merged from adlarkin/view_restructure

Signed-off-by: Louise Poubel <[email protected]>

Migration.md

@@ -7,7 +7,10 @@ release will remove the deprecated code.
 
 ## Ignition Gazebo 5.x to 6.x
 
-*
+* Some GUI plugins have been moved to Ignition GUI. Gazebo users don't need to
+  change their configuration files, the plugins will be loaded the same way.
+    * Grid Config
+    * Tape Measure
 
 ## Ignition Gazebo 4.x to 5.x
 

examples/scripts/distributed/primary.sh

@@ -4,12 +4,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 ign gazebo -v 4 -z 100000000 --network-role primary --network-secondaries 3 $DIR/primary.sdf
 
-# Ignition Gazebo 1.x.x and 2.x.x support using environment variables to
-# configure distributed simulation. This capability is deprecated in
-# version 2.x.x, and removed in verion 3.x.x of Inition Gazebo. Please use the
-# --network-role and --network-secondaries command line options instead.
-
-# export IGN_GAZEBO_NETWORK_ROLE="PRIMARY"
-# export IGN_GAZEBO_NETWORK_SECONDARIES=3
-# ign-gazebo -v 4 --distributed -f $DIR/primary.sdf
-

examples/scripts/distributed/secondary.sh

@@ -4,10 +4,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 ign gazebo -s -v 4 -z 100000000 --network-role secondary $DIR/secondary.sdf
 
-# Ignition Gazebo 1.x.x and 2.x.x support using environment variables to
-# configure distributed simulation. This capability is deprecated in
-# version 2.x.x, and removed in verion 3.x.x of Inition Gazebo. Please use the
-# --network-role and --network-secondaries command line options instead.
-
-# export IGN_GAZEBO_NETWORK_ROLE="SECONDARY"
-# ign-gazebo -v 4 --distributed -f $DIR/secondary.sdf

examples/scripts/distributed_levels/primary.sh

@@ -5,13 +5,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 # --levels is implied by --network-role
 ign gazebo -v 4 -z 100000000 --network-role primary --network-secondaries 2 $DIR/primary.sdf
 
-# Ignition Gazebo 1.x.x and 2.x.x support using environment variables to
-# configure distributed simulation. This capability is deprecated in
-# version 2.x.x, and removed in verion 3.x.x of Inition Gazebo. Please use the
-# --network-role and --network-secondaries command line options instead.
-
-# export IGN_GAZEBO_NETWORK_ROLE="PRIMARY"
-# export IGN_GAZEBO_NETWORK_SECONDARIES=3
-# ign-gazebo -v 4 --distributed -f $DIR/primary.sdf
-
-

examples/scripts/distributed_levels/secondary.sh

@@ -5,10 +5,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 # --levels is implied by --network-role
 ign gazebo -s -v 4 -z 100000000 --network-role secondary $DIR/secondary.sdf
 
-# Ignition Gazebo 1.x.x and 2.x.x support using environment variables to
-# configure distributed simulation. This capability is deprecated in
-# version 2.x.x, and removed in verion 3.x.x of Inition Gazebo. Please use the
-# --network-role and --network-secondaries command line options instead.
-
-# export IGN_GAZEBO_NETWORK_ROLE="SECONDARY"
-# ign-gazebo -v 4 --distributed -f $DIR/secondary.sdf

include/ignition/gazebo/ServerConfig.hh

@@ -244,16 +244,6 @@ namespace ignition
       /// \param[in] _recordPath Path to place recorded states
       public: void SetLogRecordPath(const std::string &_recordPath);
 
-      /// \brief Get whether to ignore the path specified in SDF.
-      /// \return Whether to ignore the path specified in SDF
-      public: bool IGN_DEPRECATED(4) LogIgnoreSdfPath() const;
-
-      /// \brief Set whether to ignore the path specified in SDF. Path in SDF
-      /// should be ignored if a record path is specified on the command line,
-      /// for example.
-      /// \param[in] _ignore Whether to ignore the path specified in SDF
-      public: void IGN_DEPRECATED(4) SetLogIgnoreSdfPath(bool _ignore);
-
       /// \brief Add a topic to record.
       /// \param[in] _topic Topic name, which can include wildcards.
       public: void AddLogRecordTopic(const std::string &_topic);

include/ignition/gazebo/components/Component.hh

@@ -282,16 +282,22 @@ namespace components
     public: virtual ComponentTypeId TypeId() const = 0;
 
     /// \brief A flag used by the EntityComponentManager (ECM) to determine
-    /// whether a component should be ignored or not. This is useful for
+    /// whether a component should be considered "removed". This is useful for
     /// achieving removal (and re-addition) behavior for a component that
-    /// already exists without actually removing the component from the ECM
-    /// (using an internal flag instead of actually removing and re-adding the
-    /// component yields better runtime performance). This flag is to be used by
-    /// the ECM only, and should not change how users interact with components.
-    private: bool ignore{false};
+    /// already exists without actually removing the component from the ECM.
+    /// Using an internal flag instead of actually removing and re-adding the
+    /// component yields faster performance at runtime. Although memory usage is
+    /// increased since components aren't actually re-added/removed, the memory
+    /// needed for components is (usually) small, and frequent component
+    /// addition/removal is a rare use case, so the speedup that this approach
+    /// brings is worthwhile.
+    ///
+    /// \note This flag is to be used by the ECM only, and should not change how
+    /// users interact with components.
+    private: bool removed{false};
 
     // Make EntityStorage and EntityComponentManager a friend of the
-    // BaseComponent class so that they have access to a component's ignore
+    // BaseComponent class so that they have access to a component's "removed"
     // flag.
     friend class ignition::gazebo::detail::EntityStorage;
     friend class ignition::gazebo::EntityComponentManager;

include/ignition/gazebo/detail/BaseView.hh

@@ -62,6 +62,9 @@ struct ComponentTypeHasher
 /// ignition::gazebo::detail) directly.
 class IGNITION_GAZEBO_VISIBLE BaseView
 {
+  /// \brief Destructor
+  public: virtual ~BaseView() = default;
+
   /// \brief See if an entity is a part of the view
   /// \param[in] _entity The entity
   /// \return true if _entity is a part of the view, false otherwise
@@ -131,8 +134,10 @@ class IGNITION_GAZEBO_VISIBLE BaseView
   /// was not associated with the view.
   public: bool AddEntityToRemoved(const Entity _entity);
 
-  /// \brief Clear the list of new entities
-  public: void ClearNewEntities();
+  /// \brief Update the entities in the view to no longer appear as newly
+  /// created. This method should be called whenever a new simulation step is
+  /// about to take place.
+  public: void ResetNewEntityState();
 
   /// \brief Get the set of component types that this view requires.
   /// \return The set of component types.
@@ -146,27 +151,34 @@ class IGNITION_GAZEBO_VISIBLE BaseView
   /// \return The entities in the view
   public: const std::set<Entity> &Entities() const;
 
-  /// \brief Get all of the new entities in the view
-  /// \return The new entities in the view
+  /// \brief Get all of the entities in the view that are considered "newly
+  /// created". While an entity may be new to the view, it may not be a newly
+  /// created entity (perhaps this entity has existed for some time, and just
+  /// had a component added to it that now makes this entity a part of the
+  /// view). An entity's "newness" is determined by the entity component
+  /// manager.
+  /// \return The newly created entities that are a part of the view
   public: const std::set<Entity> &NewEntities() const;
 
   /// \brief Get all of the entities to be removed from the view
   /// \return The entities to be removed from the view
   public: const std::set<Entity> &ToRemoveEntities() const;
 
-  /// \brief Get all of the entities to be added to the view
-  /// \return The entities to be added to the view
+  /// \brief Get all of the entities that should be added to the view. This is
+  /// useful for adding entities to the view before the view is used to ensure
+  /// that the view is up-to-date. Once all entities marked "to be added" are
+  /// added to the view, the ClearToAddEntities method should be called.
+  /// \return The entities to be added to the view, with the key of the map
+  /// indicating whether an entity is a newly created entity or not.
+  /// \sa ClearToAddEntities
   public: const std::unordered_map<Entity, bool> &ToAddEntities() const;
 
   /// \brief Clear all of the entities that are marked as to be added to the
-  /// view
+  /// view. This should be called after all of the entities marked as to be
+  /// added to the view are actually added to the view.
+  /// \sa ToAddEntities
   public: void ClearToAddEntities();
 
-  /// \brief Destructor
-  public: virtual ~BaseView()
-  {
-  }
-
   // TODO(adlarkin) make this a std::unordered_set for better performance.
   // We need to make sure nothing else depends on the ordered preserved by
   // std::set first

include/ignition/gazebo/detail/EntityComponentManager.hh

@@ -99,7 +99,7 @@ ComponentTypeT *EntityComponentManager::CreateComponent(const Entity _entity,
       return comp;
     }
     *comp = _data;
-    comp->ignore = false;
+    comp->removed = false;
   }
   return comp;
 }
@@ -185,7 +185,7 @@ bool EntityComponentManager::SetComponentData(const Entity _entity,
 
   auto changed = comp->SetData(_data,
       CompareData<typename ComponentTypeT::Type>);
-  comp->ignore = false;
+  comp->removed = false;
   return changed;
 }
 

include/ignition/gazebo/detail/EntityStorage.hh

@@ -54,7 +54,12 @@ enum class ComponentAdditionResult
   FAILED_ADDITION = 3
 };
 
-class IGNITION_GAZEBO_HIDDEN EntityStorage
+/// \brief A class that stores all components that have been created. This class
+/// also keeps track of the entity a component belongs to.
+///
+/// \note The symbols are visible so that unit tests can be written for this
+/// class.
+class IGNITION_GAZEBO_VISIBLE EntityStorage
 {
   /// \brief Clear all of the entity and component data that has been tracked.
   /// This "resets" the storage to its initial, empty state.
@@ -92,7 +97,7 @@ class IGNITION_GAZEBO_HIDDEN EntityStorage
   /// \brief Get a pointer to a component of a particular type that belongs to
   /// an entity. This is useful for determining whether an entity has a
   /// reference to a particular component type or not, but says nothing about
-  /// the state/validity of the component. The component's ignore flag
+  /// the state/validity of the component. The component's removed flag
   /// should be checked to learn more about the state/validity of the component.
   /// \param[in] _entity The entity
   /// \param[in] _typeId The type of component to be retrieved
@@ -110,12 +115,12 @@ class IGNITION_GAZEBO_HIDDEN EntityStorage
 
   /// \brief Get a pointer to a component of a particular type that belongs to
   /// an entity, if the component pointer is valid. A valid component pointer
-  /// is one that is not nullptr and is also one that does not have the ignore
+  /// is one that is not nullptr and is also one that does not have the removed
   /// flag set to true.
   /// \param[in] _entity The entity
   /// \param[in] _typeId The type of the component to retrieve
   /// \return The pointer to a component, if 1) the pointer isn't nullptr, and
-  /// 2) the ignore flag of the component pointer is false. Otherwise, nullptr
+  /// 2) the removed flag of the component pointer is false. Otherwise, nullptr
   /// is returned
   public: const components::BaseComponent *ValidComponent(const Entity _entity,
               const ComponentTypeId _typeId) const;

include/ignition/gazebo/gui/GuiEvents.hh

@@ -36,56 +36,6 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 /// more information about events.
 namespace events
 {
-  /// \brief The class for sending and receiving custom snap value events.
-  class IGN_DEPRECATED(5) SnapIntervals : public QEvent
-  {
-    /// \brief Constructor
-    /// \param[in] _xyz XYZ snapping values.
-    /// \param[in] _rpy RPY snapping values.
-    /// \param[in] _scale Scale snapping values.
-    public: SnapIntervals(
-                const math::Vector3d &_xyz,
-                const math::Vector3d &_rpy,
-                const math::Vector3d &_scale)
-    : QEvent(kType), xyz(_xyz), rpy(_rpy), scale(_scale)
-    {
-    }
-
-    /// \brief Get the XYZ snapping values.
-    /// \return The XYZ snapping values.
-    public: math::Vector3d XYZ() const
-    {
-      return this->xyz;
-    }
-
-    /// \brief Get the RPY snapping values.
-    /// \return The RPY snapping values.
-    public: math::Vector3d RPY() const
-    {
-      return this->rpy;
-    }
-
-    /// \brief Get the scale snapping values.
-    /// \return The scale snapping values.
-    public: math::Vector3d Scale() const
-    {
-      return this->scale;
-    }
-
-    /// \brief The QEvent representing a snap event occurrence.
-    static const QEvent::Type kType = QEvent::Type(QEvent::User);
-
-    /// \brief XYZ snapping values in meters, these values must be positive.
-    private: math::Vector3d xyz;
-
-    /// \brief RPY snapping values in degrees, these values must be positive.
-    private: math::Vector3d rpy;
-
-    /// \brief Scale snapping values - a multiplier of the current size,
-    /// these values must be positive.
-    private: math::Vector3d scale;
-  };
-
   /// \brief Event that notifies when new entities have been selected.
   class EntitiesSelected : public QEvent
   {
@@ -148,68 +98,6 @@ namespace events
     /// \brief Whether the event was generated by the user,
     private: bool fromUser{false};
   };
-
-  /// \brief Event called in the render thread of a 3D scene.
-  /// It's safe to make rendering calls in this event's callback.
-  class IGN_DEPRECATED(5) Render : public QEvent
-  {
-    public: Render()
-        : QEvent(kType)
-    {
-    }
-    /// \brief Unique type for this event.
-    static const QEvent::Type kType = QEvent::Type(QEvent::User + 3);
-  };
-
-  /// \brief Event called to spawn a preview model.
-  /// Used by plugins that spawn models.
-  class IGN_DEPRECATED(5) SpawnPreviewModel : public QEvent
-  {
-    /// \brief Constructor
-    /// \param[in] _modelSdfString The model's SDF file as a string.
-    public: explicit SpawnPreviewModel(const std::string &_modelSdfString)
-        : QEvent(kType), modelSdfString(_modelSdfString)
-    {
-    }
-
-    /// \brief Unique type for this event.
-    static const QEvent::Type kType = QEvent::Type(QEvent::User + 4);
-
-    /// \brief Get the sdf string of the model.
-    /// \return The model sdf string
-    public: std::string ModelSdfString() const
-    {
-      return this->modelSdfString;
-    }
-
-    /// \brief The sdf string of the model to be previewed.
-    std::string modelSdfString;
-  };
-
-  /// \brief Event called to spawn a preview resource, which takes the path
-  /// to the SDF file. Used by plugins that spawn resources.
-  class IGN_DEPRECATED(5) SpawnPreviewPath : public QEvent
-  {
-    /// \brief Constructor
-    /// \param[in] _filePath The path to an SDF file.
-    public: explicit SpawnPreviewPath(const std::string &_filePath)
-        : QEvent(kType), filePath(_filePath)
-    {
-    }
-
-    /// \brief Unique type for this event.
-    static const QEvent::Type kType = QEvent::Type(QEvent::User + 5);
-
-    /// \brief Get the path of the SDF file.
-    /// \return The file path.
-    public: std::string FilePath() const
-    {
-      return this->filePath;
-    }
-
-    /// \brief The path of SDF file to be previewed.
-    std::string filePath;
-  };
 }  // namespace events
 }
 }  // namespace gui