added, recreate the worker threads.
if (pending > 0)
{
igndbg << "Creating PostUpdate worker threads: "
<< this->systemsPostupdate.size() + 1 << std::endl;
this->postUpdateStartBarrier =
std::make_unique<Barrier>(this->systemsPostupdate.size() + 1);
this->postUpdateStopBarrier =
std::make_unique<Barrier>(this->systemsPostupdate.size() + 1);
this->postUpdateThreadsRunning = true;
int id = 0;
for (auto &system : this->systemsPostupdate)
{
igndbg << "Creating postupdate worker thread (" << id << ")" << std::endl;
this->postUpdateThreads.push_back(std::thread([&, id]()
{
std::stringstream ss;
ss << "PostUpdateThread: " << id;
IGN_PROFILE_THREAD_NAME(ss.str().c_str());
while (this->postUpdateThreadsRunning)
{
this->postUpdateStartBarrier->Wait();
if (this->postUpdateThreadsRunning)
{
system->PostUpdate(this->currentInfo, this->entityCompMgr);
}
this->postUpdateStopBarrier->Wait();
}
igndbg << "Exiting postupdate worker thread ("
<< id << ")" << std::endl;
}));
id++;
}
}
}
/////////////////////////////////////////////////
void SimulationRunner::UpdateSystems()
{
IGN_PROFILE("SimulationRunner::UpdateSystems");
// \todo(nkoenig) Systems used to be updated in parallel using
// an ignition::common::WorkerPool. There is overhead associated with
// this, most notably the creation and destruction of WorkOrders (see
// WorkerPool.cc). We could turn on parallel updates in the future, and/or
// turn it on if there are sufficient systems. More testing is required.
{
IGN_PROFILE("PreUpdate");
for (auto& system : this->systemsPreupdate)
system->PreUpdate(this->currentInfo, this->entityCompMgr);
}
{
IGN_PROFILE("Update");
for (auto& system : this->systemsUpdate)
system->Update(this->currentInfo, this->entityCompMgr);
}
{
IGN_PROFILE("PostUpdate");
// If no systems implementing PostUpdate have been added, then
// the barriers will be uninitialized, so guard against that condition.
if (this->postUpdateStartBarrier && this->postUpdateStopBarrier)
{
this->postUpdateStartBarrier->Wait();
this->postUpdateStopBarrier->Wait();
}
}
}
/////////////////////////////////////////////////
void SimulationRunner::Stop()
{
this->eventMgr.Emit<events::Stop>();
}
/////////////////////////////////////////////////
void SimulationRunner::OnStop()
{
this->stopReceived = true;
this->running = false;
}
/////////////////////////////////////////////////
void SimulationRunner::StopWorkerThreads()
{
this->postUpdateThreadsRunning = false;
if (this->postUpdateStartBarrier)
{
this->postUpdateStartBarrier->Cancel();
}
if (this->postUpdateStopBarrier)
{
this->postUpdateStopBarrier->Cancel();
}
for (auto &thread : this->postUpdateThreads)
{
thread.join();
}
this->postUpdateThreads.clear();
}
/////////////////////////////////////////////////
bool SimulationRunner::Run(const uint64_t _iterations)
{
// \todo(nkoenig) Systems will need a an update structure, such as
// priorties, or a dependency chain.
//
// \todo(nkoenig) We should implement the two-phase update detailed
// in the design.
IGN_PROFILE_THREAD_NAME("SimulationRunner");
// Initialize network communications.
if (this->networkMgr)
{
igndbg << "Initializing network configuration" << std::endl;
this->networkMgr->Handshake();
// Secondaries are stepped through the primary, just keep alive until
// simulation is over
if (this->networkMgr->IsSecondary())
{
igndbg << "Secondary running." << std::endl;
while (!this->stopReceived)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
igndbg << "Secondary finished run." << std::endl;
return true;
}
}
// Keep track of wall clock time. Only start the realTimeWatch if this
// runner is not paused.
if (!this->currentInfo.paused)
this->realTimeWatch.Start();
// Variables for time keeping.
std::chrono::steady_clock::time_point startTime;
std::chrono::steady_clock::duration sleepTime;
std::chrono::steady_clock::duration actualSleep;
this->running = true;
// Create the world statistics publisher.
if (!this->statsPub.Valid())
{
transport::AdvertiseMessageOptions advertOpts;
advertOpts.SetMsgsPerSec(5);
this->statsPub = this->node->Advertise<ignition::msgs::WorldStatistics>(
"stats", advertOpts);
}
if (!this->rootStatsPub.Valid())
{
// Check for the existence of other publishers on `/stats`
std::vector<ignition::transport::MessagePublisher> publishers;
this->node->TopicInfo("/stats", publishers);
if (!publishers.empty())
{
ignwarn << "Found additional publishers on /stats," <<
" using namespaced stats topic only" << std::endl;
igndbg << "Publishers [Address, Message Type]:\n";
/// List the publishers
for (auto & pub : publishers)
{
igndbg << " " << pub.Addr() << ", "
<< pub.MsgTypeName() << std::endl;
}
}
else
{
ignmsg << "Found no publishers on /stats, adding root stats topic"
<< std::endl;
this->rootStatsPub = this->node->Advertise<msgs::WorldStatistics>(
"/stats");
}
}
// Create the clock publisher.
if (!this->clockPub.Valid())
this->clockPub = this->node->Advertise<ignition::msgs::Clock>("clock");
// Create the global clock publisher.
if (!this->rootClockPub.Valid())
{
// Check for the existence of other publishers on `/clock`
std::vector<ignition::transport::MessagePublisher> publishers;
this->node->TopicInfo("/clock", publishers);
if (!publishers.empty())
{
ignwarn << "Found additional publishers on /clock," <<
" using namespaced clock topic only" << std::endl;
igndbg << "Publishers [Address, Message Type]:\n";
/// List the publishers
for (auto & pub : publishers)
{
igndbg << " " << pub.Addr() << ", "
<< pub.MsgTypeName() << std::endl;
}
}
else
{
ignmsg << "Found no publishers on /clock, adding root clock topic"
<< std::endl;
this->rootClockPub = this->node->Advertise<ignition::msgs::Clock>(
"/clock");
}
}
// Keep number of iterations requested by caller
uint64_t processedIterations{0};
// Execute all the systems until we are told to stop, or the number of
// iterations is reached.
while (this->running && (_iterations == 0 ||
processedIterations < _iterations))
{
IGN_PROFILE("SimulationRunner::Run - Iteration");
// Update the step size and desired rtf
this->UpdatePhysicsParams();
// Compute the time to sleep in order to match, as closely as possible,
// the update period.
sleepTime = 0ns;
actualSleep = 0ns;
sleepTime = std::max(0ns, this->prevUpdateRealTime +
this->updatePeriod - std::chrono::steady_clock::now() -
this->sleepOffset);
// Only sleep if needed.
if (sleepTime > 0ns)
{
IGN_PROFILE("Sleep");
// Get the current time, sleep for the duration needed to match the
// updatePeriod, and then record the actual time slept.
startTime = std::chrono::steady_clock::now();
std::this_thread::sleep_for(sleepTime);
actualSleep = std::chrono::steady_clock::now() - startTime;
}
// Exponentially average out the difference between expected sleep time
// and actual sleep time.
this->sleepOffset =
std::chrono::duration_cast<std::chrono::nanoseconds>(
(actualSleep - sleepTime) * 0.01 + this->sleepOffset * 0.99);
// Update time information. This will update the iteration count, RTF,
// and other values.
this->UpdateCurrentInfo();
if (!this->currentInfo.paused)
{
processedIterations++;
}
// If network, wait for network step, otherwise do our own step
if (this->networkMgr)
{
auto netPrimary =
dynamic_cast<NetworkManagerPrimary *>(this->networkMgr.get());
netPrimary->Step(this->currentInfo);
}
else
{
this->Step(this->currentInfo);
}
// Handle Server::RunOnce(false) in which a single paused run is executed
if (this->currentInfo.paused && this->blockingPausedStepPending)
{
processedIterations++;
this->currentInfo.iterations++;
this->blockingPausedStepPending = false;
}
}
this->running = false;
return true;
}
/////////////////////////////////////////////////
void SimulationRunner::Step(const UpdateInfo &_info)
{
IGN_PROFILE("SimulationRunner::Step");
this->currentInfo = _info;
// Publish info
this->PublishStats();
// Record when the update step starts.
this->prevUpdateRealTime = std::chrono::steady_clock::now();
this->levelMgr->UpdateLevelsState();
// Handle pending systems
this->ProcessSystemQueue();
// Update all the systems.
this->UpdateSystems();
if (!this->Paused() &&
this->requestedRunToSimTime >
std::chrono::steady_clock::duration::zero() &&
this->currentInfo.simTime >= this->requestedRunToSimTime)
{
this->SetPaused(true);
this->requestedRunToSimTime = std::chrono::steady_clock::duration{-1};
}
if (!this->Paused() && this->pendingSimIterations > 0)
{
// Decrement the pending sim iterations, if there are any.
--this->pendingSimIterations;
// If this is was the last sim iterations, then re-pause simulation.
if (this->pendingSimIterations <= 0)
{
this->SetPaused(true);
}
}
// Process world control messages.
this->ProcessMessages();
// Clear all new entities
this->entityCompMgr.ClearNewlyCreatedEntities();
// Process entity removals.
this->entityCompMgr.ProcessRemoveEntityRequests();
// Process components removals
this->entityCompMgr.ClearRemovedComponents();
// Each network manager takes care of marking its components as unchanged
if (!this->networkMgr)
this->entityCompMgr.SetAllComponentsUnchanged();
}
//////////////////////////////////////////////////
void SimulationRunner::LoadPlugin(const Entity _entity,
const std::string &_fname,
const std::string &_name,
const sdf::ElementPtr &_sdf)
{
std::optional<SystemPluginPtr> system;
{
std::lock_guard<std::mutex> lock(this->systemLoaderMutex);
system = this->systemLoader->LoadPlugin(_fname, _name, _sdf);
}
// System correctly loaded from library, try to configure
if (system)
{
auto systemConfig = system.value()->QueryInterface<ISystemConfigure>();
if (systemConfig != nullptr)
{
systemConfig->Configure(_entity, _sdf,
this->entityCompMgr,
this->eventMgr);
systemConfig->SetSameProcess(serverConfig.SameProcessAsGUI());
}
this->AddSystem(system.value());
igndbg << "Loaded system [" << _name
<< "] for entity [" << _entity << "]" << std::endl;
}
}
//////////////////////////////////////////////////
void SimulationRunner::LoadServerPlugins(
const std::list<ServerConfig::PluginInfo> &_plugins)
{
// \todo(nkoenig) Remove plugins from the server config after they have
// been added. We might not want to do this if we want to support adding
// the same plugin to multiple entities, for example via a regex
// expression.
//
// Check plugins from the ServerConfig for matching entities.
for (const ServerConfig::PluginInfo &plugin : _plugins)
{
// \todo(anyone) Type + name is not enough to uniquely identify an entity
// \todo(louise) The runner shouldn't care about specific components, this
// logic should be moved somewhere else.
Entity entity{kNullEntity};
if ("model" == plugin.EntityType())
{
entity = this->entityCompMgr.EntityByComponents(
components::Name(plugin.EntityName()), components::Model());
}
else if ("world" == plugin.EntityType())
{
// Allow wildcard for world name
if (plugin.EntityName() == "*")
{
entity = this->entityCompMgr.EntityByComponents(components::World());
}
else
{
entity = this->entityCompMgr.EntityByComponents(
components::Name(plugin.EntityName()), components::World());
}
}
else if ("sensor" == plugin.EntityType())
{
// TODO(louise) Use scoped names for models and worlds too
auto sensors = this->entityCompMgr.EntitiesByComponents(
components::Sensor());
for (auto sensor : sensors)
{
if (scopedName(sensor, this->entityCompMgr, "::", false) ==
plugin.EntityName())
{
entity = sensor;
break;
}
}
}
else if ("visual" == plugin.EntityType())
{
// TODO(anyone) Use scoped names for models and worlds too
auto visuals = this->entityCompMgr.EntitiesByComponents(
components::Visual());
for (auto visual : visuals)
{
if (scopedName(visual, this->entityCompMgr, "::", false) ==
plugin.EntityName())
{
entity = visual;
break;
}
}
}
else
{
ignwarn << "No support for attaching plugins to entity of type ["
<< plugin.EntityType() << "]" << std::endl;
}
if (kNullEntity != entity)
{
this->LoadPlugin(entity, plugin.Filename(), plugin.Name(), plugin.Sdf());
}
}
}
//////////////////////////////////////////////////
void SimulationRunner::LoadLoggingPlugins(const ServerConfig &_config)
{
std::list<ServerConfig::PluginInfo> plugins;
if (_config.UseLogRecord() && !_config.LogPlaybackPath().empty())
{
ignwarn <<
"Both recording and playback are specified, defaulting to playback\n";
}
if (!_config.LogPlaybackPath().empty())
{
auto playbackPlugin = _config.LogPlaybackPlugin();
plugins.push_back(playbackPlugin);
}
else if (_config.UseLogRecord())
{
auto recordPlugin = _config.LogRecordPlugin();
plugins.push_back(recordPlugin);
}
this->LoadServerPlugins(plugins);
}
//////////////////////////////////////////////////
void SimulationRunner::LoadPlugins(const Entity _entity,
const sdf::ElementPtr &_sdf)
{
sdf::ElementPtr pluginElem = _sdf->GetElement("plugin");
while (pluginElem)
{
auto filename = pluginElem->Get<std::string>("filename");
auto name = pluginElem->Get<std::string>("name");
// No error message for the 'else' case of the following 'if' statement
// because SDF create a default <plugin> element even if it's not
// specified. An error message would result in spamming
// the console. \todo(nkoenig) Fix SDF should so that elements are not
// automatically added.
if (filename != "__default__" && name != "__default__")
{
this->LoadPlugin(_entity, filename, name, pluginElem);
}
pluginElem = pluginElem->GetNextElement("plugin");
}
}
/////////////////////////////////////////////////
bool SimulationRunner::Running() const
{
return this->running;
}
/////////////////////////////////////////////////
bool SimulationRunner::StopReceived() const
{
return this->stopReceived;
}
/////////////////////////////////////////////////
bool SimulationRunner::Ready() const
{
bool ready = true;
if (this->networkMgr && !this->networkMgr->Ready())
{
ready = false;
}
return ready;
}
/////////////////////////////////////////////////
uint64_t SimulationRunner::IterationCount() const
{