Add interface to allow systems to declare parameters

CMakeLists.txt

@@ -70,7 +70,7 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-transport
-ign_find_package(ignition-transport11 REQUIRED COMPONENTS log)
+ign_find_package(ignition-transport11 REQUIRED COMPONENTS log parameters)
 set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
 
 #--------------------------------------

include/ignition/gazebo/System.hh

@@ -25,6 +25,8 @@
 #include <ignition/gazebo/Export.hh>
 #include <ignition/gazebo/Types.hh>
 
+#include <ignition/transport/parameters/Registry.hh>
+
 #include <sdf/Element.hh>
 
 namespace ignition
@@ -100,6 +102,20 @@ namespace ignition
  EventManager &_eventMgr) = 0;
  };
 
+ /// \class ISystemConfigureParameters ISystem.hh ignition/gazebo/System.hh
+ /// \brief Interface for a system that declares parameters.
+ ///
+ /// ISystemConfigureParameters::ConfigureParameters is called after
+ /// ISystemConfigure::Configure.
+ class ISystemConfigureParameters {
+ /// \brief Configure the parameters of the system.
+ /// \param[in] _registry The parameter registry.
+ public: virtual void ConfigureParameters(
+ ignition::transport::parameters::ParametersRegistry &
+ _registry,
+ EntityComponentManager &_ecm) = 0;
+ };
+
  /// \class ISystemPreUpdate ISystem.hh ignition/gazebo/System.hh
  /// \brief Interface for a system that uses the PreUpdate phase
  class ISystemPreUpdate {

src/SimulationRunner.cc

@@ -61,6 +61,10 @@ SimulationRunner::SimulationRunner(const sdf::World *_world,
  // Keep world name
  this->worldName = _world->Name();
 
+ this->parametersRegistry = std::make_unique<
+ ignition::transport::parameters::ParametersRegistry>(
+ std::string{"world/"} + this->worldName);
+
  // Get the physics profile
  // TODO(luca): remove duplicated logic in SdfEntityCreator and LevelManager
  auto physics = _world->PhysicsByIndex(0);
@@ -132,8 +136,9 @@ SimulationRunner::SimulationRunner(const sdf::World *_world,
  this->node = std::make_unique<transport::Node>(opts);
 
  // Create the system manager
- this->systemMgr = std::make_unique<SystemManager>(_systemLoader,
- &this->entityCompMgr, &this->eventMgr, validNs);
+ this->systemMgr = std::make_unique<SystemManager>(
+ _systemLoader, &this->entityCompMgr, &this->eventMgr, validNs,
+ this->parametersRegistry.get());
 
  this->pauseConn = this->eventMgr.Connect<events::Pause>(
  std::bind(&SimulationRunner::SetPaused, this, std::placeholders::_1));

src/SimulationRunner.hh

@@ -396,6 +396,11 @@ namespace ignition
  /// Note: must be before EntityComponentManager
  private: EventManager eventMgr;
 
+ /// \brief Manager all parameters
+ private: std::unique_ptr<
+ ignition::transport::parameters::ParametersRegistry
+ > parametersRegistry;
+
  /// \brief Manager of all components.
  private: EntityComponentManager entityCompMgr;
 

src/SystemInternal.hh

@@ -45,6 +45,8 @@ namespace ignition
  : systemPlugin(std::move(_systemPlugin)),
  system(systemPlugin->QueryInterface<System>()),
  configure(systemPlugin->QueryInterface<ISystemConfigure>()),
+ configureParameters(
+ systemPlugin->QueryInterface<ISystemConfigureParameters>()),
  preupdate(systemPlugin->QueryInterface<ISystemPreUpdate>()),
  update(systemPlugin->QueryInterface<ISystemUpdate>()),
  postupdate(systemPlugin->QueryInterface<ISystemPostUpdate>()),
@@ -60,6 +62,8 @@ namespace ignition
  : systemShared(_system),
  system(_system.get()),
  configure(dynamic_cast<ISystemConfigure *>(_system.get())),
+ configureParameters(
+ dynamic_cast<ISystemConfigureParameters *>(_system.get())),
  preupdate(dynamic_cast<ISystemPreUpdate *>(_system.get())),
  update(dynamic_cast<ISystemUpdate *>(_system.get())),
  postupdate(dynamic_cast<ISystemPostUpdate *>(_system.get())),
@@ -83,6 +87,11 @@ namespace ignition
  /// Will be nullptr if the System doesn't implement this interface.
  public: ISystemConfigure *configure = nullptr;
 
+ /// \brief Access this system via the ISystemConfigureParameters
+ /// interface.
+ /// Will be nullptr if the System doesn't implement this interface.
+ public: ISystemConfigureParameters *configureParameters = nullptr;
+
  /// \brief Access this system via the ISystemPreUpdate interface
  /// Will be nullptr if the System doesn't implement this interface.
  public: ISystemPreUpdate *preupdate = nullptr;

src/SystemManager.cc

@@ -28,13 +28,16 @@ using namespace ignition;
 using namespace gazebo;
 
 //////////////////////////////////////////////////
-SystemManager::SystemManager(const SystemLoaderPtr &_systemLoader,
- EntityComponentManager *_entityCompMgr,
- EventManager *_eventMgr,
- const std::string &_namespace)
+SystemManager::SystemManager(
+ const SystemLoaderPtr &_systemLoader,
+ EntityComponentManager *_entityCompMgr,
+ EventManager *_eventMgr,
+ const std::string &_namespace,
+ ignition::transport::parameters::ParametersRegistry *_parametersRegistry)
  : systemLoader(_systemLoader),
  entityCompMgr(_entityCompMgr),
- eventMgr(_eventMgr)
+ eventMgr(_eventMgr),
+ parametersRegistry(_parametersRegistry)
 {
  transport::NodeOptions opts;
  opts.SetNameSpace(_namespace);
@@ -102,6 +105,9 @@ size_t SystemManager::ActivatePendingSystems()
  if (system.configure)
  this->systemsConfigure.push_back(system.configure);
 
+ if (system.configureParameters)
+ this->systemsConfigureParameters.push_back(system.configureParameters);
+
  if (system.preupdate)
  this->systemsPreupdate.push_back(system.preupdate);
 
@@ -169,6 +175,16 @@ void SystemManager::AddSystemImpl(
  *this->eventMgr);
  }
 
+ // Configure the system parameters, if necessary
+ if (
+ _system.configureParameters && this->entityCompMgr &&
+ this->parametersRegistry)
+ {
+ _system.configureParameters->ConfigureParameters(
+ *this->parametersRegistry,
+ *this->entityCompMgr);
+ }
+
  // Update callbacks will be handled later, add to queue
  std::lock_guard<std::mutex> lock(this->pendingSystemsMutex);
  this->pendingSystems.push_back(_system);
@@ -180,6 +196,13 @@ const std::vector<ISystemConfigure *>& SystemManager::SystemsConfigure()
  return this->systemsConfigure;
 }
 
+//////////////////////////////////////////////////
+const std::vector<ISystemConfigureParameters *>&
+SystemManager::SystemsConfigureParameters()
+{
+ return this->systemsConfigureParameters;
+}
+
 //////////////////////////////////////////////////
 const std::vector<ISystemPreUpdate *>& SystemManager::SystemsPreUpdate()
 {

src/SystemManager.hh

@@ -52,10 +52,13 @@ namespace ignition
  /// \param[in] _eventMgr Pointer to the event manager to be used when
  /// configuring new systems
  /// \param[in] _namespace Namespace to use for the transport node
- public: explicit SystemManager(const SystemLoaderPtr &_systemLoader,
- EntityComponentManager *_entityCompMgr = nullptr,
- EventManager *_eventMgr = nullptr,
- const std::string &_namespace = std::string());
+ public: explicit SystemManager(
+ const SystemLoaderPtr &_systemLoader,
+ EntityComponentManager *_entityCompMgr = nullptr,
+ EventManager *_eventMgr = nullptr,
+ const std::string &_namespace = std::string(),
+ ignition::transport::parameters::ParametersRegistry *
+ _parametersRegistry = nullptr);
 
  /// \brief Load system plugin for a given entity.
  /// \param[in] _entity Entity
@@ -99,6 +102,12 @@ namespace ignition
  /// \return Vector of systems's configure interfaces.
  public: const std::vector<ISystemConfigure *>& SystemsConfigure();
 
+ /// \brief Get an vector of all active systems implementing
+ /// "ConfigureParameters"
+ /// \return Vector of systems's configure interfaces.
+ public: const std::vector<ISystemConfigureParameters *>&
+ SystemsConfigureParameters();
+
  /// \brief Get an vector of all active systems implementing "PreUpdate"
  /// \return Vector of systems's pre-update interfaces.
  public: const std::vector<ISystemPreUpdate *>& SystemsPreUpdate();
@@ -162,6 +171,10 @@ namespace ignition
  /// \brief Systems implementing Configure
  private: std::vector<ISystemConfigure *> systemsConfigure;
 
+ /// \brief Systems implementing ConfigureParameters
+ private: std::vector<ISystemConfigureParameters *>
+ systemsConfigureParameters;
+
  /// \brief Systems implementing PreUpdate
  private: std::vector<ISystemPreUpdate *> systemsPreupdate;
 
@@ -191,6 +204,10 @@ namespace ignition
 
  /// \brief Node for communication.
  private: std::unique_ptr<transport::Node> node{nullptr};
+
+ /// \brief Pointer to associated parameters registry
+ private: ignition::transport::parameters::ParametersRegistry *
+ parametersRegistry;
  };
  }
  } // namespace gazebo

src/SystemManager_TEST.cc

@@ -31,7 +31,8 @@ using namespace ignition::gazebo;
 /////////////////////////////////////////////////
 class SystemWithConfigure:
  public System,
- public ISystemConfigure
+ public ISystemConfigure,
+ public ISystemConfigureParameters
 {
  // Documentation inherited
  public: void Configure(
@@ -40,7 +41,12 @@ class SystemWithConfigure:
  EntityComponentManager &,
  EventManager &) override { configured++; };
 
+ public: void ConfigureParameters(
+ ignition::transport::parameters::ParametersRegistry &,
+ EntityComponentManager &) override { configuredParameters++; }
+
  public: int configured = 0;
+ public: int configuredParameters = 0;
 };
 
 /////////////////////////////////////////////////
@@ -99,6 +105,7 @@ TEST(SystemManager, AddSystemNoEcm)
 
  // SystemManager without an ECM/EventmManager will mean no config occurs
  EXPECT_EQ(0, configSystem->configured);
+ EXPECT_EQ(0, configSystem->configuredParameters);
 
  EXPECT_EQ(0u, systemMgr.ActiveCount());
  EXPECT_EQ(1u, systemMgr.PendingCount());
@@ -150,7 +157,10 @@ TEST(SystemManager, AddSystemEcm)
  auto ecm = EntityComponentManager();
  auto eventManager = EventManager();
 
- SystemManager systemMgr(loader, &ecm, &eventManager);
+ auto paramRegistry = std::make_unique<
+ ignition::transport::parameters::ParametersRegistry>("SystemManager_TEST");
+ SystemManager systemMgr(
+ loader, &ecm, &eventManager, std::string(), paramRegistry.get());
 
  EXPECT_EQ(0u, systemMgr.ActiveCount());
  EXPECT_EQ(0u, systemMgr.PendingCount());
@@ -165,6 +175,7 @@ TEST(SystemManager, AddSystemEcm)
 
  // Configure called during AddSystem
  EXPECT_EQ(1, configSystem->configured);
+ EXPECT_EQ(1, configSystem->configuredParameters);
 
  EXPECT_EQ(0u, systemMgr.ActiveCount());
  EXPECT_EQ(1u, systemMgr.PendingCount());