From 2abad017e34e2852a7eeaf87427c83e36516d9f1 Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Sun, 28 Jul 2024 18:12:58 -0700
Subject: [PATCH] ForceTorque use SystemConfigurePriority

Set the default priority to 10 so we don't have to
set the priority in XML for every world that uses
force-torque sensors.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 examples/worlds/sensors.sdf             | 1 -
 src/systems/force_torque/ForceTorque.cc | 7 +++++++
 src/systems/force_torque/ForceTorque.hh | 4 ++++
 test/worlds/force_torque.sdf            | 4 +---
 4 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/examples/worlds/sensors.sdf b/examples/worlds/sensors.sdf
index 8ca7b63789..9717bb11b3 100644
--- a/examples/worlds/sensors.sdf
+++ b/examples/worlds/sensors.sdf
@@ -38,7 +38,6 @@
     <plugin
       filename="gz-sim-forcetorque-system"
       name="gz::sim::systems::ForceTorque">
-      <gz::system_priority>10</gz::system_priority>
     </plugin>
     <plugin
       filename="gz-sim-user-commands-system"
diff --git a/src/systems/force_torque/ForceTorque.cc b/src/systems/force_torque/ForceTorque.cc
index 99774f9fa8..3249ec748e 100644
--- a/src/systems/force_torque/ForceTorque.cc
+++ b/src/systems/force_torque/ForceTorque.cc
@@ -129,6 +129,12 @@ ForceTorque::ForceTorque()
 //////////////////////////////////////////////////
 ForceTorque::~ForceTorque() = default;
 
+//////////////////////////////////////////////////
+System::PriorityType ForceTorque::ConfigurePriority()
+{
+  return 10;
+}
+
 //////////////////////////////////////////////////
 void ForceTorque::PreUpdate(const UpdateInfo &/*_info*/,
     EntityComponentManager &_ecm)
@@ -449,6 +455,7 @@ void ForceTorquePrivate::RemoveForceTorqueEntities(
 }
 
 GZ_ADD_PLUGIN(ForceTorque, System,
+  ForceTorque::ISystemConfigurePriority,
   ForceTorque::ISystemPreUpdate,
   ForceTorque::ISystemUpdate
 )
diff --git a/src/systems/force_torque/ForceTorque.hh b/src/systems/force_torque/ForceTorque.hh
index 2b13d01cbb..62e2231e80 100644
--- a/src/systems/force_torque/ForceTorque.hh
+++ b/src/systems/force_torque/ForceTorque.hh
@@ -41,6 +41,7 @@ namespace systems
   /// quantites are expressed, not the point of application.
   class ForceTorque:
     public System,
+    public ISystemConfigurePriority,
     public ISystemPreUpdate,
     public ISystemUpdate
   {
@@ -50,6 +51,9 @@ namespace systems
     /// \brief Destructor
     public: ~ForceTorque() override;
 
+    /// Documentation inherited
+    public: System::PriorityType ConfigurePriority() final;
+
     /// Documentation inherited
     public: void PreUpdate(const UpdateInfo &_info,
                            EntityComponentManager &_ecm) final;
diff --git a/test/worlds/force_torque.sdf b/test/worlds/force_torque.sdf
index 9a06c97c80..66c7dd9e87 100644
--- a/test/worlds/force_torque.sdf
+++ b/test/worlds/force_torque.sdf
@@ -5,9 +5,7 @@
       <real_time_factor>0</real_time_factor>
     </physics>
     <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics" />
-    <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque">
-      <gz:system_priority>10</gz:system_priority>
-    </plugin>
+    <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque" />
     <plugin filename='gz-sim-scene-broadcaster-system' name='gz::sim::systems::SceneBroadcaster' />
     <model name="ground_plane">
       <static>true</static>