added tests for View and BaseView classes

Signed-off-by: Ashton Larkin <[email protected]>

include/ignition/gazebo/detail/BaseView.hh

@@ -104,12 +104,15 @@ class IGNITION_GAZEBO_VISIBLE BaseView
   /// added to an entity. It is assumed that the entity is already associated
   /// with the view, and that the added component type is required by the view.
   /// \param[in] _entity The entity
+  /// \param[in] _newEntity Whether to add the entity to the list of new
+  /// entities. The new here is to indicate whether the entity is new to the
+  /// entity component manager.
   /// \param[in] _typeId The type of component that was added to _entity
   /// \return true if the notification related to the component addition of type
   /// _typeId occurred for _entity, false otherwise
   /// \sa HasCachedComponentData, RequiresComponent
   public: virtual bool NotifyComponentAddition(const Entity _entity,
-              const ComponentTypeId _typeId) = 0;
+              bool _newEntity, const ComponentTypeId _typeId) = 0;
 
   /// \brief Update the internal data in the view because a component has been
   /// removed to an entity. It is assumed that the entity is already associated
@@ -132,7 +135,7 @@ class IGNITION_GAZEBO_VISIBLE BaseView
   /// \param[in] _entity The entity to add.
   /// \return True if the entity was added to the list, false if the entity
   /// was not associated with the view.
-  public: bool AddEntityToRemoved(const Entity _entity);
+  public: bool MarkEntityToRemove(const Entity _entity);
 
   /// \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

include/ignition/gazebo/detail/EntityComponentManager.hh

@@ -511,7 +511,7 @@ detail::View<ComponentTypeTs...> *EntityComponentManager::FindView() const
         const_cast<EntityComponentManager*>(this)->Component<ComponentTypeTs>(
             entity)...);
     if (this->IsMarkedForRemoval(entity))
-      view.AddEntityToRemoved(entity);
+      view.MarkEntityToRemove(entity);
   }
 
   baseViewPtr = this->AddView(viewKey,

include/ignition/gazebo/detail/View.hh

@@ -22,6 +22,8 @@
 #include <unordered_set>
 #include <utility>
 
+#include <ignition/common/Console.hh>
+
 #include "ignition/gazebo/Entity.hh"
 #include "ignition/gazebo/config.hh"
 #include "ignition/gazebo/detail/BaseView.hh"
@@ -55,8 +57,25 @@ class IGNITION_GAZEBO_VISIBLE View : public BaseView
   /// \brief Documentation inherited
   public: bool HasCachedComponentData(const Entity _entity) const override
   {
-    return this->validData.find(_entity) != this->validData.end() ||
+    auto cachedComps =
+      this->validData.find(_entity) != this->validData.end() ||
       this->invalidData.find(_entity) != this->invalidData.end();
+    auto cachedConstComps =
+      this->validConstData.find(_entity) != this->validConstData.end() ||
+      this->invalidConstData.find(_entity) != this->invalidConstData.end();
+
+    if (cachedComps && !cachedConstComps)
+    {
+      ignwarn << "Non-const component data is cached for entity " << _entity
+        << ", but const component data is not cached." << std::endl;
+    }
+    else if (cachedConstComps && !cachedComps)
+    {
+      ignwarn << "Const component data is cached for entity " << _entity
+        << ", but non-const component data is not cached." << std::endl;
+    }
+
+    return cachedComps && cachedConstComps;
   }
 
   /// \brief Documentation inherited
@@ -135,7 +154,7 @@ class IGNITION_GAZEBO_VISIBLE View : public BaseView
   }
 
   /// \brief Documentation inherited
-  public: bool NotifyComponentAddition(const Entity _entity,
+  public: bool NotifyComponentAddition(const Entity _entity, bool _newEntity,
               const ComponentTypeId _typeId) override
   {
     // make sure that _typeId is a type required by the view and that _entity is
@@ -148,7 +167,10 @@ class IGNITION_GAZEBO_VISIBLE View : public BaseView
     // list
     auto missingCompsIter = this->missingCompTracker.find(_entity);
     if (missingCompsIter == this->missingCompTracker.end())
-      return false;
+    {
+      // the component is already added, so nothing else needs to be done
+      return true;
+    }
     missingCompsIter->second.erase(_typeId);
 
     // if the entity now has all components that meet the requirements of the
@@ -160,6 +182,8 @@ class IGNITION_GAZEBO_VISIBLE View : public BaseView
       auto constCompNh = this->invalidConstData.extract(_entity);
       this->validConstData.insert(std::move(constCompNh));
       this->entities.insert(_entity);
+      if (_newEntity)
+        this->newEntities.insert(_entity);
       this->missingCompTracker.erase(_entity);
     }
 
@@ -189,6 +213,7 @@ class IGNITION_GAZEBO_VISIBLE View : public BaseView
       auto constCompNh = this->validConstData.extract(constCompIt);
       this->invalidConstData.insert(std::move(constCompNh));
       this->entities.erase(_entity);
+      this->newEntities.erase(_entity);
     }
 
     this->missingCompTracker[_entity].insert(_typeId);

src/BaseView.cc

@@ -52,7 +52,7 @@ bool BaseView::RequiresComponent(const ComponentTypeId _typeId) const
 }
 
 //////////////////////////////////////////////////
-bool BaseView::AddEntityToRemoved(const Entity _entity)
+bool BaseView::MarkEntityToRemove(const Entity _entity)
 {
   if (this->HasCachedComponentData(_entity) ||
       this->IsEntityMarkedForAddition(_entity))